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PCI-5124,

PCI-5124

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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。
 

IC641SWP710 C Developer's Toolkit for Series 90 PCMs

IC647MMPM MMP:Modicon Modbus Plus

IC647TPD935 CIMPLICITY HMI ProServer 35,000 I/O Development & Runtime

IC693MDL752LT 5/12/24 Vdc (TTL) Output, Neg Logic, (32 points) (LT)

IC756CDV001E-98 DV Development - Compaq True64 Op Sys Addt'l User, English, Version 9. 8

IC800VMM30MNKSE25 3 kW VersaMotion Motor

FlexLogix System 1794-IF4I ISOLATED ANALOG INPUT MODULE, 16 BIT, 4 POINT

Industrial Computers 6189-RUL50 VERSAVIEW CE FIRMWARE UPGRADE LICENSE

Distributed I/O 1794-IC16 FLEX 48 VDC INPUT MDL

Communications 9355-WABOEMESE RSLINX OEM - SPANISH

Operator Interface D6195-6.5.3 USER MANUAL CONTROLVIEW BUILDER

Support 9358-BEPB60R SUPT REINSTATEMENT CONTRACT FOR 9358BEPB60ENE

Support F1770-FLASH FIRMWARE UPGRADE FLASH UPDATE TOOL

RSI Software Products 9324-RL0300ITE RSLOGIX 500 STANDARD ITALIAN CD

RSI Software Products 9301-2SE3503ZHE RSVIEW32 RUNTIME 100K WITH RSLINX (CHINESE)

RSI Software Products 9358-HSTS2300U1R UPGRADE: OUT-SUPT: HISTORIAN 150 TO 1500 TAG

Motion Control W-4030-M-H00AB MOTOR,SERVO,WASHDOWN,BF,2.8 NM,3000RPM,12.0KG

5612 Greyline Micro MC. 4 Lines, (20) 5MM Chars. VFD. ASCII/Serial Interface. NEMA 4

IC200MDD840 MIXED 24VDC POS LOG INPUT GRP 20PT / OUTPUT RELAY 2.0A PER PT GRP 12PT

IC695PSA040 RX3I Power supply 120/240VAC and 125VDC 40 watts occupies two slots on system base

MTR-1220-E-A-E-0RR Stepping Motor Nema23 Encoder

cRIO-9075

AIMB-762G2

MOXA CP-104UL

ETASIS 亿泰兴 EPR-308

FSP300-60GLC

PCA-6106P4

GDYT-IMB-H612B-R10

1492-SPM2D250 MCB Supplementary Protector 25 A

软启动器 3RW30472BB04

电机启动器 3VU16401CM00

150-F361NBD SMC Flex Smart Motor Controller

1732E-IT4IM12R ARMORBLOCK 4 POINT TC INPUT

1771-WC FIELD WIRING ARM 10 TRMLS GOLD PLATED

193-EELG E1 Plus 100-500 A IEC Overload Relay

20-750-ACTE1-F6 PowerFlex 750 AC Terminal Extension Kit

2090-CPWM7DF-10AA04 MP-Series 4m Servo Power Cable

2097-V32PR0-LM Kinetix 350 400W Servo Drive

ET-GT-3ES-2SC 2 RJ45 Ports, 1 Multimode Fiber Port Ethernet Switch

GFK-1886 ViewStation/ControlStation CE Iix (10 inch) HW User's Guide

IC220MDD840 HIGH SPEED COUNTER INPUT, 1IN/1OUT 24VDC (REQUIRES 1 IC220TBK203)

IC647CSPR025 Proficy Cause+ for Intelligent HMI/SCADA Runtime Server - 25X monitored KPIs

IC647PSF025 Proficy Process Systems 250 I/O with iFIX

IC693MDL231LT 240 Vac Isolated Input (8 Points) (LT)

