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PIP-Base 238-06-05,

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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。
 

ASS-EI08-M

CWT PSB250Q-J3

TX120 DPS-250AB-8

PCI-5SD6-RS-R30

ARK-6321-AR EPCIO-6005

1492-SPM2D160 MCB Supplementary Protector 16 A

电源模块 6ES7405-0KA02-0AA0 PS405 输入电压 24/48/60VDC 10A

电机启动器 3VU13402MD00

ET 200SP 6ES7193-6BP00-0BD0 基座单元 BU20-P12+A0+0B，类型D0，直插式端子，适用于电能测量模块，20mm宽

1585D-M4TBJM-28 Micro D-Code, QD Style Ethernet Media

1756-HSC ControlLogix High Speed Counter Module

1794-PS13 Flex Power Supply

194E-DA16E-TN-PE 194E Load switch

2090-CDNFDMP-S05 MP-Series 5 m Length Feedback Cable

2090-DAPC-D0909 Ultra 1500 9 m Length PC I/f Cable

AD641ECL321 ECLiPS Programming Software for the Series 90-30 SLP with OnTOP

GC646PME001 GlobalCare Complete for PCM Machine Edition Version 1 User

HE800ACC116 Cage-clamp (screw) style I/O plug, 16-terminal. (Qty 10)

IC640BVB317RR Video Board for FactoryMaster

IC647HSTSSEO1750KM eSignature Option for Historian - Standard Server 1,750,000 Points (M4 Key)

IC660BLM508 Bus Terminator 75 Ohm (Qty 4)

IC695CMX128 Control Memory Xchange Module 128Megbytes of user shared memory.

IC756WET200E-22 Custom Datasource Toolkit, English, Version 2.2

CompactLogix System D1769-UM004AENP COMPACT THERMOCOUPLE MOD.

PLC-5/1771 System D1771-6.5.119 U.MNL.INTRINSICALLY SAFE

Process Control 1757-FIMRTPBASE FIELDBUS INTERFACE RTP BASE

Operator Interface 2711P-B7C6D1 PV PLUS 700, KEY/TOUCH, RIO/DH, DC PS, STD MEM

Support 6500-PS7PTS SUPT RENEWAL CONTRACT FOR 6500PS7PT

Support 9358-PLTMCLTR SUPT REINSTATEMENT CONTRACT FOR 9358PLTMCLTENE

Support F1785-KA3 FIRMWARE UPGRADE FOR 1785-KA3 COMMUNICATION MODULE

RSI Software Products 9301-2SE2200U1R UPGRADE: OUT-SUPT: RSVIEW WORKS 150 TO 300

RSI Software Products 9701-VWSB000JPU2 RSV SE STATION 100 - UNLTD DISP UPGRADE (JAPANESE)

RSI Software Products 9399-EDS2TUT RSWIRE TUTORIAL/BASIC OVERVIEW

Motion Control 2098-DSD-005X-DN DRIVE, 2.5A/7.5A, ULTRA3000 W/DEVICENET/INDEX

BC5002TBW0000 12 Inch Inbligence Industrial Computer - Bundled - Perbance Series - w/ Windows 2000

IC300CBF005 FOX Fiber Cable Pair, 5.0M

IC752DVT150 VT100 firmware on DataPanel 150 allows DataPanel to be used as standard data entry terminal

MTR-3S43-H-R-0-C-SRR Servo Motor Nema56C with Seal

NI PXIe-5105

PENTIUM/6X86

PCLD-8115

IFRP-462

C803CTX

G55+MDHA32DB 7012-03

1492-JD3DR 2.5 square mm Internal Component Block

1492-W3-RE IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW40756BB44

安全 CPU 模块 6ES7 518-4FP00-3AB0 SIMATIC S7-1500F，CPU 1518F-4 PN/DP ODK，中央处理器单元，6 MB 程序存储区和 20 MB 数据存储区

