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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。
 

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

IC693CHS399LT Base, Remote Expansion, 5 Slots (700 ft.) (LT)

IC697CMM741RR Series 90-70 MMS/Ethernet Lan Interface

IC800VMM10MNKSE25 1 kW VersaMotion medium inertia servo motor (4.77 Nm)

CompactLogix System 1769-IR6 6 CHANNEL RTD/RESISTANCE INPUT MODULE

PLC-5/1771 System D1771-6.5.94 FORCE CONTROL MODULE USER MANUAL

Process Control 9358-PBEBNT30ENE RSBATCH NT & EPROCEDURE BNDLE PROCESLGIX 30 UNITS

Operator Interface 2711-B6C20 PV600 COLOR KEY&TOUCH, ENET & RS232 PRINT

Support 9321-PLC5R SUPT REINSTATEMENT CONTRACT FOR 9321PLC5

Support 9358-HSTS2100S SUPT RENEWAL CONTRACT FOR 9358HSTS2100

Support F1772-LVSERB FIRMWARE UPGRADE FOR 1772-LV PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300NXDEE RSLOGIX 5000 STD., RSNETWORX BUNDLE, DEU

RSI Software Products 9304-WVPR300DU2 UPGRADE: IN-SUPT: WINVW 256 TO WINVW PRO RT 3000

RSI Software Products 9358-PLTM2600U3 UPGRADE: IN-SUPT: PLANTMETRICS 25 TO 200 WORKCELL

Motion Control 8720SM-093-S6TAS2 93 KW/176 AMP, 750VDC, AC MOTOR WITH SRM60 ENC.

A06B-0115-B075#0008 BM0.5/4000 Servo Motor, 32K Serial Encoder

IC200UAL004 23 point PLC, (13) 12VDC In, (1) 12VDC Out, (9) Relay Out, 12VDC Power Supply, Battery (IC200ACC403) is required for long term data rentntion and Real Time Clock. Battery not included.

IC752BCL101RR Datapanel 150/160/240E to SNP (25 pin to 15 pin)

MTR-1350-N-A-E-SRR Stepping Motor Nema34 Splashproof

ZA06B-0085-B203#0100 B22/2000is Servo Motor with Straight Shaft, Key and IP67 Sealing

20BD2P1A0AYNAND0 PowerFlex 700 AC Drive 2.1 A at 1 Hp 20B

20G11TC540JN0NNNNN PowerFlex 755 AC Packaged Drive

25-JBAE PowerFlex 520 Frame E NEMA/UL Type 1 Kit

140XSM00200 Quantum 开关量输入模拟器, 用于DAI540或DAI740

FRN37F1S-4C 54 KVA 72 A 37KW 3相AC380V/50Hz/60Hz

H2F-D AC220V 外形:72×72mm最小设定时间:15分?控制输出:AC250V 15A 1开

1492-SPM3C160-N MCB Supplementary Protector 16 A

软启动器 3RW40471TB04

模拟量输入 / 输出模块 6ES7 234-4HE32-0XB0 SM 1234 AI 4x13 位AQ 2x14 位

150-SB4NBR SMC-50 SOLID STATE MOTOR CONTROLLER 180A

1734-SSI POINT I/O SSI Encoder Module

1783-MX08F Stratix 8000 Fiber 8 Port Exp. Module

193-ESM-IG-60A-P E300/E200 60 Amp Sensing Module

20-750-I1B-E295F265 PowerFlex 750 Replacement Inverter

2090-CPWM7DF-14AF90 MP-Series 90 m Length Power Cable

2098-DSD-HV220X Ultra 3000 Servo Drive

GA647IFCLNTSRO001 GCA iFIX iClientTS Read Only 5 PK Runtime Version

GP-0602NT-HSB GagePort LVDT NT (Half Bridge) - Sales BOM.

IC5005TAX0130 PanelPC 15 inch Standard Unit Deluxe with Windows XP and Stainless Steel Bezel

IC647HSTAE40KM Alarm and Events Option for Historian - Standard Server 40000 Points (M4 Key)

IC647SRVPPRPTB PA Solutions Pack Report Bundle

IC693MDL740CA Conbal Coated Output module 12/24 VDC 0.5 amps 16 points POS logic.

