CN116673516A - Magnetic suction drilling machine capable of self-adjusting pose - Google Patents

Abstract

The invention belongs to the technical field of drilling equipment, and discloses a magnetic suction drilling machine capable of adjusting the pose, which comprises a drilling assembly, a pose adjusting assembly and a drilling machine fixing assembly which are connected in sequence; the drilling assembly comprises a drilling mechanism and a drilling feeding mechanism, the pose adjusting assembly comprises a 3R1P four-axis serial mechanism, the drilling machine fixing assembly comprises three support rods and three groups of traction magnetic attraction feet, and the three support rods and the three groups of traction magnetic attraction feet are symmetrically installed around the center shaft of the drilling machine in a central symmetry mode and are alternately and uniformly arranged. The drilling machine not only can adsorb and fix on a complex surface and implement drilling operation, but also can automatically adjust the position and the direction of drilling by the spindle of the drilling machine, thereby saving time and labor cost required by clamp manufacturing, clamping and debugging, and having compact structure, simple control and high drilling precision.

Description

Magnetic suction drilling machine capable of self-adjusting pose

Technical Field

The invention belongs to the technical field of drilling equipment, and particularly relates to a magnetic suction drilling machine capable of adjusting pose.

Background

Drilling machines are machines for machining holes in a workpiece with a drill bit, and are widely used in metal machining. In general, when machining a workpiece, it is necessary to secure the angle (generally a vertical angle) between the machining surface and the drill in addition to the positional accuracy of the hole. For a simple workpiece with only one machining surface, the workpiece can be machined only by clamping once; however, for complex workpieces, holes may need to be drilled on a plurality of non-parallel surfaces and also holes may need to be drilled on curved surfaces, and at this time, multiple clamping is needed to ensure that the drill bit is perpendicular to the machined surface during each drilling. In addition, the fixture design and manufacturing also involves a great deal of effort and cost. Therefore, the automatic drilling machine capable of realizing the drilling operation on various planes or curved surfaces, reducing the moving and clamping frequency of workpieces in drilling operation, automatically adjusting and fixing the position and the pose of a drill bit, guaranteeing the accuracy of the drilling position and the drilling direction and having positive practical significance for improving the drilling accuracy, improving the processing efficiency and reducing the cost of human resources is developed.

There are also some solutions in the prior art to solve the above problems: patent CN108098784a discloses an aircraft wing drilling and milling processing robot, which is used for processing the surface of an aircraft wing, and can realize automatic centering and automatic normal alignment of a main shaft on a curved surface, thereby improving the accuracy of drilled holes and reducing the processing cost. The invention realizes the function of accurate positioning through the XY displacement platform and the 3-axis parallel mechanism, but the defects are obvious: the working space of the 3-axis parallel mechanism is smaller, the pose can be adjusted only in a small range, and the adsorption fixing precision error is large; the laser tracker is used for adjusting the pose, a complex algorithm is needed for solving, and each drilling process needs to be independently calculated and solved, so that the cost is increased. Patent CN104308839a discloses a structurally decoupled hexapod drilling, milling robot comprising: a robot trunk provided with a drilling and milling electric spindle, six mechanical legs and six feet provided with an adsorption device; the six mechanical legs walk and position on the surface of the processed object to realize drilling and milling processing. According to the scheme, each mechanical leg is a three-degree-of-freedom decoupling mechanism with a branched chain and a closed loop, so that when a drill bit is controlled to be positioned, a decoupling algorithm is complex, calculation accuracy is difficult to guarantee, and therefore control efficiency is low and positioning accuracy is low.

