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PXIe-6555,

PXIe-6555

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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。
 

MOXA CI-134IS

PBP-05P3A

PC-686E(PC)H-LV

PEB-4720

1492-SPM2B100 MCB Supplementary Protector 10 A

1494R-N19 200 A/400 A Multi-Tap Lug Adaptor Kit

软启动器 3RW44263BC46

电机启动器 3VU16402CK00

运行版软件 6AV2105-0PA04-0AA0 SIMATIC WinCC Runtime 专业版 102400 PowerTags V14

1585J-M4TBJM-50 RJ45 Ethernet Media

1756-OF8H ControlLogix 8 Pt A/O I or V HART Module

188-K1C040-N Miniature Circuit Breaker 4 A

194E-HE13G-175 Load Switches Breter

2090-CFBM7DF-CEAA05 MP-Series 5m Servo Feedback Cable

2090-UXLF-106 Ultra Series 6A AC Line Filter

BC646PCN120 OP Operator Console Runtime S/W 300 I/O w/GC

GC647DMS010 GC DataMart 10 PA Connections

IC200ALG264 Analog b 15 bit current 15 channel

IC646IFCLNTCRO025K iFIX iClient Read Only 25 PK Keyless (M1 Kit Part)

IC647IFPRDV00075K iFIX Profsnl SCADA 75 I/O Development (M1 Kit Part)

IC660MLS101 Label for IC660BBS101 (Qty 100)

IC697BEM741RR FIP Bus Controller 9070

IC800BIHV010 BSVM1-10HVi Beta HVi 10 amp amplifier kit

ControlLogix/1756 System 1756-L55M23 LOGIX5555 PROCESSOR WITH 1.5MBYTE NV MEMORY

Industrial Computers 6182H-7BRH15B VVCE 700, KEY/TOUCH, STD MEM, CNET, AC

Process Control 9323-ATUNEENE LOOP TUNER FOR LOGIX5000 PIDE FUNCTION BLOCK

Operator Interface 2711P-K15C15B2 PV PLUS 1500, KEYPAD, CNET, AC PS, EXT MEM

Support 9240-WIN16SDKR SUPT REINSTATEMENT CONTRACT FOR 9240WIN16SDK

Support 6723-PCSS SUPPORT RENEWAL CONTRACT FOR 6723-PCS

Support F5130-RM2 FIRMWARE UPGRADE FOR 5130-RM2 PLC5250 PROCESSOR MO

RSI Software Products 9301-2SE2350ZHU2 RSVIEW32 WORKS 300-5K UPGRADE IN-SUPT (ZH)

RSI Software Products 9351-OSF INTERCHANGE FOR DIGIAL UNIX

RSI Software Products 9399-WINIG WINDOWS-BASED PRODUCTS INSTALLATION GUIDE

Motion Control 8720MC-VA-B 460VAC VARISTOR

BC646MRE150 Logic PC & View Runtime (HRT) 150 I/O

IC300STP100 Stepper Indexer. Single axis, supports-type signals only (pulse train out, quadrature or Up/Down in)

IC754VKI12CTD Starter Kit - 12" Color-TFT QuickPanel View Intermediate, Touch, 24VDC

MTR-3T57-H-R-0-M-0RR Servo Motor Metric

PCI-8431/4 (RS485/RS422)

HSB-460I

Asus/华硕P2L97

R2Z-6350P-R

DOM 32M

84-00136

1492-LG4Q IEC Term Blck 6.1x105x35.7mm Spr Clp

1494G-BF3N-203W-421 NEMA 1494G Enclosed Disconnect

软启动器 3RW44366BC44

ET 200SP 6ES7132-6BF60-0AA0 DO 8x24VDC/0,5A 漏型输出，基本型， 基座单元类型 A0

1585D-E4UBDE-3 Ethernet Media M12 Patchcord

1753-OW8 GuardPLC Relay Output Module

1794-IE8H Flex 8 Point Analog Input Module

194E-AA63E 194E Load switch

2080-LC30-48AWB Micro830 48 I/O Controller

2090-CSWM1DF-18AA07 Kinetix 7m Smartb Single Cable

20AC3P5A3AYNNNC0 PowerFlex 70 AC Drive 20A

GC646MQP001 Proficy GlobalCare Complete for View for QuickPanel

HE693RTD665 Discontinued Part. Check with GE IP on migration path.

IC610MDL105RR Thumbwheel Interface Module

IC647HSTSS10000KM Historian Standard Server 10,000,000 Points (M4 Key)

IC660BBD022RR 24Vdc Source I/O Block, 16 Circuit, Ph B

IC694PWR331 Power Supply 24 Vdc High Capacity.

