WO2024230482A1 - Magnetic drilling machine capable of automatically adjusting position and pose - Google Patents

Abstract

A magnetic drilling machine capable of automatically adjusting a position and pose, comprising a drilling assembly (1), a position and pose adjusting assembly (2) and a drilling machine fixing assembly (3) which are successively connected; the drilling assembly (1) comprises a drilling mechanism and a drilling feeding mechanism; the position and pose adjusting assembly (2) comprises a 3R1P four-axis serial mechanism; the drilling machine fixing assembly (3) comprises three supporting rods (307) and three belt-pulled magnetic feet, the three supporting rods (307) and the three belt-pulled magnetic feet are mounted centrally symmetrically about the central axis of the drilling machine and are alternately and uniformly arranged. Said drilling machine can be attached and fixed to complex surfaces to implement a drilling operation, and can further automatically adjust the position and pose of a main spindle of the drilling machine, so as to determine a drilling position and a drilling direction, not only saving the time and labor cost required for manufacturing, installing and adjusting a clamp, and but also allowing for a compact structure, easy control and high drilling precision.

Description

A magnetic drilling rig capable of self-adjusting its position Technical Field

The invention belongs to the technical field of drilling equipment, and in particular relates to a magnetic drilling rig capable of self-adjusting its posture.

Background Art

A drilling machine is a machine tool that uses a drill to make holes on a workpiece, and is widely used in metal processing. Usually, when processing a workpiece, in addition to ensuring the position accuracy of the hole, it is also necessary to ensure the angle between the processing surface and the drill bit (usually a vertical angle). For a simple workpiece with only one processing surface, it only needs to be clamped once to complete the processing; but for a complex workpiece, it may be necessary to drill holes on many non-parallel surfaces, or it may be necessary to drill holes on a curved surface. At this time, multiple clamping is required to ensure that the drill bit is perpendicular to the processed surface each time a hole is drilled. In this case, not only are the clamping procedures numerous and inefficient, but also because the fixture itself is not accurate, it is difficult to ensure that the drill bit and the processed surface are perpendicular. The quality of the clamping often depends on the skills and experience of the operator, which is highly random and inefficient. In addition, the design and manufacture of the fixture also brings a lot of work and cost. Therefore, developing an automated drilling machine that can perform drilling operations on a variety of planes or curved surfaces, reduce the movement and clamping frequency of workpieces during drilling operations, and automatically adjust and fix the drill position and posture to ensure the drilling position accuracy and drilling direction has very positive practical significance for improving drilling accuracy, improving processing efficiency, and reducing human resource costs.

There are also some solutions to the above problems in the prior art: Patent CN108098784A discloses an aircraft wing drilling and milling robot, which is used for aircraft wing surface processing. It can realize automatic spindle centering and automatic normal alignment on the curved surface, improve the accuracy of the drilled holes, and reduce processing costs. This invention realizes the function of precise positioning through an XY displacement platform and a 3-axis parallel mechanism, but its shortcomings are also obvious: the working space of the 3-axis parallel mechanism is small, and the posture can only be adjusted within a small range, and the adsorption and fixing accuracy error is large; using a laser tracker to adjust the posture requires a complex algorithm to solve, and each drilling requires a separate calculation and solution, which increases the cost. Patent CN104308839A discloses a structurally decoupled hexapod drilling and milling processing robot, including: a robot torso equipped with a drilling and milling electric spindle, six machine Mechanical legs, six feet equipped with adsorption devices; through the six mechanical legs walking and positioning on the surface of the processed object, drilling and milling processing are realized. In this scheme, each mechanical leg is a branched chain with a closed loop three-degree-of-freedom decoupling mechanism. Therefore, when controlling the positioning of the drill bit, the decoupling algorithm is complex and the calculation accuracy is difficult to guarantee, resulting in low control efficiency and low positioning accuracy.

