CN116690604A - Single-foot or multi-foot symmetrical magnetic unlocking method and robot - Google Patents

Abstract

The application provides a single-foot or multi-foot symmetrical magnetic unlocking method and a robot, wherein the single-foot symmetrical magnetic unlocking method comprises the following steps: s1: the method comprises the steps that tangential force is applied to one magnetic attraction foot of a first magnetic attraction foot and a second magnetic attraction foot which are respectively arranged on two sides of a processed sheet in a magnetic attraction mode, so that tangential displacement of the first magnetic attraction foot relative to the second magnetic attraction foot occurs, and magnetic attraction force between the first magnetic attraction foot and the second magnetic attraction foot is weakened; s2: and applying overturning force to the first magnetic attraction foot or the second magnetic attraction foot to enable the first magnetic attraction foot or the second magnetic attraction foot to be separated from the processed sheet, so that unlocking between the two magnetic attraction feet is realized. According to the application, the two magnetic attraction feet are unlocked by applying tangential force displacement dislocation and then applying overturning force, the force required to be applied for unlocking is small, the problem that the initial magnetic attraction is large and the unlocking is difficult to realize is solved, and the possibility of plastic deformation and even damage of the thin-wall part is avoided.

Description

Single-foot or multi-foot symmetrical magnetic unlocking method and robot

Technical Field

The application relates to the technical field of magnetic equipment operation, in particular to a symmetrical magnetic unlocking method for single-pair feet or multiple-pair feet and a robot.

Background

The large complex thin-wall member is a core structural member of equipment in the fields of aerospace, energy, ships and the like, and the member has the characteristics of large size, complex shape, weak rigidity and the like. The magnetic force adsorption type processing robot with high flexibility and high rigidity can solve the problems of autonomous accurate locating of the mobile robot and in-situ high-precision detection of the oversized structural member, and becomes a research hot spot for realizing high-efficiency high-quality manufacturing innovation technology and equipment of the large complex thin-wall structural member at present.

However, the existing magnetic force adsorption type processing robot, especially the magnetic force adsorption type processing robot facing to the thin-wall component, faces the magnetic force unlocking problem, and common modes include mechanical lifting weak magnetic unlocking, electromagnet weak magnetic unlocking and wheel type rotating magnetic unlocking. As patent document CN217452246U discloses a magnetic adsorption omnidirectional multi-degree-of-freedom precision machining driving platform, wherein a technical scheme is disclosed that a working machine body and an adsorption machine body are respectively arranged at two sides of a processed sheet, and the unlocking of the magnetic adsorption wheel feet of the working machine body and the adsorption machine body also faces the difficult problem of magnetic unlocking; at the same time, external forces/torques can react to the thin-walled member, causing irreversible plastic deformation or even damage to the thin-walled member.

In view of the foregoing deficiencies in the prior art, it is desirable to devise a new method for improving unlocking ease and workpiece safety.

Disclosure of Invention

Aiming at the defects in the prior art, the application aims to provide a symmetrical magnetic unlocking method for single-pair feet or multiple-pair feet and a robot.

The application provides a single-pair-foot symmetrical magnetic unlocking method, which comprises the following steps:

s1: the method comprises the steps that tangential force is applied to one magnetic attraction foot of a first magnetic attraction foot and a second magnetic attraction foot which are respectively arranged on two sides of a processed sheet in a magnetic attraction mode, so that tangential displacement of the first magnetic attraction foot relative to the second magnetic attraction foot occurs, and magnetic attraction force between the first magnetic attraction foot and the second magnetic attraction foot is weakened;

s2: and applying overturning force to the first magnetic attraction foot or the second magnetic attraction foot to enable the first magnetic attraction foot or the second magnetic attraction foot to be separated from the processed sheet, so that unlocking between the two magnetic attraction feet is realized.

Preferably, in S1, the magnetic attraction between the two magnetic attraction feet is reduced by adjusting the magnetic force of the first magnetic attraction foot and/or the magnetic force of the second magnetic attraction foot.

Preferably, the magnetic attraction force between the two magnetic attraction feet is reduced before the tangential force is applied to the magnetic attraction feet.

Preferably, the tangential force is F, and the magnetic attraction force between the first magnetic attraction foot and the second magnetic attraction foot is F when the first magnetic attraction foot and the second magnetic attraction foot are opposite _a F is then _a ＞＞f。

The method is characterized in that an unlocking strategy is generated, and the single-pair-foot symmetrical magnetic unlocking method is respectively executed on each pair of magnetic feet to be unlocked according to the strategy time sequence according to the unlocking strategy.