156-B20CB1 20 A Contactor

1746-F9 SLC Replacement Fuse

1786-RPCD ControlNet Coaxial Hub Repeater

193-T1AB75 5.5-7.5 A IEC Bibllic Overload Relay

20-FR09822 ASSEMBLY VEND Spare Pt 700S HiHP FR9 Rec

2090-CSBM1DF-14AA08 Kinetix Cable Single DSL 2090-Series

20AC015A3AYNACC0 PowerFlex 70 AC Drive 20A

GA647TPD150 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 150 I/O Development and Runtime System

GP647IFPRRNUNLMT GCP iFIX Profsnl SCADA Unlmt Run

IC600CB504RR Internal Memory Control Mdl (for use in Model 600 or 6000)

IC647HSTCS20KM Historian Enterprise Corporate Server 20000 Points (M4 Key)

IC647TSSRV001 Proficy Troubleshooter 1 User Server License

IC693PWR330 Power Supply, 120/240 Vac, 125 Vdc, High Capacity. Battery not include d. Battery is now included in the CPU backplane box.

IC756MDV010K-98 DV Draw Dvlpnt on Alpha OpenVMS, Korean, Version 9.8

MicroLogix 1000/1761 System D1761-6.2 MICROLOGIX 1000 W/HAND-HELD PROG (HHP) MANUAL

PLC-5/1771 System 1771-NT2 HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1794-ADN DEVICENET ADAPTER WITH 24V DC POWER SUPPLY

Communications 9352-WABGW WINTELLIGENT LINX GATEWAY

Operator Interface D6190-6.5.3DE CONTROLVIEW MOUSE GRAFIX EDITOR USER MANUAL(GERMAN

Support 9358-BA30S SUPT RENEWAL CONTRACT FOR 9358BANT30ENE

Support 9392-CDRSZHU UPGRADE TO ENGLISH/CHINESE BUNDLE

RSI Software Products 9324-RL01U3DEER UPGRADE: OUT-SUPT: GERMAN RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500U4R UPGRADE: OUT-SUPT: RSVIEW32 RUNTIME 150 TO 100K

RSI Software Products 9356-STD2350U1 UPGRADE: IN-SUPT: RSSQL STD 150 TO STD 5000 TAG

Motion Control Y-1003-1-H00AA MOTOR,SERVO,0.35 NM,4500RPM,ENCDR,115V,1.04KG

5004D-24 Obsolete - Message Center. 2 Line, 11MM, Green VFD. NEMA 4

IC200CHS121 I/O INTERPOSING FUSE STYLE, 16 PT

IC694MDL752 OUTPUT MODULE 5/24 VDC (TTL) 0.5AMP 32 POINT NEGATIVE LOGIC

MSI-WEB-2 Web or Excel Reporting Clients 2 Pack

cRIO-9025

AIMB-562VG-00A1E

MOXA C104H

凌华 M-322

DYNAX CORPORATION DNF5335 DNF5334 DNF5301

DMC-1842

W03-03-026A

1492-SPM2C400 MCB Supplementary Protector 40 A

软启动器 3RW30361BB14

电机启动器 3VU16403MR00

150-F251NBDD SMC Flex Smart Motor Controller

1732E-16CFGM12 ArmorBlock 16 Point Configurable

1771-P5E 1771 Power Supply

193-EEDD E1 Plus 3.2-16 A IEC Overload Relay

199-MSMA1 Surge Suppressor

2090-CPWM7DF-08AA60 MP-Series 60m Standard Power Cable

2097-F2 Kinetix 300/350 10.0 A Line EMI Filter

EDS-308-SS-SC-T C1 D2 6-port 10/100, 2 port single-mode SC fiber (-40 to 75 deg C op temp)

GFK-1503 Manual VersaMax PLC

IC220ACC201 RELAY MODULE ISOLATION SET (REQUIRES 1 IC220TBK206)

