Automatic machining method for guide hole of complex aviation structural part

Abstract

The present application belongs to the technical field of numerical control machining, and particularly relates to an automatic machining method for guide holes of complex aviation structural parts, comprising: installing a vision system, a robot and a part tooling; creating a robot base coordinate system O, a part machining coordinate system O1 and an end drilling tool coordinate system O2; before drilling, calculating the relationship matrix W1 of O and O1, and the relative position relationship matrix theoretical value W2 of O1 and O2; obtaining the guide hole position information of the part under the machining coordinate system O1; converting the hole position information to the robot base coordinate system O through the matrix W1, determining the motion trajectory of the end drilling tool under O, and generating an NC program with O as the reference; executing the NC program, the vision system observing the position relationship matrix W3 of the end drilling tool coordinate system O2 and the part machining coordinate system O1 in real time, and calculating the deviation of W3 and the theoretical value W2, correcting the position of the end drilling tool by using the deviation W2-W3, and realizing the automatic machining of the guide holes of the part.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of numerical control machining, and particularly relates to an automatic machining method for guide holes of a complex aviation structural part. BACKGROUND

[0002] The materials of aircraft structural parts are mainly aluminum alloy and titanium alloy, and the shapes of the aircraft structural parts are complex and different. In order to meet the assembly requirements between parts, a large number of guide holes are often needed to be made on the parts, and the distribution state of the holes is relatively complex. The number of guide holes on different parts varies from several tens to several hundreds. In the traditional development of aircraft structural parts, a manual hole making method or a numerical control machine tool hole making method is mainly used. The manual hole making method needs to go through drilling and burr trimming processes, and has the disadvantages of low hole making efficiency, occupation of a large amount of manpower, poor hole making quality and the like, and has been unable to meet the requirements of modern aviation manufacturing industry. The numerical control machine tool hole making method generally needs to use a large-angle five-axis equipment, and the machine tool occupies a large area and a large amount of use time, and has a high cost. At the same time, due to the clamping limitation in the numerical control machining process of the workpiece and the interference of the spindle structure of the numerical control machine tool, a large number of guide holes need to be taken twice through clamping, and there are also some guide holes in special positions that cannot be made by using the machine tool due to position interference.

[0003] An industrial robot is a new type of equipment developed in the process of mechanization and automation, and has the characteristics that it can complete various expected work tasks through programming and replace manual labor. The industrial robot has the characteristics of strong adaptability to people, high flexibility, high reliability and high automation degree. However, the machining precision of the industrial robot is poor, and the error is in the order of millimeters, so the industrial robot cannot be directly used for making guide holes of aircraft structural parts. SUMMARY

[0004] The application aims to provide an automatic machining method for guide holes of a complex aviation structural part, which combines an industrial robot with a visual positioning system, can realize accurate positioning of a mechanical arm in the process of making guide holes of an aircraft structural part, greatly saves operation time and improves production efficiency.

[0005] TECHNICAL SCHEME

[0006] An automatic machining method for guide holes of a complex aviation structural part, comprising the following steps:

[0007] Step 1, installing a visual system, a robot and a part tooling;

[0008] Step 2, creating a robot base coordinate system O, a part machining coordinate system O1 and an end hole making tool coordinate system O2;

[0009] Step 3, before hole making, obtaining a relationship matrix W1 of O and O1 and a relative position relationship matrix theoretical value W2 of O1 and O2 through the visual system;

[0010] Step 4, obtain the pilot hole position information of the part in the machining coordinate system O1;

[0011] Step 5, convert the hole position information obtained in step 4 to the robot base coordinate system O through the matrix W1, determine the motion trajectory of the end drilling tool in O, and generate the NC program with O as the reference;

[0012] Step 6, execute the NC program, the mechanical arm drives the end drilling tool to move according to the predetermined trajectory, the vision system observes the position relationship matrix W3 between the end drilling tool coordinate system O2 and the part machining coordinate system O1 in real time, and calculates the deviation of W3 from the theoretical value W2, and uses the deviation W2-W3 to correct the position of the end drilling tool, realizing the automatic machining of the pilot hole of the part.

