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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。
 

Distributed I/O 1797-BOOT CONTROLNET EX BOOT INSULATOR KIT (50 PIECES)

Communications 9399-WAB32LUGES RSLINX LITE USER GUIDE (SPANISH)

Operator Interface D6190-6.5.16 CONTROLVIEW MODBUS DRIVER(6190-MOD)USER MANUAL

Support 9304-WRM300R 9304-WRM300 SOFTWRE SUPPORT CONTRACT REINSTATEMENT

Support 9371-EWDI3R SUPT REINSTATEMENT CONTRACT FOR 9371EWDI3

EtherNet/IP Products 2706-P74CN1 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

RSI Software Products 9301-2SE3103FRE RSVIEW32 RUNTIME 150 WITH RSLINX (FRENCH)

RSI Software Products 9305-RSVADFCITE RSVIEW32 ACTIVE DISPLAY FLOATING CLIENT (ITALIAN)

RSI Software Products 9358-SYNSE10E SYNCHRONIZATION UTILITY (10)

Motion Control 2094-BC01-MP5 MODULE, INTEGRATED, 400/460V, 6KW CONV. 4A INV.

A06B-0153-B075#7076 A30/3000 Servo Motor, IP67 Sealing, 64K Serial Encoder

IC200UDR005 28 point; (16) 24VDC In, (11) Relay Out, (1) 24VDC Out, AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752CBT013RR Datapanel 320T ME (Mono Expansion)w/ Advanced software: 320x240 1/4 VGA Mono LCD with 386SX/40. Analog touch screen w/ text, bitmaps, bar graphs, real time clock. With 2M memory & PC/104. With Real Time Trends & Host Communications.

MTR-1N32-I-E-D-S-0RR Stepping Motor Nema34 Encoder

ZA06B-0116-B203 B1/6000is servo motor with 64k serial encoder

20BD481A3ANNNNC1 PowerFlex 700 AC Drive 20B

20G11TF370JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-D017 PowerFlex 520 7.5kW (10Hp) Power Module

372SPU47701V26 Quantum Concept 2.6 应用程序下载软件

FRN 2.2E1S-7C 4.1 KVA 11 A 2.2KW 单相AC220V/50Hz/60Hz

A20B-2902-0070 A20B-2902-0070/02B

1492-SPM3D010-N MCB Supplementary Protector 1 A

软启动器 3RW40282TB04

SIMATIC 存储卡 6ES7 954-8LC02-0AA0 4 MB

150-SD1NUD SMC-50 SOLID STATE MOTOR CONTROLLER 361A

1738-8CFGM23 ArmorPoint 8 Point Combination Module

1783-US6T2F Stratix 2000 6+2 port unmanaged switch

193-EXP-DIO-42-120 E300 120V AC Digital Expansion Module

20-750-NEMA1-F1 PF753 & PF755 FR 1 EMC CORES W PLATE

2090-CPWM7DF-16AF03 MP-Series 3m Length Power Cable

20AB-DB1-D PowerFlex 70 Resistor Kit

GA647IFESGRNUNLMT GCA iFIX Optn: ESig & ERec Unl I/O Run

GP646IFCLNTCRO010 GCP iFIX iClient Read Only 25 PK Keyless Runtime Version

IC600BF802RR 24-48Vac/dc Input Module (8 points)

IC647HSTCC1KM Calculation Collector for Historian - Standard Server 1000 Points (M4 Key)

IC647TBLCPVC001 Virtual Campus for Proficy Troubleshooter and Cause+ - 1 User

IC693MDL753CA Conformal Coated Output module, 12/24VDC POS logic, 32 points. Interfaceis Fujitsu connector.

IC756LDV000K-912 DV Development - Intel/Linux RedHat Op Sys, Korean, Version 9.12

Pico Controllers 1760-SIM INPUT SIMULATOR FOR 12 I/O DC PICO CONTROLLER

PLC-5/1771 System 1771-OD16K CONFORMALLY COATED, 120V AC ISOLATED OUTPUT MODULE

Distributed I/O 1791-0A32 BLOCK I/O, 120V AC, 32 POINT MODULE (32 OUTPUT)

Communications 1786-RPA CONTROLNET MODULAR REPEATER ADAPTER

Operator Interface 2706-PRIOK REMOTE I/O COMMUNICATION MODULE FOR 2706-P7X & P9X

Support 9701-VWSCWAS SUPT RENEWAL CONTRACT FOR 9701VWSCWAENE

Support 9324-RL0100ESR SUPT REINSTATEMENT CONTRACT FOR 9324RL0100ES

EtherNet/IP Products 2711P-K15C4B1 PV PLUS 1500, KEYPAD, ENET, AC PS, STD MEM

RSI Software Products 9301-2SE340PTU1R RSVIEW32 RUNTIME 1500-32K UPGRADE OUT-SUPT (PT)