In summary, the solution or application in the prior art is limited, the positioning effect is poor, or the structure is complex, the control efficiency is low, the control precision is poor, and the research on the drilling equipment with the self-positioning function for drilling operation on the complex surface is still significant.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the magnetic suction drilling machine capable of adjusting the pose automatically, which not only can adsorb and fix on a complex surface and implement drilling operation, but also can automatically adjust the pose of a main shaft of the drilling machine to position the drilling position and the drilling direction, thereby saving the time and labor cost required by clamp manufacturing, clamping and debugging, and having compact structure, simple control and high drilling precision.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the magnetic suction drilling machine capable of self-adjusting the pose is characterized by comprising a drilling assembly, a pose adjusting assembly and a drilling machine fixing assembly; the drilling assembly comprises a drilling mechanism and a drilling feeding mechanism, is arranged in the center of the pose adjusting assembly and is connected with the pose adjusting assembly through a transmission mechanism; the pose adjusting component comprises a 3R1P four-axis serial mechanism and is used for automatically adjusting the pose of the drilling component to position and direction of drilling; the drilling machine fixing component is fixed at the outer side of the pose adjusting component and used for fixing the drilling machine; the drilling machine fixing assembly comprises three supporting rods and three groups of traction magnetic attraction feet, and the three supporting rods and the three groups of traction magnetic attraction feet are symmetrically arranged around the center of the central shaft of the drilling machine and are alternately and uniformly arranged; the belt traction magnetic attraction foot comprises a winding mechanism, a winding servo motor, a pull belt and a magnetic foot, wherein the winding servo motor is connected with and drives the winding mechanism, the upper end of the pull belt is fixed on the winding mechanism, and the lower end of the pull belt is connected with the magnetic foot; the magnetic foot comprises three rod connecting pieces, wherein the upper rod in the three rod connecting pieces is fixedly connected with the lower end of the pull belt, and the two lower rods are respectively and rotatably connected with two magnets through the connecting pieces; the supporting rod is provided with a pressure sensor, and the tail end of the supporting rod is provided with a rubber spherical pad.

Preferably, the drilling assembly is supported by a prismatic cylindrical housing; the drilling mechanism comprises a drilling main shaft, a drill bit clamp and a drill bit which are sequentially and fixedly connected, wherein a dovetail block which is arranged along the direction of the center of the drilling main shaft is fixed on the outer surface of the drilling main shaft, and the dovetail block is nested with a dovetail groove formed in the inner side of the shell so that the drilling main shaft is axially and slidably connected with the shell; the drilling feeding mechanism comprises a feeding motor, a gear and a rack, wherein the feeding motor is fixed on the outer surface of the shell through a connecting piece, the gear is fixed on an output shaft of the feeding motor, the rack is vertically fixed on a drilling main shaft, and the gear is meshed with the rack.

Preferably, four laser throwers and six infrared ranging sensors are symmetrically arranged and fixed at the lower end of the drilling assembly relative to the center of the drilling spindle.

Further preferably, a gyroscopic sensor is also mounted on top of the drilling assembly.

Preferably, the 3R1P four-axis serial mechanism comprises four serial transmission mechanisms, wherein the first to fourth transmission mechanisms respectively realize vertical in-plane rotation, horizontal in-plane movement, horizontal in-plane rotation and vertical in-plane rotation of the drilling assembly; the first transmission mechanism is connected with the drilling assembly, and the fourth transmission mechanism is connected with the drilling machine fixing assembly.

Further preferably, the first transmission mechanism comprises a first motor, a transmission case, a turbine and a first worm; one end of the transmission case is connected with a first transverse pin on the drilling assembly, the other end of the transmission case is fixed on the first motor shell, the turbine and the first worm are arranged in the transmission case, the turbine is fixed on the transverse pin, the first worm is fixed on the first motor output shaft, and the turbine and the first worm are meshed; the first motor is connected with the second transmission mechanism.

Further preferably, the second transmission mechanism comprises a second motor, a first gear box and a screw rod sliding rail frame, wherein the screw rod sliding rail frame comprises a screw rod and a sliding rail which are arranged in parallel, the second motor is fixed with the screw rod through the first gear box, and the screw rod is screwed with a nut sliding ring on the first transmission mechanism; the screw rod slide rail frame and the second motor are both fixed with the third transmission mechanism.

Further preferably, the third transmission mechanism comprises a third motor, a second gear box, a first bevel gear and a bevel gear ring which are fixedly connected in sequence, wherein the third motor and the second gear box are fixed with the second transmission mechanism through a round table, and the first bevel gear is meshed with the bevel gear ring; the bevel gear ring is fixed with the fourth transmission mechanism.

