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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。
 

BC647TPD150 CIMPLICITY HMI ProServer 150 I/O Development and Runtime System with Proficy GlobalCare

GF-0912RS-15/FOW Connecting FlashCable to Fowler Sylvac, Metronics, Mettler, Omega, Tol edo (FOW) - 15 ft.

IC220TBK123 I/O TERMINAL STRIP, 12 POSITION SPRING STYLE, OUTPUT, QTY 10

IC646MBLS99 Machine Edition Lite Development Suite Unlimited Seat Site License

IC647IFPLDV00150C iFIX Plus SCADA 150 I/O Development (M1Component Part)

IC660BBR101 Block Relay Output Normally Open 16 Circuits. Module does not have UL approval.

IC693MDL734LT 125 Vdc Output, (6 Points) (LT)

IC697CPX935 CPU, 96 MHz, 12K Discrete I/O, 1M byte fixed user memory

IC800SKCEZ050 Encoder cable to connect an S2K to any 30 Watt to 750 Watt S-series servo motor. 5 meters

ControlLogix/1756 System 1756-IT6I2 ENHANCED ISOL THERMOCOUPLE/MV INPUT 6PTS (20 PIN)

Industrial Computers 6182H-10TRH15D VVCE 1000, TOUCH, STD MEM, CNET, DC

Process Control 1757-FIMUPG010 FIELDBUS LICENSE UPGRADE, 10 FIMS

Operator Interface 2711P-RGK15 PV PLUS/VVCE PROTECTIVE ANTIGLARE OVERLAYS QTY 3

Support 9355-WABITR SUPT REINSTATEMENT CONTRACT FOR 9355WABIT

Support 9354-LN100S 9354-LN100 SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 1784-PCIC CONTROLNET PCI BUS MESSAGING CARD WITH

RSI Software Products 9301-2SE2400KOE RSVIEW32 WORKS 32K (KOREAN)

RSI Software Products 9355-WABSNEU1 UPGRADE: IN-SUPT: RSLINX SINGLE NODE TO RSLINX OEM

Motion Control MPL-A320P-SK22AA MOTOR,SERVO,2.94 NM,5000RPM,SINGL,230V,4.1KG

Motion Control 2090-U5PM-D0903 CABLE, ULTRA5000 TO PANELVIEW 300 MICRO DF-1, 3M

CBL-12-MP-10 Power Cable, MTR-1216, 1221, or 1231 Stepping Motor, 10 Ft.

IC600KD512RR Color Operator Interface Terminal, 12" CRT

IC800SGM450M2KE25 4500W, 230V S-Series Servo Motor, 322 in-lb (36.4 Nm)

OC647IFESGRN00300C iFIX Optn: ESig & ERec 300 I/O Runtime (M1Component Part)

20AD040A3AYNAEC0 PowerFlex 70 AC Drive 40 A at 30 Hp 20A

20DC590N0ENNBDANE PowerFlex 700S AC Drive 590 A 315 kW 20D

20LD1K2N0ENNXNW0WA PowerFlex 700L AC Drive 20L

2707-NC10 DTAM MICRO-MICROLOGIX COMMS CBL. 6 F

280-PWRM22E-M025 ArmorStart Three-Phase Power Media

FX2N-16EYT 扩展16出 晶体管输出

1492-M6X5 IEC 6 x 5 mm Marker Card

1494R-N2 Lug Kit

软启动器 3RW44476BC35

ET 200SP 6ES7193-6PA00-0AA0 服务模块 (备件)

1585D-M4UBDE-0M6 1585D Ethernet Media Patchcord

1756-IB16DK ControlLogix 16 Point D/I Module

1794-TB3GSK Flex Terminal Base

194E-E100-1756 100 A 194E Load switch

2090-CFBM4DD-CDAA05 MP-Series 5 m Length Feedback Cable

2090-K6CK-D44M Kinetix 6000 Low Profile Connector Kit

ADP-SCM-STF-S SC to ST single mode adapter

GC646TDV050 Proficy GlobalCare Complete for Server 50 I/O Develop/Runtime System

HE800CBL219 I/O Extension Cable, 19-pin, 2.0m. For use in conjunction with TRM519

IC640MWS902RR Workmaster System/ 2-35 inch Disk Drive

IC647HSTSSEO5000KM eSignature Option for Historian - Standard Server 5,000,000 Points (M4 Key)

IC660BRD024 Genius 12/24VDC Source Block for Redundancy T Output Configurations

IC695CRU320CA Conformal coated. 1Ghz CPU with 64Meg of memory 2 SERIAL PORTS (occupies two slots on system base) redundant CPU. External high capacity battery IC693ACC302 required. The CRU320 will only work with RX3i ENIU remote I/O and Genius LAN.

