Six-degree-of-freedom positioning drilling tool for airplane surface

Abstract

The invention belongs to the technical field of aircraft surface drilling, and particularly relates to a six-degree-of-freedom positioning drilling tool for an aircraft surface, which comprises a posture adjusting mechanism, a controller electrically connected with the posture adjusting mechanism, a zero point positioner and a stand column, the two stand columns are arranged in parallel and used for positioning the tool and an aircraft wing. The plurality of zero point positioners are correspondingly and uniformly distributed on the two stand columns; the posture adjusting mechanism is arranged on the zero point positioners corresponding to the two stand columns and comprises a fixing mechanism and a moving mechanism capable of reciprocating along the fixing mechanism. The fixing mechanism is connected with the zero-point positioner through a connecting piece, and the moving mechanism comprises a left-right moving mechanism, a front-back moving mechanism and a three-beam laser moving mechanism which are sequentially arranged from bottom to top. According to the method, the distances from the three laser beams to the curved surface are fed back, whether the drilling position is in the normal direction of the curved surface or not is determined without calculation, the normal line is automatically found for aircraft surface drilling, and therefore high-precision drilling is conducted.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft surface drilling, and in particular relates to a six-degree-of-freedom positioning drilling tool for aircraft surfaces. Background Art

[0002] Aircraft skins are used for covering and assembling the surface of an aircraft, and the surface skins need to be drilled and assembled during assembly. When drilling, the drill bit needs to coincide with the normal of the aircraft surface to ensure that the drilling position is accurate. The existing drilling technology is to configure a drilling template, which needs to be completely in line with the aircraft surface, and the drilling template cannot be reused. Each area of the aircraft surface has a specific drilling template. This drilling method is expensive, the drilling template needs to be measured and customized, and the accuracy is difficult to guarantee. Most products currently on the market are only equipped with drilling templates, which have the problems of high cost and difficulty in ensuring accuracy. There is an urgent need for a device that can solve the above problems. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the present invention provides a six-degree-of-freedom positioning drilling tool for aircraft surfaces, which solves the problems that drilling holes on the surface of existing aircraft requires a drilling template, which is costly and difficult to ensure accuracy.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A six-degree-of-freedom positioning drilling tool for an aircraft surface, comprising a posture adjustment mechanism, a controller electrically connected to the posture adjustment mechanism, a zero point locator, and a column;

[0006] There are two columns, which are arranged parallel to each other and are used to position the tool and the aircraft wing;

[0007] There are multiple zero point locators, which are evenly distributed on the two columns;

[0008] The posture adjustment mechanism is placed on the zero-point locators corresponding to the two columns. The posture adjustment mechanism includes a fixing mechanism and a moving mechanism that can move back and forth along the fixing mechanism; the fixing mechanism is connected to the zero-point locator through a connecting piece, and the moving mechanism includes a left-right moving mechanism, a front-back moving mechanism and a three-beam laser moving mechanism arranged in sequence from bottom to top.

[0009] The fixing mechanism includes a fixing platform with mounting parts at both ends of the fixing platform. The bottom of the mounting part is provided with several pins that are compatible with the mounting holes on the zero point locator and are used to connect the fixing platform with the zero point locator. The upper end surface of the fixing platform is arranged with a first guide rail and a rack.

[0010] The left and right motion mechanism includes a gear, a first servo motor, a mobile platform, and a first slider; the first servo motor is installed on the mobile platform and is electrically connected to the controller, the gear is connected to the first servo motor through a coupling, the gear is engaged with the rack of the fixed platform and can move relative to it, thereby driving the mobile platform to move left and right along the first guide rail; the mobile platform is installed on the gear shaft of the gear through a bearing, and the first slider is installed on the bottom surface of the mobile platform and is adapted to the two first guide rails of the fixed platform. While supporting the fixed mobile platform, it can move left and right along the first guide rail.

[0011] The forward and backward movement mechanism includes a screw and nut pair, a support plate, a second guide rail, a second slider and a second servo motor arranged above the mobile platform; the second servo motor is arranged on the mobile platform and electrically connected to the controller, the screw of the screw and nut pair is connected to the second servo motor through a coupling, the nut mounted on the outside of the screw is connected to the support plate, the second slider is installed on the bottom surface of the support plate, and is adapted to be arranged with the second guide rail arranged on the mobile platform, and can drive the support plate to move forward and backward along the second guide rail.