IC756HDV010J-97 DV Draw Development on HP/UX Op Sys, Japanese, Version 9.7

Pico Controllers 1760-L18AWA-EX 18 I/O PICO CONTROLLER W/RTC, AC, EXPANDABLE

PLC-5/1771 System 1771-IS MULTIPLEXER INPUT MODULE, 5V DC, 72 INPUT

Distributed I/O 1791D-15CMCBL 24 VDC BLOCK I/O RIBBON CABLE, 15 CM

Communications 1784-PKTS PCI BUS CARD WITH RIO SCANNER- 1 CHANNEL

Operator Interface 2706-P94C INVIEW MESSAGE DISPLAY

Support 9701-VWMR015AS SUPT RENEWAL CONTRACT FOR 9701VWMR015AENE

Support 9515-RSNHS025R SUPT REINSTATEMENT CONTRACT FOR 9515RSNHS025ENE

EtherNet/IP Products 2711P-K4M20A PV PLUS 400 GRAYSCALE, KEYPAD, ETHERNET, AC PS

RSI Software Products 9301-2SE340ESU3R RSVIEW32 RUNTIME 150-32K UPGRADE OUT-SUPT (ES)

RSI Software Products 9356-PRO2300U2 UPGRADE: IN-SUPT: RSSQL STD.300 TO PROF.1500 TAG

Motion Control 1326AB-B730E-M2K7L MOTOR,SERVO,460V,39.0NM,3350RPM,MULTI,BRK,IP67

4162-24 2" BCD TO 7 SEG DISPLAY. 1 DIGIT. 24 VDC. NEMA 12

HMI-COV-203 FRONT SHEET COVER FOR 5"

IC693CPU350 CPU 350 Module (32K Bytes user memory, 4K I/O, 8 Racks), no built-in Serial Ports .22msec/K

SM1000SMC Obsolete - QUICKMARQUEE CONTROLLER

TRM-21006683 Connector for Target series axis module I/O connector J1 or analog I/O module connector J1 or digital I/O module connector J1

20BD011A3AYNACC0 PowerFlex 700 AC Drive 20B

20G11BC1K1JN0NNNNN PowerFlex 755 AC Packaged Drive

22B-V2P3F104 PowerFlex 40 0.4 kW (0.5 Hp) AC Drive

416NHM30030A Quantum Modbus Plus PCIadapter for PCs,with Plug

284G-FVD6P0S-25-RRG-CBG-DB1-EMI ArmorStart 284 Controller

H3CA-8 220VAC,0.1s-9990h, 二常开/闭?触点:5A

1492-SPM1D005 MCB Supplementary Protector 0.5 A

通用型变频器 6SE6 440-2UC23-0CA1 "3.0 KW,185 x 245 x 195"

电机启动器 3VU13402NJ00

150-C25NCD SMC-3 25A Smart Motor Controller

1609-D1000N Uninterruptible Power Supply

1770-XO PLC-2 Lithium Battery

193-EC1EE E3 18-90 A Overload Relay

195-GA10 Auxiliary Contact

2090-CPBM7E7-14AF01 MP-Series 1 m Length Pwr and Brake Cable

2093-ASP06 Kinetix 2000 Shunt Module

CP8B-1WPB-0070-AZ Right angle power cable for B0.4/5000is or B0.5/5000is or B1/5000is or BM0.5 or BM1 motors. 7 m

GFA-406 Controller Solutions Catalog

IC200UEX209 28 point expansion. (16) 120VAC In, (12) Relay Out (2 @ 10 amp & 10 @ 2 amp), 120/240VAC Power Supply. (includes IC200CBL501)

IC647AEC100 PA Efficiency Client 100 Pak

IC647PCMS05 Proficy Change Management Electronic Signature Option - 5 Concurrent Users