Preferably, the unlocking strategy is to unlock according to the strategy time sequence according to the selection sequence from the near to the far of the moving target direction of the robot;

when two pairs of feet equidistant in the direction of the moving object appear, one pair of feet is selected for unlocking;

the strategy time sequence is that the front pair of feet move to the target position and are magnetically locked again, and then the unlocking operation of the rear pair of feet is carried out.

According to the robot provided by the application, the robot comprises a first machine body and a second machine body, wherein the first machine body comprises a first working end and 3 first magnetic attraction feet, the second machine body comprises a second working end and 3 second magnetic attraction feet matched with the first magnetic attraction feet, and each corresponding first magnetic attraction foot and second magnetic attraction foot are respectively arranged on two sides of a processed thin plate and magnetically attracted so that the first machine body and the second machine body are stably kept on two sides of the processed thin plate;

every two adjacent first magnetism is inhaled and is all had first telescopic link between the foot, every two adjacent second magnetism is inhaled and is all had the second telescopic link between the foot, the first magnetism is inhaled sufficient, the second magnetism is inhaled sufficient all has the upset function and is made the robot can be through first telescopic link or second telescopic link for the first magnetism is inhaled sufficient emergence tangential displacement and then weakens each other's magnetic attraction and is exerted the upset force through the upset function for the second magnetism is inhaled sufficient or the second magnetism is inhaled sufficient and is broken away from by the processing sheet metal and then realizes that two magnetism inhale and inhale sufficient between the unblock, wherein, first operation end and second operation end are in the robot unblock in-process can play the magnetism and inhale sufficient magnetism and inhale the effect of supporting.

Preferably, the overturning function is realized by the cylinder body, the hinge and the support body of the first magnetic attraction foot or the second magnetic attraction foot, and when the first magnetic attraction foot and the second magnetic attraction foot which are in corresponding magnetic attraction are offset in place, the cylinder body can drive the hinge to rotate around the shaft so that the support body drives the rotating wheel to leave the processed sheet to realize the application of overturning force.

Preferably, the first working end and/or the second working end are/is provided with a vibration drilling function and a vibration amplitude feedback function.

Preferably, the magnetic presser foot assembly of the first machine body or the second machine body flexibly and adaptively presses the processed sheet.

Compared with the prior art, the application has the following beneficial effects:

according to the application, tangential force is applied to one magnetic attraction foot arranged on two sides of the processed sheet, so that tangential displacement of the first magnetic attraction foot relative to the second magnetic attraction foot occurs, magnetic attraction force between the first magnetic attraction foot and the second magnetic attraction foot is weakened, overturning force is applied to one magnetic attraction foot, so that the first magnetic attraction foot or the second magnetic attraction foot is separated from the processed sheet, unlocking between the two magnetic attraction feet is realized, the force applied for unlocking is small, the problem that the initial magnetic attraction force is large and unlocking is difficult is solved, the possibility that a thin-wall piece is plastically deformed or even damaged is avoided, and the method is simple and feasible, and strong in practicability.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a block schematic diagram of a single-pair foot or multi-pair foot symmetric magnetic unlocking method;

FIG. 2 is a schematic diagram of a single pair of foot symmetric magnetic unlocking actions;

fig. 3 is a schematic structural diagram of the first machine body or the second machine body, wherein the first telescopic rod or the second telescopic rod is not shown, P represents a telescopic pair, each magnetic foot is connected with the machine body shell through two branched chains, at least one telescopic pair is arranged on each branched chain, and the magnetic foot can be driven to move in multiple degrees of freedom through telescopic adjustment of the two branched chains;

FIG. 4 is a schematic structural view of a first telescopic rod or a second telescopic rod, wherein a telescopic pair is not shown on the telescopic rod;

FIG. 5 is a schematic diagram of the stacked structure of FIGS. 3 and 4;

FIG. 6 is a schematic view of two of the magnetic feet and one of the work end supports in a state in which one of the magnetic feet is turned over;

FIG. 7 is a schematic view of a first or second fuselage implementing a first or second working end tip positioning structure;

FIG. 8 is a schematic top view of the structure of FIG. 7;