[0012] The three-beam laser motion mechanism includes a gear box provided on a support plate, a positioning drilling mechanism, a rotating shaft, and a third servo motor and a fourth servo motor respectively fixed to the gear box. The gear box is symmetrically provided with identical first and second bevel gear sets; the end of the positioning drilling mechanism is connected to the first and second bevel gear sets through a bevel gear X, the rotating shaft passes through the side plate of the gear box and is respectively rotatably connected to the first and second bevel gear sets, and the third servo motor and the fourth servo motor are respectively electrically connected to the controller;

[0013] The first bevel gear set includes a bevel gear A and a bevel gear B that mesh with each other, and a bevel gear E. The bevel gear A is connected to the third servo motor through a coupling, the bevel gear B is rotatably connected to the first side plate of the gear box through a bearing, and the bevel gear E is coaxially connected to the bevel gear B.

[0014] The second bevel gear set includes a bevel gear C, a bevel gear D and a bevel gear F that mesh with each other, the bevel gear C is connected to the fourth servo motor through a coupling, the bevel gear D is rotatably connected to the second side plate of the gear box through a bearing, and the bevel gear F is coaxially connected to the bevel gear D;

[0015] The bevel gear X is meshed with the bevel gear E and the bevel gear F respectively.

[0016] The positioning drilling mechanism includes three single-beam lasers and a feed drill integrated with the three single-beam lasers. The single-beam lasers and the feed drill are electrically connected to a controller respectively. The end of the feed drill is detachably connected to the bevel gear X. The three single-beam lasers are evenly arranged along the circumference of the feed drill bit and are connected to the feed drill. The emission directions of the three single-beam lasers are parallel to each other, and the plane formed by the initial ends of the three single-beam lasers is perpendicular to the emission directions of the three single-beam lasers.

[0017] The three single-beam lasers are fixed on the drill chuck of the feed drill through a connecting ring. One end of the connecting ring is connected to the drill chuck, and the other end is connected to the three single-beam lasers.

[0018] The pin is placed in the pin hole of the zero point locator, and the zero point locator clamps or releases the pin by pneumatic means.

[0019] The distance from the axis of the single-beam laser to the outer ring of the connecting ring is 50mm-60mm.

[0020] A handle is provided on the outer edge of the fixed platform for moving the posture adjustment mechanism.

[0021] The beneficial effects of the present invention are:

[0022] 1. The present invention uses three laser beams to feed back the distance to the curved surface without calculation, that is, to determine whether the hole-making position is in the normal direction of the curved surface, thereby realizing automatic search for the normal line when drilling holes on the aircraft surface, solving the problem of high cost of preparing drilling templates, and avoiding the problem of low precision affecting subsequent assembly when preparing drilling templates.

[0023] 2. The present invention utilizes a zero point locator and a servo motor, in conjunction with three-beam laser positioning, to achieve high-precision six-degree-of-freedom posture adjustment of the feed drill in the forward, backward, left, right, and rotational directions around the X and Y axes.

[0024] 3. The present invention solves the problems of adding a drilling template and manually installing a feed drill during manual drilling, avoids the deviation in hole processing caused by inaccurate positioning during manual installation, and improves drilling accuracy and processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a six-degree-of-freedom positioning drilling tool structure for an aircraft surface according to the present invention;

[0026] Figure 2 The structure diagram of the posture adjustment mechanism in the present invention is shown in FIG. Figure 1 ;

[0027] Figure 3 The structure diagram of the posture adjustment mechanism in the present invention is shown in FIG. Figure 2 ;

[0028] Figure 4 The structure diagram of the posture adjustment mechanism in the present invention is shown in FIG. Figure 3 ;

[0029] Figure 5 Schematic diagram of the structure of the laser drilling mechanism of the present invention;

[0030] Among them, 1. posture adjustment mechanism; 2. zero point locator; 3. column; 4. pin; 5. feed drill; 6. single-beam laser; 7. first servo motor; 8. second servo motor; 9. third servo motor; 10. fourth servo motor; 11. rack; 12. connecting ring; 121. ear ring; 13. screw nut pair; 14. fixed platform; 15. rotating shaft; 16. gear box; 17. moving platform; 18. first guide rail; 19. second guide rail; 20. handle; 21. gear; 201. bevel gear X; 202. bevel gear A; 203. bevel gear B; 204. bevel gear C; 205. bevel gear D; 206. bevel gear E; 207. bevel gear F. DETAILED DESCRIPTION

[0031] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below with reference to the accompanying drawings through specific implementation methods.