IC647CBL708 Cable, Workstation Intf. to Series Six CPU, Parallel, 10 feet

IC647PRTORAM Proficy Portal Oracle Connector (M4 Key)

IC693DSM302 DSM302 motion controller module

IC756ADV001J-99 DV Development - AIX Op Sys Addt'l User, Japanese, Version 9.9

MSI-IGC 7 Day x 24 Hour Support / GlobalCare

SLC/1746 System 1746-RT33 REPLACEMENT TERMINAL BLOCK

Distributed I/O 1738-OB4EM12 24VDC 4 SOURCING OUTPUTS WITH M12 CONNECTORS

Communications 1784-CP11 CABLE ASSY, 10FT/3.20M, IBM XT OR COMPATIBLE CMPTR

Operator Interface 2711-NP1 REPLACEMENT MOUNTING CLIPS

Support 9302-RTS SUPT RENEWAL CONTRACT FOR 9302RT

Support 9324-RL5300FRS SUPT RENEWAL CONTRACT FOR 9324RL5300FR

DeviceNet Products 2706-P43R INVIEW MESSAGE DISPLAY. 1 LINE, 20 CHARACTERS

RSI Software Products 9301-2SE335DEU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (DE)

RSI Software Products 9326-AD5WDENE WIRING DIAGRAM GENERATOR ADD-ON 5 USER

Motion Control MPG-A010-091S24 MOTOR,SERVO,GEAR RATIO 91,35NM,65RPM,SINGL,BRK

Silver Series 1785-V40L VME PLC-5/40 CONTROLLER W/EXT. LOCAL PORT

HE693PWR524 Power supply adapter for Series 90-30 to allow for redundant power supplies.

IC660BRD024 Genius 32point 12/24 Vdc Source Block for Redundancy "T" Configuration

QPICBDE0000 10.4" Color TFT, Blank Label, Ethernet, CF Card, 24VDC, UL, cUL, CE, UL1604

ST-5232 STXi Serial Interface module RS-485, 2 Channels

USB-8472

PCI-9113A

IMB-M40H

HSL-DO32-DB-N HSL

786LCD/S Std

ANLX800-ISA

1492-SJM5-10 IEC Term Blck 10 pole Side Jumper

人机界面 6AV6545-0BB15-2AX0 TP170B 触摸屏，蓝色，6 英寸，320? 240

6ES78331FA130YF5

1497B-A14-M11-0-N Control Power Transber

1606-XLS480E-3 Power Supply XLS 480 W Power Supply

1769-IA16 CompactLogix 16 Pt 120VAC D/I Module

189-AB10 MCB Accessory Auxiliary Contact

194R-FN30-1753-PB Non-Fused 194R Disconnect Switch

2090-CPBM7DF-12AA20 MP-Series 20m Power and Brake Cable

2090-XXNPMP-16S12 MP-Series 12 m Length Power Cable

CBL-30-BT-10 Brake cable for MTR-3S or MTR-3N series servo motors with brake. 10 feet

GF-0200/MTI Connecting FlashCable to Chicago Dial Indicator Logic Series, Zipper c ompatible.

IC200TBX140 Tool box, Micro 40 and software. Includes (IC200UDR140) 24VDC In/Relay Out, requires 120/240VAC power, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with Proficy software, manuals and cables (IC646MPM101)

IC646TBSPMPS400 Smart Process Monitoring Process+ server 400 loops

IC647NSE000 CIMPLICITY HMI SMARTEYE Driver

IC693ACC330 Base is discontiued. Use generic TBQC base IC693ACC329.