IC756WET200K-99 Custom Datasource Toolkit, Korean, Version 9.9

CompactLogix System 1769-STRT2ES COMPACTLOGIX STARTER KIT SPANISH

PLC-5/1771 System D1771-6.5.3 ANALOG OUTPUT SYSTEM(1771-OF,SER.B & 1771-E4)MNL

Process Control 1757-PLXNB POINT CONTROL SCHEDULER

Operator Interface 2711P-K7C6B1 PV PLUS 700, KEYPAD, RIO/DH, AC PS, STD MEM

Support 6556-SPLSS SUPPORT RENEWAL CONTRACT FOR 6556SPLS

Support 8100-HSML1R SUPT REINSTATEMENT CONTRACT FOR 8100HSML1

Support F1785-L11BSERE FIRMWARE UPGRADE FOR 1785-L11B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2203PTE RSVIEW32 WORKS 300 WITH RSLINX (PORTUGUESE)

RSI Software Products 9701-VWSB025JPU1 RSV SE STATION 25 TO SE SRV 25 UPG JAPANESE

RSI Software Products 9399-FW5FBGR RSLGIX FRAMWRKS FUNCTION BUILD.GET'G RESULTS GUIDE

Motion Control 2098-DSD-150-DN DRIVE, 65A/150A, ULTRA3000 W/DEVICENET

BC5008TBN0000 18 Inch Intelligence Industrial Computer - Bundled - Performance Series - w/ Windows NT

IC300DIM210 8 DC Inputs (12/24vdc, pos/neg logic).

IC752ECD550 Display Station 1493 - 14" XGA (1024x768) resistive touch screen, Pentium 133, 32MB, 2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win NT

MTR-3S45-G-R-B-E-SRR Servo Motor 24V Brake, Seal

ZA06B-6093-K001 Replacement serial encoder battery for Beta series amplifiers

20BH140A0ANNANC0 PowerFlex 700 AC Drive 20B

20G14TD740AN0NNNNN PowerFlex 755 AC Packaged Drive

25A-A2P5N114 PowerFlex 523 0.4kW (0.5Hp) AC Drive

2711P-T10C4D9 PanelView Plus Terminal

FRN280P11S-4CX 400KVA 520A 280KW 3相AC380V/50Hz/60Hz

1492-JD4C 4 square mm Double Level Terminal Block

1492-W6 IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW40766BB45

性能信号模块 6ES7 521-1BH50--0AA0 DI 16：数字量输入模块，源型，DI 16x 24VDC SRC BA, 35mm 模块，不含前连接器

156-B30BV1 30 A Contactor

1746-IB8 SLC 8 Point DC Input Module

1786-TNCL10 ControlNet Media TNC Connector Plug

193-T1BC30 24.5-30.0 A IEC Bimetallic Ovld Relay

20-HIM-A5 PowerFlex Architecture Class HIM

2090-CSBM1DF-14AA20 Kinetix 20m Smartlink Single Cable

20AC015C3AYNANC0 PowerFlex 70 AC Drive 20A

GA647TPR915 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 1500 I/O Runtime System

GP647IFSTDVUNLMT GCP iFIX Std HMI Unlmt Dev

IC600CB524RR Arithmetic Control Module

IC647HSTCSCCP25M Historian Enterprise Corporate Client Enterprise Connection Pack 25 Users (M4 Key)

IC647UDCC UDC:Honeywell UDC Controllers

IC693UAA007RR 28 pt AC In/AC Out, AC Power Supply

IC756RDV000K-99 DV Development - Irix Op Sys, Korean, Version 9.9

MicroLogix 1200 System 1762-L24BWA MICROLOGIX 1200, 24 PT.

