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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。
 

IC800SKCPV050 Power cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor connected to an S2K. 5 meters

SLC/1746 System 1747-L542 SLC 5/04 CONTROLLER, 32K MEMORY

Distributed I/O 1734-IR2 24V DC 2 CHANNEL RTD INPUT MODULE

Process Control 1757-PLXSIFF PLX HW TDC3000 DATA HIWAY QUICKBUILDER INTERFACE

Operator Interface 2711P-T6C5D PV PLUS 600 COLOR, TOUCH, RS232, DC PS. INCL USB,

Support 6203-PLC2AR SUPT REINSTATEMENT CONTRACT FOR 6203PLC2A

Support 9302-PMOS SUPT RENEWAL CONTRACT FOR 9302PMO

Support 2711-ND3UR UPGRADE: OUT-SUPT: PB 1200/1200E TO PB ND3

Support F1785-L80C15SERE FIRMWARE UPGRADE FOR 1785-L80C15 PLC5 PROCESSOR MO

RSI Software Products 9301-2SE2350ESE RSVIEW32 WORKS 5K (SPANISH)

RSI Software Products 9701-VWSS250AJPE RSVIEW SE SERVER 250 DISPLAY (JAPANESE)

RSI Software Products 9399-WAB32CSDKPG RSLINX C SDK PROGRAMMER'S GUIDE

Motion Control 8720MC -B042-AA- 42 AMP B CHASSIS DRIVE, ENCLOSURE, LESS OPTIONS

BC646MPSS99 Logic Developer - PLC Standard Unlimited Seat Site License

IC300OCS300 OCS300 5.7" STN WITHOUT ETHERNET

IC752WTC552 Display Station 2000 Series - 15" active matrix XGA (1024x768) resistive touchscreen, AMD K6-2 350 Mhz, 128 MB RAM, 6 GB HD, expansion slots, Ethernet, with unlimited point count CIMPLICITY HMI R&D and Win NT

MTR-3T43-J-R-0-M-0 MTR series metric servo motor with resolver

PCI-6518

HSBC-386

PCA-6419V

p69-MDDE256LAUF

CONTEC PC-80486D(98)M

E7200-66530

1492-L4Q IEC Term Blck 6.1x105x35.7mm Spr Clp

1494C-DJX622-A4-B-D 200 A Flange Mtd Cable Switch

软启动器 3RW44273BC46

备品备件 6ES7 590-8AA00-0AA0 备件：S7-1500 PS/PM 供电模板连接头，内含 10 片

1585BX-M8UBBM-5 1585 Ethernet Media Patchcord

1747-L541 SLC 5/04 16K Controller

1791DS-IB8XOBV4 Guard I/O 16 Point Digital Comb Module

194E-A80-3753 80 A 194E Load switch

2071-AP0 Kinetix 3 220 VAC 50 Watts Servo Drive

2090-CSWM1DF-14AA01 Kinetix Cable Single DSL 2090-Series

20AC1P3A3AYNNNC0 PowerFlex 70 AC Drive 20A

GC646MDC300 Proficy GlobalCare Complete for Logic Developer - PC & View Development/Runtime 300 I/O

HE693DLL308 PCIF-30 Windows DLL, multi-license (8)

IC600WD005 Expansion Rack I/O Cable, 5 feet (1.5m)

IC647HSTESEO75KM eSignature Option for Historian - Enterprise Server 75000 Points (M4 Key)

IC655PWR501RR Power Supply, 12 Amp, 115/230Vac

IC694MDL646CA Conformal Coated Input module 24 VDC 16 point POS/NEG logic. 1msecond filtering.

