CN212858528U - Panel processingequipment based on robot - Google Patents

Abstract

The utility model provides a panel processingequipment based on robot, contain the robot system, the robot system contains actuating mechanism and fixed subassembly, two actuating mechanism forms the actuating mechanism group, two actuating mechanisms set up respectively at the both ends along the thickness direction of waiting to process the thing in an actuating mechanism group, the actuating mechanism includes functional module and support carrier, the functional module includes processing tool and walking foot, fixed subassembly is installed on walking foot or support carrier, support carrier includes connecting rod piece, walking foot installs at connecting rod piece, walking foot cooperation connecting rod piece can drive the robot system and move on waiting to process the thing, processing tool can make the through-hole on waiting to process the thing, actuating mechanism group can realize the fixed of actuating mechanism through fixed subassembly, realized on the large surface sheet metal to implement similar riveted processing operation, the problem of the riveting operation in-process walking foot break away from each other and can not stably stand is solved, simple structure, the practicality is strong.

Description

Panel processingequipment based on robot

Technical Field

The utility model relates to a panel processing field, robot field specifically, relate to a panel processingequipment based on robot.

Background

The large-surface plate processing usually adopts large-scale machine equipment, has the defects of high power, large loss, large displacement motion range design and the like, and particularly has the defects of ensuring high precision and small removal amount and providing a tiny feeding force to prevent deformation for large-surface thin plates such as wings, cabins and the like.

For a large-surface thin plate, because the bearing capacity is limited, a processing worker cannot directly work on the bent plate, therefore, a process mode of processing first and then bending is usually adopted, but the processing efficiency is low and stress recovery deformation can occur, the multi-dimensional action processing robot disclosed in patent document CN108527331A solves the technical problems, and can finish the technical problems of spraying, drilling, polishing and the like on the large-surface thin plate, but the equipment cannot realize the operation of riveting on the thin plate and the like which needs a large force, and the robot cannot cause the riveting operation failure only by stably standing on the processed plate.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a panel processingequipment based on robot.

According to the utility model provides a panel processingequipment based on robot, contain the robot system, the robot system contains actuating mechanism, two the actuating mechanism forms the actuating mechanism group;

two actuating mechanisms in one actuating mechanism group are respectively arranged at two ends of the object to be processed along the thickness direction;

the robot system comprises a fixing assembly, the executing mechanism comprises a functional assembly and a supporting carrier, the functional assembly is arranged on the supporting carrier and comprises a processing tool and walking feet, the fixing assembly is arranged on the walking feet or arranged on the supporting carrier, the supporting carrier comprises a connecting rod piece, and the walking feet are arranged on the connecting rod piece;

the walking feet can drive the robot system to move on the object to be processed under the coordination of the connecting rod pieces;

the processing tool is used for processing the object to be processed, wherein the processing tool can be used for manufacturing a through hole in the object to be processed;

the actuating mechanism group can realize the fixation of the actuating mechanism by the fixing component passing through one or more through holes on the object to be processed.

Preferably, the fixed assembly comprises a first power assembly, a first housing and a second housing;

the first shell is arranged on one actuating mechanism in the actuating mechanism group, the second shell is arranged on the other actuating mechanism in the actuating mechanism group, and the first power assembly is arranged on any actuating mechanism in the actuating mechanism group.

Preferably, a through connecting piece is arranged on the first power assembly, and the first power assembly can drive the through connecting piece to sequentially pass through the first shell and the through hole in the object to be processed and extend into the second shell to lock the first shell and the second shell relative to the object to be processed;

or the first power assembly can drive the penetrating connecting piece to sequentially pass through the through holes in the second shell and the object to be machined and extend into the first shell to lock the first shell and the second shell relative to the object to be machined.

Preferably, the through-connection is configured as any one of the following:

the circumference of the through connection piece is provided with an external thread, the first shell and the second shell are both provided with an internal thread through hole matched with the through connection piece, and the through connection piece can sequentially pass through the first shell, the through hole in the object to be processed and the second shell to realize locking under the driving of the first power assembly;

the through-connection is a cylindrical structure, and a first elastic body, a second elastic body and rolling bodies are arranged in the first shell or the second shell;

an installation channel is arranged in the first shell or the second shell, and a conical space is arranged in the installation channel;

the first elastic body is arranged at one end of the conical space, the second elastic body is arranged at the other end of the conical space, and the rolling body is arranged in the conical space and is arranged between the first elastic body and the second elastic body;

the through connecting piece can penetrate through the mounting channel, the rolling body is in contact with the through connecting piece, and the rolling body and the through connecting piece can be switched between a locking state and a loosening state;

one end of the through connecting piece is connected with the first power assembly, and the other end of the through connecting piece sequentially passes through the first shell and the through hole in the object to be processed and is locked in the second shell; or one end of the through connecting piece is connected with the first power assembly, and the other end of the through connecting piece sequentially passes through the second shell and the through hole in the object to be processed and is locked in the first shell.

