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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。
 

SPCIE-3600AM2-R10

PCI-1762

GA-8IPE1000-G

AC6111

F5U220-NN

1492-SPM3D100-N MCB Supplementary Protector 10 A

软启动器 3RW44666BC35

附件 6ES7 954-8LT03-0AA0 存储卡：32GB

1497A-A14-M6-3-N Control Power Transformer

1606-XLP50F Power Supply XLP 50 W Power Supply

1768-CNB CompactLogix L4X ControlNet Module

188-K4C080 Miniature Circuit Breaker 8 A

194R-30-C3 194R 30 A Line or Load Terminal Shield

2090-CPBM7DF-10AA20 MP-Series 20m Standard Cable

2090-XXNPMP-10S25 MP-Series 25 m Length Power Cable

CBL-12-MPS-10 Power cable for MTR-1221-*-D and Power cable for MTR-1231-*-D stepping motor connected to S2K. 10 feet

GC647SSL001 GCScheduler Site license

IC200PWR011 Isolated 24 VDC Power Supply

IC646TBLSS100 Proficy Troubleshooter for Intelligent Historian for Hist 100 Points

IC647NGE000 GE Fanuc SRTP Driver

IC692CPU211RR Series 90-20 CPU

IC698CPE040 RX7i Pentium M CPU - 1.8Ghz with 64 meg of user memory. Fan required. CPU includes built-in Ethernet with switch and 2 serial communication ports.

IC800VMBR040 VersaMotion amplifier external braking resistor- 40 Ohm/400 W

SLC/1746 System 1746-IM8 AC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6180W-15KP2KHDC VERSAVIEW 15-INCH WORKSTATION, KEYPAD

Application-specific products 6556-PA0PK CLUTCH/BRAKE KIT WITH ARMED CONTINUOUS PUSHBUTTON

Operator Interface 2711-K5A9L2 PV550 MONOCHROME KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE2200ITS SUPT RENEWAL CONTRACT FOR 93012SE2200IT

Support ABTS-W101S ABT-SW101 PATHFINDER SW SUPPORT RENEWAL

ControlNet Products D1771-6.5.123 CTRLNET ADAPTR MOD.1771-CAN,ACNR,SER B USER MANUAL

RSI Software Products 9301-2SE250ESU3R RSVIEW32 WORKS 300-100K UPGRADE OUT-SUPT (ES)

RSI Software Products 9358-BERP03U1R UPGRADE: OUT-SUPT: RSBW BATCH ERP 1 TO 10 SERVER

Motion Control MPL-A560F-SJ24AA MOTOR,SERVO,26.8NM,3000RPM,SINGL,230V,BRK

Motion Control 2090-XXNPMP-16S20 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,16 GAUGE,20M

GC646TDV075 Proficy GlobalCare Complete for Server 75 I/O Develop/Runtime System

IC641SWP061 Series 90 PCM Development Software

IMC-105E-1-D Stepping Motor Controller, Enhanced, 5 Amp

PSPC-DC10/EL Prof Shop Floor SPC DC 10 User w/ eSig

PXI-6713

PCL-858B

NEVO+600M-1113-ADGE

P4MK2-GL

HS486VGA

IPC2-56K-63

1492-MS8X12H41-50 Connection Products

数字量输入/输出模块SM 6ES7 323-1BL00-0AA0 DO/16，DI/16，光电隔离，40pin 前连接器

行程开关 3SE53220SD23

运行版软件 6AV2105-3MM04-0AE0 SIMATIC WinCC Runtime 专业版 65536 PowerTags V14 Upgrade V11..V13 -> V14