IC756WDN009J-23 DV Development Sys VB, Java, C++, C, Japanese, Version 2.3

CompactLogix System

PLC-5/1771 System 1771-P6S POWER SUPPLY,SLOT (ONE SLOT), 8A, 220V AC

Distributed I/O 1798-OE2 FLEXARMOR 2 CHANNEL ANALOG OUTPUT MODULE

Operator Interface 2711P-B6M8D PV PLUS 600 GRAYSCALE, KEY/TOUCH, DH+, DC PS

Support 9323-PI300DU UPGRADE: IN-SUPT: 6200-5250 BOTH TO AI-5250 BOTH

Support 9358-PB60S SUPT RENEWAL CONTRACT FOR 9358PB60ENE

Support F1772-SD2 FIRMWARE UPGRADE FOR 1772-SD2 PLC2 PROCESSOR MODUL

RSI Software Products 9324-RLD700NXDEE RSLOGIX 5000 PRO EDITION, GERMAN

RSI Software Products 9305-RSVADFVCITE RSVIEW32 ACTIVE DISPLAY FLOAT. VIEW CLNT (ITALIAN)

RSI Software Products 9301-PCI2000MBP APPLICOM PCI2000MBP MODBUS PLUS INTERFACE

Motion Control 2094-BSP2 MODULE, SERVO SHUNT, 400/460V 200W DISSIPATION.

A06B-6050-K119 Connector Kit, B0.5 Motor Power

IC200UEX010 14 point expansion. (8) 120VAC In, (6) 120VAC Out, 120/240VAC Power Supply. (includes IC200CBL501)

IC752CBT060 Mature, order QuickPanel instead. DataPanel 320T CE (Color Expansion): 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2M memory and PC/104 capability.

MTR-1N41-G-N-A-E-0RR Stepping Motor Nema42

NI 9244

ROCKY-4786EVG-RS-R40

007-2002-02

P4DMS-6GM

MSC-256-BS5-MS

SDL-075BQ1

6GT2091-1CH20

1492-SPM3D050-N MCB Supplementary Protector 5 A

软启动器 3RW40281BB14

SIMATIC HMI 系列面板 6AV2123-2JB03-0AX0 KTP900 Basic PN 9 寸触摸 + 按键

150-SF1R SMC-50 Frame B 24V DC Replacement Fan

1738-AENTR ArmorPoint Dual Port Adaptor

1783-ZMS4T4E2TGN ArmorStratix 5700 10 port managed switch

193-KA50 0.35-.50 A IEC Bibllic Overload Relay

20-750-P5-E510F500 PF750,Fr8,DC Input w Precharge,600/690V

2090-CPWM7DF-16AF25 MP-Series 25m Length Power Cable

20AB028A0AYNANC0 PowerFlex 70 AC Drive 28 A at 10 Hp 20A

GA647IFPLDV00300 GCA iFIX Plus SCADA 300 I/O Dev

GP647IFCLNTS005 GCP iFIX iClientTS 5 Additional Users

IC600BF814RR Type K Thermocouple Input Module (8 points)

IC647HSTCC40KM Calculation Collector for Historian - Standard Server 40000 Points (M4 Key)

IC647TDV000 CIMPLICITY HMI Server NO LIMIT Development & Runtime System

IC693MDL930LT Relay Output, Isolated, 4 Amp (8 Points) (LT)

IC756LDV001E64-925 DataViews Development on Inb Linux/Red Hat 64 bit, Addt'l User, English v9.25

Pico Controllers 1760-CBLPC02 GFX PROGRAMMING CABLE

PLC-5/1771 System 1771-OM 220/240V AC OUTPUT MODULE, 8 DRIVER, SOURCE OUTPUT

Distributed I/O 1791-24A8 BLOCK I/O, 120V AC, 32 POINT MODULE

Communications 1786-TNCL10 CONTROLNET TNC COAXIAL CONNECTOR - PLUG

Operator Interface 2707-MVP232 MICROVIEW, PANEL MOUNT, 2 LINE LCD, RS-232

Support 9701-VWSS250AR SUPT REINSTATEMENT CONTRACT FOR 9701VWSS250AENE

Support 9324-RL0100PTS SUPT RENEWAL CONTRACT FOR 9324RL0100PT

EtherNet/IP Products 1788-MCHKR NETWORK MEDIACHECKER (ENET, CNET, DNET, DH+/RIO)

RSI Software Products 9301-2SE340ZHU5R RSVIEW32 RUNTIME 5K-32K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9356-PRO2450U2R UPGRADE: OUT-SUPT: RSSQL STD.300 TO PROF.32000 TAG

Motion Control F-6100-R-H04AA MOTOR/ENCODER/BRAKE

44A722981-011RR Color Adapter Card (W/M 1)

