关键词: 管路, 工装系统, 装配, 可重构, 自动配置, 自动调姿

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