Further preferably, the fourth transmission mechanism comprises a fourth motor, a third gear box, a second worm, an arc-shaped rack and an inner spherical shell; the fourth motor, the third gear box and the second worm are sequentially and fixedly connected and fixed on the outer spherical shell; the arc-shaped rack is fixed on the outer side of the inner spherical shell, and the inner spherical shell is fixed with the third transmission mechanism; the second worm is meshed with the arc-shaped rack.

Still further preferably, at least one group of wedge-shaped sliding grooves are arranged on the outer spherical shell, and the wedge-shaped sliding grooves and the wedge-shaped sliding blocks correspondingly arranged on the inner spherical shell are mutually nested and slide.

Compared with the prior art, the invention has the beneficial effects that:

1. because the three rigid supporting feet (supporting rods) and the three magnetic self-adaptive supporting feet (with traction magnetic sucking feet) which are uniformly distributed on the spherical shell are adopted to clamp and fix the drilling machine, and the pressure sensors are arranged on the three rigid supporting feet and used for accurately controlling clamping forces in three directions, the drilling machine is more reliable and stable to fix, drilling force can be automatically adjusted in the drilling process, and drilling precision is improved.

2. Because the invention adopts the 3R1P four-axis serial mechanism to adjust the main axis pose of the drilling machine, the pose adjusting algorithm is simple and reliable; and for setting up two changes one and move three degrees of freedom on the round platform of fixed drilling main shaft, set up the spherical shell between round platform and rig fixed subassembly, set up the relative spherical shell pivoted mechanism of control round platform on the spherical shell, not only compensated the singular point of three motor control rig main shaft position appearance on the round platform, still made motor position appearance regulation and control and rig fixed regulation and control mutually independent, position appearance regulation and control is also more nimble, reliable.

Drawings

FIG. 1 is a front view of a self-adjusting magnetic drilling machine according to an embodiment of the present invention;

FIG. 2 is a left side view of a self-adjusting magnetic drilling machine according to an embodiment of the present invention;

FIG. 3 is a top view of a self-adjusting magnetic drilling rig according to an embodiment of the present invention;

FIG. 4 is a bottom view of a self-adjusting magnetic attraction drilling machine according to an embodiment of the invention;

FIG. 5 is a schematic view of a drilling assembly according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a first transmission mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a second transmission mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a third transmission mechanism according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a fourth transmission mechanism according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a drill fixing assembly according to an embodiment of the present invention.

In the figure: 1. drilling assembly, 2, pose adjustment assembly, 3, rig fixation assembly, 101, gyroscopic sensor, 102, prismatic cylindrical housing, 103, feed motor, 104, drilling spindle, 105, rack, 106, laser projector, 107, drill, 108, gear, 109, dovetail block, 110, infrared ranging sensor, 111, first cross pin, 112, second cross pin, 113, drill clamp, 201, first motor, 202, first worm, 203, turbine, 204, gearbox, 2041, nut slip ring, 205, lead screw, 206, slide rail, 207, slide block, 2072, slip ring, 208, upper round table, 209, lower round table, 210, first gearbox, 211, second motor, 212, third motor, 213, first bevel gear, 214, second gearbox, 215, bevel gear, 216, second bevel gear, 217, inner spherical shell, 1, wedge slide block, 218, arc-shaped rack, 219, fourth motor, 220, third gearbox 221, second worm, 222, outer spherical shell, 1, slide block, 307, slide ring, 208, winding reel, spiral, cam, roller, 301, 305, wedge-shaped servo pad, 308, spherical pad, servo pad, 303, spherical pad, servo pad, 303.

Detailed Description

In order that the manner in which the above-recited features, advantages, objects and advantages of the present invention are attained and can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings.

