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我国工业机器人与金属成形机床集成应用的现状与问题

工业机器人与金属成形机床在制造原理和结构等诸方面均较为相似，如伺服电机驱动、数控系统控制，以及可实现精确位置移动的自动装置等。因此，金属成形机床制造商在工业机器人的晒制上优势较为明显。而这些优势带来的巨大商机，早已被国内诸多目光敏锐机床制造企业所察觉。所以，早于多年前，便已有部分机床及企业介人对工业机器人
的制造与研发。发展至当前，我国开展工业机器人研制的金属成形机床企业，主要为数控系统厂和主机厂两类。其中，后者的产品门类较为齐全，主要优势集中于成套项目承接。

然而现阶段，虽然我国工业机器人与金属成形机床的集成应用正日趋广泛。但从行业的整体发展程度来看，二者集成应用在数量与规模上，均处于初级起步阶段，与发达国家仍有较大差距。主要表现为以下几方面 ：第一，工业机器人与金属成形机床集成应用所处水平较低，诸多先进技术仍未充分应用。并且，应用形式仅是简单地将金属成形机床和工业机器人相组合，但各自使用分离的控制系统。第二，行业内部缺乏可借鉴与参考的技术标准规范或理论基础，制造商与用户均缺乏充足的知识与经验。第三，工业机器人领域属于新兴行业，相关应用型专业人才十分匮乏，导致诸多项目受阻。总体而言，在工业机器人与金属成形机床集成应用中，许多理论与实践问题均未得到充分认识、论证与解决。
因此，要充分发挥工业机器人与金属成形机床的集成应用优势，还需各餐祝主体的不懈努力。

4 、工业机器人与金属形成机床集成应用的发展路径

根据上文所述，当前我国工业机器人与金属成形机床集成应用中仍存在诸多问题。因此，需从以下几方面对二者的集成应用进行探讨，充分发挥二者的合力优势，推进汽车制造企业发展进程。

其一，汽车机床企业在研制工业机器人的过程中，应充分发挥产业自身固有优势，树立更高的发展目标。制造商应立足于自身实际发展需要，完善工业机器人与金属成形机床集成应用的基础理论研究，提升工作工艺与转配。同时，需不断创新，突破减速器与伺服电机等基础零部件的传统束缚，大幅提高国产汽车制造工艺的质量与整体水平。
其二，在金属成形机床的制造过程中，需加入充足的自动化功能，促进其与工业机器人工作的协调开展。在此过程中，汽车制造商需加强对刀具中先进技术的应用研究，包括强刀具磨损与补偿道具的自动检测与更换等，有效保证汽车机床加工各单元工作的持续稳定开展。

其三，汽车加工制造商需对共同协调工作的双方进行联动设计，并对工业机器人与金属成形机床做出适合双方的相应调整，形成二者度集中的协调有机统一体。此设计与调整不单是改变机床机械的结构，还应包括调整设备传感器与整合控制系统等，实现工业机器人与金属成型机床的空间集成。

其四，在促进工业机器人与金属成形机床的集成应用过程中，应制定较为完善的技术规范与流程，有效满足二者对机械结构设计与控制系统等的特殊要求。因此，汽车制造企
业间应建立完备的组织联络机制，并在机制中建立必要的技术标准与规范，加强各环节的交流、沟通与协作，充分实现优势互补、资源共享与发展合力，推进我国机床工具行业转
型升级 [5]。

其五，为加快工业机器人与金属成形机床集成应用的普及，应加大对专业领域人才的培养力度。一方面，需加大工业机器人研制与开发相关专业人才的培养力度，促进工业智能机器人的应用与普及。另一方面，在汽车金属成形机床制造领域，应加强对工业机器人应用人才的培养，并不断深化关人才的专业知识与技能水平。
 

QPJ-PSM-201 Communication Adaptor Module for 6" QP4's

VMEM-REP10 Add on - VisualMEM Admin Bundle, 10 licenses. Requires VMEM-SVR.