FIG. 9 is a schematic view of a structure in which magnetic attraction is achieved by a telescopic rod to exert tangential force;

fig. 10 is a schematic structural view of the first body or the second body in embodiment 2;

fig. 11 is a schematic diagram of a turnover function structure of the first magnetic foot and the second magnetic foot in embodiment 2;

FIG. 12 is an enlarged partial schematic view of the portion I in FIG. 11;

fig. 13 is a schematic structural diagram of the first working end or the second working end in embodiment 2;

FIG. 14 is a schematic cross-sectional view of a micro-vibration drilling apparatus;

FIG. 15 is a schematic side view of a micro-vibration drilling apparatus;

fig. 16 is a schematic structural view of the body in embodiment 3;

FIG. 17 is a schematic side elevational view of the magnetic presser foot assembly;

FIG. 18 is a schematic diagram of a controllable magnetic attraction device drilling chip removal;

FIG. 19 is a cross-sectional view of the structure with spring-flexible rod-magnet coupling following adaptive normal alignment;

FIG. 20 is a schematic view of a structure of a robot before obstacle crossing;

FIG. 21 is a schematic diagram of an obstacle surmounting process with tangential force and overturning force applied during obstacle surmounting of a robot.

The figure shows:

processed sheet 3

First fuselage 10

First working end 11

First vertical rod 1111

First transverse bar 1112

Second vertical rod 1121

Second transverse rod 1122

First magnetic foot 12

Body housing 13

Branched chain 14

Rotating wheel 15

Cylinder 16

Hinge 17

Support 18

Second fuselage 20

Second working end 21

Second magnetic foot 22

First telescopic rod 121

Second telescopic rod 221

First support swing frame 011

Second support swing frame 012

Micro-vibration drilling device 101

Drilling slide mount 102

Rotating electric machine 103

Drilling feed screw motor 104

Presser foot feed slide block motor 105

Presser foot slide seat 106

Base 107

Presser foot bar 108

Universal roller device 109

First coil 110

First permanent magnet 111

Drill guide sleeve 112

Drill 1011

Drill bit connection 1012

Output jack 1013

Lower magnetic conductive shell 1014

Ball bearing 1015

Bearing mounting block 1016

Anti-rotation threaded pin 1017

Disc spring 1018

Non-magnetic conductive housing 1019

Second permanent magnet 1020

Magnetostrictive rod 1021

Top cover 1022

Tailstock 1023

Bearing shoulder cover 1024

Upper magnetic conductive shell 1025

Angular contact bearing 1026

Jackscrew 1027

Bearing shoulder sleeve 1028

Tailstock 1029

Electric shaft connecting rod 1030

Coil bobbin 1031

Second coil 1032

Outer magnetic conductive shell 1033

Sensing coil 1034

Magnetic pressure foot assembly 201

First steering engine 202

First moving lever 203

Screw motor 204

Guide rod 205

Slider 206

Second moving lever 207

Magnetic attraction device 208

Driving wheel 209

Steering gear 210

Steering motor 211

Second steering engine 212

First swing lever 213

Slide 214

Second swing lever 215

Rotation assembly 2011

Rod slide 2012

Flexible guide 2013

Spring 2014

External fixation frame 2015

Third permanent magnet 2016

Third coil 2017

Permanent magnet spacing ring 2018

Detailed Description

The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.

Example 1:

the application provides a single-pair foot symmetrical magnetic unlocking method, which can solve the problem that the magnetic attraction foot can be unlocked only by making the external reverse force/torque provided by the robot on the processed sheet 3 larger than the initial magnetic force to overcome the initial magnetic attraction force due to the larger initial magnetic attraction force when the robot on the processed sheet 3 which is attracted by the magnetic force on two sides needs to surmount the obstacle and the like, and comprises the following steps:

s1: applying tangential force to one of the first magnetic attraction foot 12 and the second magnetic attraction foot 22 respectively arranged on two sides of the processed sheet 3 in a magnetic attraction manner to enable the first magnetic attraction foot 12 to generate tangential displacement relative to the second magnetic attraction foot 22 so as to weaken magnetic attraction between the first magnetic attraction foot 12 and the second magnetic attraction foot 22;

s2: the overturning force is applied to the first magnetic attraction foot 12 or the second magnetic attraction foot 22 so that the first magnetic attraction foot 12 or the second magnetic attraction foot 22 is separated from the processed sheet 3, and unlocking between the two magnetic attraction feet is realized.