IC756WDC009E-26 DV Dev Sys VB, Java, C++, Eng v2.6

MicroLogix 1500/1769 System 1764-RPLTB1 REMOVABLE TERMINAL BLOCK KIT (17 PT)

PLC-5/1771 System 1784-CP5 CABLE ASSY, 10FT/3.20M, 1784-KTK1 (15-PIN D-SHELL)

Distributed I/O 1797-TCAP CONTROLNET EX TAP (DUMMY) TERMINATOR (5 PIECES)

Communications D5000-6.6.1 PI DATA TALBE LIBRARY INSTALLATION & CONFIGURATION

Support 9321-L5160R SUPT REINSTATEMENT CONTRACT FOR 9321L5160

Support 9358-EP60S SUPT RENEWAL CONTRACT FOR 9358BEPNT60ENE

Support F1771-VHSCSERB FIRMWARE UPGRADE FOR 1771VHSC I/O MODULE

RSI Software Products 9324-RLD2U7PTE RSLOGIX 5000 MINI TO PRO UPGRADE, PORTUGUESE

RSI Software Products 9304-WVPD300DU2R UPGRADE: OUT-SUPT: WINVW 256 TO WINVW PRO DEV 3000

RSI Software Products 9358-PLTM2500U4R UPGRADE: OUT-SUPT: PLANTMETRICS 50 TO 100 WORKCELL

Motion Control 8720SM-063S5QAS4 63 KW/117.5 AMP, 750 VDC, MOTOR W/SNS60,+MPL

A06B-0033-B175#7008 B3/3000 Servo Motor, Holding Brake, 32K Serial Encoder

IC200TBX223 Tool box, 23 point, (IC200UAL006) 24VDC In/Relay Out, requires 120VAC Power, VersaMax SE (IC200SET001) with all software, cables (IC640VPS002)and manuals.

IC698PSA350 RX7i PLC Power Supply, 85 to 264 VAC at 47 to 63 Hz Input, 350 Watt output

MTR-1350-E-D-E-0RR Stepping Motor Nema34 Encoder

NI 9201

JUKI-745E

cPCI-6840V

BM-VP04

PCA-6187

pci-gpib IEEE 488.2

PROX1720L

1492-SPM3C100-N MCB Supplementary Protector 10 A

软启动器 3RW40472TB04

模拟量输出模块 ES7 232-4HB32-0XB0 SM 1232 AQ 2x14 位

150-SB2NBR SMC-50 SOLID STATE MOTOR CONTROLLER 110A

1734-PDN POINT I/O DeviceNet Interface Module

1783-MCF Stratix 8000 CompactFlash Spare Card

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

20-750-I1B-C460D430 PowerFlex 750 Replacement Inverter

2090-CPWM7DF-14AF25 MP-Series 25m Length Power Cable

2098-DSD-HV150-DN Ultra 3000 Servo Drive

GA647IFCLNTCDV GCA iFIX iClient Dev

GP-0602NT-F8 GagePort LVDT NT (Full Bridge for Sangamo A6G1, Standard E4-8030)

IC5005CAC0001 PanelClient 15 inch with iFIX Terminal Service License

IC647HSTAE2000KM Alarm and Events Option for Historian - Standard Server 2,000,000 Points (M4 Key)

IC647SPT001 Scheduler Proficy Plant Apps Adapter

IC693MDL733RR 12/24 Vdc Output, 05 Amp, Negative Logic (8 Points)

IC756HDV001K-99 DV Development - HP/UX Op Sys Addt'l User, Korean, Version 9.9

Pico Controllers 1760-L12AWA-NC 12 I/O PICO CONTROLLER, AC

PLC-5/1771 System 1771-IN INPUT MODULE, 24V AC, 8 INPUT

Distributed I/O 1791D-4B0 DNET 24VDC CBLOCK I/O, 4 IN SINK (NOT EXPANDABLE)

Communications 1784-PCM6 1784-PCMK DH+COMMUNICATION CABLE(8 PIN DIN)

Operator Interface 2706-P44R INVIEW MESSAGE DISPLAY. 1 OR 2 LINE

Support 9305-RSVADSJPS SUPT RENEWAL CONTRACT FOR 9305RSVADSJP

Support 9515-RSMCLT010S SUPT RENEWAL CONTRACT FOR 9515RSMCLT010EN

EtherNet/IP Products 2711-K10G20 PV1000 GRAYSCALE KEY, ENET & RS232 PRINT

RSI Software Products 9301-2SE340DEU1R RSVIEW32 RUNTIME 1500-32K UPGRADE OUT-SUPT (DE)

RSI Software Products 9356-PRO2200U2R UPGRADE: OUT-SUPT: RSSQL STD.300 TO PROF.300 TAG

