Abstract: To improve the pipeline assembly quality and efficiency and to reduce the reliance on worker skill and experience,an automatic reconfigurable and flexible fixture system for pipeline assembly was designed and implemented.The fixture was composed of three systems that were configuration system,control system and mechanical system.The configuration system realized the rapid configuration of fixture system,and its functions included product information management of pipeline components,configuration parameter calculation of fixture system,3D model automatic configuration of fixture system and configuration information output of fixture system.By using One-Master Multi-Slave control mode,the control system could achieve precise control of the tube joints' posture adjustment and the position with layout for positioners.The mechanical system was consisted of a gantry hoisting platform and a plurality of positioners,which could realize the automatic operation of positioners and pipeline assembly.Through the coordination of three systems,the automatic assembly of pipeline components could be achieved .The experiment and field application showed that the fixture system could significantly improve the assembly efficiency of pipelines and reduce the manufacturing cost of pipelines,and was important to ensure the final product quality of pipelines.

Key words: pipeline, fixture system, assembly, reconfigurable, automatic configuration, automatic posture adjustment

摘要： 为提高管路组件的装配质量和效率并降低对人工经验的依赖,设计并实现了一套面向管路组件装配的自动化可重构柔性工装系统。该工装系统主要由配置系统、控制系统和机械系统3个子系统组成。配置系统实现管路工装系统的快速配置,主要功能包括管路组件信息管理、工装配置参数计算、工装模型自动生成及工装配置信息输出;控制系统设计为一主多从的控制模式,可实现定位器定位以及空间布局和对管接头空间位姿调整的精确控制;机械系统主要由龙门型位移台和多个管接头定位器组成,实现定位器的可控操作以及管路装配。通过3个子系统协同配合实现了管路组件的自动化装配。通过实验和现场应用验证表明,该工装系统能够显著提高管路装配效率,降低管路制造成本,对保证管路最终产品质量具有重要作用。

关键词: 管路, 工装系统, 装配, 可重构, 自动配置, 自动调姿