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Y7247-0101

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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。
 

PXI-2527

WAFER-LX-800-R12-BJWD

SSP-6(16MB) ED5P920-30 LAY1AM1 AYC43

C79040-A7530-C338-01-85

PWS-1K28P-SQ

MOXA CP-102U

NPS-400AB B S26113-E503-V50

1492-JD3SS 2.5 square mm Internal Component Block

1492-PRINTINK-K Clear Mark Printer Black Ink Cartridge

连接电缆 6ES7468-1AH50-0AA0 IM 电缆，0.75m

变送器 3RS11002CD20

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

1606-XL480E-3 Power Supply XL 480 W Power Supply

1762-L24BWA MicroLogix 1200 24 Point Controller

188-K3C400 Miniature Circuit Breaker 40 A

194L-G3572 194L IP66 ABS Thermoplastic Enclosure

2090-CPBM7DF-04AA40 MP-Series 40 m Length Cable

2090-XXNFY-S15 Y-Series 15 m Length Feedback Cable

BC647SPPMK01 Solution Provider Plant Apps M4 Key includes 1 physcial M4 key that authorizes Plant Apps as well as all core products

GC647PPSOPC Global Care for Proficy Process Systems EGD OPC Server

IC200MDL640LT INPUT 24VDC POS/NEG LOGIC (2 GROUP OF 8) 16PT (LT)

IC646PCM100 Proficy Change Management 100 user pack

IC647MPP050 Logic Developer PLC Professional 50 pack with USB Hardware key

IC676CBLPWM020 IP67 Power Cordset - 2 Meters - Male Connector w/Leads

IC697PWR710RR Power Supply, 120/240 Vac, 55 Watts

IC800SSI107RD2RR 7.2A, 115/230V, DeviceNet S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-L20B 20 I/O FIXED HARDWARE STYLE

Industrial Computers 6189-RDT12C VVCE 1250 TOUCH SCREEN DISPLAY MODULE

Process Control 9399-RSBSAPRG RSBATCH SERVER API REFERENCE GUIDE

Operator Interface 2711-B5A2L2 PV550 MONO KEY&TOUCH, DH485

Support 9303-3CS0E10S SUPP RENEWAL CNTRCT FOR 9303-3CS0E10

Support 9371-RSWD1S SUPT RENEWAL CONTRACT FOR 9371RSWD1

ControlNet Products 2706-P72CN1 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

RSI Software Products 9301-2SE2500ITU1 RSVIEW32 WORKS 32K-100K UPGRADE IN-SUPT (IT)

RSI Software Products 9358-BBBKY60ENE RSBIZWARE BATCH, EPRO BUNDLE BACKUP KEY 60 UNITS

Motion Control MPL-A4530K-HJ22AA MOTOR,SERVO,8.36NM,4000RPM,ENCDR,230V,8.2KG

Motion Control 2090-UXNPBMP-8S30 CABLE,460V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,30M

CBL-3T-MP-30 Power Cable, MTR-3T4x, MTR-3T5x & MTR-3T6x Series Servo Motors, 30 Ft.

IC641CTL995 Media Kit

IC800SLM350M2XE25 3500W, 230 VAC SL Servo Motor, Holding Brake, 2.5K Quad Encoder

OC647TSSOPCC000 Proficy Troubleshooter Connector: OPC Client Read & Write (including OPC HDA)

PXI-5152

PX-10S-RS-R30

LAMBDA UAZ1EP 400W UAZXEXPX0000 9940

CONTEC PO-32L(PCI)

MIC-3390E

MATROX 迈创 752-0202

1492-MCGAT225 Ground Fault Circuit Breaker

1494V-L1 Door Hardware Kit

软启动器 3RW44656BC45

运行版软件 6AV2104-2FH04-0BD0 SIMATIC WinCC Runtime Advanced Powerpack 2048 PowerTags -> 4096 PowerTags V14

1585J-M4TB-2 RJ45 Ethernet Media

1756-OA8E ControlLogix 8 Point D/O Module

188-K1B250 Miniature Circuit Breaker 25 A

194E-FA63EX-P22-PE 194E Load switch

2090-CFBM7DF-CDAF03 MP-Series 3m Feedback Cable

2090-U3CK-D44 Ultra 300 Connector Kit

BC646MSS101 Logic Developer State Standard with Programming Cable with Proficy GlobalCare Complete

GC647AUR001 GC PA Universal Reporting Client

IC200ACC402 VersaMax Micro 14, 20, 23 and 28 spare Removable Terminal Strips, 10 per pack

IC646CSPC050 Proficy Cause+ for Intelligent HMI/SCADA Client Enabler - 50X CALs

IC647IFPLRNUNLMTK iFIX Plus SCADA Unlimited Runtime (M1 Kit Part)