It should be noted that, in the description of the present invention, the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are directions or positional relationships based on the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention; the terms "first," "second," "third," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally coupled, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. When two elements are "fixedly connected" or "pivotally connected," the two elements may be directly connected or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The fixed connection or the fixed connection mode can be screw connection or welding or riveting or plugging connection or connection through a third component. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1,2,3 and 4, the magnetic suction drilling machine capable of self-adjusting the pose in the embodiment is used for being adsorbed and fixed on a processing surface or a workbench to perform drilling operation, and comprises a drilling assembly 1, a pose adjusting assembly 2, a drilling machine fixing assembly 3, a sensing system and a control system. The drilling mechanism 1 is used for executing drilling rotary motion and drilling main shaft feeding motion, is arranged in the center of the pose adjusting component 2 and is connected with the pose adjusting component 2 through a transmission mechanism; the pose adjusting component 2 comprises a 3R1P four-axis serial mechanism (a mechanism formed by connecting 3 revolute pairs and 1 movable pair in series) and is used for automatically adjusting the pose of the drilling component 1 so as to position and direction of drilling; the drilling machine fixing component 3 is fixed on the outer side of the pose adjusting component 2 and used for fixing a drilling machine.

As shown in fig. 5, the drilling assembly 1 is supported by a prismatic cylindrical housing 102, including a drilling mechanism and a drilling feed mechanism. The drilling mechanism comprises a drilling main shaft 104 (comprising a cutting motor), a drill bit clamp 113 and a drill bit 107 which are sequentially and fixedly connected, wherein a dovetail block 109 arranged along the central direction of the drilling main shaft 104 is fixed on the outer surface of the drilling main shaft, and the dovetail block 109 is nested with a dovetail groove formed on the inner side of the shell 102, so that the drilling main shaft is axially and slidably connected with the shell 102 (namely, slides along the Z-axis direction and the vertical direction); the drilling and feeding mechanism comprises a feeding motor 103, a gear 108 and a rack 105, wherein the feeding motor 103 is fixed on the outer surface of the shell 102 through a connecting piece, the gear 108 is fixed on an output shaft of the feeding motor 103, the rack 105 is vertically fixed on the drilling main shaft 104, and the gear 108 is meshed with the rack 105, so that the feeding motor 103 rotationally drives the drilling main shaft to perform axial feeding movement (namely movement along the Z-axis direction and the vertical direction). Four laser demarcation devices 106 are fixed at the lower end of the drilling mechanism, and the four laser demarcation devices 106 are symmetrically fixed on a sleeve member between a drill clamp 113 and a drilling main shaft 104 in a center for detecting and feeding back the drilling position; six infrared ranging sensors 110 are fixed on the lower end surface of the shell 102, and the six infrared ranging sensors 110 are symmetrically arranged around the center of the drilling spindle 104, as shown in fig. 4, and are used for detecting and feeding back the drilling plane and direction; a gyro sensor 101 is mounted on top of the housing 102 for detection and feedback of the drilling direction.

The drilling assembly housing 102 is coaxially and fixedly provided with a first transverse pin 111 and a second transverse pin 112 for connecting with the pose adjusting assembly 2. The pose adjusting assembly 2 comprises four transmission mechanisms which are connected in series, namely a 3R1P four-axis series mechanism, and the pose of the drilling assembly 1 is changed randomly in a three-dimensional space.

As shown in fig. 6, the first transmission mechanism includes a first motor 201, a transmission case 204, a turbine 203, and a first worm 202; one end of the transmission case 204 is in pin connection (rotary connection) with the first transverse pin 111 on the drilling assembly shell 102, the other end of the transmission case is fixed on the shell of the first motor 201, the turbine 203 and the first worm 202 are installed in the transmission case 204, the turbine 203 is fixed on the transverse pin 111, the first worm 202 is fixed on the output shaft of the first motor 201, and the turbine 203 and the first worm 202 are meshed to realize that the first motor 201 drives the drilling assembly 1 to rotate around the Y axis (vertically rotate).

As shown in fig. 7, the second transmission mechanism includes a second motor 211, a first gear box 210, and a screw slide rail frame, the screw slide rail frame includes a screw 205 and a slide rail 206 mounted in parallel, the second motor 211 is fixed to the screw 205 through the first gear box 210, and the screw 205 is screwed with a nut slip ring 2041 on the transmission box 204, so that the first transmission mechanism fixed on the transmission box 204 is driven to move along the X axis (horizontal movement) by rotation of the second motor 211. In order to balance the stress of the drilling assembly 1, a sliding rail 206 and a sliding block 207 which is in sliding connection with the sliding rail are also arranged, the other side of the drilling assembly 1 is connected with a second transmission mechanism, and the concrete structure is that a sliding ring 2072 at the lower end of the sliding block 207 is in nested sliding connection with the sliding rail 206, and a hole 2071 at the upper end of the sliding block 207 is in pin connection with a second transverse pin 112 on the drilling assembly shell 102. The screw slide rail frame and the second motor 211 are both fixed on a circular truncated cone, and the circular truncated cone comprises an upper circular truncated cone 208 and a lower circular truncated cone 209 which are fixedly connected with each other.

