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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。
 

1492-MCBA290 Cb, 1 In, 10 Ka Aic, 2 Pole, 90 Amp

1492-SPM1C080 MCB Supplementary Protector 8 A

接口模块 6ES7461-1BA01-0AA0 IM461-1 接收器模块，用于集中式连接，最大 3m

软启动器 3RW44432BC44

TIA 博途 WinCC 选件 6AV2107-2LD00-0BD0 SIMATIC WinCC DataMonitor for Runtime Professional Powerpack 1 -> 3 Clients

153H-C43FBD-45 43 A Encl. Smart Mtr Ctrlr CB

1747-RL401 SLC Label Kit

188-K1D005-N Miniature Circuit Breaker 0.5 A

193-EMRZ24 E1 Plus 24V DC Remote Reset Solenoid

20-750-EMC1-F2 PowerFlex 750 Frame 2 EMC Kit

2090-CPWM7DF-12AA09 MP-Series 9m Power Cable

2098-DSD-020-SE Ultra 3000 2kW with SERCOS Servo Drive

G-C441 PC to GagePort Cable and Power Supply (9 Pin)

GFK-2190 QuickPanel Nema 4X Bezels Installation Guide

IC220STR002 MOTOR STARTER DIRECT, 3.7KW/400VAC

IC647EIMM EIM:Honeywell EIM 620

IC647SBM001 Scheduler Batch Module

IC693MDL634RR 24 Vdc Input, Negative/Positive Logic (8 Points)

IC756DVE000K-98 EO GECK (Graphical Editor Construction Kit) - Unix, Korean, Version 9. 8

MSI-QUAL-25 Quality Management Clients 25 Pack

PLC-5/1771 System 1771-A2BK CONFORMALLY COATED I/O CHASSIS ASSEMBLY 8 SLOT

Distributed I/O 1790D-8BV8V DNET LDX, 24VDC,8 UNIV IN/8 SINK OUT BASE, D-SHELL

Communications 1770-CD4 DATA HWY TWINAXIAL CABLE, 400 FT/122 M

Operator Interface 2711E-UT12ET14 PANELVIEW 1200E TOUCH TO 1400E MIGRATION KIT

Support 9305-RSVADFCENR SUPT REINSTATEMENT CONTRACT FOR 9305RSVADFCEN

Support 9324-RLDSFCES SUPT RENEWAL CONTRACT FOR 9324RLDSFCE

EtherNet/IP Products 1761-NET-ENI ETHERNET INTERFACE FOR MICROLOGIX AND COMPACTLOGIX

RSI Software Products 9301-2SE3400JPU5 RSVIEW32 RUNTIME 5K-32K UPGRADE IN-SUPT (JP)

RSI Software Products 9371-RSWDI2 RSWIRE DESIGNER/IEC PROFESSIONAL PACK

Motion Control 1326AB-B420H-M2L MOTOR,SERVO,460V,5.1NM,6000RPM,MULTI,IP67

259A9704P1 90-70 Demo Case Pwr Cable/Gray

HMI-AGO-202 ANTI-GLARE OVERLAY 10.5"

IC693ACC336 Auxiliary Terminal Block for the Motion Mate DSM302

QPKSBDN0000 6" Color STN, Blank Label, No Ethernet, CF, 24Vdc,UL,cUL,CE,UL1604

TGT-AI0V-8-0 Target series analog module with 4 bs and 4 outputs

20BC5P0A0AYNANA0 PowerFlex 700 AC Drive 5 A at 2.2 kW 20B

20F1ANE144AA0NNNNN PowerFlex 753 AC Packaged Drive

22B-D1P4N104 PowerFlex 40- 0.4 kW (0.5 HP) AC Drive

140DDM69000 Quantum 开关量DC混合模块,4点输入,125VDC;4点输出

284E-FVD4P0Z-10-DRN-DB1-SB-EMI EtherNet Variable Frequency Drive

E2E-CR8C1 0.8mm,电感式,三线,常开5-100mA NPN电源:10-30VDC圆M4

1492-SPM1C010 MCB Supplementary Protector 1 A

通用型变频器 6SE6 420-2UC21-5BA1 "1.5 KW，149 x 202 x 172"