IC660MLA100 Label for IC660BBA100 (Qty 100)

IC697ALG440 Analog Input Expander, Current, 16 Channels

IC758WMM005 iGlobalCare Complete 1-5 Users (same site): DataViews for Windows

FlexLogix System 1794-PS3 120/230VAC TO 24VDC @3A

GuardPLC Systems 1755-IF8 GUARDPLC 2000 - ANALOG INPUT MODULE

Process Control 1757-UPGSIFV UPGRADE ASEA CONTROLLER QUICKBUILDER INTERFACE

Operator Interface 2711P-T12C4D2 PV PLUS 1250, TOUCH, RIO/DH, DC PS, EXT MEM

Support 9220-TAR SUPT REINSTATEMENT CONTRACT FOR 9220TA

Support 2755-ASNFRS SUPT RENEWAL CONTRACT FOR 2755ASNF

Support F1785-LTSERB FIRMWARE UPGRADE FOR 1785-LT PLC5 PROCESSOR MODULE

RSI Software Products 9301-2SE2350JPU2 RSVIEW32 WORKS 300-5K UPGRADE IN-SUPT (JP)

RSI Software Products 9701-VWSTFRU1 RSVIEW STUDIO FOR ME - ENT SERIES UPGRADE (FRENCH)

RSI Software Products 9399-WAB32UGPT RSLINX USERS GUIDE (PORTUGUESE)

Motion Control 8720MC -D180-AA- 180 AMP D CHASSIS DRIVE, ENCLOSURE, LESS OPTIONS

BC646MRB150 Logic PC Runtime 150 I/O

IC300OSW001 Cscape PDA Software with Handspring Visor/Visor Deluxe/Prism Cable

IC754ACC12GAS Gasket for 12 QuickPanel View & Control"

MTR-3T45-H-R-B-M-0 MTR series metric servo motor with resolver and brake

PCI-6624

HE-842

ATX6022/6

Unisys CP I 414843345

AP-540TX

SOL2MEVCLB

1492-LD4DF IEC Term Blck 6.1x76x52.2mm Spr Clp

1494F-L1 Door Hardware Kit

软启动器 3RW44352BC44

ET 200SP 6ES7193-6AG00-0AA0 BA 2× LC 玻璃光纤，光纤最远距离 2 KM

1585D-D4UBJM-2 Micro D-Code, QD Style Ethernet Media

1747-SDN SLC DeviceNet Scanner Module

1794-CJC2 Flex I/O Accessories

194E-AA20-P11 194E Load switch

2080-LC10-12AWA Micro810 12 I/O Smart Relay Controller

2090-CSWM1DF-14AA15 Kinetix 15m Smartlink Single Cable

20AC2P1C0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MPM001 Proficy GlobalCare Complete for Logic Developer - PLC Nano/Micro

HE693OIU177 Compact VF OIU powered by 24VDC with Numeric Keypad

IC609SJR121RR Series One Junior 24Vdc Src In/Rly Out, 115Vac Power

IC647HSTSC15KM Server to Server Collector for Historian - Standard Server 15000 Points (M4 Key)

IC660BBA026RR Curr Src Analog Input Block, 24/48Vdc Power, 6 Inputs, Ph B

IC694MDL741CA Conformal Coated Output module 12/24 VDC 0.5 amp 16 points NEG logic.

IC756WDJ009E-23 DV Development Sys VB and Java, English, Version 2.3

MicroLogix 1500/1769 System 1769-ECR RIGHT END CAP/TERMINATOR

PLC-5/1771 System 1771-CE 1771 I/O CHASSIS CABLE FOR 1771-P2 POWER SUPPLY

Distributed I/O 1797-IJ2 2-CHANNEL EX HIGH RESOLUTION FREQUENCY MODULE

Operator Interface 2711P-B6C1D PV PLUS 600 COLOR, KEY/TOUCH, SRIO, DC PS

Support 9323-PA1GR SUPT REINSTATEMENT CONTRACT FOR 9323PA1G

Support 9358-HSTS2400S SUPT RENEWAL CONTRACT FOR 9358HSTS2400

Support F1772-LWSERD FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD3U7ENE RSLOGIX 5000, STANDARD TO PRO UPGRADE, ENGLISH

RSI Software Products 9305-RSVADDCDEE RSVIEW32 ACTIVE DISPLAY DEDICATED CLIENT (GERMAN)