As shown in fig. 8, the third transmission mechanism includes a third motor 212, a second gear box 214, a first bevel gear 213, and a bevel gear ring 215 that are sequentially and fixedly connected, where the third motor 212 and the second gear box 214 are respectively fixed on the upper round table 208 and the lower round table 209, and the first bevel gear 213 is meshed with the bevel gear ring 215, so that the third motor 212 rotates to drive the bevel gear ring 215 and the second transmission mechanism fixed on the round table to rotate around the Z-axis (horizontally rotate). In order to enhance the bearing capacity of the drilling machine, a bevel gear with larger axial bearing capacity is used; in order to improve the transmission precision, a second bevel gear 216 which is also meshed with the bevel gear ring 215 is also arranged on the round table, and the first bevel gear 213 and the second bevel gear 216 are symmetrically arranged.

As shown in fig. 9, the fourth transmission mechanism includes a fourth motor 219, a third gear box 220, a second worm 221, an arc-shaped rack 218 (which is machined in cooperation with the second worm 221 and can be considered as a part of a turbine), and an inner spherical shell 217; the fourth motor 219, the third gear box 220, and the second worm 221 are sequentially and fixedly connected to the outer spherical shell 222; the arc-shaped rack 218 is fixed on the outer side of the inner spherical shell 217, the bevel gear ring 215 is fixed on the inner side of the inner spherical shell 217, the second worm 221 is meshed with the arc-shaped rack 218, and the fourth motor is driven to rotate around the Y axis (vertical rotation) through a third transmission mechanism connected with the bevel gear ring 215. To make reference to the stability of movement, at least one set of wedge slide grooves 2221 and wedge slide blocks 2171 are designed on the outer ball shell 222 and the inner ball shell 217, and the wedge slide grooves 2221 and the wedge slide blocks 2171 are nested and slide with each other to realize the guiding function.

According to the invention, the position and the posture of the main shaft of the drilling machine are adjusted by adopting a 3R1P four-shaft serial mechanism, and the position and posture adjusting algorithm is simple and reliable; and for setting up two changes one and move three degrees of freedom on the round platform of fixed drilling main shaft, set up the spherical shell between round platform and rig fixed subassembly, set up the relative spherical shell pivoted mechanism of control round platform on the spherical shell, not only compensated the singular point of three motor control rig main shaft position appearance on the round platform, still made motor position appearance regulation and control and rig fixed regulation and control mutually independent, position appearance regulation and control is also more nimble, reliable.

As shown in fig. 10, the drill fixing assembly 3 is fixed on the outer spherical shell 222, and includes three support rods 307 and three groups of belt pulling magnetic attraction feet, which are symmetrically installed around the center axis of the drill and are alternately and uniformly arranged. The belt traction magnetic attraction foot comprises a winding mechanism 302, a winding servo motor 301, a pull belt 303 and a magnetic foot, wherein the winding servo motor 301 is connected with the winding mechanism 302, and the winding servo motor 301 and the winding servo motor are fixed below the outer spherical shell 222 together. The pull belt 303 is made of materials with larger rigidity as much as possible, such as an industrial flat lifting belt, the upper end of the pull belt is fixed on the winding mechanism 302, and the lower end of the pull belt is connected with the magnetic foot; the magnetic foot comprises three rod connecting pieces 304, wherein an upper rod in the three rod connecting pieces 304 is fixedly connected with the lower end of the pull belt 303, and two lower rods are respectively rotatably connected with two magnets 305 through the connecting pieces. The support rod 307 is provided with a pressure sensor 306, and the end of the support rod is provided with a rubber ball pad 308. When the drilling machine is used, three support rods 307 are supported on a processing surface or a workbench, the positions of three magnetic feet are adjusted to be adsorbed on the processing surface or the workbench, and the winding servo motor 301 drives the winding mechanism 302 to rotate according to force signals fed back by the pressure sensors 306 on the support rods 307 to drive the tension belt 303, so that the drilling machine is fixed. The structure has strong adaptability, can realize the fixation of the drilling machine on any surface, can accurately control the clamping force in three directions, not only ensures that the installation of the drilling machine is more reliable and stable, but also can automatically adjust the drilling force in the drilling process, and is beneficial to improving the drilling precision.