[0032] Reference Figure 1-Figure 5 This embodiment provides a six-degree-of-freedom positioning drilling tool for an aircraft surface, which is used for automatic positioning drilling on an aircraft surface, and includes a posture adjustment mechanism 1, a controller electrically connected to the posture adjustment mechanism, a zero point locator 2, and a column 3;

[0033] The two columns 3 are arranged parallel to each other and are used to position the tool and the aircraft wing;

[0034] There are multiple zero point locators 2, which are evenly distributed on the two columns 3;

[0035] The posture adjustment mechanism 1 is placed on the zero-point locator 2 corresponding to the two columns 3. The posture adjustment mechanism 1 includes a fixed mechanism and a moving mechanism that can reciprocate along the fixed mechanism; the fixed mechanism is connected to the zero-point locator 2 through a connecting member, and the moving mechanism includes a left-right moving mechanism, a front-back moving mechanism and a three-beam laser moving mechanism arranged in sequence from bottom to top.

[0036] In this embodiment, the wing is positioned using a column 3 and then fixed to the work surface with bolts. The controller controls the forward, backward, left, and right movements of the attitude adjustment mechanism 1 and the rotational movement of the three-beam laser motion mechanism to obtain the distance of the three-beam laser feedback, and determines whether the feed drill 5 of the attitude adjustment mechanism is in the normal direction of the curved surface. When the distances of the three laser beams fed back to the controller are the same, hole making can be performed. The controller can adopt an industrial controller of the Rack PC model.

[0037] Specifically, such as Figure 1 As shown, the wing is positioned by placing the column 3 close to the outermost contour of the wing, and then the column 3 is fixed to the work surface by bolts, and the approximate position of the hole to be processed is preliminarily determined; the attitude adjustment mechanism 1 is connected to the nearest zero point locator 2 through the connecting pieces at the bottom of both ends. In this embodiment, there are two adjacent zero point locators 2 in each column 3 connected to the fixing mechanism by connecting pieces. The connecting pieces can be pins 4, bolts, etc., which can be inserted into the mounting holes of the zero point locators 2. The mounting holes can be pin holes or bolt holes to ensure that the two are firmly and reliably installed. This attitude adjustment mechanism 1 completes the approximate position fixation and lays a good foundation for subsequent precise positioning. When the fixing mechanism is large, it can be connected to multiple zero point locators 2 for better fixation.

[0038] Furthermore, the fixing mechanism includes a fixing platform 14, which has mounting parts at both ends. The bottom of the mounting part is provided with several pins 4 that are compatible with the mounting holes on the zero point locator 2, which are used to connect the fixing platform 14 with the zero point locator 2. The upper end of the fixing platform 14 is faced with a first guide rail 18 and a rack 11.

[0039] Specifically, by constructing a fixed platform 14, the movable mechanism can be adjusted between the two uprights 3. The zero-point locator 2 can be implemented using existing technology. In this embodiment, the zero-point locator 2 is model MO-2402. Utilizing the zero-point locator 2 can improve machining accuracy. In this embodiment, two first guide rails 18 are symmetrically arranged on the upper end surface of the fixed platform 14, along with a rack 11 disposed between the two first guide rails 18. The provision of the two first guide rails 18 on the upper end surface of the fixed platform 14 ensures smooth movement of the movable mechanism. The vertically arranged beveled rack 11 facilitates cooperation with the movable mechanism, thereby enabling the movable mechanism to move back on the fixed platform 14.