电机启动器 3VU13400MM00

1497D-A17-M21-0-2 1EN PURPOSE TRANSFORMER

1608N-003A240V1S 3 A Mini DySC Sag Corrector

1769-OF4CI CompactLogix 4 Pt A/O Current Module

190S-ANEJ2-CB40C-KN 2.5-4.0 A Compact Comb Starter W/Ckt-Bkr

194R-NE160-1753 Disconnect Non-Fused IEC 3 Poles 160A

2090-CPBM7DF-16AA60 MP-Series 60m Standard Cable

2090-XXTFMP-S30 MP-Series 30 m Length Feedback Cable

CFDA-0WPB-0070-AZ "AHVi, AHVis, Bis and BHVis Series Motor Encoder Feedback Cable, Straight Connector, 7 M"

GF-3650R Connecting FlashCable to VWR Temperature Transducer.

IC200UDR005-24 Qty of 24, 28 point PLC, (16) 24VDC In, (11) Relay Out, (1) 24VDC Out, 120V/240AC Power Supply

IC646TRT150 150 I/O Point Runtime System

IC647PATCPSA Proficy PAT - Driver For CPSA

IC693APU301 1-axis APM motion controller module

IC752FPY001RR Industrial Floppy Drive for the Datapanel 320T

IMC-101-S-SC-T 10/100 baseT to single-mode SC fiber converter (-40 to 75 deg C op temp)

SLC/1746 System 1746-P2 POWER SUPPLY - RACK MOUNT

Industrial Computers 6186-M20SSTR VERSAVIEW 20 INCH MONITOR, RESISTIVE TOUCH SCREEN

Application-specific products 1404-M505B-000 MASTER MODULE - PQ 24V P/S

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Support 9380-RSBOCXR SUPT REINSTATEMENT CONTRACT FOR 9380RSBOCX

DeviceNet Products 1792D-0B8D 8 SOURCING 0.5 AMP OUTPUTS, 8 CONNECTORS

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Motion Control 2090-SCVG50-0 SERCOS FBR CABL,CONN,STNDRD PVC JKT,GLASS,50.0M

GFZ-65195EN Alpha SVU Series Amplifier Maintenance Manual

IC646MPMU01 Logic Developer - PLC Nano/Micro - Upgrade

MTR-1331-J-N-D-E-0 Stepping Motor Nema34, Series Wdg

QPJ-GEG-201 Communication Module for 5 inch & 6 inch: GE Fanuc Genius/ UL/ cUL/ UL1604

20BC037A0AYYANC0 PowerFlex 700 AC Drive 20B

20F11NC060JA0NNNNN PowerFlex 753 AC Packaged Drive

22-COMM-P PowerFlex PROFIBUS DP Adapter

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280S-M35F-M1 ArmorStart Three-Phase Power Media

C200HW-COM03-V1 通信板 一个RS-422/485口

1492-PDE1C142 200 A Enclosed Power Distribution Block

数字量输入/输出模块 6ES7421-1FH20-0AA0 DI/16 120/230V AC,光隔离

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1495-N86 Variable Depth Circuit Breaker Accessory

1585J-M8TBJM-8 RJ45 Ethernet Media

1761-HHM-K64 MicroLogix 1000 Handheld Memory Module

188-K3B320-N Miniature Circuit Breaker 32 A

194L-E20-1753 20A 194L Load Switch

2090-CPBM4E2-04TR MP-Series 0.5 m Length Transition Cable

2090-XXNFMF-S90 Kinetix Drives 90m Standard Cable

BC647OEM0510B OEM Edge Program Add't Key - Complete

GC647PATH105 Proficy PAT - Historian. The capability is to store spectra data from the driver into the Proficy Historian. This for a single dri

IC200MDD847 Mixed 240VAC b group 8 point / isolated 2 amp relay output 8 point.