RSI Software Products 9356-PRO2350U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO PROF.5000 TAG

Motion Control F-4050-Q-H04AA MOTOR/ENCODER/BRAKE

4360-N 4360 WITH NEMA 4

IC200ACC303 I/O SHORTING BAR QTY 2

IC693DNM200 DeviceNet Master

TGT-E000-0-0 Target Rack Expansion Module, 10' Rack Linker Cable

VDOCS-ADM VisualDocs Administration (includes integrated viewer)

20BD014A3AYYANC0 PowerFlex 700 AC Drive 14 A at 10 Hp 20B

20G11BF710JN0NNNNN PowerFlex 755 AC Packaged Drive

22C-B145A103 PowerFlex 400- 37 kW (50 HP) AC Drive

140XCA71709 Quantum 背板扩展电缆, 3M

285-BRC25-M10 Cable,ArmorStart Source Brake Cable

H7ET-NFV 7位液晶显示累积计时器,电压（24-240AC）输入、外部/手动复位、999999.9h-3999d23.9h可切换

1492-SPM1D100-N MCB Supplementary Protector 10 A

通用型变频器 6SE6 440-2UD25-5CA1 5.5 KW,185 x 245 x 195

电机启动器 3VU13403NL00

150-C43NCR SMC-3 43A Smart Motor Controller

1609-SBAT Bul 1609 UPS Standard 12VDC Battery

1771-IAD 1771 16 Point Digital Input Module

193-EC2PB E3 Plus 0.4-2.0 A Overload Relay

198-MS24 Start/Stop, On/Off Push Button Kit

2090-CPBM7E7-16AF15 MP-Series 15 m Length Cable

2094-AM01-S Kinetix 6000 Axis Module

CW0DT1005 Industrial Key Board for DuraTouch, QWERTY Keyboard, Elastomer Type

GFK-0487 Series 90 PCM Development Software (PCOP) User's Manual

IC200UEX636-24 Qty of 24, 6 channel Analog expansion. (4) Analog inputs & (2) Analog outputs. 120/240

IC647APXM APX:Moore APACS

IC647PFL300 Proficy Process Systems Standard Edition 3000 I/O with iFIX

IC693CHS398LT Base, Expansion, 5 Slots (LT)

IC754UEX001 VersaMax Micro Expansion I/O Interface for QP Control

MA15/D/2/SI AC15AMP PWR SRG PROTECT (240AC)

SLC/1746 System D1761-6.4 AIC + ADVANCED INTERFACE CONVERTER USER MANUAL

Distributed I/O 1734D-IB8XOW8 24 VDC 8 SINK IN 8 RELAY OUT, DNET COMMS, SCREW

Application-specific products 1803-EEM02 EEM,16 ANALOG, 4 TO 20 MA

Operator Interface 2711-T10G12 PV1000 GRAYSCALE TOUCH, PBUS & RS232 PRINT

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Support 9381-PEDEQPENR SUPT REINSTATEMENT CONTRACT FOR 9381PEDEQPEN

DeviceNet Products 1790D-N0C2 DNET LDX, 2 OUTPUT ANALOG CURRENT BSE,D-SHELL CONN

RSI Software Products 9301-2SE330ITU1R RSVIEW32 RUNTIME 300-1500 UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-PBEPB30ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 30 UNITS

Motion Control MPL-B640F-MJ24AA MOTOR,SERVO,36.0NM,3000RPM,MULTI,460V,BRK

Motion Control 2090-UXLF-HV350 AC LINE FILTER,ULTRA,50 AMPS, 460V, 3 PHASE

GQSJ2D100S2P QUICKSTART KIT 5" STN GE LABEL

IC646NRV000 Report Manger Integrated Viewer

MTR-3T67-G-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-2124 STXi output module 4 points, TTL, 5VDC/20mA Non inverting

20BC085A0AYNANC1 PowerFlex 700 AC Drive 85 A 45 kW 20B

20F11RD5P0AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-A4P5H204 PowerFlex 4 0.75 kW (1 Hp) AC Drive

490NOR00003 Networks Ethernet MTRJ－ MTRJ 光纤电缆，3m

284-MTRS22-M14 ArmorConnect Brake and Motor Cable

C2OOH-PID03 PID单元,2路,电流输出

1492-RCDA4C25 Residual Current Device 25 A

6ES7153-2BA01-0XB0 IM153-2 高性能型，支持冗余，时间标签

变送器 3RS11 40-1GD60

1497-H-M4-0-N Control Circuit Transformer

1606-XLE240E-3 480VAC Input 24VDC Out 10A Power Supply

1762-RTC MicroLogix 1200 Real Time Clock

188-K3D160 Miniature Circuit Breaker 16 A

194L-HE4A-325 ACTUATOR HANDLE FOR LOAD SWITCH

2090-CPBM7DF-08AA12 MP-Series 12m Power and Brake Cable

2090-XXNPMF-14S15 Kinetix Drives 15m Standard Cable

BC647TRT000 CIMPLICITY HMI Server NO LIMIT Runtime System with Proficy GlobalCare