As shown in fig. 2, the whole process of unlocking the first magnetic foot 12 and the second magnetic foot 22 is shown, wherein 0 in fig. 2 is the initial state of locking the first magnetic foot 12 and the second magnetic foot 22The magnetic attraction between the first magnetic attraction foot 12 and the second magnetic attraction foot 22 is maximum and is marked as F _a When the first magnetic foot 12 or the second magnetic foot 22 is to be unlocked, an external reverse pulling force or torque is required to be applied and the applied force is greater than F _a The unlocking can be realized, the reverse pulling force or torque at the moment is very large, the processed sheet 3 is extremely likely to be damaged during unlocking, and a large amount of energy is required to be consumed _a > F, in particular F _a 5-10 times of F, so that the tangential force at this time is greatly reduced compared with the direct unlocking force, and the first magnetic foot 12 and the second magnetic foot 22 are offset and misplaced relatively with the application of the tangential force F, as shown in fig. 2 (1), and the magnetic attraction force between the first magnetic foot 12 and the second magnetic foot 22 becomes F _a1 Continuing to apply the tangential force F, the first and second magnetic feet 12 and 22 are completely dislocated, and as shown in fig. 2 (2), the magnetic attraction between the first and second magnetic feet 12 and 22 becomes F _a2 At this time F _a2 Comparison F _a Has been made very small, when an external counter-pulling force F is applied to the first magnetically attractable foot 12 or the second magnetically attractable foot 22 _a3 The first magnetic foot 12 or the second magnetic foot 22 can be separated from the processed sheet 3 to unlock, as shown in fig. 2 (3) and 2 (4), wherein F _a ＞F _a1 ＞F _a2 ＞F _a3 。

It should be noted that, in actual operation, in order to reduce the tangential force f, the magnetic attraction force between the two magnetic attraction feet may be weakened before the tangential force is applied to the magnetic attraction feet, and since the magnetic attraction force between the two magnetic attraction feet is weakened, the tangential force will also be reduced when the tangential force is applied, so that less energy is required for unlocking between the two magnetic attraction feet.

The two symmetrically arranged magnetic attraction feet have large symmetrical attraction magnetic force, but the tangential force only depends on the surface friction coefficient, and the processed sheet 3 has smooth surface, so that a small tangential force is applied to a machine body at one side to achieve the weak magnetic effect, and the advantage is that the weak magnetic force can be realized by applying the small tangential force, and the tangential force does not act on the processed sheet 3 to cause the deformation of the sheet. With the gradual pushing out in the tangential direction, the magnetic attraction force is rapidly reduced, and then torsion is applied to one side of the machine body, so that the effect of complete detachment can be realized.

The application also provides a multi-pair-foot symmetrical magnetic unlocking method, as shown in fig. 1, firstly, an unlocking strategy is generated, and a single-pair-foot symmetrical magnetic unlocking method is respectively executed for each pair of magnetic feet to be unlocked according to the strategy time sequence according to the unlocking strategy, wherein the unlocking strategy is to unlock according to the strategy time sequence according to the selection sequence from the near to the far of the moving target direction according to the moving target direction of the robot; when two pairs of feet equidistant in the direction of the moving object appear, one pair of feet is selected to be unlocked firstly; and the strategy time sequence is that the previous pair of feet move to the target position and are magnetically locked again, and then the unlocking operation of the next pair of feet is carried out.

The application also provides a robot, which comprises a first machine body 10 and a second machine body 20, as shown in fig. 3 and 4, wherein the first machine body 10 comprises a first working end 11 and 3 first magnetic attraction feet 12, the second machine body 20 comprises a second working end 21 and 3 second magnetic attraction feet 22 which are matched with the first magnetic attraction feet 12 in number, and each corresponding first magnetic attraction foot 12 and second magnetic attraction foot 22 are respectively arranged at two sides of a processed thin plate 3 and magnetically attracted so that the first machine body 10 and the second machine body 20 are stably kept at two sides of the processed thin plate 3; the first telescopic rods 121 are arranged between every two adjacent first magnetic attraction feet 12, the second telescopic rods 221 are arranged between every two adjacent second magnetic attraction feet 22, the first magnetic attraction feet 12 and the second magnetic attraction feet 22 have overturning functions, so that the robot can unlock by adopting a single-pair symmetrical magnetic unlocking method, tangential force exerted by the first magnetic attraction feet 12 or the second magnetic attraction feet 22 is implemented through telescopic pairs arranged on the first telescopic rods 121 or the second telescopic rods 221, namely the first magnetic attraction feet 12 and the second magnetic attraction feet 22 which are attracted correspondingly can be offset in a dislocation manner through the extension or shortening of the first telescopic rods 121 or the second telescopic rods 221, the 3 first telescopic rods 121 or the 3 second telescopic rods 221 can form a triangular motion chassis, overturning force exerted by the first magnetic attraction feet 12 or the second magnetic attraction feet 22 is realized through the overturning functions of the first magnetic attraction feet or the second magnetic attraction feet 22, and obstacle surmounting functions are further realized, as shown in fig. 20 and 21.