20BD8P0A0AYNAND0 PowerFlex 700 AC Drive 8 A 5 Hp 20B

20DF650N0ENNBNANE PowerFlex 700S AC Drive 650 A 630 kW 20D

20G1ANE063AN0NNNNN PowerFlex 755 AC Packaged Drive

22D-D2P3H204 PowerFlex 40P- 0.75 kW (1 HP) AC Drive

2711P-T6C20A9 PanelView Plus 6 Graphic Terminal

284-PWRM22A-M12 ArmorConnect 3PH Pwr Media Shld Mtr Cbl

CJ1M-CPU22 CPU单元I/O点数320，10K程序容量，不可接扩展机架。

1492-RCDA4D40 Residual Current Device 40 A

有源总线模板 6ES7195-7HD10-0XA0 有源总线模板用于 2 IM153-2 高性能型冗余系统

变送器 3RS11 42-2GW80

1497-L-BASX-0-N Control Circuit Transformer

1606-XLE480EPC XLE 20 Amp Power Supply

1764-24AWA MicroLogix 1500 24 Point Controller

188-K3D400 Miniature Circuit Breaker 40 A

194L-HE4E-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-08AF01 1 m Length SpeedTec Flexible Cable

2090-XXNPMF-16S02 Kinetix Drives 2m Standard Cable

BC647TRT999 CIMPLICITY HMI Viewer Runtime System with Proficy GlobalCare

GC647PSF100 Global Care for Proficy Process Systems 1000 I/O with iFIX

IC200NDD010 10 point PLC, (6) 12VDC In, (4) 12VDC Out, 12VDC Power Supply

IC646PPA772 PA-70 with 772 CPU - AC

IC647NCA000 CIMPLICITY Change Approval for Unlimited Point Server

IC690ACC901 Mini-Converter Kit with cable (RS-485/RS-232)

IC697VDQ120 Discontinued. Replacement is Embedded VMIVME-2131-110 Not UL Approved. Contact GE Embedded for more details.

IC800SSI420RP2RR 20A, 480V, Profibus S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-SN REMOTE I/O SCANNER MODULE

Industrial Computers 6181P-15TP2KHSS VERSAVIEW STAINLESS STEEL DISPLAY COMPUTER 15-INCH

Application-specific products 9358-PBNT03ENE RSBATCH NT FOR PROCESSLOGIX 03 UNITS

Operator Interface 2711-K5A1L1 PV550 MONOCHROME KEY, RIO & RS232 PRINT

Support 9301-2SE2100DER SUPT REINSTATEMENT CONTRACT FOR 93012SE2100DE

Support 9393-RSTLX5S SUPT RENEWAL CONTRACT FOR 9393RSLTX500

ControlNet Products 2711P-K10C15D2 PV PLUS 1000, KEYPAD, CNET, DC PS, EXT MEM

RSI Software Products 9301-2SE2500U5R UPGRADE: OUT-SUPT: RSVIEW32 WORKS 5000 TO 100K

RSI Software Products 9358-BEPNT03ENE EPROCEDURE FOR NT 03 UNITS

Motion Control MPL-A4540F-SJ22AA MOTOR,SERVO,10.2 NM,3000RPM,SINGL,230V,9.5KG

Motion Control 2090-XXNPMP-14S01 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,14 GAUGE,1M

GABI3D200C2P/DN QUICKPANEL 10.5" TFT W/DVN 24VDC GE LABEL

IC641SWC316 Logicmaster 90-30 Ethernet TCP/IP for Windows 95/NT in a DOS Box w/ InfoLink and Stn Mgr Cable

IC800SSI107D2 7.2 Amp S2K Series Servo Amplifier/Controller with DeviceNet, 115/230 VAC