Preferably, a walking foot on one of the actuating mechanisms in one actuating mechanism group forms a first suction block, and a walking foot on the other actuating mechanism forms a second suction block;

the plurality of first suction blocks are connected through the arranged first connecting rods, and the plurality of second suction blocks are connected through the arranged second connecting rods;

the first attraction block and/or the second attraction block are/is of an electromagnet structure;

the first attraction block and the second attraction block are arranged in pair and can attract each other at least when the electromagnet structure is electrified;

the first connecting rod and the second connecting rod both comprise any one or more of the following structures:

-a resilient rod;

-a telescopic rod;

-a linear motor configuration.

Preferably, the support carrier comprises a support body and a connecting rod;

one end of the connecting rod piece is arranged on the supporting body, and the other end of the connecting rod piece is connected with the walking foot, the fixing assembly and/or the processing tool; alternatively, the first and second electrodes may be,

the processing tool is directly mounted on the support body;

the connecting rod member comprises any one or more of the following structures:

-a rigid rod;

-a resilient rod;

-a telescopic rod;

-a linear motor configuration.

Preferably, the machining tool comprises a drilling tool and any one or more of the following:

spraying tools, riveting tools, milling tools, grinding work, polishing tools, filling tools, optical tools, detection tools.

Preferably, the functional components of the two actuators of the actuator group are structurally completely symmetrical, partially symmetrical or completely asymmetrical.

Preferably, each of said functional components comprises at least one walking foot, said working tool being able to constitute a temporary foot;

the processing tool includes a magnetic portion.

Preferably, the robot system comprises a control device, the control device is connected with the actuating mechanisms, and the number of the actuating mechanism groups is one or more;

and the execution mechanism groups carry the same or different processing tools to complete processing tasks when the object to be processed runs.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the utility model provides a panel processingequipment based on robot has effectively realized moving and implementing the great processing operation of application of force such as similar riveting operation on the sheet metal of big surface through adopting fixed subassembly, has solved the problem that riveting operation in-process robot walking enough breaks away from each other can not stably stand, simple structure, and the practicality is strong.

2. The utility model discloses the special fixed subassembly cooperation through-hole of characteristics design of skillfully using drilling operation realizes standing stably of robot, can enough guarantee the even or little characteristics of atress of panel atress, guarantees that panel does not take place deformation, can accomplish the great panel operation of multiple dynamics again.

3. The utility model discloses in can adopt the structure realization locking of multiple locking, the structure is nimble, can select according to the characteristics of actual operation in-process are nimble.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a fixing assembly;

FIG. 3 is a schematic structural view of the through connector beginning to move after the fixing assembly moves to the fixing position;

FIG. 4 is a schematic structural view of the through-connection member moving through the through-hole in the object to be processed after the fixing assembly moves to the fixing position;

FIG. 5 is a schematic view of the connection through the connector after the fixing assembly has been moved to a fixed position and locked;

FIG. 6 is a schematic view of the unlocked movement of the through connector after the machining operation is completed;

FIG. 7 is a schematic view of one embodiment of the present invention with the through connector locked;

FIG. 8 is a schematic structural view of a walking foot of the present invention;

fig. 9 is a schematic layout view of the fixing holes and the holes to be processed of the fixing assembly in the embodiment of the present invention.