The first magnetic attraction foot 12 or the second magnetic attraction foot 22 on the single-side machine body are connected with the machine body shell 13 through the two branched chains 14, and the two adjacent magnetic attraction feet are connected through the telescopic rod, so that the base of the upper parallel platform is ensured to be fixed, the movement precision of the movable platform is improved, and meanwhile, the omnidirectional movement and wheel overturning of the whole machine body can be realized. Any three points of four points of grounding and one point overturning can be realized by matching with the universal wheel support on the middle first working end 11 or the second working end 21, as shown in fig. 5, the overturning obstacle crossing function can be realized, wherein fig. 6 shows a state when two magnetic feet are attracted and one working end is supported and one magnetic foot is attracted and overturned.

As shown in fig. 7 and 8, the first body 10 and the second body 20 are both in a 3R3P-2RPRP configuration, wherein 3R3P forms a triangle base with a variable length, and includes three rotating wheels 15 and three telescopic rods with variable lengths, and when the length of the telescopic rods is fixed, the omni-directional chassis is obtained. When the length of the telescopic rod is changed, two vertexes are fixed, the rest one vertex can be pushed out, namely, the first telescopic rod 121 or the second telescopic rod 221 realizes the telescopic function through the telescopic pair R arranged on the telescopic rod, wherein pushing out or retracting of the telescopic rod is tangential motion of the magnetic attraction foot, and when the symmetrical vertexes have magnetic attraction force, the tangential field weakening effect of one vertex can be realized, as shown in fig. 9. The 2rp configuration coupled above the triangle chassis is used for adjusting the position of the first working end 11 or the second working end 21, and includes a first supporting swing frame 011 and a second supporting swing frame 012, where the first supporting swing frame 011 includes a first vertical rod 1111 and a first transverse rod 1112, the second supporting swing frame 012 includes a second vertical rod 1121 and a second transverse rod 1122, the first vertical rod 1111 and the second vertical rod 1121 are configured with a revolute pair R, the first transverse rod 1112 and the second transverse rod 1122 are configured with a telescopic pair P, the top of the first working end 11 or the second working end 21 is sequentially connected with the first transverse rod 1112 and the second transverse rod 1122, and the telescopic pair P on the first transverse rod 1112 and the second transverse rod 1122 is connected through a revolute pair R, as shown in fig. 7 and 8, by actively controlling the revolute pair R on the first vertical rod 1111 and the second vertical rod 1121, the first transverse rod 1112 and the telescopic pair P on the second transverse rod 1122, and the telescopic pair P between the two revolute pair P in a top view, so that the two working ends can be realized at the two transverse ends of the two transverse rods 1112 and the first transverse rod 1122. That is, since the first work end 11 or the second work end 21 can be reached at the intersection point of the first transverse bar 1112 and the second transverse bar 1122 in the planar view, the first work end 11 or the second work end 21 can be reached at any position in the triangular base by controlling the respective angles of the revolute pairs only, and the intersection point can be reached.

The first working end 11 and the second working end 21 can be used to adsorb and compress the processed sheet 3 by adjusting the respective revolute pair R and the telescopic pair P.

Example 2:

this embodiment is a preferred embodiment of embodiment 1.

The present embodiment provides a robot, as shown in fig. 10, including a first body 10 and a second body 20, each of which forms a triangle bracket through 3 telescopic rods connected at the bottom.

