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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。
 

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电源模块 6ES7405-0DA02-0AA0 PS405 输入电压 24V DC 4A

电机启动器 3VU13401TM00

运行版软件 6AV2105-2BB04-0AC0 SIMATIC WinCC Runtime 专业版 Powerpack Runtime Advanced 128 PowerTags -> Runtime 专业版 128 PowerTags V14

1606-XLP60EQT AC DC In 24 to 48VDC Out 60W Low Temp PS

1746-ITB16 SLC 16 Point Digital Input Module

1783-HMS8TG4CGR Stratix 5400 12 Port Managed Switch

190E-ANEJ2-CB25X 1.6-2.5 A Economy Starter W/Ckt-Bkr

194E-AA63EX-TN-PE 194E Load switch

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2090-CSWM1DF-18AA11 Kinetix Cable Single DSL 2090-Series

20AC3P5A3NYYAEG0 PowerFlex 70 AC Drive 20A

GC646MRA075 Proficy GlobalCare Complete for View Runtime 75 I/O

HE693RTU940 Discontinued Part. Check with GE IP on migration path.

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IC660BBD024RR 12/24Vdc Source I/O Block, 32 Circuit, Ph B

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PLC-5/1771 System 1771-PS7 MULTIVOLTAGE 1771 RACK POWER SUPPLY

Distributed I/O 1798-BP4 FLEXARMOR 4 SLOT BASE PLATE

Operator Interface 2711P-K6C20D PV PLUS 600 COLOR, KEYPAD, ETHERNET, DC PS

Support 9323-PLC5R SUPT REINSTATEMENT CONTRACT FOR 9323PLC5

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A06B-6089-H105 Alpha Series SVU1-80 Amplifier

IC200UEX012 14 point (8) 24VDC In, (6) Relay Out, DC Power Supply (includes IC200CBL501)

IC752CBT070RR Datapanel 320T CEG (Color Expansion w/ Genius): 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2Meg and Genius PC/104.

MTR-1N42-N-A-E-SRR Stepping Motor Nema42 Splashproof

ZA06B-0143-B075#7076 A12/3000 servo motor with IP67 sealing and 64k serial encoder

20BD600A0ANNNNC0 PowerFlex 700 AC Drive 600 A 500 Hp 20B

20G14NC140JA0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-E0P9 PowerFlex 520 0.4kW (0.5Hp) Power Module

OFSCSPBLT Quantum OFS LARGE 10LIC SUBSCR RENEWAL

FVR 0. 4E11S-4JE 1. 2KVA 1.6A 0.4KW 3相AC380V/50Hz/60Hz

1492-J3-RE 2.5 square mm Standard Terminal Block

1492-SPM3D070-N MCB Supplementary Protector 7 A

软启动器 3RW40382TB04

SIMATIC HMI 系列面板 6AV2124-1DC01-0AX0 KP400 精智 4 英寸，按键

150-SM2 SMC-50 Ground Fault Module

1738-EXT1 ArmorPoint Bus Extension

1783-ZMS8TA ArmorStratix 5700 8 port managed switch

193-KB13 0.9-1.3 A IEC Bibllic Overload Relay

20-750-PBAY-LBRK-2 POWERFLEX 750 KIT,L BUSBAR,AL,2 HOLE

2090-CPWM7DF-16AF60 MP-Series 60 m Length Power Cable

20AB042A3AYNANC0 PowerFlex 70 AC Drive 42 A at 15 Hp 20A

GA647IFPLRN00150 GCA iFIX Plus SCADA 150 I/O Run

GP647IFCLNTSRO010 GCP iFIX iClientTS Read Only 25 PK Runtime Version

IC600BF817RR Type B Thermocouple Input Module (8 points)

IC647HSTCC500M Calculation Collector for Historian - Standard Server 500 Points (M4 Key)

IC647TDV150 CIMPLICITY HMI Server 150 I/O Development & Runtime System

IC693MDL931LT Relay Output, 8 Amp Form B/C contacts, Isolated in groups of 4 (LT)