PLC-5/1771 System 1771-CFMK CONFORMALLY COATED, CONFIGURABLE FLOW METER

Distributed I/O 1794-IB10XOB6 10/6 24VDC COMBO

Communications 9355-WABGWFRE RSLINX GATEWAY - FRENCH

Operator Interface D6190-6.5.9 CONTROLVIEW NETWORKER(CAT.NO.6190-NET)USER'S MNL

Support 9358-BCMPN01R SUPT REINSTATEMENT CONTRACT FOR 9358BCMPN01ENE

Support F1403-MMVER2X FIRMWARE UPGRADE FOR 1403-MMV POWERMONITOR MODULE

RSI Software Products 9324-RL01U3PTER UPGRADE: OUT-SUPT: PORTUGUESE RS500 START TO RS500

RSI Software Products 9301-2SE3503DEE RSVIEW32 RUNTIME 100K WITH RSLINX (GERMAN)

RSI Software Products 9358-HSTCLTENE RSBIZWARE HISTORIAN SINGLE USER RUN TIME CLIENT

Motion Control Y-2012-2-H00AA MOTOR,SERVO,1.35 NM,4500RPM,ENCDR,230V,2.31KG

5401 Greyline Micro MC. 2 Lines, (20) 5MM Chars. LCD. Quick Connect. NEMA 4

IC200DTX450 Operator Interface with up to 200 stored messages. 2 x 16 character LCD backlight display and 6 function keys

IC695CHS016 RX3i BASE 16 SLOTS

MSI-WEB-UNL-43 Unltd Site Clients - Web or Excel Rep-43

VSPCSE-OPC10 Secure Edition OPC Client Option includes VisualSPC Importer (licensin g is per client PC), Support for up to 10 Points/Tags.

20BD065A0AYNAND0 PowerFlex 700 AC Drive 65 A 50 Hp 20B

20G11LE825JN0NNNNN PowerFlex 755 AC Packaged Drive

22F-A011N113 PowerFlex 4M- 2.2 kW (3 HP) AC Drive

490NRP25300 Quantum 光纤中极器,MBPL

291E-FAP-G1 Direct Online Reversing Starte

P2CF-08 导轨安装型，

1492-SPM2D070 MCB Supplementary Protector 7 A

软启动器 3RW30382BB14

电机启动器 3VU16400CQ00

150-F317NBDB SMC Flex Smart Motor Controller

1732E-IB16M12DR ArmorBlock 16 Point Input

1771-RTP3 1771 Remote Terminal Panel

193-EEHF E1 Plus 30-150 A IEC Overload Relay

20-750-1132D-2R PowerFlex 750 Series 115V AC EIO 11 Kit

2090-CPWM7DF-08AF30 30 m Length SpeedTec Pwr and Brake Cable

2097-R7 Kinetix 300/350 150 Ohm Shunt Resistor

ENP2115M020 Male Industrial/Male Industrial, 2 meters

GFK-1742 Motion Mate DSM314 for Series 90-30 PLCs User's Manual

IC220DBI001 DEVICENET NETWORK INTERFACE UNIT (REQUIRES 1 IC220TBK201)

IC647CSPC010 Proficy Cause+ for Intelligent HMI/SCADA Client Enabler - 10X CALs

IC647PSC025 Proficy Process Systems 250 I/O with Cimplicity

IC693MCD001RR Demo Case, Beta Series Servo

IC756ADV010K-97 DV Draw Development on AIX Op Sys, Korean, Version 9.7

MSI-MGMT-100-43 Production Mang Clients 100 Pack-43

PLC-5/1771 System 1785-L11B PLC-5/11 CONTROLLER, 8K WORK SRAM

Distributed I/O 1738-OE2CM12 24VDC 2 ANALOG CURRENT OUTPUTS WITH M12 CONNECTORS

Communications 1784-PCD1 DEVICENET PCMCIA CABLE (PC CARD CONNECTOR TO

Operator Interface 2711-NV7K ANTIGLARE OVERLAY PV1400 KEY

Support 9304-WRM300S 9304-WRM300 SOFTWARE SUPPORT CONTRACT RENEWAL

Support 9393-EGLX500S SUPT RENEWAL CONTRACT FOR 9393EGLX500

DeviceNet Products 2706-PDNETM DEVICENET COMMUNICATION MODULE FOR 2706-P4X

RSI Software Products 9301-2SE335ITU2R RSVIEW32 RUNTIME 300-5K UPGRADE OUT-SUPT (IT)