[0013] Further, in step 2, before drilling, the tool returns to the home point, and the tooling is placed and fixed at the drilling position.

[0014] Further, step 1 is specifically:

[0015] Step 1.1) According to the size range of the parts to be drilled, determine the flat tooling that can place multiple parts for drilling; design reference holes, positioning pins and positioning holes on the tooling, assemble the part models to be drilled with the flat tooling to determine the position relationship between the parts and the tooling, and complete the positioning of each part on the tooling;

[0016] Step 1.2) clamp the tooling in the space range that can be reached by the robot end drilling tool, adjust the position and angle of the binocular vision in the binocular vision control interface, and when the tooling and the robot are included in the vision field, lock the position of the binocular vision.

[0017] Further, step 2 is specifically:

[0018] Step 2.1) In the vision field, set up three groups of vision target points, respectively arranged on the robot base, the end drilling tool cover and the part clamping tooling, arrange 4-6 target points per square decimeter in disorder, and observe whether they are displayed in high light in the vision system to ensure that all target points are successfully arranged;

[0019] Step 2.2) Take the center of the bottom of the robot base, the reference hole of the tooling and the tip point of the end drilling tool as the coordinate origin, create O, O1 and O2, and associate each group of target points with the coordinate system one by one.

[0020] Further, step 3 specifically includes:

[0021] Step 3.1) The acquisition of W1 is as follows: manually rotate the vision system so that two sets of visual target points corresponding to the robot base coordinate system O and the machining coordinate system O1 are observed in the visual field at the same time, turn on the vision system capture function, record the coordinate relationship of O and O1 in real time, the recording time is kept at 30S to 60S, take the average of the coordinate relationship matrix in the recording period, and record it as W1.

[0022] Further, step 3 specifically further comprises:

[0023] Step 3.2) The acquisition of W2 is as follows: manually rotate the vision system so that two sets of visual target points corresponding to the machining coordinate system O1 and the end-hole-making tool coordinate system O2 are observed in the visual field at the same time, turn on the vision system capture function, record the coordinate relationship of O1 and O2 in real time, the recording time is kept at 30S to 60S, take the average of the coordinate relationship matrix in the recording period, and record it as W2.

[0024] Further, step 4 is specifically:

[0025] Step 4.1) In the three-dimensional drawing software, assemble the part model to be drilled to the tool model, and create the coordinate system O1 according to the tool reference hole; under O1, export the hole position information of the part guide hole.

[0026] Further, step 4 further comprises:

[0027] Step 4.2) If there is a blank frame or a part body between the adjacent two guide holes on the part, interference occurs during machining, in order to avoid collision of the tool, add an end-hole-making tool transition point between the two guide holes, so that the tool path bypasses the area where interference may occur;

[0028] Step 4.3) If the tool and the tool interfere or the robot trajectory is unreachable when the part guide hole is machined in the current clamping state, set up multiple stations and change the clamping state of the part, and export the point position information of the guide hole in the new station.

[0029] Further, step 5 specifically comprises:

[0030] Step 5.1) In the simulation software, input the coordinate transformation matrix W1, convert the point position information under the machining coordinate system O1 to the robot base coordinate system O, generate the machining path of the tool, set the motion speed of the mechanical arm, the tool rotation speed, the feed speed, and simulate the machining path;

[0031] Step 5.2) If simulation collision occurs due to unreasonable tool trajectory, re-plan the transition point setting scheme in step 3, and export the NC program after simulation is correct.