GC647PSC050 "GlobalCare,####CIMPLICITY# Proficy##### 500# I/O"

IC200MDL930 Output relay 2.0 amps per point isolated form A, 8 points

IC646PME005 Proficy Change Management for ME 5 user pack

IC647MVD000 ME View View OPC Driver License with Hardware Key

IC684TROLI605 CIMPLICITY HMI Plant Edition Online Course -Module 5

IC697VAL308 Discontinued, future replacement is Embedded VME-6550. Contact GE IP Embedded for details.

IC800SSI407RD2RR 7.2A, 480V, DeviceNet S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-M1 EEPROM MEMORY MODULE, 1K FOR PROGRAMMABLE CTRLR

Industrial Computers 6181P-12TPXPHDC VERSAVIEW INTEGRATED DISPLAY COMPUTER 12-INCH

Application-specific products 9358-PBBK60ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 60 UNITS

Operator Interface 2711-K5A14 PV550 MONOCHROME KEY, MBUS & RS232 PRINT

Support 9306-4KS0EFFR SUPPORT REINSTATEMENT CONTRACT FOR 93064KS0EFF

Support 9393-RSTHYDS SUPT RENEWAL CONTRACT FOR 9393RSTHYD, 9393RSTPHYD

ControlNet Products 2711E-T10C15 PANELVIEW 1000E TOUCHSCREEN TERMINAL, 10.4" FLAT

RSI Software Products 9301-2SE2500U1R UPGRADE: OUT-SUPT: RSVIEW32 WORKS 32K TO 100K

RSI Software Products 9358-BEPB30U2R UPGRADE: OUT-SUPT: RSBW BATCH & EPROCEDURE 10 TO30

Motion Control MPL-A4540F-HJ22AA MOTOR,SERVO,10.2NM,3000RPM,ENCDR,230V,9.5KG

Motion Control 2090-XXNFY-S05 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,5M

CMP-26000019 Target Replacement Fan

IC641PCC134 Logic Engine (runtime) with GUI - 512 Points

IC800SSD420RS1 20A, 480V, S2K Servo Drive for MTR Series Motors

PR-PAT-MODBUS-INR Proficy PAT - Modbus Slave Interface: Provides The Capability To Interact With Other Systems Via The Modbus Protocol

20BB015A0AYNBNC1 PowerFlex 700 AC Drive 20B

20DD8P0A0EYNANANE PowerFlex 700S AC Drive 8 A 5 Hp 20D

20YF325N0ANNANA0 PF 700AFE,FR10,690 VAC,325 A,IP00,W/LCL

2711P-K10C4D8 PanelView Plus Terminal

280-PWRM35C-M8 ArmorStart Three-Phase Power Media

CPM2A-30CDR-A 30点主机 AC100-220V 18点入12点继电器输出 自带RS232C口

1492-MS5X5 IEC 5 x 5 mm Marker Card

1495-N65 Protective Fuse Cover

行程开关 3SE53120SF12

运行版软件 6AV2105-0FA14-0AA0 SIMATIC WinCC Runtime 专业版 2048 PowerTags ASIA V14

1585J-M4UB-2 RJ45 Ethernet Media

1756-OH8I ControlLogix 8 Point D/O Module

188-K1C100-N Miniature Circuit Breaker 10 A

194E-KA00E-P11 194E Load switch

2090-CFBM7DF-CEAA25 MP-Series 25m Servo Feedback Cable

2090-UXLF-350 Ultra Series 480V 50Amp Stud Filter

BC646SJM365 Sol Provider license w/CME - Japan Only

GC647IFCLNTS010 GCC iFIX iClientTS 10 Additional Users

IC200ALG321LT ANALOG OUTPUT 12 BIT VOLTAGE 0-10V 4CH (LT)

IC646IFCLNTCRO100M iFIX iClient Read Only 100 PK Keyless (M4 Part)

IC647IFPRDV00300M iFIX Profsnl SCADA 300 I/O Development (M4 Part)

IC660SLA100 Red Safety Label Kit for IC660BBA100 Genius Blocks

IC697CBL803 Cable, RCM Communication (3 feet)