IC646NSG000 Siemens AS511 OPC Server. Supports S5 controllers through front port

IC647MBT001 Machine Edition Traditional Development Suite with USB Hardware key

IC675PDI161 Profibus Station IP67 24VDC Positive Logic 16 Inputs

IC697MDL752CA 12 Vdc Output, 0.5 Amp, Positive Logic (32 Points) Conbal Coated

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ControlLogix/1756 System 9399-RLD300GR RSLOGIX 5000 GETTING RESULTS GUIDE

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Support 9326-AD1USS SUPT RENEWAL CONTRACT FOR 9326AD1USENE

Support 9371-EDESI1R SUPT REINSTATEMENT CONTRACT FOR 9371EDESI1

ControlNet Products 1794-ACN15K CONFORMAL COATED, SINGLE MEDIA ADAPTER, CONTROLNET

RSI Software Products 9301-2SE240JPU5R RSVIEW32 WORKS 5K-32K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BA10U1 UPGRADE: IN-SUPT: RSBIZWARE ARCHIVER 03 TO 10

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CBL-204 Mitsubishi FX Cable

IC640HWC306 LM 90-30/20/Micro Serial Software w/Converter & Cables, CD-ROM docs.

IC800SLCIV030 Interface Cable, 1000W SL Amplifier to Terminal Block, 3 Meters

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20DD022A3NYNANANK PowerFlex 700S AC Drive 20D

20P41AB7P0RA0NNN PowerFlex DC Drive 230V AC 1.5 HP

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1799-D10U10BZC 20 Point Embedded I/P/Output Comb Module

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2090-CFBM7DD-CEAA02 MP-Series 2m Servo Feedback Cable

2090-SCVG50-0 Kinetix 50-50m Fiber Optic Cable

BC646MPP010 Logic Developer PLC Professional 10 pack with Proficy GlobalCare Complete

GC647APC010 GC ProductionClient 10 Pak

HMI-CCT-205 BACKLIGHT TUBE 12.1 inch Color TFT (QPL2xxxxC2P)

IC641VPP700 VersaPro Professional Edition - Windows Programming Software for Serie s 90-70, Series 90-30, and VersaMax PLCs

IC647IFGLBLSRVRM-50 iFIX WebSpace Server including iClient Dev and 2 Web Users(M4 Key)

IC660EBR101RR Electronic Assembly Normally Open

IC697ACC715 Kit, VME Integrator, J2 Backplane Mounting

IC756WRE499J-23 DataViews Runtime for Windows 100+, Per User, Japanese, Version 2.3

FlexLogix System 1794-IR8 RTD INPUT MODULE, 8 POINT

PLC-5/1771 System D6200-6.4.18DE PLC-5 STRUCTURED TEXT REL 1.0 USER MANUAL (GERMAN)

Process Control 1757-SRM SYSTEM REDUNDANCY MODULE

Operator Interface 2711P-T10C6D1 PV PLUS 1000, TOUCH, ENET, DC PS, STD MEM

Support 6001-A1DCS SUPT RENEWAL CONTRACT FOR 6001A1DC

Support 2711-END1UR UPGRADE: OUT-SUPT: PB 1200/1200E TO PB 1400E

Support F1785-L60BSERA FIRMWARE UPGRADE FOR 1785-L60B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230ESU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (ES)

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Motion Control 1394C-SJT10-D MODULE,SYSTEM,10KW,SERVO,W/SERCOS INTF,NO HIM

BC646MPC001 Logic Developer - PLC Configuration Tools

IC300OCS063 OCS with 2x20 LCD Display and with 16-keypad. Built in I/O no expansion. High Speed Counter and PWM/PT. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A pos. logic) With CAN network.