The figures show that:

robot system 1 through connection 8 machining tool 33

Supporting body 40 of actuator 11 of object to be processed 2

Functional assembly 3 first elastic body 23 connecting rod 45

Second elastic body 24 first suction block 311 of support carrier 4

First connecting rod 312 for rolling body 25 of fixing component 5

The conical space 26 of the first casing 6 and the second suction block 315

Second shell 7 walking foot 32 second connecting rod 316

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

The utility model provides a plate processing device based on a robot, which is shown in figure 1 and comprises a robot system 1, the robot system 1 comprises an actuating mechanism 11, two actuating mechanisms 11 form an actuating mechanism group, the number of the actuating mechanism group is one or more, in the actual plate processing process, the number of the actuating mechanism groups can be selected according to the actual size of the plate, when the area of the plate to be processed is larger, a plurality of actuator groups can be used to complete different machining tasks, such as drilling, riveting, polishing, spraying, etc., and carry the same or different machining tools 33 to operate on the object 2 to be machined and can complete different tasks, for the actual requirements of the operation, the robot system 1 comprises a control device for controlling the other components of the present invention.

Specifically, two actuators 11 in one actuator group are respectively arranged at two ends of the object 2 to be processed in the thickness direction, and the functional assemblies 3 in the two actuators 11 in the same actuator group are completely symmetrical, partially symmetrical or completely asymmetrical in structure.

Further, the robot system 1 includes a fixing component 5, the executing mechanism 11 includes a functional component 3 and a supporting carrier 4, the functional component 3 is installed on the supporting carrier 4, the functional component 3 includes a processing tool 33 and a walking foot 32, the fixing component 5 is installed on the walking foot 32 or installed on the supporting carrier 4, when the fixing component 5 is installed on the supporting carrier 4, the movement of the fixing component 5 depends on the walking foot 32 to drive the supporting carrier 4 and further drive the fixing component 5 to move or position when walking, the walking foot 32 can drive the robot system 1 to move on the object 2 to be processed, the processing tool 33 processes the object 2 to be processed, wherein the processing tool 33 includes a drilling tool, the processing tool 33 can make a through hole on the object 2 to be processed by the drilling tool, the processing tool 33 further includes a spraying tool, Any one or more of riveting tools, milling tools, grinding work, polishing tools, filling tools, optical tools, detection tools, wherein the optical tools comprise laser positioning equipment, image equipment, such as optical photography, for collecting working images of the surface of the plate, and the detection tools comprise thickness measuring tools, temperature measuring tools, sensors and positioning tools, etc.

Specifically, the actuator group can fix the actuators 11 by passing a fixing assembly 5 through one or more through holes on the object 2 to be processed, the fixing assembly 5 includes a first power assembly, a first housing 6 and a second housing 7, the first housing 6 is mounted on one actuator 11 in the actuator group, the second housing 7 is mounted on the other actuator 11 in the actuator group, and the first power assembly is mounted on any one actuator 11 in the actuator group.

Specifically, a through connection piece 8 is arranged on the first power assembly, and the first power assembly can drive the through connection piece 8 to sequentially pass through the first shell 6 and the through hole in the object to be processed 2 and extend into the second shell 7 to lock the first shell 6 and the second shell 7 relative to the object to be processed 2; or, the first power assembly can drive the through-connection member 8 to sequentially pass through the second housing 7 and the through-hole in the object 2 to be processed and extend into the first housing 6 to lock the first housing 6 and the second housing 7 relative to the object 2 to be processed, in practical application, in order to ensure the stability of the fixation of the whole actuator group, in a preferred embodiment, two through-connection members 8 are used for locking, as shown in fig. 3 to 5, the through-connection members 8 are used as process diagrams during the locking process, and fig. 6 is a schematic structural diagram of the actuator that moves away from the object 2 to be processed after the through-connection members 8 are unlocked when the actuator needs to move.

Specifically, the through-connection member 8 may take a tubular structure, a cylindrical columnar structure, or the like.

As shown in fig. 9, the actual process is schematically illustrated, wherein the black dots are through holes used for fixing the fixing member 5, and the white dots are through holes for further operations, such as riveting.