PSPC-ADMIN/E Prof Shop Floor SPC Admin 1 User w/ eSig

20BB052A0AYNANC0 PowerFlex 700 AC Drive 52 A 20 Hp 20B

20DE125A0ENNANANE PowerFlex 700S AC Drive 20D

2198-BARCON-100DC200 Kinetix 5700 100mm DC Bus Bar

2711P-K15C4A9 PanelView Plus Terminal

280-PWRM35D-M15 ArmorConnect 3-PH Power Media trnk cable

CPM2A-60CDR-D 60点主机 DC24V 36点入24点继电器输出 自带RS232C口

1492-MS6X12 IEC 6 x 12 mm Marker Card

1495-N74 1-1/2 in. Hub

行程开关 3SE53120SJ12

运行版软件 6AV2107-0DB14-0AA0 SIMATIC WinCC Client for Runtime 专业版 ASIA V14

1585J-M4UBJM-3 RJ45 Ethernet Media

1756-PA72 ControlLogix AC Power Supply

188-K1C250 Miniature Circuit Breaker 25 A

194E-KA32E-P11-PE 194E Load switch

2090-CFBM7DF-CEAF03 Kinetix 3m Flexible Cable

2090-UXNBMP-18S09 MP-Series 9 m Length Brake Cable

BC646SPI365 Solution Provider Annual license w/Additional iSuite

GC647IFESGCLNTCDV GCC iFIX Optn: ESig & ERec iClient Dev

IC200ALG331 Analog output 16 bit voltage/current 4 isolated channels

IC646MBT001 Machine Edition Traditional Development Suite

IC647IFPRRN00075C iFIX Profsnl SCADA 75 I/O Runtime (M1Component Part)

IC660SLD024 Red Safety Label Kit for IC660BBD024 Genius Blocks

IC697CHS750RR Series 90-70, 5 Slot Rack, Rear Mount

IC800CBL064 Replaced by cable IC800CBL067

ControlLogix/1756 System 1756-DNB DEVICENET BRIDGE/SCANNER MODULE

Industrial Computers 6182H-7KRH4B VVCE 700, KEYPAD, STD MEM, ENET, AC

Process Control 9358-PBBK03ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 03 UNITS

Operator Interface 2711P-T15C15D2 PV PLUS 1500, TOUCH, CNET, DC PS, EXT MEM

Support 9352-WGG100R SUPT REINSTATEMENT CONTRACT FOR 9352WGG100

Support 9330-CCR SUPT REINSTATEMENT CONTRACT FOR 9330CC

ControlNet Products 1786-CTK CNET RG6 TOOLKIT

RSI Software Products 9301-2SE235ESU1R RSVIEW32 WORKS 150-5K UPGRADE OUT-SUPT (ES)

RSI Software Products 9352-WGG200UR UPGRADE: OUT-SUPT: RSSERVER GE GENIUS 16 TO 32 BIT

Motion Control

Motion Control 2090-DANBT-18S04 CABLE, NON-FLEX, MTR BRK FOR CABLE-MTD CONNS, 04M

BC646SPM365 Solution Provider Annual License w/Additional ME Suite

IC300TRM016 Spring-clamp style I/O plug, 16-terminal

IC800BPK012 12 Amp Beta Series Amplifier Package

MTR-3T69-G-R-B-M-0RR Servo Motor Metric 24V Brake

20AD014A0AYNANC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC072A0EYNANANE PowerFlex 700S AC Drive 72 A 37 kW 20D

20G1AND125AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-B062N104 PowerFlex 527 15kW (20Hp) AC Drive

280-MTR22-M4 ArmorConnect Motor Cable

FX1N-24MR-001 主机14点入/10点出?继电器输出?

1492-M3X12 IEC 3 x 12 mm Marker Card

1494G-FF3N NEMA 1494G Enclosed Disconnect

软启动器 3RW44436BC45

ET 200SP 6ES7134-6JD00-0CA1 AI 4xRTD/TC 2/3/4 线制 高性能型，基座单元类型 A0、A1

1585D-M4HBDM-5 Micro D-Code, QD Style Ethernet Media

1756-BA2 ControlLogix L6X Ser B ONLY Battery Assy

1794-IM8 Flex 16 Point Digital Input Module

194E-CA20 194E Load switch

2080-MOT-HSC Micro800 250KHz HSC Plug-In

2090-CSWM1DF-18AA21 Kinetix Cable Single DSL 2090-Series

20AC5P0A0AYYANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MRB700 Proficy GlobalCare Complete for Logic PC Runtime 700 I/O

HE693STP101 Discontinued Part. Check with GE IP on migration path.