IC752WFB254 Display Station 2020 Series - w/ touch - 12.1" SVGA (800x600), Pentium 350 MHz, 128 MB RAM, 6.4 GB HD, expansion slots, Ethernet, floppy drive, CD ROM front access, built-in keypad, HMI for CNC, HSSB card, Win NT

MTR-3T22-G-R-0-M-SRR Servo Motor Metric, Seal

ZA06B-6150-H030 Alpha 30kW PSM-30HVi Power Supply

20D-P2-CKS1 PowerFlex 700S Phase II Cassette Kit

20G1AJC460JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-A011N114 PowerFlex 525 2.2kW (3Hp) AC Drive

2711P-T9W21D8S PanelView Plus 7 Standard 900W

6SE6430-2UD33-7EB0 37KW

1492-L3Q-B IEC Term Blck 5.1x79x31.3mm Spr Clp

1494C-CM6 Cable Mechanism

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附件 6ES7 648-2BF10-0XH0 SIMATIC CFast card 8 GB ( 备件 )

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1746-RT33 SLC Terminal Block

1790D-T0V32 CompactBlock LDX 32 Point O/P Base Block

194E-A32-1753-R 32 A 194E Load switch

20-PP13012 CABLE OUTPUT FI13

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GC646MBT001 Proficy GlobalCare Complete for CIMPLICITY Machine Edition Traditional Development Suite

HE693ADC405 Discontinued Part. Check with GE IP on migration path.

IC600PM503RR High Capacity I/O Rack Power Supply, 115-230Vac

IC647HSTESEO1500KM eSignature Option for Historian - Enterprise Server 1,500,000 Points (M4 Key)

IC655CPU500RR Series Five CPU (with 4K Reg and I/O Rack Terminator)

IC694MDL240CA Conbal Coated Input module 120 VAC 16 point

IC756SDV010E-97 DV Draw Development on Solaris Op Sys, English, Version 9.7

MicroLogix 1500/1769 System 1769-OA16 16PT.120/240 VAC OUTPUT

PLC-5/1771 System 1785-TBM THICK-WIRE TRANSCEIVER CABLE KIT, 49.2FT/15M, STD

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Communications D1770-6.5.18 DH-485 COMMUNICATION MODULE USER MANUAL

Support 9311-PLC2S SUPT RENEWAL CONTRACT FOR 9311PLC2

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840-RC-72 72" Ribbon Cable. Term Both Ends W/16 Pin DIP Plugs

IC200PBI001 REMOTE I/O Profibus-DP NETWORK INTERFACE UNIT

IC697VAL348 Analog Output, 8 channel, 16bit, Voltage bipolar 0 to +/-10VDC

MTR-1337-E-A-E-0RR Stepping Motor Nema34 Encoder

ZA06B-0063-B503 B4/4000is servo motor with 24 VDC brake and 128k serial encoder

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23C-D060A10ENNBANN-LR Fan/Pump Packaged Drive 23C

140CFU08000 Quantum CABLEFAST 保险, 0.8 AMP

294E-FD2P5Z-G2-3-SB Variable Frequency Drive

HL-5200 触点:1开/1闭,5A 250VAC机械寿命:1000万次?撞压式?顶部滚珠柱塞型

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IC220TBK204 TERMINAL STRIP SET, SPRING STYLE, AC POWER TERMINAL

IC647GESC GES:GE SRTP OPC Server

IC647SHR010 "Scheduler Prepay 10+ hours,per hour"

IC693MDL653RR 24 Vdc Input, Neg/Pos Logic, 2msec Filter (32 Points)

IC756HDV000E-97 DV Development - HP/UX Op Sys, English, Version 9.7

MSI-ROLL-43 Roll Map Base Application-43

PLC-5/1771 System 1771-IAD INPUT MODULE, 120V AC, 16 INPUT

Distributed I/O 1790D-N4V0 DNET LDX, 4 INPUT VOLTAGE ANALOG BSE,D-SHELL CONN

Communications 1771-KE DATA HWY RS-232C INTERFACE MODULE

Operator Interface 2727-MRJB1 MOBILEVIEW JUNCTION BOX

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RSI Software Products 9301-2SE3400U2 RSVIEW RUNTIME 300 TO 32K UPGRADE:IN-SUPPORT

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