[0032] Further, step 6 is specifically:

[0033] Step 6.1) When the NC program is executed for the first time, it is necessary to run single step, the running rate of the robot is adjusted below 30%, the vision system is started, the vision field is ensured to be unobstructed, the target point position on the end hole drilling tool cover is captured in real time, the actual trajectory of the tool is fed back, the deviation value of the relative position relationship matrix of O1 and O2 in the robot movement process and the theoretical relative position relationship matrix W2 in the NC program is calculated, the compensation amount is added before drilling, the motion trajectory is optimized, the motion deviation of the robot is corrected, the closed-loop whole-process accurate control is formed, and the automatic machining of the part pilot hole is completed.

[0034] Beneficial effects:

[0035] The present application aims at the hole drilling problem of complex aircraft structural parts, combines an industrial robot with a vision positioning system, establishes a robot coordinate system O, a machining coordinate system O1 and an end hole drilling tool coordinate system O2, captures the relative position relationship of the end hole drilling tool coordinate system O2 and the machining coordinate system O1 through the vision positioning system, and accurately compensates the tool position before drilling, thereby improving the machining precision of the industrial robot. The robot automatic hole drilling method can realize one-time system debugging, continuous operation for several months, greatly reduces the labor intensity of workers, improves the utilization rate of equipment, and promotes the efficient construction of production. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 An automatic machining method flow chart of a complex aviation structural part pilot hole is provided for the embodiments of the present application;

[0037] Figure 2 is a position relationship schematic diagram of a robot body, an end hole drilling tool, a hole drilling tooling and a vision system;

[0038] Figure 3 is a vision system structure schematic diagram;

[0039] Figure 4 is a hole drilling tooling schematic diagram;

[0040] Figure 5 is an assembly schematic diagram of a typical part and a tooling;

[0041] Figure 6 is a hole drilling end effector structure schematic diagram;

[0042] BRIEF DESCRIPTION OF DRAWINGS:

[0043] 1, vision system control cloud platform;

[0044] 2, vision system;

[0045] 3, part tooling;

[0046] 4, part;

[0047] 5. tooling target;

[0048] 6. end-hole making tool;

[0049] 7. robot body;

[0050] 8. tooling reference hole;

[0051] 9. tooling straightening alignment hole;

[0052] 10. clamping screw hole;

[0053] 11. positioning pin;

[0054] 12. drill bit;

[0055] 13. end-hole making tool tip point;

[0056] 14. end-hole making tool cover;

[0057] 15. end-hole making tool target. DETAILED DESCRIPTION

[0058] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, identical or similar labels represent identical or similar elements or elements with identical or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation on the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0059] In the description of the present application, it should be understood that the terms "center", "axial", "vertical", "upper", "lower", "upper end", "bottom end", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0060] As Figures 1-6 , the automatic machining method of the guide hole of a complex aviation structural part of the present application comprises the following steps:

[0061] Step 1, install a vision system, a robot and a part tooling;

[0062] Step 2, create robot base coordinate system O, part machining coordinate system O1 and end drilling tool coordinate system O2;

[0063] Step 3, before drilling (the tool returns to the home point, the tooling is placed in the drilling position and fixed), the relationship matrix W1 of O and O1 and the relative position relationship matrix theoretical value W2 of O1 and O2 are obtained through the visual system calculation;

[0064] Step 4, obtain the pilot hole position information of the part in the machining coordinate system O1 (the position information includes point position and hole axis vector);

[0065] Step 5, convert the hole position information obtained in step 4 to the robot base coordinate system O through the matrix W1, design the motion trajectory of the end drilling tool in O, and generate the NC program with O as the reference.

[0066] Step 6, execute the NC program, the mechanical arm drives the end drilling tool to move according to the predetermined trajectory, the visual system observes the position relationship matrix W3 of the end drilling tool coordinate system O2 and the part machining coordinate system O1 in real time, and calculates the deviation (W2-W3) of W3 and the theoretical value W2, and corrects the position of the end drilling tool using the deviation W2-W3, to realize the automatic machining of the pilot hole of the part.