Motion Control 1326AB-B720E-M2L MOTOR,SERVO,460V,30.9NM,3500RPM,MULTI,IP67

4161-6-24-N4 BCD To 7 SEG Display . 6 Digit, 24VDC. NEMA 4

HMI-CCT-302 BACKLIGHT TUBE 10.5" COLOR TFT QPI3 Series (QPI-3xxxx-Cxx)

IC693CPU313LT 5-Slot Base With Turbo CPU in base (.6 msec), 1K Registers, (12K Bytes User Program) (LT)

SFW-CCSP-6-0.2 CCS for Windows Software Package with Comm Cable & Manual

PCI-6870

PCM-9689

TRANS B/D 1995.11.14

X9SCL LGA1155

研祥 AT 电源 PS-270A

HPU3200ADV C-9317-1201-02

30AKNSD-KS5

1492-SPM1C400 MCB Supplementary Protector 40 A

通用型变频器 6SE6 440-2UC13-7AA1 0.37 KW,73 x 173 x 149

电机启动器 3VU13402MK00

150-C251NBR SMC-3 251A Smart Motor Controller

1609-B1000E 1609-B 1000E

1770-CD9 Data Highway 900-900 ft Length Cable

193-EC1BB E3 3-15 A Overload Relay

194R-TL2 Terminal Lugs, 300Mcm, Kit

2090-CPBM7E7-10AF05 MP-Series 5 m Length Pwr and Brake Cable

2093-AC05-MP5 Kinetix 2000 Integrated Axis Module

CP6B-0WEB-0140-AZ Shielded motor power cable for B22is motor (straight connector). 14 meters

GF-AB5V Connecting FlashCable to Analog Bipolar +/-5 V (No connector).

IC200UEX013 14 point Exp.(8) 12VDC In, (6) Relay Out, 12VDC Power Supply (includes IC200CBL501)

IC647AEC001 PA Efficiency Client

IC647PCM025 Proficy Change Management Server - 25 Concurrent Users

IC693CBL329 Cable, Left Side, Two - 24 Pin 90 Degree Connectors, 1 Meter

IC754BEZ12GAS Replacement Gasket for 12In SSteel Bezel

IMC-31CP-2-DRR IMC-D Series Servo Motor Controller, Enhanced, DeviceNet, 12 Amp

SLC/1746 System 9399-RSRGR RSRULES GETTING STARTED GUIDE

Distributed I/O 1732D-8CFGM12 DEVICENET 24VDC 8 SELECTABLE POINTS W/M12

Application-specific products 1404-M805B-000 MASTER MODULE-PQ-24V P/S

Operator Interface 2711-K10G9 PV1000 GRAYSCALE KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE3400DER SUPT REINSTATEMENT CONTRACT FOR 93012SE3400DE

Support 9381-P500ENS SUPT RENEWAL CONTRACT FOR 9381P500EN

DeviceNet Products 1790-8BV8BX LDX I/O, 24VDC, 8 UNIV IN/8 SRCE OUT EXPAN D-SHELL

RSI Software Products 9301-2SE3300PTU1 RSVIEW32 RUNTIME 300-1500 UPGRADE IN-SUPT (PT)

RSI Software Products 9358-EPBKY03ENE RSBIZWARE EPROCEDURE BACKUP KEY 3 UNITS

Motion Control MPL-B520K-MJ22AA MOTOR,SERVO,10.7 NM,4000RPM,MULTI,460V,11.3KG

Motion Control 9101-0403 CONNECTOR KIT, MOTOR BRAKE, F/H, 90 DEG

GQPJ2D100S2P QUICKPANEL JR. COLOR 5" STN GE LABEL

IC646MRC700 Logic PC & View 700 Tag Runtime System

MTR-3T21-G-R-B-M-S MTR-Series Servo Motor, Resolver, Metric, 24 Brake, Seal

SNAP 10C5 PC Port is 9-pin male and port on CNC is 9-pin female. This is for Xo n/Xoff communications.

PXIe-8430/16

813-049-01

PMPC-2

IMB-9454G-R2

02-15787-02

XMC-PO04A-PCI

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

ICE-GM45A-R10-BULK-GR

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