Off-line programming method for nacelle acoustic liner hole

Abstract

The application discloses an offline programming method for nacelle acoustic liner hole machining of an aero-engine, and relates to the field of aero-engine manufacturing.The method comprises the following steps: loading a three-dimensional design model of the nacelle acoustic liner part; extracting a surface of a certain hole machining area of the acoustic liner and unfolding the surface into a plane; arranging hole machining points of the acoustic liner to obtain acoustic liner hole machining points; optimizing equivalent hole machining layout by using an intelligent optimization algorithm to determine the shortest path of robot movement; simulating and verifying a robot multi-spindle hole machining process of the nacelle acoustic liner; and generating a robot multi-spindle hole machining program.The application realizes acoustic liner hole arrangement, hole machining task planning, robot hole machining simulation and robot machining program generation in the robot hole machining of the nacelle acoustic liner, thereby shortening the manufacturing cycle of the nacelle acoustic liner part of the aero-engine and providing a theoretical basis and technical support for the specification of the robot multi-spindle hole machining process of the nacelle acoustic liner of the aero-engine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aero-engine manufacturing, in particular to an offline programming method for manufacturing holes of an aero-engine nacelle acoustic liner. BACKGROUND

[0002] Aero-engine noise is the main source of aircraft noise, and fan noise is the main component of aero-engine noise. The control level of fan noise is an important indicator to measure the advancement of modern aero-engines. In order to reduce the fan noise of the aero-engine, an acoustic liner is laid in the aero-engine nacelle. Through the acoustic liner holes and honeycomb cavities, based on the Helmholtz resonance principle, the acoustic energy is dissipated on the noise radiation propagation path. Since the number of acoustic liner holes is extremely large, the arrangement is complex, and the position accuracy will affect the acoustic impedance of the acoustic liner. Therefore, the acoustic liner hole manufacturing is an important link in the manufacturing of the nacelle acoustic liner.

[0003] The conventional robot single-spindle hole manufacturing system cannot meet the high-efficiency hole manufacturing demand of the nacelle acoustic liner. In order to greatly improve the hole manufacturing efficiency of the acoustic liner, a robot multi-spindle hole manufacturing system for the nacelle acoustic liner is developed. The multi-spindle hole manufacturing end effector realizes array multi-spindle hole manufacturing of the nacelle acoustic liner. The multi-spindle hole manufacturing end effector can complete the processing of acoustic liner holes equal to the number of spindles at a time. The process of the multi-spindle hole manufacturing end effector processing multiple acoustic liner holes at a time can be regarded as processing an equivalent processing hole. The number of acoustic liner holes corresponding to different equivalent processing holes is not the same. In robot processing, the processing task planning is usually completed by an offline programming system. The offline programming technology is based on the geometric model of the robot and the product to be processed and the field operation conditions. Through a visual interface, the processing task planning is generated. An executable numerical control processing program can effectively save processing time and improve processing quality. At present, commercial general-purpose offline programming software includes Robot Studio, RobotMaster, RobCAD and DELMIA, etc. At the same time, researchers develop a series of special offline programming systems for specific process requirements such as robot welding and robot hole manufacturing.

[0004] Although some commercial general-purpose offline programming software and special offline programming systems have appeared, the commercial offline programming software is expensive and difficult to meet individual needs, and the special offline programming system only faces the processing task planning needs of specific products. Therefore, the existing robot offline programming software and system lack applicability for the robot multi-spindle hole manufacturing of the aero-engine nacelle acoustic liner, and it is difficult to realize the acoustic liner hole processing point arrangement, equivalent processing hole layout and hole manufacturing path planning, etc.

[0005] Therefore, the present application is produced based on the above-mentioned problems. SUMMARY

[0006] The application aims to provide an offline programming method for an aero-engine nacelle acoustic liner hole, which realizes acoustic liner hole arrangement, hole drilling task planning, robot hole drilling simulation and robot machining program generation in robot hole drilling of the nacelle acoustic liner.

[0007] In order to achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0008] The offline programming method for the aero-engine nacelle acoustic liner hole is performed according to the following steps:

[0009] S1, importing a three-dimensional design model of the nacelle acoustic liner part;

[0010] S2, extracting a surface of a certain hole drilling area of the acoustic liner and unfolding it into a plane;

[0011] S3, arranging acoustic liner hole machining points on the unfolded plane according to a set row-column spacing parameter to obtain acoustic liner hole machining points in a Cartesian space;

[0012] S4, based on the acoustic liner hole machining points arranged on the unfolded plane of the hole drilling area in S3, combining a spindle array layout parameter of a multi-spindle hole drilling end effector, generating equivalent machining holes on the plane of the hole drilling area;

[0013] S5, on the basis of S4, optimizing the equivalent machining hole layout by using an intelligent optimization algorithm, solving an optimal hole drilling path of the equivalent machining hole and determining a shortest path of robot movement;

[0014] S6, importing the calculated target machining pose of the multi-spindle hole drilling end effector of the robot and the optimized robot hole drilling path into a machining simulation environment, simulating and verifying the multi-spindle hole drilling process of the nacelle acoustic liner robot;

[0015] S7, if the collision result meets the requirements, proceeding to S8;

[0016] Otherwise, proceeding to S5;

[0017] S8, based on the feasible hole drilling end effector target machining pose and the equivalent machining hole drilling path information verified in S7, generating a machining program of the robot multi-spindle hole drilling, which covers acoustic liner hole information, tool type, process parameter number and safety locking information in the hole drilling process, for analysis by a robot multi-spindle hole drilling integrated control system software of an upper computer, so as to control the robot and the multi-spindle end effector and complete the nacelle acoustic liner hole drilling task.

[0018] Preferably, in S3:

[0019] S31, continuously synthesizing the arranged acoustic liner hole machining points to the surface before unfolding to obtain acoustic liner hole machining points in a Cartesian space;

[0020] S32, based on the sound lining hole processing point information on the curved surface of the hole making area in the Cartesian space and the curved surface normal vector information at the sound lining hole, calculating the pose parameters of the equivalent processing hole coordinate system in the sound lining product coordinate system, including the position and attitude parameters, and converting the equivalent processing hole coordinate system pose parameters to the robot base coordinate system as the target processing pose of the end effector in the robot multi-spindle hole making.

[0021] Preferably, wherein S5: equivalent processing hole layout optimization method, according to the function Under the condition of giving a set of all possible equivalent processing holes with a certain arrangement order, generating the set of equivalent processing holes and its layout and the number of set elements which "contain the sound lining hole processing point position mutual exclusion, and the corresponding sound lining hole processing point position covers the entire hole making area", the following steps are taken:

[0022] SA1, define a set of all possible equivalent processing holes , the arrangement order of equivalent processing holes As a chromosome of genetic algorithm;

[0023] If the arrangement order of equivalent processing holes contains equivalent processing hole serial numbers, the chromosome is composed of genes, each gene corresponds to an equivalent processing hole layout coordinate

[0024] Among them:

[0025] is the horizontal coordinate numerical position coordinate of the equivalent processing hole on the hole making area plane;

[0026] is the vertical coordinate numerical value of the equivalent processing hole on the hole making area plane;

[0027] is defined as a tuple equivalent processing hole;

[0028] SA2, parameter initialization: set the initial population size of equivalent processing hole arrangement order to , and , the length of equivalent processing hole arrangement order chromosome in the population is m;

[0029] Set the initial values of the maximum number of iterations , crossover probability , mutation probability , interval ratio , etc;

[0030] SA3, arrange all possible equivalent processing holes according to The coordinate sequence arrangement and reverse sequence arrangement are taken as two equivalent machining hole arrangement sequences of the chromosome, and the two arrangement sequences are randomly disturbed to generate the remaining equivalent machining hole arrangement sequence chromosomes, thereby constructing an initial population of equivalent machining hole arrangement sequences.