Further, the first power assembly and the second power assembly can adopt a plurality of driving modes such as motor driving, magnetic driving, hydraulic driving, pneumatic driving and the like, taking motor driving as an example, in a preferred example, the circumference of the through connecting piece 8 is provided with external threads, the first shell 6 and the second shell 7 are both provided with internal thread through holes matched with the through connecting piece 8, and the through connecting piece 8 can sequentially pass through the first shell 6, the through hole on the object to be processed 2 and the second shell 7 under the driving of the motor to realize locking; in a modified example, as shown in fig. 6, the through-connector 8 is a cylindrical structure, the first elastic body 23, the second elastic body 24 and the rolling body 25 are provided in the first housing 6 or the second housing 7, the first housing 6 or the second housing 7 is provided with an installation channel in which a tapered space 26 is provided, the first elastic body 23 is installed at one end of the tapered space 26, the second elastic body 24 is installed at the other end of the tapered space 26, the rolling body 25 is installed in the tapered space 26 and is provided between the first elastic body 23 and the second elastic body 24, the through-connector 8 can pass through the installation channel and the rolling body 25 is in contact with the through-connector 8, the rolling body 25 and the through-connector 8 can be switched between a locked state and an unlocked state, one end of the through-connector 8 is connected to a motor, the other end of the through connecting piece 8 sequentially passes through the first shell 6 and the through hole on the object to be processed 2 and is locked in the second shell 7; or, one end of the through connection member 8 is connected to the motor, and the other end of the through connection member 8 sequentially passes through the second housing 7 and the through hole in the object 2 to be processed and is locked in the first housing 6, specifically, in the locking and unlocking process, when the through connection member 8 moves into the tapered space 26, the through connection member 8 is locked when the through connection member 23 is driven to be close to the rolling element 25 to apply force under the control of the control device, and when the through connection member 8 needs to be unlocked, the control device controls the second elastic body 24 to be close to the rolling element 25 to apply force when the through connection member 8 is in the unlocked state.

Specifically, as shown in fig. 8, in one actuator group, the walking foot 32 on one of the actuators 11 forms a first attraction block 311, the walking foot 32 on the other of the actuators 11 forms a second attraction block 315, the first attraction blocks 311 are connected by a first connecting rod 312, the second attraction blocks 315 are connected by a second connecting rod 316, the first attraction block 311 and/or the second attraction block 315 are of an electromagnet structure, the first attraction block 311 and the second attraction block 315 are arranged in pair and can attract each other at least when the electromagnet structure is energized, and the first connecting rod 312 and the second connecting rod 316 are both elastic rods, telescopic rods, linear motor structures or other structures capable of generating length change.

Further, the utility model discloses a set up first attraction piece 311, second attraction piece 315 for having magnetic structure, head rod 312 and second connecting rod 316 and can produce length variation's structure and realize walking foot and wait that the mutual displacement in turn of processing thing 2 positive and negative, coordinate unanimous realization and remove, move to the target location to treating processing thing 2 and adsorbing, the automation that produces operation part operation holding power structure is adjusted well or the position appearance is rectified, the logarithm of walking foot 32 can be adjusted as required, forms for example four-footed, five-footed or more sufficient robot. Preferably, the number of said connecting rods 45 can also be adjusted as required to obtain more degrees of freedom.

Specifically, as shown in fig. 1, the support carrier 4 includes a support body 40 and a connection rod 45, one end of the connection rod 45 is mounted on the support body 40, and the other end of the connection rod 45 is connected with the walking foot 32, the fixing assembly 5 and/or the processing tool 33; or, the processing tool 33 is directly mounted on the support 40, the connecting rod 45 can be a rigid rod, an elastic rod, an expansion rod or a linear motor structure, for example, the robot system 1 further includes a first power assembly, the first power assembly can drive the connecting rod 45 to extend, shorten or move along an axial direction, the connecting rod 45 can function as a leg when the robot system 1 moves, has an axial adjustment function, and realizes leg-like movement of the entire robot system 1, and drives the walking feet 32 to realize movement of the robot system 1, during the movement process, the two opposite walking feet 32 in the two execution mechanisms 11 in one execution mechanism group cooperatively move, so as to realize automatic alignment, during the movement process, the walking foot 32 in one execution mechanism 11 is an active foot, and the corresponding walking foot 32 in the other execution mechanism 11 is a passive foot, the sliding of the object 2 to be machined is achieved due to the suction.

Further, the machining tool 33 may have degrees of freedom such as axial movement and circumferential rotation, and may further increase micro-vibration and micro-impact to form a constant pressing force and strain feeding force pattern, thereby adapting to different machining requirements. The whole robot system 11 can move to any position of the object 2 to be processed through multi-foot coordinated alternating motion, a reference plane is positioned at any spatial position, the plane is taken as a reference, the processing tool 33 is driven to self-feed and self-rotate, and operation is carried out in the positioning direction of a support platform with any spatial curved surface and multiple degrees of freedom. In practical applications, the working tool 33, including multi-purpose tools, may be directly fixed to the connecting rod 45 or directly mounted on the support body 40 to meet various loads, vibrations and other operational requirements, depending on the specific shape and characteristics of the working process, in order to meet the requirements of a certain task.