RSI Software Products 9371-EDES2U1 UPGRADE: IN-SUPT: RSWIRE DET JIC/STDAL TO DES/ACAD

Motion Control MPG-B010-031M24 MOTOR,SERVO,GEAR RATIO 31,25NM,208RPM,MULTI,BRK

Silver Series 2711-K14C14 PV1400 COLOR KEY, MBUS & RS232 PRINT

HE693SNP306 Molded SNP-to-RS232 adapter plus cable for PC 9-pin serial port (includes LEDs)

IC670ALG630 TC 8 Channel

QPI-DEM-S02 QUICKPANEL DEMO 10.5" STN

ST-5725 STXi Extension IO, Master module(Tx). Master requires a Slave module (ST-5726). Maximum of (3) Master Slave combinations with a maximum of 300 meters total length.

20BC260A0ANNANC0 PowerFlex 700 AC Drive 20B

20F1ANC205AN0NNNNN PowerFlex 753 AC Packaged Drive

22B-B012N104 PowerFlex 40- 2.2 kW (3 HP) AC Drive

140DII33000C Quantum 开关量输入, 8点, 本安型,CC

284D-FVD6P0B-25-RR-3-DB-SB-EMI DeviceNet Variable Frequency Drive

E3S-VS1E4 色标检测型 1.2CM晶体管输出NPN最大80MA电源12-24VDC

1492-SPM1B010 MCB Supplementary Protector 1 A

人机界面 6AV6545-0DB10-0AX0 MP370 触摸面板，256 色，15.1 英寸，800? 600

6ES73317KF024AB2

1497B-A6-M13-0-N Control Power Transformer

1606-XLS480G-3 36-42V Dc 480 Watt Power Supply

1769-IG16 CompactLogix 16 Pt TTL DC D/I Module

189-ASCR3 MCB Accessory Signal Contact

194R-HM4E 194R 100-400-625 A Operating Handle

2090-CPBM7DF-14AA07 MP-Series 7m Standard Cable

2090-XXNPMP-8S05 MP-Series 5 m Length Power Cable

CBL-3C-L1D-FLY-10 S2K flying lead feedback cable for special for 3rd party motors with hall commutating encoders. 10 feet

GF-0304 Connecting FlashCable to Edmunds Trendsetter (for use with the Combo G agePort). Contact Dave Chapman X5472 for additional electrical testing.

IC200TBX340 Tool box, Micro 40, operator interface and software. Includes (IC200UDR140) 24VDC In/Relay Out, requires 120/240VAC power, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with VersaMax DataPanel DP 45 (IC200DTX450) with Proficy Logic

IC646TBSPMPW025 Smart Process Monitoring Process+ Web Clients 25 Pack

IC647NST000 CIMPLICITY HMI Stratus High Availability Server License

IC693ACC350 Redundant Power Supply Adapter (RPSA) Module. The RPSA replaces the p ower supply on a CPU base or expansion base and connects to a Redundan t Power Supply Base.

IC752CBT050RR Datapanel 320T CB (Color Base): 320x240 1/4 VGA Passive Color with 803 86SX/40 PC processor. Analog touch screen with text, bitmaps, bar gra phs, real time clock.

IC800VMCP3030 Power cable for 3 kW VersaMotion servo motors- 3 meter

SLC/1746 System 1746-NI8 (8) ANALOG INPUT FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-CPUSTD2 STANDARD SBC (W/CPU AND COOLER) (1400R)

Application-specific products 1403-CF010 10 M F LINK FOR POWERMONITOR

Operator Interface 2711-K6C1 PV600 COLOR KEY, RIO & RS232 PRINT

Support 9301-2SE2400PTR SUPT REINSTATEMENT CONTRACT FOR 93012SE2400PT

Support 9323-1003ENS SUPT RENEWAL CONTRACT FOR 93231003EN

DeviceNet Products 1734-OB2EP 24V DC 2 AMP 2 CHANNEL SOURCE OUTPUT MODULE

RSI Software Products 9301-2SE3100ITE RSVIEW32 RUNTIME 150 (ITALIAN)