[0031] SA4, calculating the fitness function ;

[0032] The greedy selection strategy is adopted to obtain the equivalent machining hole set with the minimum number of equivalent machining holes and the layout of the equivalent machining holes based on the set of all possible equivalent machining holes of the candidate arrangement sequence.

[0033] (A1);

[0034] (A2);

[0035] wherein:

[0036] is a function value of the equivalent machining hole arrangement sequence chromosome, and is obtained by solving the function ;

[0037] is the set of preferred equivalent machining holes;

[0038] coordinates of each element in is the layout of the equivalent machining holes in ;

[0039] SA5, updating each chromosome in the equivalent machining hole arrangement sequence population through the selection of the equivalent machining hole arrangement sequence chromosome and the crossover and inversion mutation of the equivalent machining hole layout coordinate gene;

[0040] SA6, after obtaining the offspring population through SA5, the parent and offspring equivalent machining hole arrangement sequence populations reserved according to the interval ratio are recombined to obtain a new population of equivalent machining hole arrangement sequences;

[0041] SA7, the iteration number of the algorithm is increased by 1, and if the iteration number of the algorithm reaches the maximum iteration number , SA8 is entered;

[0042] Otherwise, return to SA4;

[0043] SA8, outputting the equivalent machining hole arrangement sequence chromosome with the optimal fitness in the population of equivalent machining hole arrangement sequence chromosomes;

[0044] SA9, performing the simulated annealing algorithm parameter initial value: the initial value of the temperature is set as , set the current temperature , minimum temperature , cooling rate , chain length ;

[0045] SA10, in the simulated annealing algorithm, based on the inversion mutation factor to create equivalent processing hole arrangement order new solution;

[0046] SA11, according to Criteria to accept new equivalent processing hole arrangement order, the specific process is: based on the function And equivalent processing hole arrangement order, the preferred number of equivalent processing holes As the energy of the solution;

[0047] SA12, when the temperature End of cooling, into SA14;

[0048] If the current temperature After temperature iteration Times, , return to SA10;

[0049] SA13, through SA12 to get the equivalent processing hole arrangement order better solution in the minimum value of energy ;

[0050] SA14, the minimum value of energy corresponding to the equivalent processing hole arrangement order is the global optimal solution of genetic-simulated annealing optimization process, the minimum value of energy corresponding to Another output of the function The coordinates of each element in the array For the optimal equivalent processing hole layout.

[0051] Preferably, SA5 according to the fitness function value of each chromosome in the equivalent processing hole arrangement order population iteration process, using the trigonometric function to adjust the crossover probability and mutation probability dynamically nonlinear, to speed up the convergence speed of the algorithm.

[0052] Preferably, in SA11, Wherein ， Accept new solution, as follows:

[0053] ;

[0054] Wherein:

[0055] The energy of the current optimal solution;

[0056] Newly solved energy.

[0057] Preferably, the method for generating equal processing holes is performed in the following steps:

[0058] SB1, the short nacelle sound insulation hole area surface is unfolded into a plane, and a certain row spacing and column spacing are completed sound insulation hole processing points After arrangement, the equivalent processing holes are arranged The sound insulation hole processing points are equivalent, and the equivalent processing holes are defined in the form of tuples ;

[0059] (B1);

[0060] Wherein:

[0061] is the horizontal coordinate numerical position coordinate of the equivalent processing hole on the hole making area plane;

[0062] is the vertical coordinate numerical value of the equivalent processing hole on the hole making area plane;

[0063] is the number of sound insulation holes processed after the positioning of the equivalent processing hole, ;

[0064] is the set of processing hole point positions on the plane corresponding to the equivalent processing hole, and The number of set elements in the set is not more than ;

[0065] is the processing point position of the sound insulation hole to be processed corresponding to each main shaft in sequence, if The number of set elements in the set is less than The processing point position corresponding to the main shaft not participating in processing is empty;

[0066] SB2, define the boundary direction of the bottom surface of the multi-spindle hole making end effector as the same as the row and column direction of the sound insulation hole arrangement in the hole making area;

[0067] The hole making operation of the multi-spindle hole making end effector is regarded as a sequential scanning operation on the sound insulation hole processing point position, the position of the multi-spindle hole making end effector covering the sound insulation hole processing point position is determined, and equivalent processing holes and the corresponding sound insulation hole processing point set are obtained ;

[0068] (B2);

[0069] wherein:

[0070] is the position of the equivalent machining hole point set in the set S;

[0071] is the corresponding acoustic liner hole point set of all equivalent machining holes, which is a subset of the set S;

[0072] SB3, under the conditions of formulas (B1) and (B2), the equivalent machining holes are generated based on the greedy selection strategy, and the machining hole number larger equivalent machining hole In the multi-spindle hole machining end effector positioning process, the spindles are fully utilized, and the specific steps are as follows:

[0073] SB31, according to the number of spindles possessed by the multi-spindle hole machining end effector , , ;

[0074] SB32, according to the current equivalent machining hole order, the corresponding is selected, and SB33 is entered;

[0075] SB33, if in , SB34 is entered;

[0076] Otherwise, let , and return to SB32;

[0077] SB34, if , let , , and enter SB35;

[0078] Otherwise, let , and return to SB32;

[0079] SB35, if is true, enter SB37;

[0080] Otherwise, enter SB36;

[0081] SB36, judge whether it is true, if it is true, let and , enter SB37;

[0082] Otherwise, let , and enter SB32;

[0083] SB37, output all equivalent machining hole sets ;

[0084] Wherein:

[0085] is a set of recorded processed point positions.

[0086] Preferably, in the short-cabin acoustic lining hole processing, all acoustic lining holes in the hole processing area are processed, and the same acoustic lining hole is not processed repeatedly, and formula (B2) adds the constraint condition of formula (B3);

[0087] (B3).

[0088] Preferably, .