As shown in fig. 11 and 12, in the overturning function in this embodiment, through the cylinder 16, the hinge 17 and the support 18 which are arranged on the magnetic attraction foot, when the first magnetic attraction foot 12 and the second magnetic attraction foot 22 which are corresponding to the magnetic attraction are offset in place in a dislocation manner, the cylinder 16 can drive the cylinder ejector rod of the cylinder to shrink so as to drive the hinge 17 to rotate around the shaft, so that the support 18 drives the rotating wheel 15 to leave the processed sheet 3, and the overturning force is applied.

As shown in fig. 13, the structure of the first working end 11 or the second working end 21 is a part of the structure, wherein the structure has functions of telescoping a presser foot and rotating and telescoping a drill bit, the presser foot is provided with universal wheels, and is also coupled with an electromagnetic device, the electromagnetic device comprises a micro-vibration drilling device 101, a drilling slide seat 102, a rotating motor 103, a drilling feed screw motor 104, a presser foot feed slide seat motor 105, a presser foot slide seat 106, a base 107, a presser foot rod 108, a universal roller device 109, a first coil 110, a first permanent magnet 111 and a drill bit guide sleeve 112, the drilling feed screw motor 104 can drive the drilling slide seat 102 to do linear motion, the drilling slide seat 102 is provided with the micro-vibration drilling device 101 and the rotating motor 103, the rotating motor 103 can drive the drill bit on the micro-vibration drilling device 101 to do linear motion, the presser foot slide seat 106 is provided with a presser foot rod 108, the tail end of the presser foot rod 108 is provided with the universal roller device 109, the first coil 110, the first permanent magnet 111 and the drill bit guide sleeve 112 which are sleeved in sequence from outside to inside, the universal roller device 109 is provided with the magnetic force adjusting device for jointly realizing the effect of the universal roller guide sleeve 112 on the first coil 110 and the tail end 111.

As shown in fig. 14 and 15, the micro-vibration drilling device 101 has a structure that the micro-vibration drilling device 101 comprises a drill 1011, a drill connection 1012, an output jack 1013, a lower magnetic conductive shell 1014, a ball bearing 1015, a bearing mounting block 1016, an anti-rotation screw pin 1017, a disc spring 1018, a non-magnetic conductive shell 1019, a second permanent magnet 1020, a magnetostrictive rod 1021, a top cover 1022, a tail rod 1023, a bearing shoulder 1024, an upper magnetic conductive shell 1025, an angular contact bearing 1026, a jackscrew 1027, a bearing shoulder 1028, a tail seat 1029, an electric shaft connecting rod 1030, a coil bobbin 1031, a second coil 1032, an outer magnetic conductive shell 1033, and a sensing coil 1034, wherein the lower end of the drill connection 1012 is wedge-embedded in the upper end of the drill 1011, and the upper end of the drill connection 1012 is wedge-embedded in the lower end of the output jack 1013 and fixed by screws; the disc spring 1018 is sleeved on the top end of the output push rod 1013 and compressed between the top end of the output push rod 1013 and the non-magnetic conductive shell 1019; the lower magnetic conduction shell 1014, the upper magnetic conduction shell 1025 and the outer magnetic conduction shell 1033 are all in loose-proof installation through screws; an anti-rotation threaded pin 1017 is in threaded engagement with the non-magnetically permeable housing 1019; the anti-rotation screw pin 1017 is matched with the groove of the non-magnetic conductive shell 1019, so that rotation is prevented, only axial movement is achieved, the non-magnetic conductive shell 1019 is in threaded connection with the tail rod 1023, the bearing shoulder sleeve 1028 presses the angular contact bearing 1026, the electric shaft connecting rod 1030 is nested with the motor shaft, and the set screw is used for preventing rotation. The principle of operation of the micro-vibration drilling device 101 is: the second coil 1032 is modulated with current, the magnetostrictive rod 1021 is lengthened and shortened, and the external drill 1011 generates axial vibration through the anti-rotation output push rod 1013, so that the drilling quality is improved; the electric shaft connecting rod 1030 is connected to the drill bit 1011 in series to generate rotary motion, and the rotary motion and the outer magnetic conductive shell 1033 and the like generate relative rotation through the ball bearing 1015 and the angular contact bearing 1026; the paired angular contact bearings 1026 can ensure that the mechanism can bear large axial force; the sensing coil 1034 is used to acquire magnetic field signals and thus vibration amplitude for closed loop feedback control adjustment. The micro-vibration drilling device 101 can realize a vibration rotary drilling function, and high-precision drilling is guaranteed.

Example 3:

this embodiment is another preferred embodiment of embodiment 1.