IC756CDV000J-97 DV Development - Compaq True64 Op Sys, Japanese, Version 9.7

MSI-MGMT-5-43 Production Mang Clients 5 Pack-43

PLC-5/1771 System 1785-L40C15 PLC-5/40C FOR CONTROLNET PHASE 1.5

Distributed I/O 1738-ADN12 DEVICENET ADAPTER M12

Communications 1787-TCABL T-STYLE CABLE FOR 1770-KFD 6 FT (1.82 METERS)

Operator Interface 2711-NR4 19-INCH RACK MOUNT KIT

Support 9304-WVD256R SUPT REINSTATEMENT CONTRACT FOR 9304WVD256

Support 9324-RLD25U6ENE RSLOGIX 5000 LITE ENGLISH TO FULL UPGRADE

DeviceNet Products 2711-K5A10 PV550 MONOCHROME KEY, DNET & RS232 PRINT

RSI Software Products 9301-2SE335KOU3R RSVIEW32 RUNTIME 1500-5K UPGRADE OUT-SUPT (KO)

RSI Software Products 9371-EDESI1U5 UPGRADE: IN-SUPT: RSWIRE DET IEC/ACAD TO DES IEC

Motion Control MPG-B025-031M22 MOTOR,SERVO,GEAR RATIO 31,100NM,156RPM,MULTI,460V

Silver Series 2711-T14C1 PV1400 COLOR TOUCH, RIO & RS232 PRINT

HE693STP101 same as STP100E w/optical isolation, independent accel/decel

IC670MDL233 120VAC 8 PT Isolated Input

QPI-PSL-201 Communication Adaptor Module for 7.5", 10", 12" QP4's

ST-7241 STXi Expansion Field Power Distribution module, 5, 24, 48, AC 10 Amp no LED status

USB-9861

PCI-8164

WSB-9454-R12

TSZ1JTAG.1

AM386tmSX-40

PCI-5112

1492-SPM1B040-N MCB Supplementary Protector 4 A

6ED1055-1MB00-0BA1 LOGO!DM8 12/24R，4DI/4DO

6ES73325HB014AB1

1497B-A9-M14-3-N 500VA 240x480-120x240V 60Hz w/Fu CPT

1606-XLS960FE 200 to 240VAC In 48 to 56VDC Out 960W PS

1769-IR6 CompactLogix 6 Pt RTD Module

190-HM4E Circuit-Breaker Accessory

194R-J30-1753-PYN1 194R Disconnect Switch

2090-CPBM7DF-14AA40 MP-Series 40m Standard Cable

2090-XXNPMP-8S40 MP-Series 40 m Length Power Cable

CBL-3C-RD-20 Resolver cable for MTR-3S or MTR-3N series servo motors. 20 feet

GF-0800-2 Connecting FlashCable to GSE 6 pin Bendix.

IC200TBX564 Tool box, Micro 64, QuickPanel color touch screen and software. Includes (IC200UDR164) 24VDC In/Relay Out, AC Power Supply, (IC200UEM001) Ethernet option board, QuickPanel Display (IC754VSI06STD) with Proficy software, manuals and cables (BC646MBL0

IC646TBSPMSW002 Smart Process Monitoring SPC+ Web Clients 2 Pack

IC647NTY000 CIMPLICITY HMI TOYOPUC TCP/IP Communications

IC693ALG220RR Analog Input, Voltage/Current, 4 Channels

IC752CGE201 SNP 485 cable for DataPanel 150/160/240

IC800VMM02LNKSE25 200 W VersaMotion servo motor (0.64 Nm)

SLC/1746 System 1746-NR4 RTD/RESISTANCE INPUT MODULE FOR PROGRAMMABLE CTRLR

Industrial Computers 6189V-DVICBL2 DIGITAL VIDEO CABLE 6186 2M

Application-specific products 1403-LM01A MASTER MODULE FOR POWERMONITOR

Operator Interface 2711-K6C15L1 PV600 COLOR KEY, CNET & RS232 PRINT

Support 9301-2SE2500DES SUPT RENEWAL CONTRACT FOR 93012SE2500DE

Support 9380-RSB10000R SUPT REINSTATEMENT CONTRACT FOR 9380RSB10000

DeviceNet Products 1734-OX2 24V DC COIL N.O./N.C. DPST RELAY MODULE

RSI Software Products 9301-2SE3103ESE RSVIEW32 RUNTIME 150 WITH RSLINX (SPANISH)