[0089] By adopting the foregoing design scheme, the off-line programming method of the acoustic lining hole of the aero-engine short-cabin of the present application realizes the acoustic lining hole arrangement, the hole processing task planning, the robot hole processing simulation, and the robot processing program generation in the acoustic lining hole processing of the short-cabin robot, thereby shortening the manufacturing cycle of the aero-engine short-cabin acoustic lining part, and providing a theoretical basis and technical support for the designation of the multi-spindle hole processing process specification of the aero-engine short-cabin robot. BRIEF DESCRIPTION OF DRAWINGS

[0090] Figure 1 is the off-line programming flowchart of the present application;

[0091] Figure 2 is the acoustic lining hole point position curved surface arrangement flowchart of the present application;

[0092] Figure 3 is the schematic diagram of the spindle distribution of the multi-spindle hole processing end effector in the present application;

[0093] Figure 4 is the equivalent schematic diagram of the acoustic lining hole processing point position in the present application;

[0094] Figure 5 is the processing limit position of the multi-spindle hole processing end effector of the present application in the hole processing area;

[0095] Figure 6 is the flowchart of the main steps of the equivalent processing hole layout of the multi-spindle hole processing of the present application;

[0096] Figure 7 is the schematic diagram of the unit vector of the X-axis of the equivalent processing hole coordinate system when processing a single acoustic lining hole in the present application;

[0097] Figure 8 is the schematic diagram of the origin calculation of the equivalent processing hole when processing a single acoustic lining hole in the present application;

[0098] Figure 9Fig. 1 is a schematic diagram of a planar coordinate system of a planar structure for processing multiple sound lining holes in the present application;

[0099] Figure 10 Fig. 2 is a schematic diagram of the audit relationship of a vector and an origin in the present application;

[0100] Figure 11 Fig. 3 is a shaft side view of a multi-spindle hole making end effector in the present application;

[0101] Figure 12 Fig. 4 is a front view of a multi-spindle hole making end effector in the present application;

[0102] Figure 13 Fig. 5 is a top view of a multi-spindle hole making end effector in the present application;

[0103] Figure 14 Fig. 6 is a side view of a multi-spindle hole making end effector in the present application;

[0104] In the figure: multi-spindle hole making end effector 3, effector frame 31, first side plate 311, second side plate 312, spindle group 32, feed group 33, electromagnetic valve group 34, valve island 341, presser foot group 35, spring 351, ultrasonic sensor group 36, laser displacement sensor group 37, vision unit 38, vacuum tube group 39. DETAILED DESCRIPTION

[0105] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0106] Referring to Figures 1 to 14 :

[0107] The off-line programming method of the sound lining hole of the aircraft engine nacelle is performed according to the following steps:

[0108] S1, import the three-dimensional design model of the sound lining part of the nacelle;

[0109] S2, extract the surface of a sound lining hole making area and develop it into a plane;

[0110] S3, arrange the sound lining hole processing points on the developed plane according to the set row and column spacing parameters to obtain the sound lining hole processing points in the Cartesian space;

[0111] ​​S4, based on the sound lining hole processing point positions arranged on the development plane of the hole forming area in S3, combined with the spindle array layout parameters of the multi-spindle hole forming end effector, an equivalent processing hole on the hole forming area plane is generated;

[0112] S5, on the basis of S4, an intelligent optimization algorithm is used to optimize the equivalent processing hole layout, to solve the optimal hole forming path of the equivalent processing hole, and to determine the shortest path of the robot motion;

[0113] S6, the calculated target processing pose of the multi-spindle hole forming end effector of the robot and the optimized robot hole forming path are imported into the processing simulation environment, and the robot multi-spindle hole forming process of the short cabin sound lining is simulated, simulated and verified;

[0114] S7, if the collision result meets the requirements, S8 is entered;

[0115] Otherwise, S5 is entered;

[0116] S8, based on the feasible hole forming end effector target processing pose and equivalent processing hole forming path information verified in S7, the equivalent processing hole covers the sound lining hole information, tool type, process parameter number, and safety locking information in the hole forming process, a processing program of the robot multi-spindle hole forming is generated, which is parsed by the upper computer robot multi-spindle hole forming integrated control system software, so as to control the robot and the multi-spindle end effector, and the short cabin sound lining hole forming task.

[0117] Preferably, wherein S3:

[0118] S31, continue to synthesize the arranged sound lining hole processing point positions to the pre-development curved surface to obtain the sound lining hole processing point positions in the Cartesian space;

[0119] S32, based on the sound lining hole processing point position information on the curved surface of the hole forming area in the Cartesian space, and the curved surface normal vector information at the sound lining hole, the pose parameters of the equivalent processing hole coordinate system in the sound lining product coordinate system are calculated, including position and attitude parameters, and the equivalent processing hole coordinate system pose parameters are converted to the robot base coordinate system, as the target processing pose of the multi-spindle hole forming end effector of the robot.

[0120] Preferably, wherein S5: equivalent processing hole layout optimization method, according to the function Under the condition of giving all possible equivalent processing hole sets with a certain arrangement order, the equivalent processing hole set and its layout and the number of set elements are generated, which "contains the sound lining hole processing point positions and is mutually exclusive, and the corresponding sound lining hole processing point positions cover the entire hole forming area", and the following steps are taken:

[0121] SA1, define the set of all possible equivalent processing holes , the arrangement order of the equivalent processing holes As a chromosome of genetic algorithm;

[0122] If the equivalent machining hole arrangement order Contains The number of equivalent machining hole sequence, the chromosome is composed of Genes, each gene corresponds to an equivalent machining hole layout coordinate

[0123] Among them:

[0124] The horizontal coordinate numerical position coordinate of the equivalent machining hole in the plane of the hole making area;

[0125] The vertical coordinate numerical position of the equivalent machining hole in the plane of the hole making area;

[0126] The equivalent machining hole defined in the form of a tuple;

[0127] SA2, parameter initialization: set the initial population size of the equivalent machining hole arrangement order as , and The length of the equivalent machining hole arrangement order chromosome in the population is m;

[0128] Set the initial values of the maximum number of iterations , crossover probability , mutation probability , interval ratio , etc.;

[0129] SA3, arrange all possible equivalent machining holes according to Coordinate order and reverse order, take these two arrangement orders as two equivalent machining hole arrangement order chromosomes, and randomly shuffle these two arrangement orders to generate the remaining Equivalent machining hole arrangement order chromosomes to form the initial population of equivalent machining hole arrangement order;

[0130] SA4, calculate the fitness function ;

[0131] Adopting the greedy selection strategy, based on the set of all possible equivalent machining holes of a certain arrangement order, get the equivalent machining hole set with the smallest number of equivalent machining holes and its layout;

[0132] (A1);

[0133] (A2);

[0134] Among them:

[0135] A function value of the equivalent machining hole arrangement order chromosome is equal to Solving obtains;

[0136] The preferred equivalent machining hole set is

[0137] The coordinates of each element in the is The layout of the equivalent machining hole in the

[0138] SA5, the equivalent machining hole arrangement order population is updated by selecting the equivalent machining hole arrangement order chromosome, and the crossover and inversion mutation of the equivalent machining hole layout coordinate gene;

[0139] SA6, after obtaining the offspring population through SA5, the reserved parent and offspring equivalent machining hole arrangement order populations are recombined to obtain a new equivalent machining hole arrangement order population according to the interval ratio

[0140] SA7, the iteration number of the algorithm is increased by 1, and if the iteration number of the algorithm reaches the maximum iteration number , enter SA8;

[0141] Otherwise, return to SA4;

[0142] SA8, output the equivalent machining hole arrangement order chromosome with the optimal fitness in the population of the equivalent machining hole arrangement order chromosome;

[0143] SA9, perform the simulated annealing algorithm, and the initial value of the parameter is: the initial value of the specified temperature is , the current temperature , the minimum temperature , the cooling rate , and the chain length ;

[0144] SA10, in the simulated annealing algorithm, a new solution of the equivalent machining hole arrangement order is created based on the inversion mutation factor;

[0145] SA11, the new solution of the equivalent machining hole arrangement order is accepted according to the criterion, and the specific process is: the function value and the equivalent machining hole arrangement order are used as the energy of the solution, and the number of preferred equivalent machining holes ;

[0146] SA12, when the temperature , the cooling ends, and enters SA14;

[0147] If the current temperature , the temperature iteration​ Subsequently, , return to SA10;

[0148] SA13, obtain the minimum energy value in the optimal solution of the equivalent machining hole arrangement order through SA12 ;

[0149] SA14, the equivalent machining hole arrangement order corresponding to the minimum energy value is the global optimal solution of the genetic-simulated annealing optimization process, and the equivalent machining hole arrangement order corresponding to the minimum energy value is the optimal equivalent machining hole layout. Another output of the function The coordinates of each element is the optimal equivalent machining hole layout.