[0040] Furthermore, the left and right movement mechanism includes a gear 21, a first servo motor 7, a mobile platform 17, and a first slider; the first servo motor 7 is installed on the mobile platform 17 and is electrically connected to the controller, and the gear 21 is connected to the first servo motor 7 through a coupling, and the gear 21 is engaged with the rack 11 of the fixed platform 14 and can move relative to each other; thereby driving the mobile platform 17 to move left and right along the first guide rail 18; the mobile platform 17 is installed on the gear shaft of the gear 21 through a bearing, and the first slider is installed on the bottom surface of the mobile platform 17, and is adapted to the two first guide rails 18 of the fixed platform 14. While supporting the fixed mobile platform 17, it can move left and right along the first guide rail 18.

[0041] Specifically, such as Figure 2As shown, the mobile platform 17 has a through hole, which is installed on the gear shaft of the gear 21 through a bearing. The gear 21 is a helical gear, which meshes with the helical rack of the fixed platform 14. The controller gives instructions to the first servo motor 7 to drive it, so that the gear 21 can move left and right along the fixed platform 14 (that is, move along the X-axis), thereby achieving precise adjustment of the position along the X-axis and ensuring accurate processing position; the first slider is adapted to the first guide rail 18, and while supporting the fixed mobile platform 17, it can drive the mobile platform 17 to move left and right along the first guide rail 18 without separating from the first guide rail 18. The first slider is provided with a groove for accommodating the rack 11 to pass through. When the mobile platform 17 needs to pass through the rack 11 when moving forward in the X-axis, the groove is provided to prevent the first slider from being blocked by the rack 11 and affecting the movement of the mobile platform 17 in the X-axis direction. In addition, multiple first sliders can be provided according to the size of the mobile platform 17, and the position can also be set according to the support required by the mobile platform 17 to ensure stable support of the mobile platform 17.

[0042] Furthermore, the forward and backward movement mechanism includes a screw and nut pair 13, a support plate, a second guide rail 19, a second slider and a second servo motor 8 arranged above the mobile platform 17; the second servo motor 8 is arranged on the mobile platform 17 and is electrically connected to the controller. The screw of the screw and nut pair 13 is connected to the second servo motor 8 through a coupling, and the nut mounted on the outside of the screw is connected to the support plate. The second slider is installed on the bottom surface of the support plate and is adapted to be arranged with the second guide rail 19 set on the mobile platform 17, and can drive the support plate to move forward and backward along the second guide rail 19.

[0043] Specifically, such as Figure 2 As shown, the forward and backward motion mechanism is placed on the mobile platform 17, and the screw and nut pair 13 and the second guide rail 19 are arranged on the mobile platform 17 along the forward and backward direction. The second guide rail 19 has two pieces, which are respectively arranged on both sides of the screw and nut pair 13. The controller gives instructions to the second servo motor 8 to drive the screw of the screw and nut pair 13, so that the screw and nut pair 13 drives the support plate arranged thereon to move along the forward and backward direction (that is, along the Y-axis) under the drive of the second servo motor 8, thereby realizing precise adjustment of the position along the Y-axis and ensuring the accuracy of the processing position; a second slider is provided under the support plate corresponding to the position of the second guide rail 19, which can move synchronously with the screw and nut pair 13 and provide support for the support plate. The position and number of the second slider can be set according to the size of the mobile platform 17.

[0044] Furthermore, the three-beam laser motion mechanism includes a gear box 16 provided on the support plate, a positioning drilling mechanism, a rotating shaft 15, a third servo motor 9 and a fourth servo motor 10 respectively fixed on the gear box 16, and the gear box 16 is symmetrically provided with identical first bevel gear sets and second bevel gear sets; the end of the positioning drilling mechanism is connected to the first bevel gear set and the second bevel gear set through the bevel gear X201, the rotating shaft 15 passes through the side plate of the gear box 16, and is respectively rotatably connected to the first bevel gear set and the second bevel gear set, and the third servo motor 9 and the fourth servo motor 10 are respectively electrically connected to the controller;

[0045] The first bevel gear set includes a bevel gear A202, a bevel gear B203 and a bevel gear E206 that mesh with each other. The bevel gear A202 is connected to the third servo motor 9 via a coupling. The bevel gear B203 is rotatably connected to the rotating shaft 15 of the first side plate of the gear box 16 via a bearing. The bevel gear E206 is coaxially connected to the bevel gear B203.