IC693CHS391 Base, CPU, 10 Slots, Use With CPU331/CSE331 and above

IC754CGF08CTD Control Fully Loaded 8 Inch TFT GEF

IMC-78005773RR IMC Stepper Controller Special Order for CIM only

SLC/1746 System D1746-6.18 SLC500 OPEN-LOOP VELOCITY CONTROL MOD. USER MANUAL

Distributed I/O 1732P-8CFGM12 PROFIBUS 24VDC 8 SELECTABLE POINTS W/M12

Application-specific products 1404-M805B-DNT MASTER MODULE-PQ DNET COM-24V P/S

Operator Interface 2711-T10C12L1 PV1000 COLOR TOUCH, PBUS & RS232 PRINT

Support 9301-2SE3400ITR SUPT REINSTATEMENT CONTRACT FOR 93012SE3400IT

Support 9381-PA10KENS SUPT RENEWAL CONTRACT FOR 9381PA10KEN

DeviceNet Products 1790-T16BV0X LDX I/O, 24VDC,16 UNIVERSAL IN EXPANSION, TERM BLK

RSI Software Products 9301-2SE3300ZHE RSVIEW32 RUNTIME 1500 (CHINESE)

RSI Software Products 9358-PB30ENE RSBIZWARE BATCH FOR PROCESSLOGIX 30 UNITS

Motion Control MPL-B520K-SK22AA MOTOR,SERVO,10.7 NM,4000RPM,SINGL,460V,11.3KG

Motion Control 9101-1479 MATING CONNECTOR KIT/J5 9 PIN MINI D (SOLDER CUP)

GQPK2D101L2P 6" LCD MONO QUICKPANEL WITH CE MARK GE LABEL

IC646MRD700 Logic PC (HRT) 700 Tag Runtime System

MTR-3T24-H-R-B-M-S MTR-Series Servo Motor, Resolver, Metric, 24V Brake, Seal

SNAP 6C5 PC Port is 25-pin male and port on CNC is 25-pin male. This is for Xon /Xoff communications.

20BC072A0AYNANA0 PowerFlex 700 AC Drive 72 A 37 kW 20B

20F11NE3P9AA0NNNNN PowerFlex 753 AC Packaged Drive

22401-603-01-R INSULATOR

140CPU65150 Quantum Unity Quantum CPU with Ethernet,w 512/71

281D-F23Z-25D-CR-3FR ArmorStart Direct Online RVSG Starter

C200H-MD501 多点I/O单元, 混合输入/输出, 5VDC输入16点, 5VDC 3 mA输出16点

1492-RAIFM6S-3 Connection Products

存储卡 6ES7952-1AK00-0AA0 RAM/1M

变送器 3RS11011CK40

1497-F-AXSX-0-N Control Circuit Transber

1606-XL480GP Power Supply XL 480 W Power Supply

1762-L40BWA MicroLogix 1200 40 Point Controller

188-K3D005 Miniature Circuit Breaker 0.5 A

194L-HC4A-250 IEC Control And Load Sw Actuator Type A

2090-CPBM7DF-06AA04 MP-Series 4m Power and Brake Cable

2090-XXNPMF-10S07 Kinetix Drives 7m Standard Cable

BC647TDV000 CIMPLICITY HMI Server No Limit Development and Runtime System with Proficy GlobalCare

GC647PRTEE025 GlobalCare Complete - Proficy Portal Enterprise Edition Client Pack 25 Users Ver 3.0

IC200MDL650CA Conbal coated. Input 24VDC POS/NEG logic (4 groups of 8) 32 points

IC646PCMS25 Proficy Change Management Electronic Signature Module 25 Pack

IC647MPS101 Logic Developer PLC Standard with Programming Cable with USB Hardware key

IC676PBO082 IP67 Output Block - 24 VDC Positive Logic - 8 Pt 2A - Profibus

IC697PWR721RR Power Supply, 24 Vdc, 90 Watts, w/Power Supply Adaptor

IC800SSI107S1RR 7.2A, 115/230V, S2K Servo Controller for S-Series Motors

SLC/1746 System 1747-L40A 40 I/O FIXED HARDWARE STYLE

Industrial Computers 6189-RUL01 VERSAVIEW CE FIRMWARE UPGRADE LICENSE

Process Control D6723-6.5.1 PROCESS CONFIG.+ OPER. SOFW.FOR WINDOWS USR MANUAL

Operator Interface 2711-B5A5 PV550 MONO KEY&TOUCH, RS232 (DH485)

Support 9303-3CS0E31S SUPP RENEWAL CNTRCT FOR 9303-3CS0E31

Support 9371-RSWDI2S SUPT RENEWAL CONTRACT FOR 9371RSWDI2

ControlNet Products 2706-PCNETK CONTROLNET COMMUNICATION MODULE FOR 2706-P7X & P9X