[0150] Preferably, SA5 adjusts the crossover probability and mutation probability dynamically and nonlinearly using trigonometric functions according to the fitness function values of each chromosome in the iteration process of the equivalent machining hole arrangement order population, so as to accelerate the convergence speed of the algorithm.

[0151] Preferably, in SA11, wherein ， Accept the new solution, specifically as follows:

[0152] ;

[0153] wherein:

[0154] is the energy of the current optimal solution;

[0155] is the energy of the new solution.

[0156] Preferably, the method for generating equivalent machining holes is performed in the following steps:

[0157] SB1, the short-cabin sound attenuation hole region surface is unfolded into a plane, and a certain row spacing and column spacing are used to complete machining points of sound attenuation holes After arrangement, equivalent machining holes are used to equivalent the sound attenuation hole machining points, and the equivalent machining holes are defined in the form of a tuple ;

[0158] (B1);

[0159] wherein:

[0160] is the horizontal coordinate numerical position coordinate of the equivalent machining hole on the hole region plane;

[0161] the longitudinal coordinate value of the equivalent machining hole on the plane of the hole making area;

[0162] the number of sound insulation holes to be processed after positioning the equivalent machining hole, ;

[0163] the machining hole point set on the plane corresponding to the equivalent machining hole, and the number of set elements is not more than ;

[0164] the machining point of the sound insulation hole to be processed corresponding to each main shaft in sequence, if the number of set elements is less than , the machining point corresponding to the main shaft not participating in processing is empty;

[0165] SB2, the boundary direction of the end effector bottom surface of the multi-main shaft hole making is the same as the row and column direction of the sound insulation hole arrangement in the hole making area;

[0166] the hole making operation of the multi-main shaft hole making end effector is regarded as a sequential scanning operation on the sound insulation hole machining point, the position of the multi-main shaft hole making end effector covering the sound insulation hole machining point is determined, and equivalent machining holes and the corresponding sound insulation hole machining point set are obtained, and finally the set of sound insulation hole machining points corresponding to the equivalent machining holes is obtained ;

[0167] (B2);

[0168] wherein:

[0169] the position of the equivalent machining hole point set in the set S;

[0170] the sound insulation hole point set corresponding to all equivalent machining holes is a subset of the set S;

[0171] SB3, under the conditions of satisfying formula (B1) and (B2), the equivalent machining holes are generated based on the greedy selection strategy, and by generating equivalent machining holes with a larger number of machining holes , the main shafts are fully utilized in the process of positioning and machining of the multi-main shaft hole making end effector once, and the specific steps are as follows:

[0172] SB31, according to the number of main shafts possessed by the multi-main shaft hole making end effector, determine , let , ;

[0173] SB32, according to the current equivalent machining hole order, select the corresponding , enter SB33;

[0174] SB33, if in , enter SB34;

[0175] Otherwise let , return to SB32;

[0176] SB34, if , let , , enter SB35;

[0177] Otherwise let , return to SB32;

[0178] SB35, if is true, enter SB37;

[0179] Otherwise enter SB36;

[0180] SB36, judge whether it is true, if it is true, let and , enter SB37;

[0181] Otherwise let , enter SB32;

[0182] SB37, output all equivalent machining hole sets ;

[0183] Wherein:

[0184] is the set of recorded machined points.

[0185] Preferably, when the nacelle sound attenuation hole is machined, all sound attenuation holes in the hole making area are machined, and the same sound attenuation hole is not machined repeatedly, formula (B2) adds the constraint condition of formula (B3);

[0186] (B3).

[0187] Preferably, .

[0188] Preferably, the end effector machining pose planning method is carried out in the following steps:

[0189] SC1, through the mapping The simultaneous machining of multiple acoustic liner holes based on a multi-spindle hole-making end effector is mapped to the machining of a single acoustic liner hole based on a single-spindle hole-making end effector. Each sound liner has ;

[0190] (C1);

[0191] in:

[0192] The acoustic liner holes for synchronous machining of multi-spindle end effectors in a single positioning process are located in the nacelle acoustic liner product coordinate system. The pose parameters in, where ;

[0193] These are the coordinates of the acoustic liner hole;

[0194] for The normal vector of the acoustic lining surface at that location;

[0195] For the equivalent machined hole coordinate system in the product coordinate system The pose matrix in the middle;

[0196] SC2 defines that the axis of the acoustic liner hole is collinear with the normal vector of the acoustic liner surface at its location, based on mapping. The normal vector of the acoustic liner hole is used to calculate the equivalent machined hole coordinate system. The shaft, and the specific steps include;

[0197] SC21, according to the mapping When machining a certain equivalent machining hole, determine the corresponding actual machined acoustic liner hole, and mark the position coordinates of that acoustic liner hole as follows: ;

[0198] SC22 uses offline programming software to extract the normal vector of the acoustic liner surface at the acoustic liner hole. ;

[0199] SC23 normalizes the mean value of the normal vector of the actual acoustic liner hole corresponding to the equivalent machined hole, and uses it as the coordinate system of the equivalent machined hole. Axial direction;

[0200] (C2);

[0201] in:

[0202] The average normal vector of the acoustic liner hole;

[0203] Equivalent machining hole coordinate system of Axis unit vector;

[0204] SC3, when mapping The number of sound holes in the middle Enter SC4;

[0205] Mapping The number of sound holes in the middle Enter SC5;

[0206] Wherein:

[0207] Is a natural number greater than 0;

[0208] SC4, set the equivalent machining hole coordinate system Axis direction , while based on the design geometry parameters of the end effector spindle array, calculate the origin of the equivalent machining hole coordinate system , the specific steps include:

[0209] SC41, based on the calibration results of the robot base coordinate system , get the description of the Axis negative unit vector of the robot base coordinate system In the short cabin sound lining product coordinate system ;

[0210] SC42, And Cross product to get , will Unitization gets , as the Axis direction of the equivalent machining hole coordinate system;

[0211] (C3);

[0212] SC43, unit vector And Cross product, get the equivalent machining hole coordinate system Axis direction of the short cabin sound lining product coordinate system ;

[0213] (C4);

[0214] SC44, when , establish a coordinate system on the machining plane, respectively And As the Axis and Axis direction, the coordinates of the equivalent machining hole in the coordinate system are​​ ,in It depends on the design geometry of the end effector spindle array;

[0215] SC45, solve for the position coordinates of the origin of the equivalent machined hole coordinate system. ;

[0216] (C5);

[0217] SC5, based on the position coordinates of any two acoustic liner holes, determines the equivalent machined hole coordinate system. The axis direction and origin, and the specific steps include:

[0218] The SC51 multi-spindle hole-making end effector features parallel spindle axes and flush ends. Machining an equivalent hole can be considered as all hole-making spindles operating on the same machining plane. The machining plane equation is set as follows: [Machining the acoustic liner hole] ;

[0219] According to SC2, machine the plane. The normal vector is Make the machining plane coefficients in the equation They are respectively equal to The sum of squares of the deviations between the actual acoustic liner hole position coordinates and the fitted plane is calculated using the least squares algorithm. Minimum coefficient ;

[0220] (C6);

[0221] in:

[0222] Let be the objective function, and let be the optimization model. ;

[0223] For the first The coordinates of the location of each acoustic liner hole;

[0224] SC52, Calculate the mapping Coordinates of the location of the medium acoustic liner hole On the machining plane Projection on;

[0225] (C7);

[0226] (C8);

[0227] in:

[0228] For the first The coordinates of the location of each acoustic vent The projection;

[0229] For the first The coordinates of the location of each acoustic liner hole;

[0230] SC53, on the machined plane Construct a Cartesian coordinate system in the plane to calculate vectors. and origin Determine the coordinate system for the nacelle acoustic liner product. The equivalent machining hole coordinate system The axis direction and origin, the specific process includes:

[0231] SC531, according to formula (C7), the first... and The coordinates of the position of each acoustic liner hole are on the machining plane. Projection on and ;

[0232] SC532, Calculate the machining plane Upward projection Pointing to projection vector And after unitization, we obtain ;

[0233] SC533, the machining plane obtained by combining formula (C2) unit normal vector We can obtain this through cross product. ;

[0234] SC534, based on unit vectors and Establish a Cartesian coordinate system ;

[0235] SC535 can calculate vectors according to formulas (C9) and (C10). and origin ;

[0236] (C9);

[0237] (C10);

[0238] in: ;

[0239] SC536, for vectors Unitization This will serve as the coordinate system for the equivalent machined holes. Axial direction ;

[0240] SC537, unit vector and Cross product, to obtain the coordinate system of the nacelle acoustic liner product. Equivalent machining hole coordinate system Axial direction ;

[0241] (C11);

[0242] Take the coordinates of one of the acoustic liner holes as the origin, establish a Cartesian coordinate system, and calculate the vector according to the above process. and origin ;

[0243] SC54, based on the equivalent machining hole coordinate system Axial unit vector and in-situ position coordinates The equivalent machining hole is obtained in the nacelle acoustic liner product coordinate system. pose description matrix Transform it to the robot's base coordinate system This refers to the target machining pose of the multi-spindle end effector.

[0244] (C12);

[0245] (C13);

[0246] in:

[0247] The calibration results for the robot's base coordinate system.

[0248] Preferably, the end effector machining pose planning method is performed according to the following steps:

[0249] SD1 obtains k equivalent machining holes through equivalent machining hole layout optimization and end effector machining pose calculation. and its corresponding end effector machining pose parameters;

[0250] Define the i-th equivalent machined hole The end effector machining pose parameter six-tuple is ;

[0251] use This indicates the machining sequence of equivalent holes during the hole-making process. Construct the objective function for the equivalent machining hole-making path planning problem. , the goal of the planning is to find a machining sequence that minimizes the objective function ; ; ;

[0252] (D1)

[0253] where

[0254] are the equivalent machining hole position coordinates,

[0255] is the end effector machining pose expressed by ZXY Euler angles;

[0256] is the distance between the th and th equivalent machining hole in the machining sequence ;

[0257] are the differences of ZXY Euler angles of the th and th equivalent machining hole, , , ;

[0258] and are the weights set according to the balance between the path length and the smoothness of the end effector machining pose;

[0259] are the weight coefficients of the ZXY Euler angle differences;

[0260] SD2, the reciprocal of the comprehensive evaluation index of the weighted sum of the machining path and the smoothness of the end effector pose is the fitness function, and a multi-axis machining path optimization model for aero-engine nacelle acoustic liner robot is established ;

[0261] The genetic optimization algorithm is used to obtain the optimal machining path ;

[0262] (D2)

[0263] SD3, by screening the individuals of the initialization population, the population size of the equivalent machining hole machining sequence is generated ​​​a plurality of individuals, wherein It is proposed to generate a plurality of individuals of the size of the population of equivalent machining hole machining sequences by screening the initialization of the population, when initializing the population, to generate a plurality of individuals of the size of the population of equivalent machining hole machining sequences;

[0264] The The smallest Individuals are initialized as population individuals.

[0265] Preferably, the multi-spindle hole making end effector 3 is connected with the mechanical arm through a flange, and the multi-spindle hole making end effector 3 comprises an effector frame 31, a spindle group 32, a feeding group 33, an electromagnetic valve group 34, a presser foot group 35, an ultrasonic sensor group 36, a laser displacement sensor group 37 and a vision unit 38; the effector frame 31 is the mounting base of each component in the multi-spindle hole making end effector 3.

[0266] The effector frame 31 is in the form of a cuboid, and defines two oppositely arranged side plates of the effector frame 31 as a first side plate 311 and a second side plate 312; the presser foot group 35, the ultrasonic sensor group 36, the laser displacement sensor group 37 and the vision unit 38 are arranged on the first side plate 311; the feeding group 33 and the electromagnetic valve group 34 are arranged on the second side plate 312; the spindle group 32 is arranged in the effector frame 31 and connected with the presser foot group 35 through the first side plate 311 at one end; the feeding group 33 is used to control the extension or retraction of the corresponding spindle group 32 and the presser foot group 35.

[0267] Further, the spindle group 32 is composed of n spindles in an array form, the feeding group 33 is composed of n cylinders in an array form, and the presser foot group 35 is composed of n presser feet in an array form, n being an even number greater than 0; the number of the spindle group 32, the feeding group 33 and the presser foot group 35 is the same, and each spindle, cylinder and presser foot is arranged one by one in correspondence; the cylinders are respectively used to control the extension and retraction of the corresponding spindles and presser feet. Preferably, a spring 351 for pressing the presser foot against the surface of the perforated panel is arranged between each presser foot and the first side plate 311, and each spring 351 is correspondingly sleeved on the outer circumferential surface of the spindle. Under the driving of each cylinder, the presser foot extends and is pressed against the surface of the perforated panel under the pressure of the spring, based on the friction between the end surface of the presser foot and the surface of the perforated panel. In this embodiment, the acoustic liner part is coupled with the spindle hole making end effector 3 to form a whole, so as to improve the rigidity and stability of the hole making system and reduce the vibration in the hole making process.

[0268] In this embodiment, .

[0269] Further, the multi-spindle drilling end effector 3 further comprises a vacuum tube group 39, which is composed of n vacuum tubes arranged in an array, each vacuum tube is installed on the side of the presser foot, and based on the principle of vacuum dust collection, the cutting chips generated in the sound insulation hole drilling process are collected from the presser foot to the dust collector (not shown in the figure).

[0270] Further, the electromagnetic valve group 34 is composed of n+1 electromagnetic valves arranged in an array, each electromagnetic valve comprises two interfaces of an air inlet and an air outlet. Among them, n electromagnetic valves are used to control the extension and retraction of the cylinders in the cylinder array, and the other 1 electromagnetic valve is used for spindle air cooling switch control. Preferably, the second side plate 312 is provided with a valve island 341 for installing the electromagnetic valve group 34, and the valve island 341 can realize independent control of the electromagnetic valves in the electromagnetic valve group 34 based on the same air source.