IC200ACC451 Simulator for VersaMax Micro 8 Inputs

IC693MDL310 120 Vac Output, 0.5 Amp (12 Points)

TRM-21006666 Connector, 20 Point Screw Terminal, S2K Digital I/O

cDAQ-9133

PCA-6176

艾讯科技 AX5216

Digium TE410P-Quad T1/E1

IPC-610H

COSMO ATPG-46

PSA300R

1492-SPM1D200 MCB Supplementary Protector 20 A

通用型变频器 6SE6 440-2UD33-7EB1 "37 KW,275 x 650 x 245"

电机启动器 3VU13401TF00

150-C60NCD SMC-3 60A Smart Motor Controller

1692-ZG6666 24 V DC Electronic Circuit Protection

1771-IFEK 1771 Input Module

193-EC3EE E3 Plus 18-90 A Overload Relay

198-PL21G IEC Pilot Light Enclosure Accessory

2090-CPWM4DF-14AF02 MP-Series 2 m Length Power Cable

2094-BC01-M01-M Kinetix 6200/6500 Integrated Module

DEMOCD00002 Proficy Historian DEMO CD

GFK-0646 C Programmer's Toolkit for Series 90 PLCs User's Manual

IC200UMB001 VersaMax Micro 20/40/64, User Program Memory Module. Compatible with VersaMaxMicro 20/40/64 only.

IC647AQC100 PA Quality Client 100 Pak

IC647PME005 Proficy Change Management Server Machine Edition Version - 5 Concurrent Users

IC693CMM302CA Conbal Coating Enhanced Genius Communications module.

IC754VBB06CTD 6 INCH BASCI TFT WITH BLANK

MSI-ACQUIDATA I/F-43 Acquidata Testream Interface Ver 4.3

SLC/1746 System 1747-DEMO-7 DEMONSTRATION UNIT FOR MODULAR HARDWARE STYLE

Distributed I/O 1734-IB4 24V DC 4 CHANNEL SINK INPUT MODULE

Application-specific products 1803-EEM10E12 EEM, 16 PULSES, 24V DC, NEMA 12 ENCLOSURE

Operator Interface 2711-T10G16L1 PV1000 GRAYSCALE TOUCH, DF1 & RS232 PRINT

Support 9301-MSGRPROR SUPT REINSTATEMENT CONTRACT FOR 9301MSGRPROENE

Support 9381-POCXENS SUPT RENEWAL CONTRACT FOR 9381POCXEN

DeviceNet Products 1790D-TN0V2 DNET LDX, 2 OUTPUT VOLTAGE ANALOG BSE, TERM BLOCK

RSI Software Products 9301-2SE330PTU2R RSVIEW32 RUNTIME 150-1500 UPGRADE OUT-SUPT (PT)

RSI Software Products 9358-PBNTK10ENE RSBATCH NT FOR PROCESSLOGIX BACK-UP KEY 10 UNITS

Motion Control MPL-B680D-MJ22AA MOTOR,SERVO,60.0NM,2000RPM,MULTI,460V

Miscellaneous ABPGMC-CD MOTOR CONTROL GUIDE CD

HE200TIM100 Time server - need 1 TIM100 per network to provide GPS time signal, with antenna with a 6 foot cable

IC646NSL999 CIMPLICITY SQL - Internet Connector

PC752CMB000 COMPROFIBUS Network Configuration Software. Provided on CD-ROM (for Profibus Option only)

ST-2414 STXi output module 4 points, Negative Logic, Diagnostics, 24VDC/ 0.5A

SH100-100-FLEX

AG 5280801512 6B00108807

SUN 375-3540

PCISA-945GSE-N270-R11-SAM

pci-232/485

NuPRO-E42

1492-RCDA4D40 Residual Current Device 40 A

有源总线模板 6ES7195-7HD10-0XA0 有源总线模板用于 2 IM153-2 高性能型冗余系统

变送器 3RS11 42-2GW80

1497-L-BASX-0-N Control Circuit Transber

1606-XLE480EPC XLE 20 Amp Power Supply

1764-24AWA MicroLogix 1500 24 Point Controller

188-K3D400 Miniature Circuit Breaker 40 A

194L-HE4E-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-08AF01 1 m Length SpeedTec Flexible Cable

2090-XXNPMF-16S02 Kinetix Drives 2m Standard Cable

BC647TRT999 CIMPLICITY HMI Viewer Runtime System with Proficy GlobalCare

GC647PSF100 Global Care for Proficy Process Systems 1000 I/O with iFIX

IC200NDD010 10 point PLC, (6) 12VDC In, (4) 12VDC Out, 12VDC Power Supply

IC646PPA772 PA-70 with 772 CPU - AC

IC647NCA000 CIMPLICITY Change Approval for Unlimited Point Server

IC690ACC901 Mini-Converter Kit with cable (RS-485/RS-232)

IC697VDQ120 Discontinued. Replacement is Embedded VMIVME-2131-110 Not UL Approved. Contact GE Embedded for more details.