[0067] Optionally, the process of installing the visual system, the robot and the part tooling includes:

[0068] Step 1.1) According to the size range (maximum 500mm×350mm×80mm) of the part to be drilled, a flat tooling (750mm×450mm×100mm) capable of placing multiple parts for drilling is designed. The reference hole, positioning pin and positioning hole are designed on the tooling, the part model to be drilled is assembled with the flat tooling to determine the position relationship between the part and the tooling, and the positioning of each part on the tooling is completed.

[0069] Step 1.2) The tooling is clamped in the space range (R=3326mm hemispherical space) that can be reached by the end drilling tool of the robot. In the binocular vision control interface, adjust the position and angle of the binocular vision, and when the tooling and the robot are included in the visual field, lock the position of the binocular vision.

[0070] Optionally, the process of creating the robot base coordinate system O, the part machining coordinate system O1 and the end drilling tool coordinate system O2 includes:

[0071] Step 2.1) In the visual field, set three groups of visual target points, respectively arranged on the robot base, the end drilling tool shell and the part clamping tooling, 4-6 target points per square decimeter are arranged disorderly, and whether they are displayed in high light in the visual system is observed to ensure that all target points are successfully arranged;

[0072] Step 2.2) Create O, O1, O2, respectively, with the center of the robot base bottom, the tool reference hole, and the end drilling tool tip point as the coordinate origin, and associate each group of target points with the coordinate system one by one. The visual system uses the target points as the detection reference of each coordinate system to capture and record in real time.

[0073] Optionally, step 3 specifically includes:

[0074] Step 3.1) The acquisition of W1 is as follows: manually rotate the visual system so that the two groups of visual target points corresponding to the robot base coordinate system O and the machining coordinate system O1 are observed in the visual field at the same time, start the visual system capture function, and record the coordinate relationship of O and O1 in real time. The recording time is kept at 30S to 60S, and the average of the coordinate relationship matrix in the recording period is taken, denoted as W1.

[0075] Step 3.2) The acquisition of W2 is as follows: manually rotate the visual system so that the two groups of visual target points corresponding to the machining coordinate system O1 and the end drilling tool coordinate system O2 are observed in the visual field at the same time, start the visual system capture function, and record the coordinate relationship of O1 and O2 in real time. The recording time is kept at 30S to 60S, and the average of the coordinate relationship matrix in the recording period is taken, denoted as W2.

[0076] Step 3.3) Note that during the recording process, phenomena that may affect the accuracy of the results, such as ground disturbance, target point obstruction, and visual system position deviation, are not allowed to occur, otherwise the capture needs to be restarted.

[0077] Optionally, step 4 specifically includes:

[0078] Step 4.1) In the three-dimensional drawing software, assemble the part model to be drilled to the tool model, and create coordinate system O1 according to the tool reference hole; under O1, export the hole position information of the part guide hole.

[0079] Step 4.2) If there is a blank frame or part body between the two adjacent guide holes on the part, interference occurs during machining, to avoid collision of the tool, add an end drilling tool transition point between the two guide holes to make the tool path bypass the area where interference may occur.

[0080] Step 4.3) If the tool and the tool interfere or the robot trajectory is not reachable when the part guide hole is machined in the current clamping state, set up multiple stations and change the clamping state of the part to export the point position information of the guide hole in the new station.

[0081] Optionally, step 5 specifically includes:

[0082] Step 5.1) In the simulation software, input the coordinate conversion matrix W1, convert the point information in the machining coordinate system O1 to the robot base coordinate system O, generate the machining path of the tool, set the motion speed of the robot, the tool rotation speed, the feed speed, and simulate the machining path;

[0083] Step 5.2) If simulation collision occurs due to unreasonable tool trajectory, re-plan the transition point setting scheme in step 3, and export the NC program after simulation is correct.