RSI Software Products 9358-PMSEE NET PROCESS MONITOR

Motion Control 2092-DA2 DRIVE, 2.4A/7.2A, ULTRA1500 DIGITAL SERVO DRIVE

A06B-0141-B075#7008 AC12/2000 Servo Motor, 32K Serial Encoder

IC200UAR028-24 Qty of 24, 28 point PLC< (16) 120VAC In, (12) Relay Out (2 at 10 amp & 10 at 2 amp), 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752BTS450RR Display Station 1085 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 1.2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win NT

MTR-1362-N-A-E-0RR Stepping Motor Nema34

NI 9218

ROCKY-3702V-R4

CBP-6405R

WAFER-6612-R10-BULK

PBP-10P7 NORCO-840AE

MATROX 906-01

NORCO-740AE

1492-SPM3C320-N MCB Supplementary Protector 32 A

软启动器 3RW40462BB14

热电偶模拟量输入信号板 6ES7 231-5QA30-0XB0 SB 1231 AI 1 x 16 位 热电偶

150-SC2NBR SMC-50 SOLID STATE MOTOR CONTROLLER 260A

1734-TOP3 POINT I/O Terminal Base

1783-SFP100FX 100FX SFP Fiber Transceiver

193-ESM-VIG-30A-C55 E300/E200 30 Amp Sensing Module

20-750-I2B-C750D710 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA09 MP-Series 9m Servo Power Cable

2099-BM10-S Kinetix 7000 Servo Drive

GA647IFESGCLNTCRN GCA iFIX Optn: ESig & ERec iClient Run

GP-2102NT/FOWSB GagePort Digital NT 2-port input (Fowler OEM) - Sales BOM.

IC5007TAX0030 PanelPC 17 inch Standard Unit Deluxe with Windows XP

IC647HSTAE75KM Alarm and Events Option for Historian - Standard Server 75000 Points (M4 Key)

IC647SSM005 Scheduler Shop Floor Server 5 users

IC693MDL742 12/24 Vdc Output, 1 Amp, Positive Logic (16 Points), Fused

IC756LDV000E-925 "DataViews Development on Intel Linux/Red Hat Op Sys, English v9.25"

Pico Controllers 1760-IA12XOW6I 18 I/O EXPANSION MODULE, AC

PLC-5/1771 System 1771-OAN OUTPUT MODULE, 120V AC, 32 OUTPUTS

Distributed I/O 1791P-16B0 PROFIBUS 24VDC CBLOCK I/O, 16 IN SINKING, BASE

Communications 2760-RB FLEXIBLE INTERFACE MODULE, 2-SLOT, 1771 I/O RACK

Operator Interface 2706-PDH485P DH-485 COMMUNICATION MODULE FOR 2706-P22R

Support 9701-VWSB000AR SUPT REINSTATEMENT CONTRACT FOR 9701VWSB000AENE

Support 9515-RSNHS250S SUPT RENEWAL CONTRACT FOR 9515RSNHS250ENE

EtherNet/IP Products 2711P-K7C4B2 PV PLUS 700, KEYPAD, ENET, AC PS, EXT MEM

RSI Software Products 9301-2SE340ITU2R RSVIEW32 RUNTIME 300-32K UPGRADE OUT-SUPT (IT)

RSI Software Products 9356-PRO2300U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO 1500 TAG

Motion Control 1326AB-B740C-S2L MOTOR,SERVO,460V,53.0NM,2200RPM,SINGL,IP67

4162-L-6 4162 CONTINUOUS LENS KIT. FOR (6) 4162s

HMI-KPN-302 QUICKPANEL KEYPAD FOR 10.5"

IC693CPU360RR CPU 360 Module (240K Bytes configurable user memory, 4K I/O, 8 racks), no built-in Serial Ports

SPS-24W-2 24 VDC PS, 1.0A, 85-265 VAC INPUT

AKD-P00606-NBEC-0000

SIMB-A01

PCL-836

Pentium 6X86 SBC VERG5

FV2300

VORTEX86DX/SX ISA VDX-6324D-FD

2500-1391-06A

1492-SPM1D040 MCB Supplementary Protector 4 A

通用型变频器 6SE6 440-2UC33-0FA1 "30 KW,350 x 850 x 320"

电机启动器 3VU13403MG00

150-C361NBR SMC-3 361A Smart Motor Controller

1609-NMC 1609 UPS Accessory

1771-CD 1771-P2 Power Supply Cable

193-EC1PB E3 0.4-2.0 A Overload Relay

198-F1 IEC Mounting Foot Enclosure Accessory

2090-CPBM7E7-14AF15 MP-Series 15 m Length Cable

2093-PRS8S Kinetix 2000 8 Axis Slim Power Rail

CP9I-0MEB-0070-AZ Alpha 50HVis shielded motor power cable (7 meter)