[0271] The ultrasonic sensor group 36 comprises four ultrasonic sensors respectively used for anti-collision detection, which are evenly distributed on the four corners of the first side plate 311.

[0272] The laser displacement sensor group 37 comprises four laser displacement sensors respectively used for measuring the deviation between the actual tool coordinate system Z axis (parallel to the drilling direction) and the ideal tool coordinate system Z axis, which are evenly distributed on the four corners of the first side plate 311, and provide the basis for end effector posture correction.

[0273] The vision unit 38 comprises a light source for providing good shooting light conditions, and an industrial camera and a telecentric lens for measuring the actual position coordinates of the reference hole, the optical axis direction of which is parallel to the direction of each spindle on the spindle group 32. The light source is used to provide good shooting light conditions, and the industrial camera and the telecentric lens are used to measure the actual position coordinates of the reference hole. The object distance and the optical axis direction of the industrial camera are controlled when measuring by means of the drilling direction deviation measurement system. After calculating the deviation of a plurality of reference hole actual positions and their corresponding nominal positions, the drilling positioning error can be calculated based on a certain interpolation compensation strategy, which provides the basis for end effector position correction.

[0274] The positioning error measurement method of the multi-spindle drilling end effector 3 is carried out in the following steps:

[0275] SE1, the vision unit integrated on the end effector of the robot multi-spindle drilling system takes a picture of the reference hole;

[0276] Wherein, the camera optical axis is defined to be parallel to the axis of the spindle array, the object distance and the perpendicularity of the optical axis to the sound insulation surface , the pose of the vision unit in the state of the normal focal length and the perpendicularity of the optical axis to the sound insulation surface is obtained;

[0277] (E1);

[0278] wherein:

[0279] pose of vision unit coordinate system relative to short cowl acoustic liner product coordinate system

[0280] pose of calibrated robot base coordinate system relative to product coordinate system

[0281] pose of robot flange coordinate system based on robot kinematic model relative to robot base coordinate system

[0282] pose of calibrated robot tool coordinate system relative to flange coordinate system

[0283] pose of calibrated hand-eye relationship, i.e. vision unit coordinate system relative to tool coordinate system

[0284] denotes positive focal length;

[0285] denotes that the optical axis is perpendicular to the acoustic liner surface, i.e. the angle is 90°;

[0286] SE2, robust, accurate and efficient localization of fiducial hole features in fiducial hole images is obtained by the fiducial hole feature localization algorithm based on integrated visual saliency and mean shift, the specific steps are as follows:

[0287] SE21, the obtained original fiducial hole image is subjected to Gaussian filtering or median filtering to obtain the corresponding smooth image ; the smooth image is subjected to image contrast stretching to obtain an enhanced image , and the saliency map of the original fiducial hole image is calculated according to formula (E2) ;

[0288] (E2);

[0289] wherein:

[0290] denotes the average pixel value of the calculated image:​​​​​

[0291] This indicates that the maximum pixel value of the image is retrieved;

[0292] This indicates that the minimum pixel value of the image is retrieved;

[0293] SE22, through region filtering, selects the saliency map of the reference hole image. Obtain the centroid coordinates of the largest salient region in the region. The coordinates of each pixel position and the centroid coordinates of the saliency map are calculated according to formula (E3). Distance map ;

[0294] The weighted graph is calculated according to formula (B4). ;

[0295] According to formula (B5) weight diagram With saliency map Multiplying corresponding elements together removes fragmented salient regions from the salient map, resulting in an updated salient map. ;

[0296] (E3);

[0297] (E4);

[0298] (E5);

[0299] SE23, based on an automatic thresholding method or by selecting a suitable fixed threshold through repeatability testing, updates the saliency map of SE22. Threshold segmentation is performed to segment the reference hole feature region from the saliency map;

[0300] Using edge detection operators or contour extraction algorithms, the baseline hole contour is extracted from the threshold segmentation map of the saliency map. The contour point set is approximately divided into three continuous subsets. Contour points are randomly selected from the three subsets multiple times for circle fitting. The coordinates of the center of all fitted circles are stored in an array.

[0301] From all the candidate centers, one is randomly selected as the initial centroid. Using this as the center, and based on a preset scanning radius, the mean-drift algorithm is used to iteratively find the true centroid of the set of center centers, which serves as the coordinate system for the reference hole center. ;

[0302] SE3 sets the image coordinate system at the image center, with its coordinate axes aligned with the default image coordinate axes. This is based on the coordinates of the reference hole center obtained from SE23. Combined with the calibrated intra-visual unit parameters and the known image width and height

[0303] The XY plane of the vision unit coordinate system and its coordinate axes are in correspondence with the image coordinate plane and its coordinate system axes, and the physical coordinates of the reference hole in the vision unit coordinate system are obtained according to formula (E6)

[0304] (E6);

[0305] According to formula (E7) combined with SE1, the obtained by SE1 is obtained , which is composed of a rotation matrix and a translation vector ;

[0306] The translation vector is the coordinate of the reference hole measured by the vision unit in the product coordinate system ;

[0307] (E7);

[0308] Combined with the nominal coordinates of the reference hole in the product coordinate system , the hole positioning error at the reference hole is obtained ;

[0309] (E8);

[0310] SE4, for all reference holes, repeat steps SE1 to SE3, and measure the hole positioning error at all reference holes by the vision system;

[0311] SE5, by surface interpolation, the hole positioning error at the remaining hole positions in the reference hole influence area is obtained, and these errors are compensated.

[0312] By adopting the foregoing design scheme, the beneficial effects of the present application are: the offline programming method for the aviation engine nacelle sound baffle hole of the present application realizes the sound baffle hole arrangement, hole making task planning, robot hole making simulation, and robot machining program generation in the robot hole making of the nacelle sound baffle, thereby shortening the manufacturing cycle of the nacelle sound baffle part of the aviation engine, and providing a theoretical basis and technical support for the designation of the robot multi-spindle hole making process specification of the nacelle sound baffle of the aviation engine.

[0313] ​​While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. An off-line programming method for acoustic baffle hole drilling in an aircraft engine nacelle, characterized in that: The following steps are taken: S1, import the three-dimensional design model of the nacelle acoustic liner part; S2, extract the surface of the acoustic liner hole area and expand it into a plane; S3, arrange the acoustic liner hole processing points on the expanded plane according to the set row and column spacing parameters, and obtain the acoustic liner hole processing points in the Cartesian space; S4, based on the acoustic liner hole processing points arranged on the expanded plane in S3, combined with the spindle array layout parameters of the multi-spindle hole drilling end effector, generate equivalent processing holes on the plane of the hole drilling area; S5, on the basis of S4, use intelligent optimization algorithm to optimize the equivalent processing hole layout, solve the optimal drilling path of the equivalent processing hole, and determine the shortest path of the robot motion; S6, import the calculated target processing pose of the multi-spindle hole drilling end effector of the robot and the optimized robot drilling path into the processing simulation environment, simulate and verify the multi-spindle hole drilling process of the robot; S7, if the collision result meets the requirements, go to S8; Otherwise, go to S5; S8, based on the feasible hole drilling end effector target processing pose and equivalent processing hole drilling path information verified in S7, the equivalent processing hole covers the acoustic liner hole information, tool type, process parameter number, and safety locking information in the drilling process, generate the processing program of the robot multi-spindle hole drilling, for the upper computer robot multi-spindle hole drilling integrated control system software analysis, in order to control the robot and multi-spindle end effector, nacelle acoustic liner drilling task.