In summary, the solutions in the prior art are either limited in application, have poor positioning effects, or have complex structures, low control efficiency, and poor control accuracy. The research on drilling equipment with self-positioning functions for drilling operations on complex surfaces is still of great significance.

Summary of the invention

In view of the shortcomings of the prior art, the present invention provides a magnetic drilling rig with self-adjustable posture, which can not only be adsorbed and fixed on complex surfaces to perform drilling operations, but also can automatically adjust the drill rig spindle posture to locate the drilling position and drilling direction, which not only saves the time and labor costs required for fixture manufacturing and clamping and debugging, but also has a compact structure, simple control and high drilling accuracy.

To achieve the above object, the present invention provides the following technical solutions:

A self-adjustable magnetic drilling rig, characterized in that it comprises a drilling assembly, a posture adjustment assembly, and a drilling rig fixing assembly; wherein the drilling assembly comprises a drilling mechanism and a drilling feed mechanism, which are arranged at the center of the posture adjustment assembly and connected to the posture adjustment assembly through a transmission mechanism; the posture adjustment assembly comprises a 3R1P four-axis series mechanism, which is used to automatically adjust the posture of the drilling assembly to locate the drilling position and drilling direction; the drilling rig fixing assembly is fixed on the outside of the posture adjustment assembly and is used to fix the drilling rig; the drilling rig fixing assembly comprises three support rods and three sets of magnetic feet with pulling, The three support rods and three groups of belt-pulling magnetic feet are all installed symmetrically about the center axis of the drilling rig and are arranged alternately and evenly; the belt-pulling magnetic feet include a winding mechanism, a winding servo motor, a pull belt and a magnetic foot, the winding servo motor is connected to and drives the winding mechanism, the upper end of the pull belt is fixed on the winding mechanism, and the lower end is connected to the magnetic foot; the magnetic foot includes a three-rod connecting member, the upper rod of the three-rod connecting member is fixedly connected to the lower end of the pull belt, and the two lower rods are rotatably connected to two magnets through the connecting member respectively; a pressure sensor is installed on the support rod, and a rubber spherical pad is installed at the end thereof.

Preferably, the drilling assembly is supported by a prismatic cylindrical shell; the drilling mechanism includes a drilling spindle, a drill clamp, and a drill bit fixedly connected in sequence; a dovetail block arranged along the central axis is fixed to the outer surface of the drilling spindle, and the dovetail block is nested in a dovetail groove provided on the inner side of the shell, so that the drilling spindle is axially slidably connected to the shell; the drilling feed mechanism includes a feed motor, a gear, and a rack; the feed motor is fixed to the outer surface of the shell through a connecting member, the gear is fixed to the output shaft of the feed motor, the rack is vertically fixed to the drilling spindle, and the gear is meshed with the rack.

Preferably, four laser line projectors and six infrared distance measuring sensors are fixedly arranged symmetrically about the center of the drilling spindle at the lower end of the drilling assembly.

Further preferably, a gyro sensor is also installed on the top of the drilling assembly.

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

Further preferably, the first transmission mechanism includes a first motor, a transmission box, a turbine, and a first worm; one end of the transmission box is connected to the first cross pin on the drilling assembly, and the corresponding other end is fixed to the first motor housing, the turbine and the first worm are installed in the transmission box, the turbine is fixed on the cross pin, the first worm is fixed on the output shaft of the first motor, and the turbine and the first worm are meshed; the first motor is connected to the second transmission mechanism.

Further preferably, the second transmission mechanism includes a second motor, a first gear box, and a screw slide rail frame, the screw slide rail frame includes a screw and a slide rail installed in parallel, the second motor is fixed to the screw through the first gear box, and the screw is screwed with a nut slip ring on the first transmission mechanism; the screw slide rail frame and the second motor are both fixed to the third transmission mechanism.