IC610MDL181RR U.L. Listed Relay Output (5 points)

IC647HSTSS1750KM Historian Standard Server 1,750,000 Points (M4 Key)

IC660BBR100 Block Relay Output Normally Closed 16 Circuits. Module is not UL approved.

IC695ALG112CA RX3i Isolated Analog module, conformal coated, 12 individual isolated channels are configurable for voltage and current. Requires high capacity terminal block IC694TBB032 or IC694TBS032.

IC756WDS000J-22 Dataviews Development Suite (All Windows Languages, Custom Editor Tool kit, Custom Datasource Toolkit, 1 yr SAFE), Japanese, Version 2.2

CompactLogix System 1769-OA8 8 POINT 120/240 VAC OUTPUT MODULE

PLC-5/1771 System 1771-N2 EMPTY SLOT FILLER CARD

Distributed I/O 1799-COV20 CLEAR PLASTIC COVER, 4 STAND-OFFS/SCREWS (20 PT)

Operator Interface 2711P-K6M20D PV PLUS 600 GRAYSCALE, KEYPAD, ETHERNET, DC PS

Support 9325-L3140R SUPT REINSTATEMENT CONTRACT FOR 9325L3140

Support 9358-PBBK30S SUPT RENEWAL CONTRACT FOR 9358PBBK30ENE

Support F1775-S4ASERB FIRMWARE UPGRADE FOR 1775-S4A PLC3 PROCESSOR MODUL

RSI Software Products 1789-L30 SOFTLOGIX5830 CONTROLLER W/5 USABLE CHASSIS SLOTS

RSI Software Products 9701-VWMR030ADEE RSVIEW ME STATION RT 30 DISP-WINDOWS 2000 (GERMAN)

RSI Software Products 9330-GC300U2 UPGRADE: IN-SUPT: RSGUARDIAN CORE 24 TO 4096 NODE

Motion Control 2094-PRS8 POWER RAIL, SLIM, 230V OR 460V, 8 AXIS

A06B-6093-H402 Ext. Regen Resistor, 30 Ohm 100 Watt, Beta or I/O Link Amplifiers

IC200UEX211-24 Qty of 24, 28 point expansion. (16) 24VDC In, (12) Relay Out, 120V/240AC Power Supply (includes IC200CBL501)

IC752COM101 Omron 9 pin cable for DataPanel 30/50

MTR-3N32-G-R-0-N-SRR Servo Motor Nema34 with Seal

ZA06B-0153-B175#7076 A30/3000 servo motor with IP67 sealing and brake and 64k serial encoder

20BD8P0A0NYNANC0 PowerFlex 700 AC Drive 8 A 5 Hp 20B

20G14NC302JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM2-A2P5 PowerFlex 520 0.4kW (0.5Hp) Power Module

TLXCDLTOFS33 Quantum 10 LICENSES LARGE OPC SERVER

FRN0.4C1S-4C 1. 2KVA 1.6A 0.4KW 3相AC380V/50Hz/60Hz

1492-J3TW 2.5 square mm Standard Terminal Block

1492-SPM3D160 MCB Supplementary Protector 16 A

软启动器 3RW40552BB34

SIMATIC HMI 系列面板 6AV2124-1QC02-0AX0 KP1500 精智 15.4 寸

150-SPPB3UR SMC-50 POWER POLE ASSEMBLY 140A

1738-IB8M8 ArmorPoint 8 Point Input Module

1784-PCD1 DeviceNet Comms Cable for 1784-PCD Card

193-KC10 7.2-10.0 A IEC Bimetallic Overload Relay

20-750-PH2-F9 PF755 FR9,IP00,24 VDC WIRE HARNESS

2090-CSBM1DE-10AF15 Kinetix Cable Single DSL 2090-Series

20AB4P2A0AYNANC0 PowerFlex 70 AC Drive 4.2 A at 1 Hp 20A

GA647IFPRDV00075 GCA iFIX Profsnl SCADA 75 I/O Dev

GP647IFESGDV00300 GCP iFIX Optn: ESig & ERec 300 I/O Dev

IC600BF900RR Local I/O Transmitter Module

IC647HSTCCP50M Historian Client Connection Pack 50 Users (M4 Key)