IC756LDV001J-97 DV Development - Inb/Linux RedHat Addt'l User, Japanese, Version 9.7

Pico Controllers 1760-NMF GFX MOUNTING FT; 8 PER PK

PLC-5/1771 System 1771-OP 120V AC PROTECTED OUTPUT MODULE, 4 OUTPUTS

Distributed I/O 1791-32A0 BLOCK I/O, 120V AC, 32 POINT MODULE (32 INPUT)

Communications 1786-TPS CONTROLNET T-TAP/STRAIGHT

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RSI Software Products 9301-2SE3500DEU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (DE)

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Motion Control F-6300-R-H04AA MOTOR/ENCODER/BRAKE

44A728335-004 Test Only - PowerMotion

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IC693MDL750 12/24 Vdc Output, Negative Logic (32 Points)

Silver Series 2711-T14C8 PV1400 COLOR TOUCH, DH+ & RS232 PRINT

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20BD022A0AYYANC0 PowerFlex 700 AC Drive 22 A at 15 Hp 20B

20G11FC072JA0NNNNN PowerFlex 755 AC Packaged Drive

22C-D030F103 PowerFlex 400 15 kW (20 Hp) AC Drive

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H7CR-B AC100-240V 0-999999次，无电压输入，继电器输出，一常开/闭

1492-SPM1D300 MCB Supplementary Protector 30 A

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电机启动器 3VU13401TJ00

150-C85NBR SMC-3 85A Smart Motor Controller

1692-ZR2222 24 V DC Electronic Circuit Protection

1771-IH 1771 8 Point Digital Input Module

193-EC3HG E3 Plus 60-302 A Overload Relay

198-PL26R ModCenter IEC Pilot Light

2090-CPWM4DF-14AF09 MP-Series 9 m Length Power Cable

2094-BC02-M02-M Kinetix 6200/6500 Integrated Module

DEMOCD00004 CIMPLICITY HMI DEMO CD

GFK-0724 CIMPLICITY System-I/U & Logicmaster 90 Serial S/W Installation Manual

IC200USB002 VersaMax Micro 20/40/64, RS-485 communications option board with (2) 0 - 10VDCanalog b channels built-in. The option board also supports program storage memory module. Compatible with VersaMax Micro 20/40/64 only.

IC647ARC002 PA Reporting Client 2 Pak

IC647PME100 Proficy Change Management Server Machine Edition Version - 100 Concurrent Users

IC693CMM311CA Conbal Coated Serial Communications module, 2 serial ports.

IC754VBF15CTD 15 inch TFT QuickPanel View/ Fully Loaded/ 24VDC / Blank Label

MSI-BASE-43 Base Clients Ver 4.3

SLC/1746 System 1746-F4 FUSE (MDL 1.25 AMP) FOR AC FIXED HARDWARE PWR SPLY

Distributed I/O 1734-IV4 24V DC 4 CHANNEL SOURCE INPUT MODULE

Application-specific products 1803-EEM11E4 EEM,16 PULSES,24V DC,8 ANALOG 4 TO 20 MA, NEMA 4

Operator Interface 2711-T10G3 PV1000 GRAYSCALE TOUCH, DH485 & RS232 PRINT

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HE200UCN114 CAN based PLC w/8 24VDC in and 6 relay out, AC power (includes software)

IC646NWV000 WebView-Single License

PC752PBM000 ISA, Profibus DP Master Interface Module

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20F14NC170AN0NNNNN PowerFlex 753 AC Packaged Drive

22A-B012N104 PowerFlex 4- 2.2 kW (3 HP) AC Drive

TSXMRPF004M Quantum Unity V2 PCMCIA存储扩展卡（SRAM)，文件存储4096K

284-PWRM24A-M10 Power Cable, Patch,Shielded,M24, 10m

CJ1G-CPU42H CPU单元I/O点数960，10K程序容量，最多二个扩展机架。

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1497-M-CXSX-0-N Control Circuit Transber

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1764-DAT MicroLogix 1500 Data Access Tool

