导管装焊精确定位柔性辅助系统的设计与开发

针对运载火箭增压输送系统中的拼焊型管路产品，以实现管路产品焊接的柔性装配为最终目标，开展了装焊精确定位柔性辅助系统的设计与开发。根据拼焊型管路的传统制造模式，焊接装配是采用专用装焊工装保证导管的空间走向和总体尺寸，因而每项导管对应一套专用装焊工装，管路结构的调整将导致原工装的返修甚至报废，造成生产成本高且严重影响导管的研制周期，该问题在研制型号中尤为突出。随着型号越来越多，专用装焊工装数量也显著增多，给工装管理也带来了极大的挑战。本文通过装焊精确定位柔性辅助系统的设计与开发，以导管特征点的坐标为控制指令实现柔性装配系统按照装配要求进行精确走位和定位，以柔性化的装配系统实现不同规格、不同空间走向的拼焊型管路产品的焊接装配。

Design and Development of Flexible Auxiliary System for Precise Location during Welding Assembling of Pipes

As for tailor welded pipes in the pressurization and propellant feed system of carrier rockets, design and development of a flexible auxiliary system for precise location during the welding assembling of pipes are conducted, aiming to realize the flexible assembling during the welding of tailor welded pipes. According to the traditional manufacturing mode of tailor welded pipes, the welding assembling is based on the special welding fixture to guarantee the manufacturing accuracy of space dimensions, thus a special welding fixture is needed for each pipe. The adjusting or improving of pipe structures will lead to the repairing or even abandon of the existing fixture, causing a high production cost and long production cycle, and this problem is especially obvious in the developing carrier rockets. With increasing of the type of carrier rockets, the amount of the special welding fixture will increase obviously, bringing with a great challenging of the management of special welding fixtures. A flexible auxiliary system for precise location during the welding assembling of pipes is designed and developed to realize precise moving and locating according to the concrete assembling requirements, setting the feature point coordinates of pipe as the control command. Finally, a flexible assembling system can be suitable for the welding assembling of pipes with different space dimensions.