IC800CBL002 Digital servo command cable for DSM302 or DSM314. 3 meters

ControlLogix/1756 System 1756-M13 LOGIX5555 1.5MBYTE MEMORY MODULE

Industrial Computers 6182H-7KEH15D VVCE 700, KEYPAD, EXT MEM, CNET, DC

Process Control 9358-PBA10ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 10 UNITS

Operator Interface 2711P-K15C6B1 PV PLUS 1500, KEYPAD, RIO/DH, AC PS, STD MEM

Support 9352-WC2500S SUPPORT RENEWAL CONTRACT FOR 9352-WC2500

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Support F6008-SV FIRMWARE UPGRADE FOR 6008-SV I/O MODULE

RSI Software Products 9301-2SE2353JPE RSVIEW32 WORKS 5K WITH RSLINX (JAPANESE)

RSI Software Products 9351-WESRT INTERCHANGE FOR WINDOWS RUNTIME

RSI Software Products 9399-WPMUG RSSERVER FOR POWER MONITORING DEVICES USERS GUIDE

Motion Control 2090-CDNPBMP-8S60 CABLE,460V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,60M

BC646MSS001 Logic Developer - State Standard

IC300TRM002 Gage-clamp (screw) style Power plug, 2 terminal

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MTR-3T67-G-R-0-M-0 MTR series metric servo motor with resolver

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20DC043A0EYNANASE PowerFlex 700S AC Drive 20D

20G1ANC367AN0NNNNN PowerFlex 755 AC Packaged Drive

25C-A8P0N104 PowerFlex 527 1.5kW (2Hp) AC Drive

280-MTR22-M10 ArmorConnect Brake and Motor Cable

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1494G-EC3N NEMA 1494G Enclosed Disconnect

软启动器 3RW44432BC35

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1756-A17K ControlLogix 17 Slots Chassis

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194E-CA00-P11 194E Load switch

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2090-CSWM1DF-18AA14 Kinetix Cable Single DSL 2090-Series

20AC3P5C3AYNAEC0 PowerFlex 70 AC Drive 20A

GC646MRA159 Proficy GlobalCare Complete for View Runtime 1,500 I/O

HE693SNP232 SNP to RS-232 Adapter only

IC610MDL124RR I/O Simulator Module (8 points)

IC647HSTSS10KM Historian Standard Server 10000 Points (M4 Key)

IC660BBD025RR 5/12/24Vdc Sink I/O Block, 32 Circuit, Ph B

IC695ACC002 Replacement plastic cases for RX3i CPU and AC PS, quantity 4. Does not include front cover.

IC756WDN010E-28 DataViews Development System for Visual Basic, Java, C++, & Native C 1 User, English v2.8

CompactLogix System 1769-IA16 16 POINT 120 VAC INPUT MODULE

PLC-5/1771 System 1771-PSC POWER SUPPLY CHASSIS, 4 SLOTS

Distributed I/O 1798-BP8 FLEXARMOR 8 SLOT BASE PLATE

Operator Interface 2711P-K6C3D PV PLUS 600 COLOR, KEYPAD, DH485, DC PS

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RSI Software Products 9322-ECCEENE ENTERPRISE CONTROL - CONTROLS EDITION

Motion Control 2094-PRF MODULE, 230V OR 460V, POWER RAIL SLOT FILLER

A06B-6089-H500 Ext. Regen Resistor, 16 Ohm 200 W, Alpha SVU1-80 Amplifier

IC200UEX013 14 point Exp.(8) 12VDC In, (6) Relay Out, 12VDC Power Supply (includes IC200CBL501)

IC752CCK049 ControlStation CE II 6" Controller with Dev Kit

MTR-35005685RR Stepping Motor Nema34 (CTM Only)

ZA06B-0143-B175#7076 A12/3000 servo motor with IP67 sealing and brake and 64k serial encoder

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20G14NC170AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-E3P0 PowerFlex 520 1.5kW (2Hp) Power Module

OFSCSPBST Quantum OFS SMALL 10LIC SUBSCR RENEWAL

FVR 1. 5E11S-4JE 2. 8KVA 3.7A 1.5KW 3相AC380V/50Hz/60Hz

1492-J3-Y 2.5 square mm Standard Terminal Block

1492-SPM3D080-N MCB Supplementary Protector 8 A

软启动器 3RW40382BB14

" TP700 精智 7 英寸，触摸

150-SM4 SMC-50 Digital I/O Module

1738-FPD ArmorPoint I/O Field Distributor Module

1784-CP PLC-3 Communication Cable

193-KB20 1.4-2.0 A IEC Bimetallic Overload Relay

20-750-PBAY-RBRK-2 POWERFLEX 750 KIT,REAR BUSBAR,CU,2 HOLE

2090-CPWM7DF-16AF90 MP-Series 90 m Length Power Cable

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