1585J-M8CBJM-32 RJ45 Ethernet Media

1756-PSCA2K ControlLogix Adaptor

188-K1D100 Miniature Circuit Breaker 10 A

194E-Y25-1756-6N 25 A 194E Load switch

2090-CFBM7E7-CDAF20 MP-Series 20 m Length Feedback Cable

2090-UXNFBY-S05 Y-Series 5 m Length Feedback Cable

BC646TPR700 ProServer 700 I/O Runtime Sys with Proficy GlobalCare

GC647IFPLDV00150 GCC iFIX Plus SCADA 150 I/O Dev

IC200CBL505 I/O Expansion cable, 0.5 meter long

IC646MPMU01 Logic Developer PLC Nano/Micro Upgrade

IC647IFPRSR00900C iFIX Profsnl SCADA 900 I/O Server (M1Component Part)

IC660TSA020 Terminal Assembly for IC660BBA020

IC697CPM790RR GMR Redundancy CPU, 486, 2K Triplex (voted) I/O

IC800MCUB12310XERR Stepping MotorCube 175 oz-in, Pulse/Direction, Encoder Feedback

ControlLogix/1756 System 1756-OA8 74-265 VAC 2 AMP OUTPUT 8 PTS (20 PIN)

Industrial Computers 6182H-10BRH4B VVCE 1000, KEY/TOUCH, STD MEM, ENET, AC

Process Control 9358-PBPCNT10ENE RSBATCH NT FOR PROCESLGIX PC BASED PHASES 10 UNITS

Operator Interface 2711P-RBB15 PV PLUS 1500 KEY/TOUCH REPLACEMENT BEZEL

Support 9355-RSLINXCON RSLINX OPC CLNT APP SERVICE - PER DIEM (2 DAY MIN)

Support 9351-OSFR SUPT REINSTATEMENT CONTRACT FOR 9351OSF

ControlNet Products 1786-FSB500 200 MICRON BULK CABLE 500 METERS (1640 FT)

RSI Software Products 9301-2SE2400DEU2 RSVIEW32 WORKS 300-32K UPGRADE IN-SUPT (DE)

RSI Software Products 9355-WABGWEU2R UPGRADE: OUT-SUPT: WINLINX TO RSLINX GATEWAY

Motion Control MPL-A310P-SK24AA MOTOR,SERVO,1.58 NM,5000RPM,SINGL,230V,BRK,4.2KG

Motion Control 2090-DANPT-16S03 CABLE, NON-FLEX, MTR PWR, CABLE-MTD CONN, 16AWG, 0

BC647MPS050 Logic Developer PLC Standard Edition - 50 user pack with Proficy GlobalCare Complete and 50 hardware keys.

IC5005TBN0000 15" Intelligence Industrial PC, Performance Series WinNT

IC800MCUB12160XE Stepping MotorCube 50 oz-in, Pulse/Direction, Encoder Feedback

OC647IFDBPKM iFIX Optn: Database Pack

PCIe-8430/2

IB830H-R

ROBO-8912VG2AR

PCA-6180

ACE-B8700

W26361-W2481-Z3-02-36

1492-M5X5H1-10 Connection Products

1494H-DF3H6 Heavy Duty Fusible Safety Switch

软启动器 3RW44456BC35

ET 200SP 6ES7138-6DB00-0BB1 TM PULSE 2X24V， PWM，脉冲输出，基座单元类型B1

1585D-M4TBDM-50 Micro D-Code, QD Style Ethernet Media

1756-EN2TRXT ControlLogix XT Dual Port EtherNet/IP Mo

1794-OE4 Flex 4 Point Analog Output Module

194E-CA63E-P11 194E Load switch

2085-OW16 Micro800 16 Point Relay Output Module

2090-DANFCT-S09 TL-Series 9m Feedback Cable

ABICTAE0000/SER 10.5 Inch Color TFT, TCP Label, 110VAC, with AB Serial Cable

GC646PCMKIT GlobalCare Complete for Proficy Change Management Starter Kit (1 user, Scheduler)

HE697BEM600 Discontinued Part. Check with GE IP on migration path.