IC752BUU000 WinCfg & DataPanel Software Upgrade

IC800VMCP100 Power cable for 100 W to 750 W VersaMotion servo motors- 10 meter

SLC/1746 System 1746-OW16 RELAY OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-35HDD 3.5" HARD DISK DRIVE STANDARD

Application-specific products 1400-PD51A POWERMONITOR DISPLAY MODULE

Operator Interface 2711-B6C20L1 PV600 COLOR KEY&TOUCH, ENET & RS232 PRINT

Support 9301-2SE2400DER SUPT REINSTATEMENT CONTRACT FOR 93012SE2400DE

Support 9307-EM83PXS SUPT RENEWAL CONTRACT FOR 9307EM83PXENE

DeviceNet Products 1734D-IB8XOW8S 24 VDC 8 SINK IN 8 RELAY OUT, DNET COMMS, SPRING

RSI Software Products 9301-2SE250PTU5R RSVIEW32 WORKS 5K-100K UPGRADE OUT-SUPT (PT)

RSI Software Products 9358-BNT60U2 UPGRADE: IN-SUPT: RSBATCH 10 TO 60

Motion Control MPL-B330P-MK22AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,460V

Motion Control 2090-U3BB2-DM44 BREAKOUT BOARD, CN1, ULTRA3000 DRIVE MOUNTED

GFK-0646 C Programmer's Toolkit for Series 90-70 User's Manual

IC646CCW000 CIMPLICITY Client for Microsoft Windows

MSCPX-21280698 Marathon Exp CPU - 333 MHz AMD CPU, 128M, 6G, Win98, 2 ISA and 2 PCI/ISA expansion slots

PSPC-DC50-220L Prof Shop Floor SPC DC 50 User 220v

PXIe-2514

UNiDOR Power Inside Fast

ACKSYS UNXPCI LT1086CM3V3

Interface PCI-4141

302DNR6D00930

BSTC-11

1492-N3 TERM BLCK 2 Pole Side Jumper

通道高速计数模块 6ES7350-2AH00-0AE0 FM350-2，8 通道高速计数模块，最高 20KHz，8DO40pin 前连接器

行程开关 3SE53223SB23

TIA 博途 WinCC 选件 6AV2107-2KE00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 3 -> 5 Clients

1585J-M8HBJM-40 RJ45 Ethernet Media

1760-IB12XOW4IF PicoGFX Combination Module

188-K2B500 Miniature Circuit Breaker 50 A

194L-A12-1752 12A 194L Load Switch

2090-CHBP8S8-12AA07 Kinetix 6000M IDM Hybrid Cable

2090-UXTBMP-18S07 MP-Series 7 m Length Brake Cable

BC647MPP010 Logic Developer PLC Professional 10 pack with Proficy GlobalCare Complete with USB Hardware key

GC647IFPRSR00900 GCC iFIX Profsnl SCADA 900 I/O Srv

IC200CHS101 I/O interposing disconnect style, 16 point

IC646MSP001 Logic Developer State Professional

IC647IFSTRN00075C iFIX Standard HMI 75 I/O Runtime (M1Component Part)

IC670CHS002 I/O Base, Box Style is obsolete. Recommend IC670CHS001 I/O Base, Barrier Style.

IC697CSE924RR State Logic CPU, 64MHz, 80486DX2

IC800SKCI010 Interface cable to connect an S2K auxiliary I/O connector to the 44A726268-001 terminal block. 1 meter

ControlLogix/1756 System 1756-OF8 ANALOG OUTPUT - CURRENT/VOLTAGE 8 PTS (20 PIN)

Industrial Computers 6182H-10TRH6D VVCE 1000, TOUCH, STD MEM, RIO/DH, DC

Process Control 1757-FIMUPG065 FIELDBUS LICENSE UPGRADE, 65 FIMS

Operator Interface 2711P-RGT10 PV PLUS/VVCE PROTECTIVE ANTIGLARE OVERLAYS QTY 3

Support 9355-WABOEMENR SUPT REINSTATEMENT CONTRACT FOR 9355WABOEMEN

Support 9354-SD101S SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 1788-CNCR CNET LOGIX DAUGHTERCARD - REDUNDANT COAX MEDIA