RSI Software Products 9358-BPC10ENE RSBIZWARE BATCH PC-BASED PHASES 10 UNITS

Motion Control MPL-B420P-RK24AA MOTOR,SERVO,4.74 NM,5000RPM,RSLVR,460V,BRK

Motion Control 2090-UXCK-D15 CONNECTOR KIT 15 PIN D SUB, FEEDBACK CN2

GFK-0840 Motion Mate APM Standard Mode User's Manual

IC646MDB150 Logic Developer 150 Tag Runtime & Development System

MSDIS-1210 Marathon 12", Keypad and Touch

PSPC-MONITOR5/E Prof Shop Floor SPC Monitor 5 User eSig

PXIe-2725

AVCLAN PS10310 PC112-A

PROX1720

SS-520H1U

YPHW31010-1D

HPU71REME16P

1492-NM40 TERM BLCK End Barrier

微存储卡 6ES7953-8LF11-0AA0 MMC 微存储卡 64K 用于 S7-300/C7/ET200S IM151CPU,3.3V NFLASH

变送器 3RS18002AQ00

TIA 博途 WinCC 选件 6AV2107-0JB00-0BB0 SIMATIC WinCC Recipes for Runtime Professional

1585J-M8PBJM-20 RJ45 Ethernet Media

1760-L18BWB-EXND Pico 18 Point DC Controller

188-K2C630 Miniature Circuit Breaker 63 A

194L-E12-1753-6N 12A 194L Load Switch

2090-CNSSPRS-AA03 Kinetix 6000M network cable

2090-XNSM-T Kinetix Safe Off Header Connector Kit

BC647MSS001 Logic Developer State Standard with Proficy GlobalCare Complete with USB Hardware key

GC647IPWRPLDVUNLMTM iPower Option - Nwk Unlmt I/O Dev Globalcare Complete part

IC200DEM004UNVCN MicroMotion and VersaMotion Demo-China

IC646NDM000 CIMPLICITY for Windows Distributor Demonstration Package

IC647IFUBSTSM iFIX iClientTS User Base Support (M4 Part)

IC670MDL330 12 - 120Vac 1A Output, 16 Point

IC697MDL251RR 120 Vac Input (16 Points) Non-isolated

IC800SLCEV050 Encoder cable for any 1 kW to 5 kW S-series servo motor. 5 meters

ControlLogix/1756 System 1756-TBCH 36 PIN SCREW CLAMP BLOCK WITH STANDARD HOUSING

Industrial Computers 6182H-12KEH6B VVCE 1250, KEYPAD, EXT MEM, RIO/DH, AC

Process Control 1757-PFBUL001 PROFIBUS INTERFACE MODULE USAGE LICENSE

Operator Interface 2711P-RR64 PVP/VVCE RAM SO-DIMM 64MB

Support 9357-CNETL3S SUPT RENEWAL CONTRACT FOR 9357CNETL3

Support 9361-PTLSEATR SUPT REINSTATEMENT CONTRACT FOR 9361PTLSEAT

ControlNet Products 1734-OV4E 24V DC 4 CHANNEL SINK OUTPUT MODULE

RSI Software Products 9301-2SE2400ZHU1 RSVIEW32 WORKS 1500-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9323-ATUNEENE LOOP TUNER FOR LOGIX5000 PIDE FUNCTION BLOCK

Motion Control MPL-A420P-MK24AA MOTOR,SERVO,4.74 NM,5000RPM,MULTI,230V,BRK,6.8KG

Motion Control 2090-UXNFBN-K30 CABLE,ULTRA, NON-FLEX,SKWD,R/A,30M

CBL-13-MP-20 Power Cable, MTR-1235, 13xx. 14xx & 1N Series Stepping Motors, 20 Ft.