IC630MDL366RR Analog Output Module, 4-20mA (2 channels)

IC647HSTSS5KM Historian Standard Server 5000 Points (M4 Key)

IC660BLC001 Cable w/Connectors Alpha 9823 15 In (Qty 3)

IC695ALG728 Analog Output HART Module, 8 channels,that is configurable for voltage, current, current/HART configured for Current: 0 to 20mA, 4 to 20mA; Voltage: +/- 10VDC, 0 to 10VDC per channel non isolated. Up to 16 bit resolution. Requires high capacity ter

IC756WDV009K-23 DV Development Sys Visual Basic, Korean, Version 2.3

CompactLogix System 1769-CLL1 1 FT (305 MM) LEFT-TO-LEFT BUS EXPANSION CABLE

PLC-5/1771 System 9399-RL53GRDE RSLOGIX 5 GETTING RESULTS GUIDE(GERMAN)

Distributed I/O D1794-6.5.3 FLEX I/O REMOTE I/O ADAPTER MOD. USER MANUAL

Operator Interface 2711P-T6M5A PV PLUS 600 GRAYSCALE, TOUCH, RS232, AC PS

Support 6404-DDMCS SUPT RENEWAL CONTRACT FOR 6404DDMC

Support 9358-PLTM2100R SUPT REINSTATEMENT CONTRACT FOR 9358PLTM2100ENE

Support F1784-CPCIDS FIRMWARE UPGRADE FOR 1784-CPCIDS COMMUNICATION MOD

RSI Software Products 9301-2SE2200DEU1 RSVIEW32 WORKS 150-300 UPGRADE IN-SUPT (DE)

RSI Software Products 9701-VWSB000AJPE RSVIEW SE STATION UNLIMITED DISPLAY (JAPANESE)

RSI Software Products 9399-APSIE SLC 500 APS IMPORT/EXPORT UTILITY USER MANUAL

Motion Control 2098-DSD-HV220 HIGH VOLTAGE DRIVE, 47A/94A, ULTRA3000

ABK3D200C2P/DVN QUICKPANEL 6" TFT W/DVN

IC220TBK123 I/O TERMINAL STRIP, 12 POSITION SPRING STYLE W/COLOR, OUTPUT, QTY 10

IC752DPH000RR Datapanel H, 640x200 LCD with CCFT backlight. Text, bitmaps, bar graphs, real time clock. Includes integrated keypad. No touch capability.

MTR-3S33-G-R-B-E-S MTR series servo motor with resolver and brake and shaft seal

NI 9852

SBC8173

ADAM-4080

NIDEC-READ MC-030F36

FSC-1814 PCA-6010VG

EP-7KXA

1492-J6FB124 Fuse Terminal Block with LED

1492-TP28 IEC Term Blck Test Plug

软启动器 3RW40742BB34

CPU 模块 6ES7 677-2AA40-0AA0 CPU 1515SP PC，4GB 备件 *

153H-C317XBD-56 SMC-3 ENCLOSED COMBINATION 317A

1746-A10 SLC 10 Slots Chassis

1786-BNCJ CNet Media Jack-to-Jack TNC Connector

193-T1AA40 0.25-0.4 A IEC Bimetallic Overload Relay

20-COMM-Q PowerFlex ControlNet Fiber Media Adapter

2090-CSBM1DF-10AF09 Kinetix Cable Single DSL 2090-Series

20AC011A3AYNANC0 PowerFlex 70 AC Drive 20A

GA647IFSTRNUNLMT GCA iFIX Std HMI Unlmt Run

GP647IFPLSR00150 GCP iFIX Plus SCADA 150 I/O Srv

IC600BF942RR -10Vdc to +10Vdc Analog Output Module (4 channels)

IC647HSTCR50KM Collector Redundancy Option for Historian - Standard Server 50000 Points (M4 Key)

IC647TPR935 CIMPLICITY HMI ProServer 35,000 I/O Runtime System

IC693PTM100CA Conformal Coated Power Transducer Module

IC756MDV001J-97 DV Development - Alpha OpenVMS Addt'l User, Japanese, Version 9.7