GFK-0263 Logicmaster 90-70 Programming Software User's Manual

IC200UEX213 28 point expansion. (16) 12VDC In, (12) Relay Out, 12VDC Power Supply (included IC200CBL501)

IC647ANS001 PA new SFL allows 1 Production Unit in PA plant model to use 1 of the 11 server functions

IC647PDCH025 Ruggedized PDC Historian Base with 2500 Tags

IC693CHS392RR Base, Expansion, 10 Slots

IC754CSL06CTD 6 inch TFT QuickPanel Control/ Loaded/ 24VDC

KIT-GFS-351-CN QP View & Control Workshop Student Kit

SLC/1746 System D1746-UM010BENP BARREL TEMPERATURE CONTROL MODULE USER MANUAL

Distributed I/O 1734-PDN DEVICENET INTERFACE MODULE

Application-specific products 1405-M620-240 MINI POWERMONITOR M620 240V

Operator Interface 2711-T10C20 PV1000 COLOR TOUCH, ENET & RS232 PRINT

Support 9301-2SE3400ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE3400ZH

Support 9381-PA2500KENS SUPPORT RENEWAL CONTRACT FOR 9381PA2500KEN

DeviceNet Products 1790D-8BV8B DNET LDX ,24VDC,8 UNIV IN/8 SRCE OUT BASE, D-SHELL

RSI Software Products 9301-2SE3303JPE RSVIEW32 RUNTIME 1500 WITH RSLINX (JAPANESE)

RSI Software Products 9358-PBANT30ENE RSBATCH NT FOR PROCESSLOGIX ARCHIVER 30 UNITS

Motion Control MPL-B540K-SK22AA MOTOR,SERVO,19.4 NM,4000RPM,SINGL,460V,16.5KG

Motion Control 2090-UCSR-A300 ACTIVE SHUNT REGULATOR,ULTRA 300W

GQPL2D200C2P QUICKPANEL COLOR 12.1" TFT GE LABEL

IC646MSP005 Logic Developer - State Professional 5 Pack

MTR-3T44-J-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-1218 STXi input module 8 points, Positive Logic, 12V/ 24VDC

SCXI-1104C

ISA接口 3440522410

886LCD/ATX F845G

MS-9128

A812PG

PSC-486

1492-RCDA2C25 Residual Current Device 25 A

存储卡 6ES7952-1KL00-0AA0 FEPROM 存储卡， 2M

变送器 3RS11211DW30

1497-G-AXSX-3-N Control Circuit Transformer

1606-XLBUFFER 1606 1606-XL Buffer Module Power Supply

1762-OB32T MicroLogix 32 Point D/O Module

188-K3D040 Miniature Circuit Breaker 4 A

194L-HC4L-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-06AA30 MP-Series 30m Power and Brake Cable

2090-XXNPMF-10S60 Kinetix Drives 60m Standard Cable

BC647TPD700 CIMPLICITY HMI ProServer 700 I/O Development and Runtime System with Proficy GlobalCare

GC647PRTHE050 GlobalCare Complete - Proficy Portal Historian Edition Client Pack 50 Users Ver 3.0

IC200MDL741CA OUT 24VDC POS .5A ESCP 16PT Conf Coat

IC646PDS100 OpenProcess Designer Development S/W

IC647MRA300 View Runtime 300 I/O with USB Hardware key

IC677DBM442 Profibus VersaMax IP Modular slave with (4) 24VDC inputs and (4) 24VDC outputs (2 amp). Module requires IC677PBI001 master in network.

IC697PWR748RR Power Supply, 48 Vdc, 90 Watts

IC800SSI216RP2 16 amp 230 VAC Profibus S2K servo controller for MTR series motors

SLC/1746 System 1747-L524 SLC 5/02 CONTROLLER, 4K MEMORY - DH 485

Industrial Computers 6189-RW4 VVCE COMAPCT FLASH 512MB W/ME

Application-specific products 9358-PBA03ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 03 UNITS

Operator Interface 2711-B5A8L3 PV550 MONO KEY&TOUCH, DH+ & RS232 PRINT

Support 9303-3CS0EFFR SUPP REINSTATEMENT CNTRCT FOR 9303-3CS0EFF

Support 9391-SDVEKR 9391-SDVEK SOFTWARE SUPPORT CONTRACT REINSTATEMENT

ControlNet Products 2711-K5A15L1 PV550 MONOCHROME KEY, CNET & RS232 PRINT

RSI Software Products 9301-2SE2500KOU2 RSVIEW32 WORKS 1500-100K UPGRADE IN-SUPT (KO)

RSI Software Products 9358-BEBNT10ENE RSBATCH / EPROCEDURE FOR NT BUNDLE 10 UNITS