Specifically, each of the functional components 3 at least includes one walking foot 32, the processing tool 33 can constitute a temporary foot, the processing tool 33 includes a magnetic part, the standing of the robot system 1 can be realized only by matching one walking foot 32 with the fixing component 5, in practical application, the proper number of walking feet 32 are selected according to the practical situation of processing operation to achieve the best and most efficient working efficiency, and the processing tool 33 is used as the temporary foot to achieve the purposes of supporting and assisting walking when necessary, therefore, the utility model can form a single-foot and multi-foot standing and walking mode, wherein, the passive walking and standing actions can still be realized only by depending on the single foot and the processing tool 33, the active walking and standing actions can be realized by depending on two feet and the processing tool 33, when three walking feet exist, the robot system can be more stable, the number of walking feet 32 is chosen appropriately for different tasks. The processing tool 33 may be provided with a magnetic member, and a temporary third point, i.e., a temporary foot, may be realized by magnetic force. The temporary foot is realized by sucking the object 2 to be processed, and by sucking the two processing tools 33 on both sides to each other.

In particular, the connecting rod 45 has an axial adjustment function, which allows each robot system 1 to have at least 6 degrees of freedom in directions, facilitating alignment adjustment of the working tool 33. The machining tool 33 itself may have degrees of freedom such as axial movement and circumferential rotation, and may further increase micro-vibration and micro-impact to form a constant pressing force and strain feeding force pattern, thereby adapting to different machining requirements. The three-feet coordinated and alternate movement can enable the whole plate processing device based on the robot to move to any flat plate or any position on any surface with a certain curvature radius, a reference plane is positioned at any spatial position, the plane is taken as a reference, the processing tool 33 is driven to self-feed and self-rotate, and the plate processing device can operate in any spatial curved surface and multi-degree-of-freedom supporting platform positioning direction.

Use the riveting as an example, the utility model discloses a theory of operation as follows:

the riveting position is determined through positioning equipment, imaging equipment and various detection equipment, the control device controls a drilling tool to drill at a position needing riveting operation, after drilling of the position needing riveting is finished, the standing position of the walking foot 32 during riveting operation is determined through the detection tool, the positioning equipment, the imaging equipment and other equipment, after the standing position of the walking foot 32 is determined, the drilling tool is used for drilling at the standing position of the walking foot 32, after drilling is finished, the control device controls the fixing component 5 to move to complete fixing, at the moment, the execution mechanism group completes positioning and fixing, and the control device controls the machining tool 33 to perform riveting operation.

It should be noted that, in the present invention, the operation with small force can be realized by the walking feet 32 on both sides of the object to be processed 2 in the actuator group without fixing the fixing component 5, and is completed by the fixing component 5 only when the operation with large force such as riveting is performed.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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

Claims (10)

1. A robot-based sheet material processing apparatus, comprising a robot system (1), wherein the robot system (1) comprises actuators (11), and two of the actuators (11) form an actuator group;

two actuating mechanisms (11) in one actuating mechanism group are respectively arranged at two ends of the object (2) to be processed along the thickness direction;

the robot system (1) comprises a fixing assembly (5), the executing mechanism (11) comprises a functional assembly (3) and a supporting carrier (4), the functional assembly (3) is installed on the supporting carrier (4), the functional assembly (3) comprises a processing tool (33) and a walking foot (32), the fixing assembly (5) is installed on the walking foot (32) or the supporting carrier (4), the supporting carrier (4) comprises a connecting rod piece (45), and the walking foot (32) is installed on the connecting rod piece (45);

the walking foot (32) is matched with the connecting rod piece (45) and can drive the robot system (1) to move on the object (2) to be processed;

the processing tool (33) processes the object to be processed (2), wherein the processing tool (33) can make a through hole on the object to be processed (2);

the actuating mechanism group can realize the fixation of the actuating mechanism (11) by the fixing component (5) passing through one or more through holes on the object to be processed (2).

2. The robot-based sheet processing apparatus according to claim 1, wherein the stationary assembly (5) comprises a first power assembly, a first housing (6) and a second housing (7);

the first shell (6) is arranged on one actuating mechanism (11) in the actuating mechanism group, the second shell (7) is arranged on the other actuating mechanism (11) in the actuating mechanism group, and the first power assembly is arranged on any actuating mechanism (11) in the actuating mechanism group.