RSI Software Products 9301-2SE2500JPU1 RSVIEW32 WORKS 32K-100K UPGRADE IN-SUPT (JP)

RSI Software Products 9358-BBKEY30U2R UPGRADE: OUT-SUPT: RSBW BACK-UP KEY 10 TO 30

Motion Control MPL-A4530K-MK22AA MOTOR,SERVO,8.36 NM,4000RPM,MULTI,230V,8.2KG

Motion Control 2090-XXNFMP-S01 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,1M

CBL-71006243-10 Serial RTU Cable, Data Panel DP40 to S2K Controller

IC641LCN057 Runtime license for DEC ALPHA/VMS

IC800SLMCONKITVLB Connector Kit, 3.5 kW to 5 kW S-Series Servo Motors with Brake

OIP-73005098RR OIP-DSP1-C with Right Angle Connector

20AE9P0A3AYNNNC0 PowerFlex 70 AC Drive 9 A at 7.5 Hp 20A

20DD300A0EYNBNANE PowerFlex 700S AC Drive 20D

20SD1K0NEM PowerFlex 1000 A SCR Bus Supply

2711P-B6C5A8 PanelView Plus 6 6 Clr/Touch AC RS232

280-PWRM35A-M6 ArmorConnect 6 Meter M35 Patchcord

CPM1A-20EDR1 20点扩展 12点入, 8 点继电器输出

1492-MN81 IEC 6 x 10 mm Marker Card

1494V-M72 Variable Depth Circuit Breaker Operator

软启动器 3RW44662BC45

运行版软件 6AV2104-3HH04-0AE0 SIMATIC WinCC Runtime Advanced 4096 PowerTags V14 Upgrade ： V11..V13 -> V14

1585J-M4TBJM-1 RJ45 Ethernet Media

1756-OB16IEF ControlLogix 16 Point Digital Output

188-K1B500 Miniature Circuit Breaker 50 A

194E-FA80E-PE-TN 194E Load switch

2090-CFBM7DF-CDAF15 MP-Series 15m Feedback Cable

2090-U5PV-D0903 Ultra 5000 3m Interface Cable

BC646OEM0101 OEM Edge Renewal - iFIX

GC647AUR100 GC Universal Reporting Client 100 Pak

IC200ACC451 Simulator for VersaMax Micro. 8 Inputs

IC646CSPR050 Proficy Cause+ for Inbligent HMI/SCADA Runtime Server - 50X monitored KPIs

IC647IFPLSR00150K iFIX Plus SCADA 150 I/O Server (M1 Kit Part)

IC660MLD020 Label for IC660BBD020 (Qty 100)

IC697BEM711 Bus Receiver (Required for Each Local Expansion Rack)

IC8000DEM002 8000 PROCESS IO AND SAFETYNET DEMO

FlexLogix System 1794-STRT1FR FLEXLOGIX STARTER KIT FRENCH

GuardPLC Systems 1755-PCS RSLOGIX GUARD SOFTWARE FOR GUARDPLC 2000 AND 1200

Process Control 1757-UPGSIFZD UPGRADE OPC SERV CLIENT QUICKBUILDER I/F

Operator Interface 2711P-B15C15B2 PV PLUS 1500, KEY/TOUCH, CNET, AC PS, EXT MEM

Support 9230-DNIOSDKR SUPT REINSTATEMENT CONTRACT FOR 9230DNIOSDK

Support 2760-SFTKS 2760-SFTK SOFTWARE SUPPORT RENEWAL

Support F1785-V40LSERC FIRMWARE UPGRADE FOR 1785-V40L PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350PTE RSVIEW32 WORKS 5K (PORTUGUESE)

RSI Software Products 9701-VWSTMJPE RSVIEW STUDIO FOR MACHINE EDITION (JAPANESE)

RSI Software Products 9399-WABOUGFR RSLINX OEM USER GUIDE (FRENCH)