RSI Software Products 9301-2SE2400KOU5 RSVIEW32 WORKS 5K-32K UPGRADE IN-SUPT (KO)

RSI Software Products 9355-WABSNEU3 UPGRADE: IN-SUPT: RSLINX SINGLE NODE TO RSLINX GW

Motion Control MPL-A330P-HK22AA MOTOR,SERVO,4.18NM,5000RPM,ENCDR,230V,5.0KG

Motion Control 2090-UXBC-D1515 BREAKOUT BOARD CABLE,CN2,ULTRAX000,15M

CBL-12-MPS-20 Power Cable, MTR-1221-*-D & MTR-1231-*-D Stepping Motor with S2K, 20 Ft.

IC600PB551RR PDT Video Board

IC800SKCBVL050 Power/Brake Cable, S2K to 4.5 - 5kW S-Series Servo Motors, 5 Meters

OC647IFESGRNUNLMTC iFIX Optn: ESig & ERec Unl I/O Runtime (M1Component Part)

PXI-2205

ICES101

AIMB-581

ETASIS EPR-407

2001-513A D ADP-513-04

ST-400P-AD

1492-M6X5V1-20 Connection Products

1494R-N60 Disconnect Switch Kit

软启动器 3RW44532BC34

ET 200SP 6ES5710-8MA41 35mm安装导轨，长度：2000mm

1585D-M4UBDE-20 Ethernet Media M12 Patchord

1756-IB16ISOE ControlLogix 16 Isolated Point Module

1794-TB3T Flex Terminal Base

194E-E16-1753 16 A 194E Load switch

2090-CFBM4DF-CDAF01 MP-Series 1m Feedback Cable

2090-KFB47-CF MP-Series Cable Bulkhead Adaptor

AT-8624FC-10_1 Proficy Process Systems Switch with One Multi-mode Fiber Module from Allied-Telesis

GC646TDV700 Proficy GlobalCare Complete for 700 I/O Point Runtime / Development System.

HMI-AGO-202 ANTI-GLARE OVERLAY 10.5 inch/ 5 per pack

IC640WDD401 Cable, IBM-PC/XT class computers to Series Six CCM 9 Pin Connector

IC647HSTSSEO50KM eSignature Option for Historian - Standard Server 50000 Points (M4 Key)

IC660BSM021RR Bus Switching Module, 115 Vac/125 Vdc

IC695DEM006 PMM Demo Case: RX3i and PACMotion

IC756WRE024E-26 DV Runtime Win 1-24 Per User Eng v2.6

CompactLogix System 1769-STRT2PT COMPACTLOGIX STARTER KIT PORTUGUESE

PLC-5/1771 System D1771-6.5.49 INJECTION CONTROL MODULE (1771-QD) USR. MANUAL

Process Control 1757-PLXNS EXTENDED EVENT ARCHIVING

Operator Interface 2711P-K7C6D2 PV PLUS 700, KEYPAD, RIO/DH, DC PS, EXT MEM

Support 6620-NMUR 6620-NMU SOFTWARE SUPPORT REINSTATEMENT

Support 8100-HSMMLS SUPT RENEWAL CONTRACT FOR 8100HSMML

Support F1785-L20BSERC FIRMWARE UPGRADE FOR 1785-L20B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE220DEU1R RSVIEW32 WORKS 150-300 UPGRADE OUT-SUPT (DE)

RSI Software Products 9701-VWSB100AFRE RSVIEW SE STATION 100 DISPLAY (FRENCH)

RSI Software Products 9399-HDWAREREFDE HARDWARE INTERFACE CONFIG. USER GUIDE(GERMAN)

Motion Control 2098-DSD-HV050-DN HIGH VOLTAGE DRIVE, 11A/22A, ULTRA3000 W/DNET

BC5105KAW0000 15 Inch Panel-C Industrial Computer - Bundled - w/ Windows2000