IC600YR555RR 13" I/O Rack with High Capacity P/S, 125Vdc (8 Slots)

IC800SLA0031 30W, 115 VAC SL Servo Amplifier

OC647IFGLBLCLN001M-55 iFIX WebSpace Client v5.5 - Additional Single User

PXI-2531

ACS-6241VE

BP-08P4

W0PSA5000

IB820H-R

G2+/MILP/8D/IBM

1492-MCAA125 25 A UL489 Miniature Circuit Breaker

1494U-FC30J Disconnect Switch Accessory

软启动器 3RW44542BC36

SIMATIC STEP 7 V14 6ES7822-1AA04-0XC2 "Transition Package" PowerPack & Upgrade SIMATIC STEP 7 V5.5 -> 专业版 V14/2010 Combo + SUS

1585D-M4UBDM-1 Micro D-Code, QD Style Ethernet Media

1756-IG16 ControlLogix 16 Pt 5VDC D/I Module

1797-CEC FlexEx Bus Connector

194E-E32-1753-6A 32 A 194E Load switch

2090-CFBM4DF-CEAA05 MP-Series 5 m Length Feedback Cable

2090-MCNPMP-6S20 MP-Series 20 m Length Power Cable

BC646MBP001 Machine Edition Professional Development Suite with Proficy GlobalCare Complete

GC646VPP700 Proficy GlobalCare Complete for VersaPro Professional Edition - Single User License

HMI-CAB-C105 QUICKPANEL PRINTER CABLE

IC641HBR301 Max-ON Standard Software for 90-30 Hot Stand By Redundancy

IC647IFCLNTCRO001C iFIX iClient Read Only 1 PK Keyed (M1Component Part)

IC660EBA026 Electronic Assembly for IC660BBA026

IC695NKT001CA RX3i Ethernet NIU Kit Conformal Coated includes NIU (IC695NIU001) and Ethernet module (IC695ETM001). ENIU supports two serial ports and 20k of local logic. TheENIU must be installed in a IC695CHSxxx base.

IC756WRE049E-27 Runtime License Windows 25-49 Users English v2.7

FlexLogix System 1794-IB16 24V DC SINK INPUT MODULE, 16 POINT

PLC-5/1771 System D1771-6.5.97 SPI PROTOCOL INTERFACE MODULE USER MANUAL

Process Control 1757-PLXSIFG PLX HW UDC 3000/5000/6300 QUICKBUILDER INTERFACE

Operator Interface 2711P-B10C15D1 PV PLUS 1000, KEY/TOUCH, CNET, DC PS, STD MEM

Support 9307-RSPDEVS SUPT RENEWAL CONTRACT FOR 9307RSPDEV

Support GML-DZR SUPT REINSTATEMENT CONTRACT FOR GMLDZ

Support F1785-L30BSERB FIRMWARE UPGRADE FOR 1785-L30B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300FRU2 RSVIEW32 WORKS 150-1500 UPGRADE IN-SUPT (FR)

RSI Software Products 9701-VWSB250ENU1 RSVIEW SE STATION 25 - 250 DISPLAY UPGRADE

RSI Software Products 9399-L5MAN 9399-L5MAN PLC-5 A.I. SERIES MANUAL SET

Motion Control 2098-IPD-HV150-DN HIGH VOLTAGE DRIVE, 34A/68A, ULTRA5000 DEVICENET

BC646MDA159 View Development /Runtime 1,500 I/O

IC300FOX104 FOX Fiber Optic Base

IC752SKT000 Mature, order Datapanel 150 instead. DataPanel K Starter Kit: Includes Datapanel K (DPK000), download & communication cables, WinCfg, user & programming manuals