188-K3D630 Miniature Circuit Breaker 63 A

194L-HE4L-175I 194L Control and Load Switch Actuator

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2090-XXNPMF-16S07 Kinetix Drives 7m Standard Cable

BQ2320-9R-EX 24 TO 12VDC VOLTAGE CONVERTER

GC647SBM001 GCScheduler Batch Module

IC200NDR010 10 point PLC, (6) 12VDC In, (4) Relay Out, 12VDC Power Supply

IC646PPD772 PA-70 with 772 CPU - DC

IC647NCA700 CIMPLICITY Change Approval for 700 Point Server

IC690ACC990 Portable Program Download Device supported by Series 90-30 CPU350, CPU351, CPU52, CPU360, CPU363, CPU364, CPU366, CPU367, CPU372 and CPU374 only. Series 90-30 CPU311, CPU313, CPU323 are not supported by the PPDD. The VersaMax Modular CPUs and Versa

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SLC/1746 System 1746-A10 10 SLOT CHASSIS-MODULAR HARDWARE STYLE

Industrial Computers 6181P-15TS2KH VERSAVIEW INTEGRATED DISPLAY COMPUTER 15-INCH TFT

Application-specific products 9358-PBNT60ENE RSBATCH NT FOR PROCESSLOGIX 60 UNITS

Operator Interface 2711-K5A2 PV550 MONOCHROME KEY, DH485

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ControlNet Products 2711P-K12C15D1 PV PLUS 1250, KEYPAD, CNET, DC PS, STD MEM

RSI Software Products 9301-2SE2500ZHU2 RSVIEW32 WORKS 1500-100K UPGRADE IN-SUPT

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Motion Control 2090-XXNPMP-14S04 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,14 GAUGE,4M

GABK2D100S2P/AR QUICKPANEL 6" STN W/AB RIO GE LABEL

IC641SWC706 Logicmaster 90-70 Std Comm, 3.5"/5.25" disks + CD-ROM docs.

IC800SSI107RS1 7.2A, 115/230V, S2K Servo Controller for MTR Series Motors

PSPC-ADMIN100/E Prof Shop Floor SPC Admin 100 User eSig

20BB070A0AYNANC0 PowerFlex 700 AC Drive 70 A 25 Hp 20B

20DF1K5N0ENNENANE PowerFlex 700S AC Drive 20D

2198-CAPMOD-2240 Kinetix 5700 Capacitor Module

2711P-K4C20D8 PanelView Plus 6 4 Color Keypad DC

280-PWRM35D-M3 ArmorStart Three-Phase Power Media

CPM2AH-40CDR-A NEW 40点主机 AC100-220V 24点入16点继电器输出 自带RS232C口 中国产

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DI/DO 最大 65536 点(集中式 1024 点)，AI/AO 最

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运行版软件 6AV2105-2HK04-0BD0 SIMATIC WinCC Runtime 专业版 Powerpack 4096 PowerTags -> 8192 PowerTags V14

1585J-M8CB-15 RJ45 Ethernet Media

1756-PA75R ControlLogix AC Redundant Power Supply

188-K1C400 Miniature Circuit Breaker 40 A

194E-KA63E-P11-PE 194E Load switch

2090-CFBM7DF-CEAF09 Kinetix 9m Flexible Cable

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BC646TDV000 Server Unlimited Develop/Runtime System with Proficy GlobalCare

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IC660TBA024 Terminal Assembly for IC660BBA024

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BC646TPD935 ProServer 35,000 I/O Develop/Runtime with Proficy GlobalCare""

IC300TRM319 Cage-clamp (screw) style I/O plug, 19 terminal

IC800CBL003 Digital Servo Command Cable, 2 Meters

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20G1AND186AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-CTM1 PowerFlex 527 Control Module

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HE693STP300 Discontinued Part. Check with GE IP on migration path.

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IC660BBS100RR 115Vac/125Vdc Isolated I/O Block, 8 Circuit, Ph B

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Operator Interface 2711P-K6M5D PV PLUS 600 GRAYSCALE, KEYPAD, RS232, DC PS

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