Further preferably, the third transmission mechanism comprises a third motor, a second gearbox, a first bevel gear and a bevel gear ring which are fixedly connected in sequence; the third motor and the second gearbox are fixed to the second transmission mechanism via a frustum; the first bevel gear is meshed with the bevel gear ring; and the bevel gear ring is fixed to 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 fixedly connected in sequence and fixed on The arc-shaped rack is fixed on the outer side of the inner spherical shell, and the inner spherical shell is fixed to the third transmission mechanism; the second worm and the arc-shaped rack are meshed.

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 nested and slidably connected with each other.

Compared with the prior art, the present invention has the following beneficial effects:

1. Because the present invention uses three rigid support feet (support rods) and three magnetic adaptive support feet (with pulling magnetic feet) evenly distributed on the spherical shell to clamp and fix the drilling rig, and pressure sensors are arranged on the three rigid support feet to accurately control the clamping force in three directions, not only the fixing of the drilling rig is made more reliable and stable, but also the drilling force can be automatically adjusted during the drilling process, which is beneficial to improving the drilling accuracy.

2. Because the present invention adopts a 3R1P four-axis series mechanism to adjust the drilling rig spindle posture, the posture adjustment algorithm is simple and reliable; and two rotations and one translation are set on the circular table for fixing the drilling spindle. A spherical shell is set between the circular table and the drilling rig fixed component, and a mechanism for controlling the rotation of the circular table relative to the spherical shell is set on the spherical shell. This not only compensates for the singularity points of the three motors on the circular table controlling the drilling rig spindle posture, but also makes the motor posture control and the drilling rig fixed control independent of each other, and the posture control is also more flexible and reliable.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a front view of a magnetic drilling rig capable of self-adjusting posture according to an embodiment of the present invention;

FIG2 is a left side view of a magnetic drilling rig capable of self-adjusting posture according to an embodiment of the present invention;

FIG3 is a top view of a magnetic drilling rig capable of self-adjusting posture according to an embodiment of the present invention;

FIG4 is a bottom view of a magnetic drilling rig capable of self-adjusting posture according to an embodiment of the present invention;

FIG5 is a schematic structural diagram of a drilling assembly according to an embodiment of the present invention;

FIG6 is a schematic structural diagram of a first transmission mechanism according to an embodiment of the present invention;

FIG7 is a schematic structural diagram of a second transmission mechanism according to an embodiment of the present invention;

FIG8 is a schematic structural diagram of a third transmission mechanism according to an embodiment of the present invention;

FIG9 is a schematic structural diagram of a fourth transmission mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a drilling rig fixing assembly according to an embodiment of the present invention.

In the figure: 1, drilling assembly, 2, posture adjustment assembly, 3, drilling rig fixing assembly, 101, gyro sensor, 102, prismatic cylindrical housing, 103, feed motor, 104, drilling spindle, 105, rack, 106, laser line projector, 107, drill bit, 108, gear, 109, dovetail block, 110, infrared ranging sensor, 111, first cross pin, 112, second cross pin, 113, drill bit fixture, 201, first motor, 202, first worm, 203, turbine, 204, transmission box, 2041, nut slip ring, 205, screw, 206, slide rail, 207, slider, 2072, slip ring, 208, Upper truncated table, 209, lower truncated table, 210, first gear box, 211, second motor, 212, third motor, 213, first bevel gear, 214, second gear box, 215, bevel gear ring, 216, second bevel gear, 217, inner spherical shell, 2171, wedge-shaped slider, 218, arc rack, 219, fourth motor, 220, third gear box, 221, second worm, 222, outer spherical shell, 2221, wedge-shaped slide, 301, winding servo motor, 302, winding mechanism, 303, pull belt, 304, three-rod connector, 305, magnet, 306, pressure sensor, 307, support rod, 308, rubber spherical pad.

DETAILED DESCRIPTION

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is specifically described in the following embodiments in conjunction with the accompanying drawings. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention.