MTR-3S65-H-R-B-E-SRR Servo Motor 24V Brake, Seal

PCI-5421

PEB-7764

ECB-650

S845WD1-E

FB2300

AR-B1570

1492-JKD3TP 2.5 mm Knife Disconnect Terminal Block

1492-WMG3 IEC Term Blck 8x47.6x41mm Screw

软启动器 3RW44233BC35

紧凑型信号模块 6ES7 522-1BH10-0AA0 DQ 16：数字量输出模块，晶体管 DQ 16 x 24 VDC/ 0.5A BA, 25mm 模块，含前连接器

1585-C4HB-S100 1585 Ethernet Cable

1746-OB16 SLC 16 Point DC Output Module

1788-ENBT FlexLogix/DriveLogix ENet/IP Comms Card

194E-16-C3 194E 3 Pole Terminal Cover

20-PP01082 PLASTIC TERMINAL BASE, FRAME 9

2090-CSBM1DF-14AF50 Kinetix Cable Single DSL 2090-Series

20AC030A3AYNAEC0 PowerFlex 70 AC Drive 30 A at 15 kW 20A

GC-8459-EB-MT Ethernet BIM Workbench, Global Care Only

GQPK2D101L2P 6 inch Monochrome/ GE Fanuc Label/ 24VDC/ CE

IC600DM706RR DP Prom Type 1A Module (DPU)

IC647HSTES10000KM Historian Enterprise Server 10,000,000 Points (M4 Key)

IC647WIMM WIM:Westinghouse IMPACC

IC694ALG232LT Low Temperature. RX3i Efficiency 16-Channel Advanced Analog Voltage Input module provides 16 single-ended or 8 differential input channels. 0 to 10 V (unipolar), -10 to +10V (bipolar) with 16 bit resolution. Advanced diagnostics. Requires Proficy? M

IC756SDV000CS-99 DV Development - Solaris Op Sys, Simplified Chinese, Version 9.9

MicroLogix 1200 System 1762-IF4 4 CHANNEL CURRENT/VOLTAGE ANALOG INPUT MODULE

PLC-5/1771 System 1771-TCM TEMPERATURE CONTROL MODULE

Distributed I/O 1794-OB8EPK CONFORMAL COAT, 24VDC SOURCE OUT ELECT FUSED, 8 PT

Communications 9399-INTWINUG INTERCHANGE FOR WINDOWS USER GUIDE

Support 6200-APIR SUPT REINSTATEMENT CONTRACT FOR 6200API

Support 9358-BIZUC0PR SUPT REINSTATEMENT CONTRACT FOR 9358BIZUC0PENE

Support F1771-DA FIRMWARE UPGRADE FOR 1771-DA I/O MODULE

RSI Software Products 9324-RL5ENU1R UPGRADE: OUT-SUPT: WIN LOGIC 5 TO RSLOGIX 5

RSI Software Products 9301-2SE350FRU4R RSVIEW32 RNTM 150-100K UP

RSI Software Products 9358-HSTS2400U2R UPGRADE: OUT-SUPT: HISTORIAN 300 TO 32K TAG

Motion Control 8720SM-011S1DAS3 SPARE PART ONLY - GMS ITEM

78005102 Target Spare Module

IC200MDD849 MIXED OUTPUT RELAY 2.0A PER PT ISOLATED 8PT / INPUT 120VAC ISO 8PT

IC697CGR772 Hot Standby Genius Dual Bus CPU, 486DX4, 2K Discrete I/O, 512K byte fixed user memory, Floating Pt.

MTR-1235-E-D-E-0 MTR series NEMA 23 stepping motor with series winding connection and encoder

DAQ-MS02

AWS-8129

Dialogic D/600JCT-2E1-75

DIALOGIC SPCI4/02

CONTEC PIO-16/16T(PCI)

W26361-W94-X-02

BUS-PC(PCI)A

1492-SPM3B040 MCB Supplementary Protector 4 A

软启动器 3RW40272BB15

电机启动器 3VU16402CR00

150-F480NBD SMC Flex Smart Motor Controller

1734-AENT POINT I/O Ethernet Network Adaptor

1783-BMS06SL Stratix 5700 6 Port Managed Switch

193-EGJ E1 Plus Ground Fault and Jam Module