IC800SSI420RP2RR 20A, 480V, Profibus S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-SN REMOTE I/O SCANNER MODULE

Industrial Computers 6181P-15TP2KHSS VERSAVIEW STAINLESS STEEL DISPLAY COMPUTER 15-INCH

Application-specific products 9358-PBNT03ENE RSBATCH NT FOR PROCESSLOGIX 03 UNITS

Operator Interface 2711-K5A1L1 PV550 MONOCHROME KEY, RIO & RS232 PRINT

Support 9301-2SE2100DER SUPT REINSTATEMENT CONTRACT FOR 93012SE2100DE

Support 9393-RSTLX5S SUPT RENEWAL CONTRACT FOR 9393RSLTX500

ControlNet Products 2711P-K10C15D1 PV PLUS 1000, KEYPAD, CNET, DC PS, STD MEM

RSI Software Products 9301-2SE2500U5 UPGRADE: IN-SUPT: RSVIEW32 WORKS 5000 TO 100K

RSI Software Products 9358-BEPB60U3R UPGRADE: OUT-SUPT: RSBW BATCH & EPROCEDURE 30 TO60

Motion Control MPL-A4540F-MK24AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,230V,BRK,13KG

Motion Control 2090-XXNFY-S30 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,30M

GABI3D200C2P/AR QUICKPANEL 10.5" TFT W/AB RIO 24VDC GE LABEL

IC641SWC313 Logicmaster 90-30 TCP/IP-Ethernet, Cable & CDROM

IC800SSI107D2 7.2 Amp S2K Series Servo Amplifier/Controller with DeviceNet, 115/230 VAC

PSPC-ADMIN/E Prof Shop Floor SPC Admin 1 User w/ eSig

PXI-6255

PBPI-14SA

vega650 K60010

TDPS-600CB

AIMB-501G2-KSA1E

AIMB-781QVG

1492-MS6X12 IEC 6 x 12 mm Marker Card

1495-N74 1-1/2 in. Hub

行程开关 3SE53120SJ12

运行版软件 6AV2107-0DB14-0AA0 SIMATIC WinCC Client for Runtime 专业版 ASIA V14

1585J-M4UBJM-3 RJ45 Ethernet Media

1756-PA72 ControlLogix AC Power Supply

188-K1C250 Miniature Circuit Breaker 25 A

194E-KA32E-P11-PE 194E Load switch

2090-CFBM7DF-CEAF03 Kinetix 3m Flexible Cable

2090-UXNBMP-18S09 MP-Series 9 m Length Brake Cable

BC646SPI365 Solution Provider Annual license w/Additional iSuite

GC647IFESGCLNTCDV GCC iFIX Optn: ESig & ERec iClient Dev

IC200ALG331 Analog output 16 bit voltage/current 4 isolated channels

IC646MBT001 Machine Edition Traditional Development Suite

IC647IFPRRN00075C iFIX Profsnl SCADA 75 I/O Runtime (M1Component Part)

IC660SLD024 Red Safety Label Kit for IC660BBD024 Genius Blocks

IC697CHS750RR Series 90-70, 5 Slot Rack, Rear Mount

IC800CBL064 Replaced by cable IC800CBL067

ControlLogix/1756 System 1756-DNB DEVICENET BRIDGE/SCANNER MODULE

Industrial Computers 6182H-7KRH4B VVCE 700, KEYPAD, STD MEM, ENET, AC

Process Control 9358-PBBK03ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 03 UNITS

Operator Interface 2711P-T15C15D2 PV PLUS 1500, TOUCH, CNET, DC PS, EXT MEM

Support 9352-WGG100R SUPT REINSTATEMENT CONTRACT FOR 9352WGG100

Support 9330-CCR SUPT REINSTATEMENT CONTRACT FOR 9330CC

ControlNet Products 1786-CTK CNET RG6 TOOLKIT

RSI Software Products 9301-2SE235ESU1R RSVIEW32 WORKS 150-5K UPGRADE OUT-SUPT (ES)

RSI Software Products 9352-WGG200UR UPGRADE: OUT-SUPT: RSSERVER GE GENIUS 16 TO 32 BIT

Motion Control

Motion Control 2090-DANBT-18S04 CABLE, NON-FLEX, MTR BRK FOR CABLE-MTD CONNS, 04M

BC646SPM365 Solution Provider Annual License w/Additional ME Suite