It should be noted that, in the description of the present invention, the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly stipulated and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of the two elements. When the two When two elements are "fixedly connected" or "rotatably connected", the two elements can be directly connected or there can be an intermediate element. In contrast, when an element is said to be "directly on" another element, there is no intermediate element. The fixed connection or fixed connection method can be screwed or welded or riveted or plugged or connected through a third component. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

As shown in Figures 1, 2, 3, and 4, a magnetic drilling rig with self-adjustable posture in this embodiment is used to be adsorbed and fixed on a processing surface or a workbench to perform drilling operations, including a drilling component 1, a posture adjustment component 2, a drilling rig fixing component 3, and a sensor system and a control system. The drilling mechanism 1 is used to perform drilling rotation and drilling spindle feed motion, is arranged at the center of the posture adjustment component 2, and is connected to the posture adjustment component 2 through a transmission mechanism; the posture adjustment component 2 includes a 3R1P four-axis series mechanism (a mechanism formed by three rotating pairs and one moving pair in series), which is used to automatically adjust the posture of the drilling component 1 to locate the drilling position and drilling direction; the drilling rig fixing component 3 is fixed on the outside of the posture adjustment component 2, and is used to fix the drilling rig.

As shown in FIG. 5 , the drilling assembly 1 is supported by a prismatic cylindrical housing 102 and includes a drilling mechanism and a drilling feed mechanism. Among them, the drilling mechanism includes a drilling spindle 104 (including a cutting motor), a drill clamp 113, and a drill bit 107 which are fixedly connected in sequence. A dovetail block 109 arranged along the central axis direction is fixed on the outer surface of the drilling spindle 104. The dovetail block 109 is nested with a dovetail groove provided on the inner side of the outer shell 102, so that the drilling spindle is axially slidably connected to the outer shell 102 (i.e., sliding along the Z-axis direction and the vertical direction); the drilling feed mechanism includes a feed motor 103, a gear 108, and a rack 105. The feed motor 103 is fixed to the outer surface of the outer shell 102 through a connecting member, the gear 108 is fixed on the output shaft of the feed motor 103, the rack 105 is vertically fixed on the drilling spindle 104, and the gear 108 is meshed with the rack 105, thereby realizing the axial feed movement of the drilling spindle driven by the feed motor 103 to rotate (i.e., movement along the Z-axis direction and the vertical direction). Four laser line projectors 106 are fixed at the lower end of the drilling mechanism. The four laser line projectors 106 are fixed symmetrically on the sleeve between the drill fixture 113 and the drilling spindle 104 for drilling position detection and feedback. There are six infrared distance measuring sensors 110, which are symmetrically arranged around the center of the drilling spindle 104, as shown in Figure 4, for detecting and feeding back the drilling plane and direction; a gyroscope sensor 101 is installed on the top of the housing 102 for detecting and feeding back the drilling direction.

The first transverse pin 111 and the second transverse pin 112 are coaxially fixedly mounted on the drilling assembly housing 102 for connecting with the posture adjustment assembly 2. The posture adjustment assembly 2 includes four transmission mechanisms in series, namely, a 3R1P four-axis series mechanism, to achieve any change in the posture of the drilling assembly 1 in three-dimensional space.

As shown in Figure 6, the first transmission mechanism includes a first motor 201, a transmission box 204, a turbine 203, and a first worm 202; one end of the transmission box 204 is connected to the first cross pin 111 on the drilling assembly housing 102 (rotationally connected), and the corresponding other end is fixed to the housing of the first motor 201, the turbine 203 and the first worm 202 are installed in the transmission box 204, the turbine 203 is fixed on the cross pin 111, and the first worm 202 is fixed on the output shaft of the first motor 201. 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 (vertical rotation).