IC647TIDC TID:Texas Instrument Direct

IC693MSC301RR Series 90-30 Demonstration Case

IC756LDV010E-98 DV Draw Development on Intel/Linux RedHat Op Sys, English, Version 9.8

MicroLogix 1000/1761 System 1761-L10BWA 10 I/O MICROLOGIX 1000

PLC-5/1771 System 1771-OWN SELECTABLE CONTACT OUTPUT MODULE 32 POINT

Distributed I/O 1791-N4C2 BLOCK I/O, 120V AC, 6 POINT ANALOG MODULE

Communications 1786-FSB500 200 MICRON BULK CABLE 500 METERS (1640 FT)

Operator Interface 9399-RSVADSGR RSVIEW32 ACTIVE DISPLAY SYS GETTING RESULTS GUIDE

Support 9356-PRO2350R SUPT REINSTATEMENT CONTRACT FOR 9356PRO2350

Support 9324-RL0700NXS SUPT RENEWAL CONTRACT FOR 9324RL0700NXENE

EtherNet/IP Products 9351-AIXRT INTERCHANGE FOR AIX RUNTIME

RSI Software Products 9301-2SE3500FRE RSVIEW32 RUNTIME 100K (FRENCH)

RSI Software Products 9356-PRO2500U2 UPGRADE: IN-SUPT: RSSQL STD.300 TO PROF.70000 TAG

Motion Control N-3412-2-H04AA SERV MTR,1.6NM,6000RPM,2000 LN ENCDR,BRK

44A731202-G03 Upgrade Kit Genius IC660BBA103

IC200ALG328 ANALOG OUTPUT 13 BIT CURRENT 12 Channel

IC693PWR321 Power Supply, 120/240 Vac, 125 Vdc, Standard

Silver Series 9323-PI300D A.I SERIES PLC-5/250 OFFLINE/ONLINE PROGRAMMING

VSPC32-ADMIN VisualSPC Administration Bundle includes Attributes, Analyst, Designer , Wizard, Importer and Reports.

20BD027A0AYNANB0 PowerFlex 700 AC Drive 27 A at 20 Hp 20B

20G11FD040AA0NNNNN PowerFlex 755 AC Packaged Drive

22C-D208A103 PowerFlex 400- 110 kW (150 HP) AC Drive

520422000 Quantum 远程I/O干电缆终结电阻，75 欧

285-BRCF25-M6 ArmorConnect Brake and Motor Cable

E6B2-CWZ6C 5-24VDC,集电极开路输出30VDC 35mA,3相,1000P/R,2000P/R

1492-SPM2B005 MCB Supplementary Protector 0.5 A

变频器选件 6SE6 400-1PB00-0AA0 Profibus 通讯模块

电机启动器 3VU16400MM00

150-CC25 SMC-3 Accessory

1715-IB16D 1715 16 Point Digital Input Module

1771-IXHR 1771 8 Point Input Module

193-EC4EE E3 Plus 18-90 A Current Relay

198-WT2 ModCenter IEC Wiring Kit

2090-CPWM4DF-16AF09 MP-Series 9m Power Cable

2094-BL75S Kinetix Line Interface Module

DEMOCD00014 Proficy Shop Floor SPC - DEMO CD

GFK-0777 Analog-100 Brushless Servo Amplifier Instruction Manual

IC210DAR010 AC (85 to 264VAC) Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, with LCD/Keypad

IC647ASC010 PA SDK 10 Pak

IC647PPSOF3 Proficy Process Systems Operator Console with iFIX - 3 Pak

IC693CPU313 5-Slot Base With Turbo CPU in base (.6 msec), 1K Registers, (12K Bytes User Program) Battery included