[0046] The second bevel gear set includes a bevel gear C204, a bevel gear D205 and a bevel gear F207 that mesh with each other. The bevel gear C204 is connected to the fourth servo motor 10 through a coupling. The bevel gear D205 is rotatably connected to the rotating shaft 15 of the second side plate of the gear box 16 through a bearing. The bevel gear F207 is coaxially connected to the bevel gear D205.

[0047] The bevel gear X201 is meshed with the bevel gear E206 and the bevel gear F207 respectively.

[0048] Specifically, such as Figure 3-5 As shown, the positioning drilling mechanism can emit three laser beams in parallel, which are used for the attitude adjustment mechanism 1 to find the normal processing position of the aircraft surface, ensure that the feed drill 5 is always in the normal processing position, and ensure the accuracy of the processing position. The three laser beams are shot on the curved surface, and the distance to the curved surface is used to determine whether the hole making position is in the normal direction of the curved surface. When the three laser beams are emitted to the curved surface, the feedback distance is different. By controlling the attitude adjustment, the distance between the three laser beams and the curved surface is made the same. At this time, the hole making position is in the normal direction of the curved surface, and hole making can begin.

[0049] like Figure 3-Figure 5The third servo motor 9 and the fourth servo motor 10 are fixed to the back vertical plate of the gear box 16 by bolts. Their output shafts pass through the through holes of the back vertical plate and are connected to the bevel gear A202 and bevel gear C204 respectively through couplings. The controller issues commands to the third and fourth servo motors to control the rotation of bevel gears A202 and C204. Bevel gears B203 and D205 are respectively rotationally symmetrically mounted on the side vertical plates of the gear box 16 through bearings. The servo motors and bevel gears are supported by the vertical plates to meet corresponding requirements. Rotating shaft 15 passes through the first and second side plates of gearbox 16. Bevel gear E206 is coaxially welded to bevel gear B203 via a stub shaft. When bevel gear B203 rotates, bevel gear E206 rotates synchronously. Bevel gear F207 is coaxially welded to bevel gear D205 via a stub shaft. When bevel gear D205 rotates, bevel gear F207 rotates synchronously. Bevel gears E206 and F207 are positioned opposite each other, and bevel gear X201 meshes with bevel gears E206 and F207, respectively. During operation, the movement of the positioning drilling mechanism is controlled by meshing transmission between the gears and controlling the direction of the output shafts of the third and fourth servo motors 9 and 10.

[0050] Furthermore, the positioning drilling mechanism includes three single-beam lasers 6 and a feed drill 5 integrated with the three single-beam lasers 6. The single-beam lasers 6 and the feed drill 5 are electrically connected to the controller respectively; the end of the feed drill 5 is detachably connected to the bevel gear X201, and the three single-beam lasers 6 are evenly arranged along the circumference of the drill bit of the feed drill 5 and connected to the feed drill 5. The emission directions of the three single-beam lasers are parallel to each other and the plane formed by the initial ends of the three single-beam lasers is perpendicular to the emission directions of the three single-beam lasers.

[0051] Specifically, such as Figure 2 As shown, the three-beam laser system is integrated with a feed drill 5 and three single-beam lasers 6. The single-beam lasers 6 and feed drill 5 are each electrically connected to a controller. The three single-beam lasers 6 feed back measured distance information to the controller, which controls whether the feed drill makes a hole based on whether the distance information is consistent. In this embodiment, the single-beam lasers 6 can be a 905nm laser ranging module. The end surface of the feed drill 5 is threaded, and the end surface of the bevel gear X201 opposite the conical surface is provided with a through hole. Bolts pass through the threaded holes of the feed drill 5 and connect to the through hole of the bevel gear X201. The three single-beam lasers 6 are evenly arranged around the front drill bit of the feed drill 5.

[0052] Furthermore, the three single-beam lasers 6 are fixed to the drill chuck of the feed drill 5 via a connecting ring 12 , one end of the connecting ring 12 is connected to the drill chuck, and the other end is connected to the three single-beam lasers 6 .