[0084] Optionally, step 6 specifically includes:

[0085] Step 6.1) When executing the NC program for the first time, it needs to be run step by step, the running rate of the robot is adjusted to be below 30%, the vision system is turned on to ensure that there is no obstruction in the vision field, the target point position on the end-hole-making tool cover is captured in real time, the actual trajectory of the tool is fed back, the deviation value of the relative position relationship matrix of O1 and O2 in the robot motion process and the theoretical relative position relationship matrix W2 in the NC program is calculated, the compensation amount is added before hole making, the motion trajectory is optimized, the motion deviation of the robot is corrected, the closed-loop whole-process precise control is formed, and the automatic machining of the part guide hole is completed.

[0086] The application will be further described below in conjunction with the drawings and examples:

[0087] Figure 1 A complex aviation structure guide hole automatic machining method flow chart is provided for the embodiments of the application, and the application will be further described in detail below through specific embodiments and drawings.

[0088] Step 1, according to the size range of the part (maximum 500mmx350mmx80mm), a tooling 3 capable of completing part hole making clamping positioning is designed, and a reference hole 8, a straight alignment hole 9, a positioning pin 11 and a clamping threaded hole 10 are arranged according to the assembly relationship of the tooling and the part. The tooling is fixed in the effective hole making area (R=3326mm hemispherical space) of the robot end effector. The position and angle of the holder 1 are adjusted by controlling the binocular vision control interface, and when the tooling 3 and the robot body 7 are in the vision field of the vision system 2, the holder 1 is locked.

[0089] Step 2, manually rotate the vision system 2 to determine the maximum range of the vision field, arrange target points on the robot body, the end-hole-making tool cover and the part clamping tooling respectively, and observe whether they are displayed in high light in the vision system to ensure that all target points are successfully arranged;

[0090] In one implementation manner, the arrangement process of each system target point is as follows:

[0091] Step 2.1) Arrangement of target points for robot body: 4-6 target points are arranged disorderly per square decimeter around the base of the robot body.

[0092] Step 2.2) Arrangement of target points for end-hole-making tool cover: target points are arranged disorderly per square decimeter on the entire surface of the tool cover to meet the visual monitoring of the end-hole-making tool cover in all angles and postures.

[0093] Step 2.3) Arrangement of target points for part clamping tool: visual target blocks 5 are arranged at an interval of 500 mm along the length of the tool, the number of visual target blocks 5 is determined according to the length of the tool, and 4-6 target points are arranged disorderly per square decimeter on each visual target block 5.

[0094] Step 3, taking the center of the base of the robot, the reference hole of the tool, and the tip point of the end-hole-making tool as the coordinate origin respectively, creating points, lines, and surfaces using the visual system probe handle according to the point, line, and surface characteristics of each system structure, completing the establishment of coordinate systems O, O1, and O2, and associating each group of target points in step 2 with the corresponding coordinate system one by one, the visual system takes the target points as the detection reference of each coordinate system, and captures and records in real time.

[0095] Step 4, the relative position relationship matrix of O and O1, O1 and O2 is obtained by visual system calculation, denoted as W1, W2;

[0096] In the embodiment, the specific process is as follows:

[0097] Step 4.1) Acquisition of W1: manually rotate the visual system so that the two groups of visual target points corresponding to the robot base coordinate system O and the machining coordinate system O1 are observed in the visual field at the same time, start the visual system capture function, and record the coordinate relationship of O and O1 in real time, the recording time is kept at 30S to 60S, take the average of the coordinate relationship matrix in the recording period, denoted as W1.

[0098] Step 4.2) Acquisition of W2: manually rotate the visual system so that the two groups of visual target points corresponding to the machining coordinate system O1 and the end-hole-making tool coordinate system O2 are observed in the visual field at the same time, start the visual system capture function, and record the coordinate relationship of O1 and O2 in real time, the recording time is kept at 30S to 60S, take the average of the coordinate relationship matrix in the recording period, denoted as W2.