RSI Software Products 9358-BNTK30U1R UPGRADE: OUT-SUPT: RSBATCH BACK-UP KEY 03 TO 30

Motion Control MPL-B420P-MJ22AA MOTOR,SERVO,4.74 NM,5000RPM,MULTI,460V,5.0KG

Motion Control 2090-UXBB-DM09 BREAKOUT BOARD, CN3, ULTRAX000 DRIVE MOUNTED

GFK-0771 C Programmer's Toolkit for Series 90 PCM User's Manual

IC646MDA075 View 75 Tag Runtime & Development System

MSC-TC-V Obsolete - Type J (0 to 760C) in / 0-10 V out

PSPC-MONITOR10 Prof Shop Floor SPC Monitor 10 User

20BC022A0AYNACB0 PowerFlex 700 AC Drive 22 A at 11 kW 20B

20F11GC011JA0NNNNN PowerFlex 753 AC Packaged Drive

2198-P070 Kinetix 5700 DC Bus Supply

2711P-RCH PanelView Plus Accessory

280D-F12B-10A-CR ArmorStart Direct Online Starter

CQM1-OA221 输出 8点.可控硅 100-240V AC 0.4A

1492-N49 TERM BLCK 10 Pole Side Jumper

连接电缆 6ES7368-3CB01-0AA0 IM360/361 连接电缆， 10m

变送器 3RS18001BP00

TIA 博途 WinCC 选件 6AV2107-0LH00-0BB0 SIMATIC WinCC DataMonitor for Runtime Professional 25 Clients

1585J-M8PBJM-1 RJ45 Ethernet Media

1760-L12BWB-ND Pico 12 Point DC Controller

188-K2C130 Miniature Circuit Breaker 13 A

194L-A25-1753-6N 25 A 194L Load Switch

2090-CNSRPRS-AA07 Kinetix 6000M Network Cable

2090-XB120-03 107 Amp 3 Ohm Resistive Brake Module

BC647MRA075 View Runtime 75 I/O with Proficy GlobalCare Complete with USB Hardware key

GC647IFSTRN00900 GCC iFIX Std HMI 900 I/O Run

IC200CPU005 CPU 128K user configurable user memory, 0.8MSEC/K Boolean one RS232 and one RS485 serial ports

IC646NCL000 Action Calender

IC647IFSTRN00900K iFIX Standard HMI 900 I/O Runtime (M1 Kit Part)

IC670MDD441 Mixed Discrete Module, 24VDC 10 in/6 out w/ESCP

IC697MDL240 120 Vac Isolated Input (16 Points)

IC800SLCAPM030 Control cable to connect the SL servo amplifier terminal block to an APM300 motion controller module. 3 meters

ControlLogix/1756 System 1756-M08SE 1756 8 AXIS SERCOS SERVO MODULE

Industrial Computers 6182H-12BRH4D VVCE 1250, KEY/TOUCH, STD MEM, ENET, DC

Process Control 1757-PFBEXP010 PROFIBUS INTERFACE MODULE EXPANSION

Operator Interface 2711P-RN22C RS232 ISOLATED COMMUNICATION MODULE

Support 9357-ANETL3R SUPT REINSTATEMENT CONTRACT FOR 9357ANETL3

Support 9361-CHARTS SUPT RENEWAL CONTRACT FOR 9361CHART

ControlNet Products 1734-IV4 24V DC 4 CHANNEL SOURCE INPUT MODULE

RSI Software Products 9301-2SE2400U3 UPGRADE: IN-SUPT: RSVIEW WORKS 150 TO 32K

RSI Software Products 9357-DNETL3UR UPGRADE: OUT-SUPT: DNET MGR TO RSNETWORX FOR DNET

Motion Control MPL-A420P-HJ22AA MOTOR,SERVO,4.74NM,5000RPM,ENCDR,230V,5.0KG

Motion Control 2090-UXNFBMP-S09 CABLE,ULGRF50ON-FLEX,MOTOR FEEDBACK,MP,9M

CBL-13-ED-10 Encoder Cable, MTR-1235, 13xx, 14xx, & 1N Series Stepping Motors to IMC-D or S2K, 10 Ft

IC600WD050 I/O Cable, 50 feet (15m)

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