[0053] Specifically, such as Figure 5As shown, the three single-beam lasers 6 are cylindrical in shape and are fixed to the drill chuck of the feed drill 5 via a connecting ring 12 for accurate positioning and drilling. The connecting ring 12 has a large collar and three small collars, and the large collar is connected to the evenly distributed small collars via a column. The large collar is compatible with the drill chuck and can be sleeved on the drill chuck and fixed to the drill chuck by bolts or welding. The small collar is composed of two ear-shaped rings 121 bolted together. The inner diameter of the small collar is the same as the diameter of the single-beam laser 6. It is used to clamp the single-beam laser 6. During installation, the single-beam laser 6 is placed close to the ear-shaped ring 121 at one end of the large collar. Then, after the other ear-shaped ring 121 is buckled, the two ear-shaped rings 121 are connected by bolts to achieve the installation of the single-beam laser 6. The power cord and laser cables are connected to the power supply after being connected to the drag chain.

[0054] Furthermore, the pin 4 is placed in the pin hole of the zero point locator 2, and the zero point locator 2 pneumatically clamps or releases the pin 4.

[0055] Specifically, when the zero point locator 2 is ventilated, the zero point locator 2 is opened, and the docking or removal action between the zero point locator 2 and the pin shaft 4 is achieved; when the air is cut off, the zero point locator 2 is locked, and the positioning and locking action of the zero point locator 2 on the pin shaft 4 is achieved.

[0056] Furthermore, the distance from the axis of the single-beam laser 6 to the outer ring of the connecting ring 12 is 50 mm to 60 mm.

[0057] Specifically, the vertical distance between the axis of each single-beam laser 6 and the outer ring of the connecting ring 12 is 50mm-60mm. When the distance is greater than 60mm, it is easy for a single-beam laser 6 to exceed the hole-making surface, resulting in inaccurate feedback distance. When the distance is less than 50mm, it is inconvenient to install the single-beam laser 6 due to the small distance and it is easy to cause mutual interference of the structures.

[0058] Furthermore, a handle 20 is provided on the outer edge of the fixed platform 14 for moving the posture adjustment mechanism 1 .

[0059] The positioning method of this device is as follows:

[0060] Clamp the two columns 3 parallel to the two sides of the wing and fix the columns 3 on the working ground with bolts (refer to Figure 2, the forward and backward movement direction of the attitude adjustment mechanism 1 is set to the Y direction, the initial laser emission direction of the laser is set to the Z direction, and the left and right movement direction of the attitude adjustment mechanism 1 is set to the X direction); first, the worker determines the approximate position in the Y direction, fixes the attitude adjustment mechanism 1 on the corresponding zero point locator 2, and starts the controller. The controller controls the attitude adjustment mechanism 1 so that the attitude adjustment mechanism 1 is adjusted, thereby driving the attitude adjustment mechanism 1 to move along the X and Y directions and rotate around the X and Y axes. Specifically, the controller controls the first servo motor 7 to move the attitude adjustment mechanism 1 in the X direction, changing its position in the X direction. The controller controls the second servo motor 8 to move the attitude adjustment mechanism 1 in the Y direction, changing its position in the Y direction. The controller controls the third and fourth servo motors to operate simultaneously, controlling the rotational movement of the attitude adjustment mechanism 1 along the X and Y axes, and controlling the feed drill 5 to rotate about the Y and X axes, changing the angle between the three laser beams and the Z direction. Specifically, the third servo motor 9 and the fourth servo motor 10 rotate in the same direction, rotating the feed drill 5 about the Y axis; the third servo motor 9 and the fourth servo motor 10 rotate in opposite directions, rotating the feed drill 5 about the X axis. During the movement of the attitude adjustment mechanism 1, the three laser beams provide feedback distance information to the controller. When the feedback distances of the three laser beams are the same, the controller issues a command to the feed drill, and the feed drill begins drilling.

[0061] Through three laser beams feedback, the distance from point to surface is determined by the first, second, third and fourth servo motors 10 working together to ensure that the feed drill 5 always coincides with the normal of the processing surface to ensure accurate processing position.

Claims

1. A six-degree-of-freedom positioning drilling tool for an aircraft surface, characterized by: It includes a posture adjustment mechanism, a controller electrically connected to the posture adjustment mechanism, a zero point locator, and a column; There are two columns, which are arranged parallel to each other and are used to position the tool and the aircraft wing; There are multiple zero point locators, which are evenly distributed on the two columns; The posture adjustment mechanism is placed on the zero-point locators corresponding to the two columns. The posture adjustment mechanism includes a fixing mechanism and a moving mechanism that can move back and forth along the fixing mechanism; the fixing mechanism is connected to the zero-point locator through a connecting piece, and the moving mechanism includes a left-right moving mechanism, a front-back moving mechanism and a three-beam laser moving mechanism arranged in sequence from bottom to top.

2. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 1, characterized in that: The fixing mechanism includes a fixing platform with mounting parts at both ends of the fixing platform. The bottom of the mounting part is provided with several pins that are compatible with the mounting holes on the zero point locator and are used to connect the fixing platform with the zero point locator. The upper end surface of the fixing platform is arranged with a first guide rail and a rack.

3. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 2, characterized in that: The left and right motion mechanism includes a gear, a first servo motor, a mobile platform, and a first slider; the first servo motor is installed on the mobile platform and is electrically connected to the controller, the gear is connected to the first servo motor through a coupling, the gear is engaged with the rack of the fixed platform and can move relative to it, thereby driving the mobile platform to move left and right along the first guide rail; the mobile platform is installed on the gear shaft of the gear through a bearing, and the first slider is installed on the bottom surface of the mobile platform and is adapted to the two first guide rails of the fixed platform. While supporting the fixed mobile platform, it can move left and right along the first guide rail.

4. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 3, characterized in that: The forward and backward movement mechanism includes a screw and nut pair, a support plate, a second guide rail, a second slider and a second servo motor arranged above the mobile platform; the second servo motor is arranged on the mobile platform and electrically connected to the controller, the screw of the screw and nut pair is connected to the second servo motor through a coupling, the nut mounted on the outside of the screw is connected to the support plate, the second slider is installed on the bottom surface of the support plate, and is adapted to be arranged with the second guide rail arranged on the mobile platform, and can drive the support plate to move forward and backward along the second guide rail.

5. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 4, characterized in that: The three-beam laser motion mechanism includes a gear box provided on a support plate, a positioning drilling mechanism, a rotating shaft, and a third servo motor and a fourth servo motor respectively fixed to the gear box. The gear box is symmetrically provided with identical first and second bevel gear sets; the end of the positioning drilling mechanism is connected to the first and second bevel gear sets through a bevel gear X, the rotating shaft passes through the side plate of the gear box and is respectively rotatably connected to the first and second bevel gear sets, and the third servo motor and the fourth servo motor are respectively electrically connected to the controller; The first bevel gear set includes a bevel gear A and a bevel gear B that mesh with each other, and a bevel gear E. The bevel gear A is connected to the third servo motor through a coupling, the bevel gear B is rotatably connected to the first side plate of the gear box through a bearing, and the bevel gear E is coaxially connected to the bevel gear B. The second bevel gear set includes a bevel gear C, a bevel gear D and a bevel gear F that mesh with each other, the bevel gear C is connected to the fourth servo motor through a coupling, the bevel gear D is rotatably connected to the second side plate of the gear box through a bearing, and the bevel gear F is coaxially connected to the bevel gear D; The bevel gear X is meshed with the bevel gear E and the bevel gear F respectively.

6. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 5, characterized in that: The positioning drilling mechanism includes three single-beam lasers and a feed drill integrated with the three single-beam lasers. The single-beam lasers and the feed drill are electrically connected to a controller respectively. The end of the feed drill is detachably connected to the bevel gear X. The three single-beam lasers are evenly arranged along the circumference of the feed drill bit and are connected to the feed drill. The emission directions of the three single-beam lasers are parallel to each other, and the plane formed by the initial ends of the three single-beam lasers is perpendicular to the emission directions of the three single-beam lasers.

7. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 6, characterized in that: The three single-beam lasers are fixed on the drill chuck of the feed drill through a connecting ring. One end of the connecting ring is connected to the drill chuck, and the other end is connected to the three single-beam lasers.

8. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 2, characterized in that: The pin is placed in the pin hole of the zero point locator, and the zero point locator clamps or releases the pin by pneumatic means.

9. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 7, characterized in that: The distance from the axis of the single-beam laser to the outer ring of the connecting ring is 50mm-60mm.

10. The six-degree-of-freedom positioning drilling tool for an aircraft surface according to claim 2, characterized in that: A handle is provided on the outer edge of the fixed platform for moving the posture adjustment mechanism.

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