The present embodiment provides a robot, as shown in fig. 16, including a first body 10 and a second body 20, each of which forms a triangle bracket through 3 telescopic rods connected at the bottom. The first machine body 10 or the second machine body 20 respectively comprises a magnetic pressure foot assembly 201, a first steering engine 202, a first moving rod 203, a screw motor 204, a guide rod 205, a sliding block 206, a second moving rod 207, a magnetic device 208, a driving wheel 209, a steering device 210, a steering motor 211, a second steering engine 212, a first swinging rod 213, a sliding block 214 and a second swinging rod 215, wherein the first steering engine 202 can control the rotation angles of the first swinging rod 213 and the second swinging rod 215, and the screw motor 204 can drive the sliding block 206 to move close to or far away from the screw motor 204 when rotating so as to control the first moving rod 203 and the second moving rod 207 to move close to or far away from so as to realize tangential force application. The second steering engine 212 can control the action of the steering motor 211, can control the magnetic attraction device 208 to adjust the magnetic force, and can control the driving wheel 209 to rotate or not rotate.

The working principle of the embodiment is as follows: the first machine body 10 and the second machine body 20 are symmetrically adsorbed, the first steering engine 202 controls the rotation angles of the first swing rod 213 and the second swing rod 215, so that the magnetic presser foot assembly 201 can reach any position in a triangular area, and the sliding block 214 is in sliding fit with the first swing rod 213; the principle in fig. 9 can be realized by lengthening and shortening the triangle side rod.

As shown in fig. 17, the magnetic presser foot assembly 201 includes a rotating component 2011, a lever slider 2012, a flexible guide rod 2013, a spring 2014, an external fixing frame 2015, a third permanent magnet 2016, a third coil 2017, a permanent magnet limiting ring 2018, and the working principle of the magnetic presser foot assembly 201 is as follows: when the magnetic presser foot of the single-side machine body contacts with the processed sheet 3, as shown in fig. 19, the opposite-side machine body controls the first steering engine 202 to enable the magnetic presser foot assembly 201 to reach the position of the symmetry plane, and due to non-plane, the flexible guide rod 2013 and the spring 2014 are automatically adsorbed to the symmetry plane of the magnetic presser foot of the single-side machine body under the action of the magnetic attraction force jointly applied by the third permanent magnet 2016 and the third coil 2017, so that the magnetic presser foot coincides with the normal direction of the plate surface, and the two-side presser foot presses the processed sheet 3, so that the next drilling operation is facilitated.

As shown in fig. 18, during the drilling operation of the drill 1011, the drilled chips are discharged.

Example 4:

this embodiment is a modification of embodiment 1.

The embodiment provides a symmetrical magnetic unlocking method for a single pair of feet, which is shown in fig. 1 and comprises the following steps:

s1: the magnetic force of the first magnetic attraction foot 12 and/or the magnetic force of the second magnetic attraction foot 22 are adjusted to weaken the magnetic attraction force between the first magnetic attraction foot 12 and the second magnetic attraction foot 22, and tangential force is applied to the first magnetic attraction foot 12 or the second magnetic attraction foot 22 to enable tangential displacement of the first magnetic attraction foot 12 relative to the second magnetic attraction foot 22 to further weaken the magnetic attraction force between the first magnetic attraction foot 12 and the second magnetic attraction foot 22. For example, the magnetic forces of the first magnetic attraction foot 12 and the second magnetic attraction foot 22 are generated by electromagnets, and the magnetic force F between the first magnetic attraction foot 12 and the second magnetic attraction foot 22 is adjusted by adjusting and controlling the current of the electromagnets to change the magnetic force of the first magnetic attraction foot 12 and/or the second magnetic attraction foot 22 _a ；

S2: the overturning force is applied to the first magnetic attraction foot 12 or the second magnetic attraction foot 22 so that the first magnetic attraction foot 12 or the second magnetic attraction foot 22 is separated from the processed sheet 3, and unlocking between the two magnetic attraction feet is realized.