Motion Control 8720MC-CN1 CONTROL MODULE MATING CONNECTOR KIT

BC646MRC150 Logic PC & View Runtime 150 I/O

IC300RCS063 8 DC Inputs (0-24vdc), 8 Positive Logic DC Outputs (5/12/24vdc, 0.5A with ESCP). 2 Inputs configurable as High Speed Counters, 500KHz each. 2 Outputs configurable as PWM/Pulse Train. Built-in network interface for CsCAN or DeviceNet slav

IC754GEN001 GE Fanuc Genius Comm for QP View & Control

MTR-3T54-H-R-0-M-0RR Servo Motor Metric

20AC8P7A3AYNNEC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC022A3NYNACGNE PowerFlex 700S AC Drive 20D

20G1ANC140JA0NNNNN PowerFlex 755 AC Packaged Drive

25B-E019N104 PowerFlex 525 11kW (15Hp) AC Drive

2715-T19CD PanelView 5500 19 in. Graphic Terminal

FR-A740-30K 43.4KVA 57A 30KW

1492-LDG3 IEC Term Blck 5.1x72.5x47.9mm Spr Clp

1494F-M2 Disconnect Switch Handle

软启动器 3RW44356BC44

ET 200SP 6ES7131-6BH00-0BA0 DI 16x24VDC 标准型，基座单元类型 A0

1585D-E4TBDE-10 Micro D-Code, QD Style Ethernet Media

1752-L24BBBE SmartGuard 600 Safety Controller

1794-IB16 Flex 16 Point Digital Input Module

194E-AA20E-TN-PE 194E Load switch

2080-LC20-20QBB Micro820 20 I/O ENet/IP Controller

2090-CSWM1DF-14AA21 Kinetix Cable Single DSL 2090-Series

20AC3P5A0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MPP101 Proficy GlobalCare Complete for Logic Developer - PLC Professional w/Programming Cable

HE693OIU357 Full-sized VF OIU powered by 80-240VAC

IC610CCM111RR I/O Link Remote Module

IC647HSTSC250KM Server to Server Collector for Historian - Standard Server 250000 Points (M4 Key)

IC660BBA103RR Thermocouple Input Block, 115Vac/125Vdc Power

IC694MDL754 12/24VDC Output (0.75 amps/point)Module 32 point. Requires terminal block IC694TBBx32 box style or IC694TBSx32 spring clamp. Terminal block is sold seperaby. Output response Time is 0.5ms.

IC756WDJ009J-99 DV Development Sys VB and Java, Japanese, Version 9.9

MicroLogix 1500/1769 System 9399-RL50GRPT RSLOGIX 500 GETTING RESULTS GUIDE (PORTUGUESE)

PLC-5/1771 System 1771-P10 POWER SUPPLY,2-SLOT (125V DC, 8 AMPS)

Distributed I/O 1797-PS2N2 24 VDC IN QUAD-EX OUT POWER SUPPLY, NPT CONDUIT

Operator Interface 2711P-B6C5D PV PLUS 600 COLOR, KEY/TOUCH, RS232, DC PS

Support 9323-PA2ER SUPT REINSTATEMENT CONTRACT FOR 9323PA2E

Support 9358-MTRCK01S SUPT RENEWAL CONTRACT FOR 9358MTRCK01ENE

Support F1772-LXSERB FIRMWARE UPGRADE FOR 1772-LX PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD600ENE RSLOGIX 5000 FULL EDITION, ENGLISH

RSI Software Products 9305-RSVADDCPTE RSVIEW32 ACTIVE DISPLAY DED. CLIENT (PORTUGUESE)

RSI Software Products 9358-SCHSTDENE FINITE-CAPACITY SCHEDULING MODULE OF RSBIZWARE

Motion Control 2094-AL09 LINE INTERFACE MODULE, 230V,6KW

A06B-0147-B075#7008 A22/2000 Servo Motor, 64K Serial Encoder

IC200UDD212 28 point PLC,(16) 12VDC In, (12) 12VDC Out 0.70 A, 12VDC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752CBT000 Mature, order QuickPanel instead.DataPanel 320T MB (Mono Base): 320x240 1/4 VGA Monochrome LCD with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock.

MTR-1N31-I-E-A-S-0RR Stepping Motor Nema34

ZA06B-0115-B203#0100 B0.5/6000is Servo Motor with Straight Shaft, Key and IP67 Sealing

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