2. The method of claim 1, wherein Wherein S3: S31, continue to synthesize the arranged acoustic liner hole processing points to the surface before expansion, to obtain the acoustic liner hole processing points in the Cartesian space; S32, based on the acoustic liner hole processing point information on the curved surface of the hole drilling area in the Cartesian space, and the curved surface normal vector information at the acoustic liner hole, calculate the pose parameters of the equivalent processing hole coordinate system in the acoustic liner product coordinate system, including position and attitude parameters, and convert the equivalent processing hole coordinate system pose parameters to the robot base coordinate system, as the target processing pose of the multi-spindle hole drilling end effector of the robot.

3. The offline programming method of an aeroengine nacelle acoustic baffle hole according to claim 1, wherein : wherein S5: equivalent machining hole layout optimization method, according to the function Under the condition of given all possible equivalent machining hole set with certain arrangement order, the equivalent machining hole set and its layout and the number of set elements are generated, which "contain the sound lining hole machining point position mutual exclusion, and the corresponding sound lining hole machining point position covers the entire hole making area", according to the following steps: SA1, defining a set of all possible equivalent machining holes ordering the equivalent machining holes as a chromosome of the genetic algorithm; If the equivalent processing hole arrangement order is equal Contains Equivalent processing hole sequence number, then the chromosome is composed of Each gene corresponds to an equivalent processing hole layout coordinate Wherein: is the equivalent processing hole in the hole area plane on the horizontal coordinate value position coordinate; is the equivalent processing hole longitudinal coordinate value on the hole making area plane; Equivalent machining holes defined in the form of tuples; SA2, parameter initialization: set the initial population size of equivalent machining hole arrangement order as , and , the chromosome length of equivalent machining hole arrangement order in the population is m; setting a maximum number of iterations , a crossover probability , a mutation probability , a gap ratio of initial values; SA3, all possible equivalent processing holes are selected as The coordinate order arrangement and the reverse order arrangement are taken as two equivalent processing hole arrangement order chromosomes, and the two arrangement orders are randomly disturbed to generate the remaining equivalent processing hole arrangement order chromosomes, to form an initial population of equivalent processing hole arrangement orders. SA4, computing fitness function ; A greedy selection strategy is adopted to obtain the equivalent processing hole set with the smallest number of equivalent processing holes and its layout based on the set of all possible equivalent processing holes of the selected arrangement order; （A1）； （A2）； Wherein: is a function of the order of the chromosomes in the equivalent processed hole arrangement, and the function is solved to obtain to be equivalent sets of machined holes; Coordinates of the elements in the middle To Layout of the medium value machining holes; SA5, update each chromosome in the equivalent processing hole arrangement order population through the selection of equivalent processing hole arrangement order chromosomes, and the crossover and inversion mutation of equivalent processing hole layout coordinate genes; SA6, after obtaining the offspring population through SA5, will be according to the interval ratio The reserved parent and offspring equivalent machining hole arrangement order population is recombined to obtain a new population of equivalent machining hole arrangement order. SA7, the algorithm iteration number is added 1, if the algorithm iteration number reaches the maximum iteration number , enter SA8; Otherwise, return to SA4; SA8, output the equivalent processing hole arrangement order chromosome with the optimal fitness in the equivalent processing hole arrangement order chromosome population; SA9, the initial value of the simulated annealing algorithm parameter: the initial value of the specified temperature is , the current temperature , the minimum temperature , the cooling rate , the chain length ; SA10, in the simulated annealing algorithm, create a new solution of equivalent processing hole arrangement order based on the inversion mutation factor; SA11, according to The new solution of the criteria of accepting the equivalent machining hole arrangement order is as follows: the function and the equivalent machining hole arrangement order, the number of equivalent machining holes as the solution of the energy; SA12, when the temperature decreases, the temperature decrease ends and enters SA14; If the current temperature temperature iteration times, , return to SA10; SA13, obtaining the minimum value of energy in the equivalent machining hole arrangement order optimal solution from SA12 ; SA14, the equivalent machining hole arrangement sequence corresponding to the minimum energy value is the global optimal solution of the genetic-simulated annealing optimization process, and the minimum energy value corresponds to another output of the function coordinates of each element in the middle is the optimal equivalent machining hole layout.

4. The offline programming method of an aeroengine nacelle acoustic baffle hole according to claim 3, wherein: SA5, according to the fitness function values of each chromosome in the equivalent processing hole arrangement order population iteration process, use the trigonometric function to dynamically and nonlinearly adjust the crossover probability and mutation probability, to speed up the convergence speed of the algorithm.

5. The offline programming method of an aeroengine nacelle acoustic baffle hole according to claim 3, wherein: In SA11, let where ， Accept the new solution, as follows: ； Wherein: Energy of the current best solution; New found energy.