In the embodiment, the magnetic force of each magnetic attraction foot is adjusted, and tangential force is applied to adjust the magnetic attraction foot, so that the whole adjustment is more labor-saving, and the operation is simpler.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. A symmetrical magnetic unlocking method for a single pair of feet is characterized by comprising the following steps:

s1: a tangential force is exerted on one of the first magnetic attraction feet (12) and the second magnetic attraction feet (22) which are respectively arranged on two sides of the processed sheet (3) in a magnetic attraction mode, so that the first magnetic attraction feet (12) are subjected to tangential displacement relative to the second magnetic attraction feet (22) to weaken magnetic attraction force between the first magnetic attraction feet and the second magnetic attraction feet;

s2: and applying overturning force to the first magnetic attraction foot (12) or the second magnetic attraction foot (22) to enable the first magnetic attraction foot (12) or the second magnetic attraction foot (22) to be separated from the processed sheet (3) so as to realize unlocking between the two magnetic attraction feet.

2. The method according to claim 1, wherein the magnetic attraction force between the two magnetic attraction feet in S1 is reduced by adjusting the magnetic force of the first magnetic attraction foot (12) and/or the magnetic force of the second magnetic attraction foot (22) so that the magnetic force between the first magnetic attraction foot (12) and the magnetic force between the second magnetic attraction foot (22) are reduced.

3. The method of claim 1, wherein the magnetic attraction between the two magnetic attraction feet is reduced before the tangential force is applied to the magnetic attraction feet.

4. Root of Chinese characterThe method of unlocking a symmetrical magnetic force of a single pair of feet according to claim 1, wherein the tangential force is F, and the magnetic attraction force between the first magnetic attraction foot (12) and the second magnetic attraction foot (22) when facing each other is F _a F is then _a ＞＞f。

5. A multi-pair foot symmetric magnetic unlocking method, characterized in that an unlocking strategy is generated, and the single-pair foot symmetric magnetic unlocking method according to any one of claims 1 to 4 is respectively executed on each pair of magnetic feet to be unlocked according to a strategy time sequence according to the unlocking strategy.

6. The method for unlocking a plurality of pairs of feet by symmetric magnetic force according to claim 5, wherein the unlocking strategy is to unlock according to the strategy time sequence according to the moving target direction of the robot and the selection sequence from the near to the far of the moving target direction;

when two pairs of feet equidistant in the direction of the moving object appear, one pair of feet is selected for unlocking;

the strategy time sequence is that the front pair of feet move to the target position and are magnetically locked again, and then the unlocking operation of the rear pair of feet is carried out.

7. A robot comprising a first body (10) and a second body (20), wherein the first body (10) comprises a first working end (11) and 3 first magnetic attraction feet (12), the second body (20) comprises a second working end (21) and 3 second magnetic attraction feet (22) matched with the first magnetic attraction feet (12), and each corresponding first magnetic attraction foot (12) and second magnetic attraction foot (22) are respectively arranged on two sides of a processed sheet (3) and magnetically attracted so that the first body (10) and the second body (20) are stably kept on two sides of the processed sheet (3);

every two adjacent first magnetism is inhaled and is all had first telescopic link (121) between sufficient (12), every two adjacent second magnetism is inhaled and is all had second telescopic link (221) between sufficient (22), first magnetism is inhaled sufficient (12), second magnetism is inhaled sufficient (22) and is all had the upset function and make the robot can be enough through first telescopic link (121) or second telescopic link (221) for first magnetism is inhaled sufficient (12) and is taken place tangential displacement and then weaken the magnetic attraction between each other for second magnetism and exert the tilting force through the upset function and make first magnetism inhale sufficient (12) or second magnetism inhale sufficient (22) and break away from by processing sheet metal (3) and then realize that two magnetism inhale sufficient between unblock, wherein, first operation end (11) and second operation end (21) can play the magnetism and inhale sufficient magnetism and inhale the effect that supports in the robot unblock process.

8. The robot according to claim 7, wherein the overturning function is realized by a cylinder (16), a hinge (17) and a support body (18) of the first magnetic attraction foot (12) or the second magnetic attraction foot (22), and when the first magnetic attraction foot (12) and the second magnetic attraction foot (22) which are attracted by corresponding magnets are offset in place in a dislocation manner, the cylinder (16) can drive the hinge (17) to rotate around a shaft so that the support body (18) drives the rotating wheel (15) to leave the processed sheet (3) to realize the application of overturning force.

9. Robot according to claim 7, characterized in that the first working end (11) and/or the second working end (21) each have a vibration drilling function and a vibration amplitude feedback function.

10. The robot according to claim 7, wherein the first body (10) or the second body (20) has a magnetic presser foot assembly (201) for flexibly and adaptively pressing the processed sheet (3).