[0099] Step 4.3) Note that during the recording process, phenomena that may affect the accuracy of the results such as significant ground disturbance, target point obstruction, and visual system position deviation are not allowed to occur, otherwise the capture needs to be restarted.

[0100] Step 5, assemble the part to be drilled with the tooling model in the three-dimensional modeling software, and create a coordinate system O1; under O1, export the hole position information of the part to be drilled.

[0101] Step 5.1) If there is a material frame or the part body between the adjacent two pilot holes on the part, it will interfere with the machining process. In order to avoid collision of the tool, a transition point needs to be inserted between the two pilot holes to make the tool path bypass the area where interference may occur;

[0102] Step 5.2) If the tool interferes with the tooling or the robot trajectory is not reachable when part of the holes on the part are machined in the current clamping state, multiple stations need to be set up to change the clamping state of the part, and the point position information of the pilot hole is exported in the new station.

[0103] Step 6, convert the hole position information obtained in step 3 to the robot base coordinate system O through matrix W1, obtain the motion trajectory of the end drilling tool under O, and generate the corresponding NC program.

[0104] The embodiment takes aluminum alloy pilot holes as the object, and the specific process is as follows:

[0105] Step 6.1) In the simulation software, input the coordinate conversion matrix W1, convert the point position information under the machining coordinate system O1 to the robot base coordinate system O, generate the machining path of the tool, set the motion speed V of the mechanical arm in the path to 3000mm / s, the tool speed S to 2500r / min, and the feed speed F to 180mm / min, and simulate the machining path;

[0106] Step 6.2) If simulation collision occurs due to unreasonable tool trajectory, the transition point setting scheme needs to be re-planned in step 3, and the NC program is exported after simulation is correct.

[0107] Step 7, when executing the NC program for the first time, single-step operation is required, the motion speed V of the mechanical arm of the robot is below 30%, the vision system is turned on to ensure that there is no obstruction in the vision field, the target point position on the end drilling tool cover is captured in real time, the actual trajectory of the tool is fed back, the deviation value between the relative position relationship matrix of O1 and O2 in the robot motion process and the theoretical relative position relationship matrix W2 in the NC program is calculated, the compensation amount is added before drilling to optimize the motion trajectory, correct the motion deviation of the robot, form a closed-loop full-process precise control, and complete the automatic machining of the part pilot hole.

[0108] The above only expresses the embodiments of the present application, which are described in detail and in detail, but cannot be understood as limiting the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application. In addition, the parts of the present application not described in detail are conventional techniques.

Claims

1. An automated machining method for guide holes in complex aerospace structural components, characterized in that, include: Step 1: Install the vision system, robot, and tooling parts; Step 2: Create the robot base coordinate system O, the part machining coordinate system O1, and the end effector tool coordinate system O2; Step 3: Before drilling, the relationship matrix W1 between O and O1 and the theoretical value W2 of the relative position relationship matrix between O1 and O2 are obtained by calculating through the vision system. Step 4: Obtain the position information of the guide hole in the machining coordinate system O1; Step 5: Transform the hole position information obtained in Step 4 into the robot base coordinate system O through matrix W1, determine the motion trajectory of the end hole-making tool in O, and generate an NC program based on O. Step 6: Execute the NC program. The robotic arm drives the end-effector drilling tool to move along a predetermined trajectory. The vision system observes the position relationship matrix W3 between the end-effector drilling tool coordinate system O2 and the part machining coordinate system O1 in real time, and calculates the deviation between W3 and the theoretical value W2. The position of the end-effector drilling tool is corrected using the deviation W2-W3 to realize the automatic machining of the guide hole of the part.

2. The method according to claim 1, characterized in that, In step 2, before drilling, the tool returns to the home point, and the fixture is placed and fixed at the drilling position.