As shown in FIG7 , the second transmission mechanism includes a second motor 211, a first gear box 210, and a lead screw slide rail frame, wherein the lead screw slide rail frame includes a lead screw 205 and a slide rail 206 installed in parallel, and the second motor 211 is fixed to the lead screw 205 through the first gear box 210, and the lead screw 205 is screwed with a nut slip ring 2041 on the transmission box 204, so that the second motor 211 rotates to drive the first transmission mechanism fixed on the transmission box 204 to move along the X axis (horizontally move). In order to balance the force on the drilling assembly 1, a slide rail 206 and a slider 207 slidably connected thereto are also provided to connect the other side of the drilling assembly 1 to the second transmission mechanism, and the specific structure is that the slip ring 2072 at the lower end of the slider 207 is nested and slidably connected with the slide rail 206, and the hole 2071 at the upper end of the slider 207 is pin-connected with the second cross pin 112 on the drilling assembly housing 102. The lead screw guide rail frame and the second motor 211 are both fixed on the round platform, and the round platform includes an upper round platform 208 and a lower round platform 209 that are fixedly connected to each other.

As shown in FIG8 , 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 which are fixedly connected in sequence. The third motor 212 and the second gear box 214 are fixed on the upper truncated table 208 and the lower truncated table 209 respectively. The first bevel gear 213 is meshed with the bevel gear ring 215. Therefore, the rotation of the third motor 212 can drive the bevel gear ring 215 and the second transmission mechanism fixed on the truncated table to rotate around the Z axis (horizontally rotate). In order to enhance the bearing capacity of the drilling rig, bevel gears with greater axial bearing capacity are used; In order to improve transmission accuracy, a second bevel gear 216 which is also meshed with the bevel gear ring 215 is fixed on the circular table, and the first bevel gear 213 and the second bevel gear 216 are symmetrically arranged.

As shown in FIG9 , the fourth transmission mechanism includes a fourth motor 219, a third gearbox 220, a second worm 221, an arc-shaped rack 218 (processed in conjunction with the second worm 221 and can be regarded as a part of the turbine), and an inner spherical shell 217; the fourth motor 219, the third gearbox 220, and the second worm 221 are fixedly connected in sequence and fixed on 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, and the second worm 221 and the arc-shaped rack 218 are meshed, so that the fourth motor drives the third transmission mechanism connected to the bevel gear ring 215 to rotate around the Y axis (vertical rotation). In order to improve the stability of movement, at least one set of wedge-shaped slots 2221 and wedge-shaped sliders 2171 are designed on the outer spherical shell 222 and the inner spherical shell 217, and the wedge-shaped slots 2221 and the wedge-shaped sliders 2171 are nested and slid with each other to achieve a guiding effect.

The present invention adopts a 3R1P four-axis serial mechanism to adjust the drilling rig spindle posture, and the posture adjustment algorithm is simple and reliable. In addition, two rotations and one translation are set on the circular table for fixing the drilling spindle, and a spherical shell is set between the circular table and the drilling rig fixed component. A mechanism for controlling the rotation of the circular table relative to the spherical shell is set on the spherical shell. This not only compensates for the singularity points of the three motors on the circular table controlling the drilling rig spindle posture, but also makes the motor posture control and the drilling rig fixed control independent of each other, and the posture control is also more flexible and reliable.