IC754VGI06SKD View Interm 6In STN Keypad DC GEF Ovrlay

MSI-DASHBOARD-10 Dashboard Client 10 Pack

SLC/1746 System 1746-R16 REPLACEMENT COVER & LABEL FOR CTLG # 1747-ASB

Distributed I/O 1734-OX2 24V DC COIL N.O./N.C. DPST RELAY MODULE

Application-specific products 1803-EEM30 EEM,48 PULSES, 24V DC

Operator Interface 2711-ND3 PANELBUILDER32 SOFTWARE

Support 9302-CTKR SUPT REINSTATEMENT CONTRACT FOR 9302CTK

Support 9381-PP250KENS SUPPORT RENEWAL CONTRACT FOR 9381PP250KEN

DeviceNet Products 1791D-0V16PX 24 VDC COMPACTBLOCK I/O EXPANSION, 16 OUT SINK

RSI Software Products 9301-2SE3350FRU2 RSVIEW32 RUNTIME 300-5K UPGRADE IN-SUPT (FR)

RSI Software Products 9380-RSBCNS2 2-DAYS MISCELLANEOUS SERVICES FOR RSBATCH

Motion Control MPL-B880C-SJ22AA MOTOR,SERVO,110.0NM,1500RPM,SINGL,460V

Silver Series 1398-DDM-010 DRIVE,10A PEAK, ULTRA 200

HE660GGM100 RTU/Modbus slave device with (1) Genius + (1) RTU/Modbus port

IC646TPD150 Pro Server 150 I/O Point Development and Run Time System

QDA-UPD-001 QUICKDESIGNER ADV UPGRADE FROM 3.X

ST-3214 STXi analog input module 4 Channels, 4~20mA, 12-bit

20BC105A3ANNANC0 PowerFlex 700 AC Drive 20B

20F14NC302AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-B4P5F104 PowerFlex 4 0.75 kW (1 Hp) AC Drive

140CPS21400 Quantum 电源, 24 VDC, 可累加, 8A

284D-FHD2P3Z-10-CR-3 DeviceNet Variable Frequency Drive

CJ1W-ID211 16点输入单元，24VDC

1492-RIFM20F-F24A-2 Connection Products

WinCC 上位监控软件 6GK1704-1CW63-3AA0 通用以太网卡 S7 驱动

变送器 3RS17002AD00

1497A-A11-M6-3-N Control Power Transformer

1606-XLP15E Power Supply XLP 15 W Power Supply

1764-RPLTB1 MicroLogix Replacement Part

188-K4B320 Miniature Circuit Breaker 32 A

194L-HE6G-175 194L Control and Load Switch Actuator

2090-CPBM7DF-08AF90 90 m Length SpeedTec Flexible Cable

2090-XXNPMF-16S90 Kinetix Drives 90m Standard Cable

CB4N-0WPM-0070-AZ AHVi and AHVis Motor Brake Power Cable with Straight Connector, 7 M

GC647SJM001 GCScheduler Project Module

IC200PNS001 PROFINET Scanner (PNS) module interfaces a remote node of VersaMax modules to a PROFINET IO Controller. Two 10/100 Mbps copper interfaces. Requires Proficy Machine Edition 7.0

IC646TBLCLT010 Proficy Troubleshooter for Intelligent Historian Standard, Enterprise and Corporate Clients Access 10 Users

IC647NDF000 CIMPLICITY HMI AB DF1 COMM Driver

IC690CDR002 InfoLink CD-ROM Documentation, single-user license

IC698CHS009 RX7i 9 Slot Rear Mount Rack

IC800VMA102 1 kW VersaMotion servo amplifier

SLC/1746 System 1746-IA4 AC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6181P-2P2KH VERSAVIEW 1200P NON DISPLAY COMPUTER 2 SLOT

Application-specific products 9358-PBPCNT10ENE RSBATCH NT FOR PROCESLGIX PC BASED PHASES 10 UNITS

Operator Interface 2711-K5A5 PV550 MONOCHROME KEY, RS232 (DH485)

Support 9301-2SE2100S SUPT RENEWAL CONTRACT FOR 93012SE2100

Support 9500-CPAKSENR SUPT REINSTATEMENT CONTRACT FOR 9500CPAKSEN

ControlNet Products 9904-HYBS CONTROLNET SINGLE CHANNEL HYBRID (BOX OF 90)

RSI Software Products 9301-2SE2503KOE RSVIEW32 WORKS 100K WITH RSLINX (KOREAN)