3. The robot-based plate processing device according to claim 2, wherein the first power assembly is provided with a through connector (8), and the first power assembly can drive the through connector (8) to sequentially pass through the through holes in the first shell (6) and the object to be processed (2) and extend into the second shell (7) to lock the first shell (6) and the second shell (7) relative to the object to be processed (2);

or the first power assembly can drive the penetrating connecting piece (8) to sequentially pass through the second shell (7) and the through hole in the object to be machined (2) and extend into the first shell (6) to lock the first shell (6) and the second shell (7) relative to the object to be machined (2).

4. A robot-based sheet processing apparatus according to claim 3, wherein the through-connection (8) is of any one of the following configurations:

the circumference of the through connecting piece (8) is provided with an external thread, the first shell (6) and the second shell (7) are both provided with an internal thread through hole matched with the through connecting piece (8), and the through connecting piece (8) can sequentially pass through the first shell (6), the through hole on the object to be processed (2) and the second shell (7) under the driving of the first power assembly to realize locking;

-the through-connection (8) is of cylindrical construction, a first elastomer (23), a second elastomer (24) and rolling bodies (25) being arranged in the first housing (6) or the second housing (7);

a mounting channel is arranged in the first shell (6) or the second shell (7), and a conical space (26) is arranged in the mounting channel;

the first elastic body (23) is installed at one end of the conical space (26), the second elastic body (24) is installed at the other end of the conical space (26), and the rolling body (25) is installed in the conical space (26) and arranged between the first elastic body (23) and the second elastic body (24);

the through connection piece (8) can penetrate through the installation channel, the rolling body (25) is in contact with the through connection piece (8), and the rolling body (25) and the through connection piece (8) can be switched between a locking state and a releasing state;

one end of the through connecting piece (8) is connected with the first power assembly, and the other end of the through connecting piece (8) sequentially passes through the first shell (6) and the through hole in the object to be processed (2) and is locked in the second shell (7); or one end of the through connecting piece (8) is connected with the first power assembly, and the other end of the through connecting piece (8) sequentially passes through the second shell (7) and the through hole in the object to be processed (2) and is locked in the first shell (6).

5. The robot-based sheet material processing apparatus according to claim 1, wherein a walking foot (32) on one of the actuators (11) in one actuator group forms a first suction block (311), and a walking foot (32) on the other actuator (11) forms a second suction block (315);

the first suction blocks (311) are connected through the arranged first connecting rods (312), and the second suction blocks (315) are connected through the arranged second connecting rods (316);

the first attraction block (311) and/or the second attraction block (315) are of electromagnet structures;

the first attraction block (311) and the second attraction block (315) are arranged in pair and can attract each other at least when the electromagnet structure is electrified;

the first connecting rod (312) and the second connecting rod (316) each include one or more of the following structures:

-a resilient rod;

-a telescopic rod;

-a linear motor configuration.

6. The robot-based sheet processing apparatus according to claim 1, wherein the support carrier (4) comprises a support body (40);

one end of the connecting rod piece (45) is arranged on the support body (40), and the other end of the connecting rod piece (45) is connected with the walking foot (32), the fixing component (5) and/or the processing tool (33); alternatively, the first and second electrodes may be,

the working tool (33) is mounted directly on a support (40);

the connecting rod member (45) comprises any one or more of the following structures:

-a rigid rod;

-a resilient rod;

-a telescopic rod;

-a linear motor configuration.

7. The robot-based sheet material processing apparatus of claim 1, wherein the processing tool (33) comprises a drilling tool and any one or more of:

spraying tools, riveting tools, milling tools, grinding work, polishing tools, filling tools, optical tools, detection tools.

8. The robot-based sheet processing apparatus according to claim 1, characterized in that the functional modules (3) in two actuators (11) of the set of actuators are structurally completely symmetrical, partially symmetrical or completely asymmetrical.

9. The robot-based sheet material processing device according to claim 1, characterized in that each of the functional components (3) comprises at least one walking foot (32), the processing tool (33) being able to constitute a temporary foot;

the processing tool (33) includes a magnetic portion.

10. The robot-based sheet material processing apparatus according to claim 1, wherein the robot system (1) comprises a control device, the control device is connected with the execution mechanisms, and the number of the execution mechanism groups is one or more;

the execution mechanism groups carry the same or different processing tools (33) to complete processing tasks when the object (2) to be processed runs.

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