The invention relates to a working principle and a use flow of a self-posture-adjustable magnetic drilling machine, wherein the working principle and the use flow of the magnetic drilling machine are as follows:

firstly, 4 laser line throwers 106 are started, a cross-shaped sight is formed on the surface of a workpiece, then a third motor 212 (horizontal rotation) and a second motor 211 (horizontal movement) are started to enable a motor main body to move until the cross-shaped sight moves to the vicinity of a position needing drilling, then 6 infrared ranging sensors 110 are started, data of 2 infrared ranging sensors 110 which are symmetrical in center are compared as a group, feedback signals are sent to a first motor 201, a second motor 211 and a fourth motor 219, and the drilling machine main body is enabled to complete an automatic normal leveling function, namely: the data of the two infrared ranging sensors 110 which are symmetrical in center are made into a difference value, and each motor is driven to change the pose of the drilling assembly, so that the difference value of the data measured by each group of infrared ranging sensors 110 is reduced to a set range, and automatic leveling is completed; then fine-tuning the position until the cross-shaped sight is completely aligned with the position to be drilled; and the leveling function can also perform real-time leveling. After aiming the sight, all motors before locking start the drilling main shaft 104 and the feeding motor 103 to drill. If the inclined hole is to be drilled, the drilling can be performed again by adjusting the precise angle according to the feedback signal of the gyro sensor 101. The feedback adjustment process does not need complex calculation and solution, and has high control efficiency and high positioning accuracy.

The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications or variations which may be made by those skilled in the art without the inventive effort within the scope of the appended claims remain within the scope of this patent.

Claims (10)

1. The magnetic suction drilling machine capable of self-adjusting the pose is characterized by comprising a drilling assembly (1), a pose adjusting assembly (2) and a drilling machine fixing assembly (3);

the drilling assembly (1) comprises a drilling mechanism and a drilling feeding mechanism, is arranged in the center of the pose adjusting assembly (2) and is connected with the pose adjusting assembly (2) through a transmission mechanism; the pose adjusting component (2) comprises a 3R1P four-axis serial mechanism and is used for automatically adjusting the pose of the drilling component (1) to position and drill the hole; the drilling machine fixing component (3) is fixed at the outer side of the pose adjusting component (2) and is used for fixing a drilling machine;

the drilling machine fixing assembly (3) comprises three supporting rods (307) and three groups of traction magnetic attraction feet, wherein the three supporting rods and the three groups of traction magnetic attraction feet are symmetrically arranged around the center of the central shaft of the drilling machine and are alternately and uniformly arranged; the belt traction magnetic foot comprises a winding mechanism (302), a winding servo motor (301), a pull belt (303) and a magnetic foot, wherein the winding servo motor (301) is connected with and drives the winding mechanism (302), the upper end of the pull belt (303) is fixed on the winding mechanism (302), and the lower end of the pull belt is connected with the magnetic foot; the magnetic foot comprises three rod connecting pieces (304), wherein the upper rod in the three rod connecting pieces (304) is fixedly connected with the lower end of the pull belt (303), and the two lower rods are respectively and rotatably connected with two magnets (305) through the connecting pieces; the support rod (307) is provided with a pressure sensor (306), and the tail end of the support rod is provided with a rubber spherical pad (308).