As shown in FIG10 , the drilling rig fixing assembly 3 is fixed on the outer spherical shell 222, and includes three support rods 307 and three groups of belt pulling magnetic feet. The three support rods and the three groups of belt pulling magnetic feet are all installed symmetrically about the central axis of the drilling rig, and are alternately and evenly arranged. The belt pulling magnetic feet include a winding mechanism 302, a winding servo motor 301, a pull belt 303 and a magnetic foot. The winding servo motor 301 is connected to the winding mechanism 302, and the two are fixed together under the outer spherical shell 222. The pull belt 303 is made of a material with a larger rigidity as much as possible, such as an industrial flat lifting belt, the upper end of which is fixed on the winding mechanism 302, and the lower end is connected to the magnetic foot; wherein the magnetic foot includes a three-rod connector 304, the upper rod of the three-rod connector 304 is fixedly connected to the lower end of the pull belt 303, and the two lower rods are rotatably connected to two magnets 305 through the connector. A pressure sensor 306 is installed on the support rod 307, and a rubber spherical pad 308 is installed at the end thereof. When in use, first support the three support rods 307 on the processing surface or workbench, adjust the positions of the three magnetic feet so that they are adsorbed on the processing surface or workbench, and then the winding servo motor 301 rotates according to the force signal fed back by the pressure sensor 306 on the support rod 307. The winding mechanism 302 is driven to tighten the tension belt 303 to fix the drilling rig. The structure has strong adaptability and can fix the drilling rig on any surface. It can also accurately control the clamping force in three directions, which not only makes the installation of the drilling rig more reliable and stable, but also can automatically adjust the drilling force during the drilling process, which is conducive to improving the drilling accuracy.

The working principle and use process of the magnetic drilling rig capable of self-adjusting posture of the present invention are as follows:

First, the four laser line projectors 106 are turned on to form a "cross" crosshair on the surface of the workpiece, and then the third motor 212 (horizontal rotation) and the second motor 211 (horizontal movement) are started to move the motor body until the "cross" crosshair moves to the vicinity of the position to be drilled, and then the six infrared distance sensors 110 are turned on, and the data of the two centrally symmetrical infrared distance sensors 110 are compared as a group and the feedback signal is sent to the first motor 201, the second motor 211, and the fourth motor 219, so that the drilling rig body completes the automatic normal leveling function, that is: by making a difference in the data of the two centrally symmetrical infrared distance sensors 110, each motor is driven to change the position of the drilling assembly, so that the difference in the data measured by each group of infrared distance sensors 110 is reduced to the set range, and the automatic leveling is completed; then the position is fine-tuned until the "cross" crosshair is completely aligned with the position to be drilled; at the same time, the leveling function will also perform real-time leveling. After the crosshair is aimed, all previous motors are locked, and the drilling spindle 104 and the feed motor 103 are started for drilling. If an inclined hole is to be drilled, the drilling can be performed after the precise angle adjustment is performed by the feedback signal of the gyro sensor 101. The feedback adjustment process does not require complex calculations and has high control efficiency and positioning accuracy.

The above-mentioned implementation modes are preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by ordinary technicians in this field without creative work within the scope of the attached claims are still within the protection scope of this patent.

Claims (10)