MicroLogix 1000/1761 System 1761-NET-DNI DEVICENET INTERFACE (DNI)

PLC-5/1771 System 1771-NBV1 HIGH RESOLUTION ISOLATED ANALOG MODULE

Distributed I/O 1792D-CB18JP MAXUM ROUND MEDIA 18MM BASE, PASSTHRU FOR DNET

Communications 9351-HPUSRT INTERCHANGE FOR HP-UX RUNTIME

Operator Interface D6190-6.5.25 CONTROLVIEW AND CONTROLVIEW 300 INSTALLATION MNL

Support 9358-B03R SUPT REINSTATEMENT CONTRACT FOR 9358B03ENE

Support 9392-CDRSFRU UPGRADE TO ENGLISH/FRENCH BUNDLE

RSI Software Products 9323-L2300DUR UPGRADE: OUT-SUPT: 6200-2 BOTH TO AI-2 BOTH

RSI Software Products 9301-2SE3500PTE RSVIEW32 RUNTIME 100K (PORTUGUESE)

RSI Software Products 9356-SQLSAPALENE RSSQL FOR SAP SOLUTIONS SERVER PREMIUM

Motion Control TL-A230P-BJ34AA MOTOR, SERVO, 1.3NM, 5000RPM, 17BIT SERIAL FEEDBAC

44A739462 Series 90-30 State Logic CSE311 Upgrade to latest revision

IC200CHS003 I/O CARRIER CONNECTOR STYLE

IC694MDL390 OUTPUT MODULE 120/240 VAC 2AMPS 5 POINT ISOLATED

MSI-UNIV-WEB-25-43 Univ Web(RTIP/Dash/Web/Excel) 25 Pak-43

cFP-PG-522

AMB-2000

PCI-4304

WPE-791 WPE-791-DVI

ASC-TI486 SSC-5X86HVGA

FB6GMF-LA

lnterface IBX-8502

1492-SPM2C030 MCB Supplementary Protector 3 A

软启动器 3RW30182BB14

电机启动器 3VU16402MN00

150-F135NBRD SMC Flex Smart Motor Controller

1732D-IB161212W ArmorBlock and Armor WeldBlock Block

1771-OFE3 1771 4 Point Analog Output Module

193-ED1CP E1 Plus 1-5 A IEC Overload Relay

199-DR4 DIN Rail

2090-CPWM6DF-16AA30 TL-Series 30m Standard Power Cable

2094-PRS8 Kinetix 6000 Slim Power Rail

DT1005-1 Industrial Keyboard Mounting Brackets (DT1005&DT1000-12a ONLY)

GFK-1044 Series 90-70 VME DLAN/DLAN+ Interface Module User's Manual

IC210NDD024 24V DC Power Source, (12) 24VDC in/(8) out (Transistor) , (4) analog inputs, not expandable, without LCD/Keypad. The unit has no cover over components.

IC647BR3M BR3:Bristol Babcock

IC647PRTHE005M Proficy Portal Historian Edition Client Pack 5 Users (M4 Key)

IC693CPU360RR CPU 360 Module (240K Bytes configurable user memory, 4K I/O, 8 racks), no built-in Serial Ports

IC756ADV000E-97 DV Development - AIX Op Sys, English, Version 9.7

MSI-EFF-2-43 Efficiency Mang Clients 2 Pack-43

SLC/1746 System 1746-RL61 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-IV32

Distributed I/O 1734-TBQ10 10 MODULE BASES W/ REMOVABLE IEC SCREW TERMINALS

Application-specific products 9307-EMRTENE RSENERGYMETRIX REAL TIME

Operator Interface 2711-NF2C FUNCTION KEY STRIP PV900 COLOR

Support 9302-MODS SUPT RENEWAL CONTRACT FOR 9302MOD

Support 9510-PBEWENS SUPT RENEWAL CONTRACT FOR 9510PBEWEN

DeviceNet Products 1787-MCABL MINI-CONNECTOR CABLE FOR 1770-KFD

RSI Software Products 9301-2SE3350U3R UPGRADE: OUT-SUPT: RSVIEW32 RUNTIME 1500 TO 5000