3. The method according to claim 2, characterized in that, Step 1, specifically: Step 1.1) Based on the size range of the parts to be drilled, determine a flat fixture that can hold multiple parts for drilling holes; design reference holes, locating pins and positioning holes on the fixture; assemble the digital models of each part to be drilled with the flat fixture; determine the positional relationship between the parts and the fixture; and complete the positioning of each part on the fixture. Step 1.2) Clamp the tooling within the space reachable by the end-effector of the robot. In the binocular vision control interface, adjust the position and angle of the binocular vision. When both the tooling and the robot are within the vision field, lock the position of the binocular vision.

4. The method according to claim 3, characterized in that, Step 2, specifically: Step 2.1) In the vision field, set up three sets of vision target points, which are respectively placed on the robot body base, the end hole drilling tool cover and the part clamping fixture. 4-6 target points are randomly arranged per square decimeter. Observe whether they are highlighted in the vision system to ensure that all target points are successfully arranged. Step 2.2) Create O, O1, and O2 respectively, with the center of the bottom of the robot base, the reference hole of the tooling, and the tip of the end-hole drilling tool as the coordinate origin, and associate each set of target points with the coordinate system one by one.

5. The method according to claim 4, characterized in that, Step 3 specifically includes: Step 3.1) The acquisition of W1 is as follows: Manually rotate the vision system so that two sets of visual target points corresponding to the robot base coordinate system O and the processing coordinate system O1 are observed simultaneously in the vision field. Turn on the vision system's capture function and record the coordinate relationship between O and O1 in real time. The recording time is kept between 30S and 60S. Take the average value of the coordinate relationship matrix within the recording time period and denote it as W1.

6. The method according to claim 5, characterized in that, Step 3 also includes: Step 3.2) The acquisition of W2 is as follows: Manually rotate the vision system so that two sets of visual target points corresponding to the machining coordinate system O1 and the end hole-making tool coordinate system O2 are observed simultaneously in the vision field. Turn on the vision system's capture function and record the coordinate relationship between O1 and O2 in real time. The recording time is kept between 30S and 60S. Take the average value of the coordinate relationship matrix within the recording time period and record it as W2.

7. The method according to claim 6, characterized in that, Step 4, specifically: Step 4.1) In the 3D drawing software, assemble the 3D model of the part to be drilled onto the tooling model, and create a coordinate system O1 based on the tooling reference hole; under O1, export the hole position information of the guide hole of the part.

8. The method according to claim 7, characterized in that, Step 4 also includes: Step 4.2) If there is a blank frame or part body between two adjacent guide holes on the part, interference will occur during the machining process. In order to avoid tool collision, an end hole-making tool transition point is added between the two guide holes so that the tool path bypasses the area where interference may occur. Step 4.3) If the tool interferes with the fixture or the robot trajectory is unreachable when machining the guide hole of the part in the current clamping state, set up multiple stations, change the clamping state of the part, and export the point information of the guide hole at the new station.

9. The method according to claim 8, characterized in that, Step 5 specifically includes; Step 5.1) In the simulation software, input the coordinate transformation matrix W1 to transform the point information based on the machining coordinate system O1 to the robot base coordinate system O, generate the tool machining path, set the movement speed of the robotic arm, the tool speed, the feed rate, and simulate the machining path. Step 5.2) If a simulation collision occurs due to an unreasonable tool path, replan the transition point setting scheme in step 3. After the simulation is correct, export the NC program.

10. The method according to claim 1, characterized in that, Step 6, specifically: Step 6.1) When executing the NC program for the first time, it needs to be run step by step. The robot's running speed should be adjusted to below 30%. The vision system should be turned on to ensure that there are no obstructions in the vision field. The target point position on the end hole-making tool cover should be captured in real time, and the actual tool trajectory should be fed back. The deviation value between the relative position relationship matrix of O1 and O2 during the robot's movement and the theoretical relative position relationship matrix W2 in the NC program should be calculated. The compensation amount should be added before hole making to optimize the motion trajectory, correct the robot's motion deviation, form a closed-loop full-process precise control, and complete the automatic processing of the guide hole of the part.

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