6. The offline programming method of an aeroengine nacelle acoustic baffle hole according to claim 3, wherein: The generation method of the equivalent processing hole is as follows: SB1, the short-cabin sound insulation hole area surface is unfolded into a plane, and a certain row spacing and column spacing are completed sound insulation hole processing point Equivalent to the sound insulation hole processing point, define the equivalent processing hole in the form of a tuple ; （B1）； Wherein: is the equivalent processing hole in the hole area plane on the horizontal coordinate value position coordinate; is the equivalent processing hole longitudinal coordinate value on the hole making area plane; number of post-processed acoustic lining holes for equivalent processing holes, ; , and the set of machining hole points on the plane corresponding to the pair of equivalent machining holes is , and the number of set elements is not more than ; the machining point positions corresponding to the sound-attenuating holes to be machined of the respective main shafts in sequence, if the number of collection elements in the middle is less than the machining point position corresponding to the main shaft not participating in machining is null; SB2, define the boundary direction of the bottom surface of the multi-spindle hole drilling end effector as the same as the row and column direction of the acoustic liner hole arrangement in the hole drilling area; The hole making operation of the multi-spindle hole making end effector is regarded as a sequential scanning operation on the sound lining hole machining point, the position of the multi-spindle hole making end effector covering the sound lining hole machining point is determined, and a set of equivalent machining holes and corresponding sound lining hole machining point sets are obtained , and finally a set of equivalent machining hole corresponding sound lining hole machining point sets is obtained. （B2）； Wherein: to the position of the set of equivalent machining hole points in the set S; The corresponding acoustic liner hole point set of all equivalent processing holes is a subset of the set S. SB3, under the conditions of satisfying formulas (B1) and (B2), an equivalent machining hole is generated based on a greedy selection strategy, and the number of machining holes is generated by priority More equivalent machining holes In the multi-spindle hole machining end effector one-position machining process, each spindle is fully utilized, and the specific steps are as follows: SB31, the number of spindles of which is determined according to the number of spindles of the multi-spindle hole drilling end effector , make , ; SB32, according to the current equivalent machining hole order, select the corresponding , enter SB33; SB33, if There is Enter SB34; Else Let Return SB32; SB34, if , let , , enter SB35; Else Let Return SB32; SB35, if SB37; Otherwise go to SB36; SB36, judge whether it is true, if true, let and SB37; Else go to SB32 Enter SB32; SB37, output all equivalent machining hole sets ; Wherein: to record a set of processed point locations 7. The method of off-line programming of an aeroengine nacelle acoustic baffle hole according to claim 6, characterized in that: Definition in the short cowl sound hole processing, all sound hole in the hole area are processed, and the same sound hole will not be repeated, formula (B2) adds the constraint condition of formula (B3); （B3）。 8. The method of off-line programming of an aeroengine nacelle acoustic baffle hole according to claim 6, characterized in that: 。 9. The method of off-line programming of an aeroengine nacelle acoustic baffle hole according to claim 6, characterized in that: The end effector machining pose planning method is performed in the following steps: SC1, by mapping mapping multiple acoustic liner holes based on a multi-spindle hole-making end effector to a single acoustic liner hole based on a single-spindle hole-making end effector, first ;​ （C1）； Wherein: a pose parameter of a sound attenuation hole for a multi-spindle end effector simultaneous machining in a nacelle sound attenuation product coordinate system, wherein the pose parameter is determined by a method comprising the steps of ; Position coordinates of the acoustic borehole; for the acoustic tangent plane at the point The pose matrix of the equivalent equivalent machining hole coordinate system in the product coordinate system is SC2, defined as the sound bore axis being collinear with the sound bore surface normal at the location of the sound bore axis, is based on the mapping of the sound bore normal, the equivalent machined bore coordinate system is calculated axis, the specific steps include; SC21, according to the mapping determining the corresponding actual processing sound hole when processing a certain equivalent processing hole, marking the position coordinates of the sound hole as ; SC22, extracting normal vectors of the acoustic liner surface at the acoustic liner holes by offline programming software ; SC23, the mean of the normal vectors of the actual sound-attenuation holes corresponding to the equivalent processing holes is unitized as the coordinate system of the equivalent processing holes axial direction; （C2）； Wherein: average normal vector of the sound hole; for equivalent processing hole coordinate system of axis unit vector; SC3, when mapping the number of mid-tapered holes SC4 is entered. Mapping Number of mid-taper bores When, enter SC5; Wherein: n is a natural number greater than 0; SC4, setting the origin of the equivalent machining hole coordinate system based on the design geometry of the end effector spindle array axial direction , and calculating the origin of the equivalent machining hole coordinate system based on the design geometry of the end effector spindle array , and the specific steps include: SC41, calibration result based on robot base coordinate system , the robot base coordinate system of the negative unit vector of the axis in the short cabin sound lining product coordinate system description ; SC42, with cross multiplication , will unitization , as the equivalent machining hole coordinate system axis direction; （C3）； SC43, unit vector and cross product, resulting in a coordinate system for the nacelle acoustic liner product equivalent processing hole coordinate system axial direction ; （C4）； SC44, when Establish a coordinate system on the machining plane, and use the coordinates of ... and for shaft and In the axial direction, the coordinates of the equivalent machined hole in this coordinate system are: ,in It depends on the design geometry of the end effector spindle array; SC45, the position coordinates of the equivalent machining hole coordinate system origin are solved ; （C5）； SC5, based on the position coordinates of any two acoustic holes, determine the coordinate system of the equivalent machining hole the axial direction and the origin, and the specific steps include: SC51, the axes of each spindle on the multi-spindle hole drilling end effector are parallel, the ends are flush, and processing a certain equivalent processing hole can be regarded as each hole drilling spindle in the same processing plane The processing sound insulation hole is processed, and the processing plane equation is set as ; According to SC2, the normal vector of the machining plane is , let the coefficients in the equation of the machining plane be respectively equal to , solve the coefficients based on the least square algorithm to make the square sum of the deviation between the actual sound hole position coordinates and the fitting plane minimum; （C6）； Wherein: For the objective function, the optimization model is ; the position coordinates of the first sound hole; and the position coordinates of the second sound hole. SC52, compute mapping Position coordinates of the mid-sound bore On the machining plane Projection; （C7）； （C8）； Wherein: the position coordinates of the first sound hole the projection of the position coordinates of the second sound hole the projection of the position coordinates of the third sound hole the position coordinates of the first sound hole; and the position coordinates of the second sound hole. SC53, on the machined plane Construct a Cartesian coordinate system in the plane to calculate vectors. and origin Determine the coordinate system for the nacelle acoustic liner product. The equivalent machining hole coordinate system The axis direction and origin, the specific process includes: SC531, the position coordinates of the sound hole in the machining plane are calculated according to formula (C7) and the projection of the position coordinates of the sound hole in the machining plane and and ​ SC532, compute machining plane upper projection pointing projection vector and unitization processing to obtain ; SC533, the unit normal vector of the processing plane obtained by combining equation (C2) ;​​ SC 534, based on unit vectors and establishing a plane rectangular coordinate system ; SC535, the vector and the origin ; （C9）； （C10）； wherein: ; SC536, to vector unitization processing as equivalent processing hole coordinate system axis direction ; SC537, unit vector and cross product, resulting equivalent hole coordinate system about the nacelle acoustic liner product coordinate system of the nacelle acoustic liner product coordinate system axis direction ; （C11）； Taking one of the sound hole position coordinates as the origin, a plane rectangular coordinate system is established, and the vector is calculated according to the above process and the origin ; SC54, based on the equivalent machining hole coordinate system Axial unit vector and in-situ position coordinates The equivalent machining hole is obtained in the nacelle acoustic liner product coordinate system. pose description matrix Transform it to the robot's base coordinate system This refers to the target machining pose of the multi-spindle end effector. （C12）； （C13）； Wherein: To calibrate the robot base coordinate system result.

10. The method of off-line programming of an aeroengine nacelle acoustic baffle hole according to claim 9, characterized in that: The end effector machining pose planning method is performed in the following steps: SD1, obtaining k equivalent machining holes by equivalent machining hole layout optimization and end effector machining pose calculation and the corresponding end effector machining pose parameters thereof; defines the end effector machining pose parameter six tuple for the ith equivalent machining hole as ; adopting to represent the machining sequence of equivalent machining holes in the drilling process, , the objective function of the drilling path planning problem of equivalent machining holes is constructed The goal of planning is to find the machining sequence that minimizes the objective function in the state space composed of ;​​ （D1） Wherein: to equate the hole position coordinates, for the end effector pose expressed in ZXY Euler angles; To process the holes in a certain equivalent processing sequence The distance between the first and the second equivalent processing hole, ; the difference in ZXY Euler angles of the equivalent processed holes, and , , ;​ and are weights set to balance path length and end effector pose smoothness; respectively, are weight coefficients of ZXY Euler angle difference values; SD2, in the drilling path and end effector pose smoothness weighted sum The reciprocal of this comprehensive evaluation index is the fitness function, and the multi-axis drilling path optimization model of the aircraft engine nacelle sound lining robot is established ; The genetic optimization algorithm is used to obtain the optimal drilling path ; （D2） SD3, proposes to initialize the population of individuals by screening, at the initialization of the population, generating a population size of equivalent process hole process order of the size of the population of individuals of times ; The smallest individuals are initialized as population individuals.

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