2. The self-adjusting magnetic attraction drill according to claim 1, characterized in that the drilling assembly (1) is supported by a prismatic cylindrical housing (102);

the drilling mechanism comprises a drilling main shaft (104), a drill bit clamp (113) and a drill bit (107) which are sequentially and fixedly connected, wherein a dovetail block (109) which is arranged along the central direction of the outer surface of the drilling main shaft (104) is fixed, and the dovetail block (109) is nested with a dovetail groove formed in the inner side of the shell (102) so that the drilling main shaft (104) is axially and slidably connected with the shell (102);

the drilling and feeding mechanism comprises a feeding motor (103), a gear (108) and a rack (105), wherein the feeding motor (103) is fixed on the outer surface of the shell (102) through a connecting piece, the gear (108) is fixed on an output shaft of the feeding motor (103), the rack (105) is vertically fixed on the drilling main shaft (104), and the gear (108) is meshed with the rack (105).

3. The self-adjustable magnetic drilling machine according to claim 1, wherein,

four laser throwers (106) and six infrared ranging sensors (110) are symmetrically arranged and fixed at the lower end of the drilling assembly (1) relative to the center of the drilling main shaft (104).

4. A self-adjusting magnetic attraction drilling machine according to claim 3, characterized in that the top of the drilling assembly (1) is also provided with a gyroscopic sensor (101).

5. The self-adjustable magnetic drilling machine according to claim 1, wherein the 3R1P four-axis serial mechanism comprises four serial transmission mechanisms, wherein the first to fourth transmission mechanisms respectively realize vertical in-plane rotation, horizontal in-plane movement, horizontal in-plane rotation and vertical in-plane rotation of the drilling assembly (1); the first transmission mechanism is connected with the drilling assembly (1), and the fourth transmission mechanism is connected with the drilling machine fixing assembly (3).

6. The self-adjusting magnetic drilling machine according to claim 5, wherein the first transmission mechanism comprises a first motor (201), a transmission case (204), a turbine (203) and a first worm (202); one end of a transmission case (204) is in pin connection with a first transverse pin (111) on the drilling assembly (1), the other end of the transmission case is fixed on a first motor (201) shell, a turbine (203) and a first worm (202) are installed in the transmission case (204), the turbine (203) is fixed on the transverse pin (111), the first worm (202) is fixed on an output shaft of the first motor (201), and the turbine (203) and the first worm (202) are meshed; the first motor (201) is connected with the second transmission mechanism.

7. The self-adjustable magnetic drilling machine according to claim 5, wherein the second transmission mechanism comprises a second motor (211), a first gear box (210) and a screw sliding rail frame, the screw sliding rail frame comprises a screw (205) and a sliding rail (206) which are arranged in parallel, the second motor (211) is fixed with the screw (205) through the first gear box (210), and the screw (205) is screwed with a nut sliding ring (2041) on the first transmission mechanism; the screw rod slide rail frame and the second motor (211) are both fixed with the third transmission mechanism.

8. The self-posture-adjustable magnetic drilling machine according to claim 5, wherein the third transmission mechanism comprises a third motor (212), a second gear box (214), a first bevel gear (213) and a bevel gear ring (215) which are fixedly connected in sequence, the third motor (212) and the second gear box (214) are fixed with the second transmission mechanism through a round table, and the first bevel gear (213) is meshed with the bevel gear ring (215); the bevel gear ring (215) is fixed with the fourth transmission mechanism.

9. The self-adjusting magnetic attraction drill as recited in claim 5, wherein the fourth transmission mechanism comprises a fourth motor (219), a third gear box (220), a second worm (221), an arc-shaped rack (218) and an inner spherical shell (217); the fourth motor (219), the third gear box (220) and the second worm (221) are sequentially and fixedly connected and fixed on the outer spherical shell (222); the arc-shaped rack (218) is fixed at the outer side of the inner spherical shell (217), and the inner spherical shell (217) is fixed with the third transmission mechanism; the second worm (221) is meshed with the arc-shaped rack (218).

10. The self-adjusting magnetic attraction drilling machine according to claim 9, wherein at least one group of wedge-shaped sliding grooves (2221) are arranged on the outer spherical shell (222), and the wedge-shaped sliding grooves (2221) and the corresponding wedge-shaped sliding blocks (2171) arranged on the inner spherical shell (217) are mutually nested and slide.