RSI Software Products 9310-TSTNDENE RSTESTSTAND

Motion Control MPG-A004-031M24 MOTOR,SERVO,GEAR RATIO 31,14NM,194RPM,MULTI,BRK

Silver Series 1756-L1M1 LOGIX5550 PROCESSOR WITH 512KBYTE EXPANSION MEMORY

HE693GEN251 Genius interface board for new generation AV300/DV300 drives (external mount)

IC648MNT071 Annual Software Maintenance for LM 90-70 Parallel Communications

QPI31200C2P QUICKPANEL COLOR 10.5" TFT

ST-4424 STXi analog output module 4 Channels, 0~10Vdc, 12bit

USB-6281

PCL-734

Nematron MB820-R

GIN-6350P R2G-6350P

HP-W460GC33

OC-B2P0-CV000

1492-RXIMTR4024-32R Mech Relay Digital Interface Module

WinCC 上位监控软件 6AV6381-1BS06-0DV0 "WinCC?V6.0 RC?8K （8K 外部变量）"

6ES78221AA030YA7

1497B-A10-M15-0-N Control Power Transformer

1606-XLS180B AC or DC Input 12 to 15VDC Out 180W PS

1769-ARM CompactLogix Address Reserve Module

188-K4D040 Miniature Circuit Breaker 4 A

194R-C30-1753-PYN1 194R Disconnect Switch

2090-CPBM7DF-10AF30 MP-Series 30m Continuous-Flex Cable

2090-XXNPMP-14S20 MP-Series 20 m Length Power Cable

CBL-14-ED-30 Encoder cable for MTR-1235 or MTR-1300 or MTR-1400 or MTR-1N series splashproof stepping motors connected to IMC or S2K. 30 feet

GEK-90486-1 Genius I/O System and Communications User's Manual - Volume 1

IC200TBM005 I/O auxiliary spring clamp style

IC646TBLSS5K Proficy Troubleshooter for Intelligent Historian for Hist 5000 Points

IC647NMF000 Mitsubishi Melsec OPC Server

IC693ACC309 Rack Adaptor Bracket, Series One 5 and 10 Slot Racks

IC750CTR200RR PANELWARE Basic Panel Controller

IC800VMCB3050 Motor power and brake power cable for 3 kW VersaMotion servo motor- 5 meter

SLC/1746 System 1746-OB16 DC OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6155R-7S2KH VERSAVIEW NON-DISPLAY COMPUTER

Application-specific products 6556-SCBM SLC PROGRAMMABLE PRESS CONTROL KIT

Operator Interface 2711-B6C1 PV600 COLOR KEY&TOUCH, RIO & RS232 PRINT

Support 9301-2SE2300FRS SUPT RENEWAL CONTRACT FOR 93012SE2300F

Support 9307-8MGDBCR SUPT REINSTATEMENT CONTRACT FOR 93078MGDBCENE

DeviceNet Products 1734-ADNX 24V DC DEVICENET ADAPTER WITH SUBNET EXPANSION

RSI Software Products 9301-2SE250JPU2R RSVIEW32 WORKS 1500-100K UPGRADE OUT-SUPT (JP)

RSI Software Products 9358-BNT10U1R UPGRADE: OUT-SUPT: RSBATCH 03 TO 10

Motion Control MPL-B320P-MJ24AA MOTOR,SERVO,2.94 NM,5000RPM,MULTI,460V,BRK,5.1KG

Motion Control 2090-XXNPY-16S20 CABLE,NON-FLEX,MOTOR POWER,Y,16 GAUGE,20M

GFK-0402 Hand-Held Programmer Series 90-30/20/Micro Prog. Control User's Manual