多分支复杂管路自动装配关键技术研究综述

doi:10.3901/JME.260550

摘要/Abstract

摘要： 多分支复杂管路系统是航空航天产品、船舶、汽车的重要组成部分，其装配质量直接决定产品的可靠性和寿命。为克服传统手工装配中存在的人工操作繁琐、容易出错和效率低等问题，以机器人为核心的装配系统为多分支复杂管路的自动装配提供新的思路，并逐渐成为智能装配领域的研究热点。从多分支复杂管路研制生产的特点出发，通过剖析其制造流程可知，多分支复杂管路机器人装配的核心在于解决管路的检测与定位、机器人精准抓取与协作装配等问题。然后，围绕智能感知、机器人控制、自动装配三个方面综述相关研究进展，分析现有研究存在的不足之处。最后，总结多分支复杂管路自动装配面临的技术挑战，并对未来的发展趋势进行展望。

关键词: 多分支复杂管路, 位姿估计, 机器人控制, 柔性装配

Abstract: Multi-branch complex piping system is an important part of aerospace products, ships and automobiles, and its assembly quality directly determines the reliability and life of the products. To overcome the traditional manual assembly problems such as cumbersome manual operation, error-prone and low efficiency, the robot-centred assembly system provides a new idea for the automatic assembly of multi-branch complex piping, and gradually becomes a research hotspot in the field of intelligent assembly. Starting from the characteristics of the development and production of multi-branch complex pipeline, it can be seen through the analysis of its manufacturing process, the core of the multi-branch complex pipeline robot assembly is to solve the problems of pipeline detection and positioning, accurate robot grasping and collaborative assembly. Then, relevant research progress is reviewed from three aspects: intelligent perception, robot control, and automatic assembly, and the shortcomings of existing research are analyzed. Finally, it summarizes the technical challenges faced by the automatic assembly of multi-branch complex pipelines, and looks forward to the future development trend.

Key words: multi-branch complex pipelines, pose estimation, robot control, flexible assembly

中图分类号:

TP391

刘少丽, 胡佳, 刘检华, 张加波, 张斌, 王砺锋. 多分支复杂管路自动装配关键技术研究综述[J]. 机械工程学报, 2026, 62(15): 221-243.

LIU Shaoli, HU Jia, LIU Jianhua, ZHANG Jiabo, ZHANG Bin, WANG Lifeng. A Review of Key Technologies for Automatic Assembly of Multi-branch Complex Pipelines[J]. Journal of Mechanical Engineering, 2026, 62(15): 221-243.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260550

http://www.cjmenet.com.cn/CN/Y2026/V62/I15/221

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