A magnetic drilling rig capable of self-adjusting its posture, characterized by comprising a drilling component (1), a posture adjustment component (2), and a drilling rig fixing component (3); The drilling assembly (1) comprises a drilling mechanism and a drilling feed mechanism, which are arranged at the center of the posture adjustment assembly (2) and connected to the posture adjustment assembly (2) through a transmission mechanism; the posture adjustment assembly (2) comprises a 3R1P four-axis series mechanism, which is used to automatically adjust the posture of the drilling assembly (1) to locate the drilling position and drilling direction; the drilling rig fixing assembly (3) is fixed on the outside of the posture adjustment assembly (2) and is used to fix the drilling rig; The drilling rig fixing assembly (3) comprises three support rods (307) and three groups of belt pulling magnetic feet, the three support rods and the three groups of belt pulling magnetic feet are all installed symmetrically about the central axis of the drilling rig and are alternately and evenly arranged; the belt pulling magnetic feet comprise a winding mechanism (302), a winding servo motor (301), a pulling belt (303) and a magnetic foot, the winding servo motor (301) is connected to and drives the winding mechanism (302), the upper end of the pulling belt (303) is fixed on the winding mechanism (302), and the lower end is connected to the magnetic foot; the magnetic foot comprises a three-rod connecting member (304), the upper rod of the three-rod connecting member (304) is fixedly connected to the lower end of the pulling belt (303), and the two lower rods are rotatably connected to two magnets (305) through the connecting member; a pressure sensor (306) is installed on the support rod (307), and a rubber spherical pad (308) is installed at the end thereof. The self-adjustable magnetic drilling rig according to claim 1 is characterized in that the drilling assembly (1) is supported by a prismatic cylindrical housing (102); The drilling mechanism comprises a drilling spindle (104), a drill bit fixture (113), and a drill bit (107) which are fixedly connected in sequence; a dovetail block (109) arranged along the central axis direction is fixed on the outer surface of the drilling spindle (104); the dovetail block (109) is nested in a dovetail groove provided on the inner side of the housing (102), so that the drilling spindle (104) and the housing (102) are axially slidably connected; The drilling feed mechanism comprises a feed motor (103), a gear (108), and a rack (105); the feed motor (103) is fixed to the outer surface of the housing (102) via a connecting piece; the gear (108) is fixed to the output shaft of the feed motor (103); the rack (105) is vertically fixed to the drilling spindle (104); and the gear (108) is meshed with the rack (105). The self-adjustable magnetic drilling rig according to claim 1 is characterized in that: Four laser line projectors (106) and six infrared distance measuring sensors (110) are fixedly arranged symmetrically about the center of the drilling spindle (104) at the lower end of the drilling assembly (1). The self-adjustable magnetic drilling rig according to claim 3 is characterized in that a gyroscope sensor (101) is also installed on the top of the drilling assembly (1). According to the self-adjustable magnetic drilling rig of claim 1, it is characterized in that the 3R1P four-axis series mechanism includes four transmission mechanisms connected in series, wherein the first to fourth transmission mechanisms respectively realize the rotation of the drilling assembly (1) in the vertical plane, the movement in the horizontal plane, the rotation in the horizontal plane, and the rotation in the vertical plane; the first transmission mechanism is connected to the drilling assembly (1), and the fourth transmission mechanism is connected to the drilling rig fixing assembly (3). A self-adjustable magnetic drilling rig according to claim 5, characterized in that the first transmission mechanism comprises a first motor (201), a transmission box (204), a turbine (203), and a first worm (202); one end of the transmission box (204) is connected to the first transverse pin (111) on the drilling assembly (1), and the corresponding other end is fixed to the housing of the first motor (201), the turbine (203) and the first worm (202) are installed in the transmission box (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; the first motor (201) is connected to the second transmission mechanism. According to the self-adjustable magnetic drilling rig of claim 5, it is characterized in that the second transmission mechanism comprises a second motor (211), a first gear box (210), and a lead screw slide rail frame, the lead screw slide rail frame comprises a lead screw (205) and a slide rail (206) installed in parallel, the second motor (211) is fixed to the lead screw (205) through the first gear box (210), and the lead screw (205) is screwed with a nut slip ring (2041) on the first transmission mechanism; The lead screw slide rail frame and the second motor (211) are both fixed to the third transmission mechanism. According to the self-adjustable magnetic drilling rig of claim 5, it is characterized in that 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 to the second transmission mechanism through a frustum, the first bevel gear (213) is meshed with the bevel gear ring (215); the bevel gear ring (215) is fixed to the fourth transmission mechanism. According to the self-adjustable magnetic drilling rig of claim 5, it is characterized in that 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 fixedly connected in sequence and fixed on the outer spherical shell (222); the arc-shaped rack (218) is fixed on the outside of the inner spherical shell (217), and the inner spherical shell (217) is fixed to the third transmission mechanism; the second worm (221) and the arc-shaped rack (218) are meshed. According to the self-adjustable magnetic drilling rig of claim 9, it is characterized in that at least one set of wedge-shaped slide grooves (2221) is arranged on the outer spherical shell (222), and the wedge-shaped slide grooves (2221) and the wedge-shaped sliding blocks (2171) correspondingly arranged on the inner spherical shell (217) are nested and slidably connected with each other.