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PXI-2530B,

PXI-2530B

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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。
 

Support 6723-PFPS SUPPORT RENEWAL CONTRACT FOR 6723-PFP

ControlNet Products 1786-TNCLP4 CONTROLNET TNC COAXIAL CONN - PLUG TO PLUG

RSI Software Products 9301-2SE2400U1 UPGRADE: IN-SUPT: RSVIEW WORKS 1500 TO 32K

RSI Software Products 9358-BEBNT60ENE RSBATCH / EPROCEDURE FOR NT BUNDLE 60 UNITS

Motion Control MPL-B680D-SJ22AA MOTOR,SERVO,60.0NM,2000RPM,SINGL,460V

Motion Control 2098-IPD-005 DRIVE, 2.5A/7.5A, ULTRA5000

829-4-0 Thumbwheel Assembly. 4 Digit, 0 True. Dust Seal

HE693RTD601 RTD Input, 6 channel, 3-wire, 0.125癈 res., -100 to +260癈 range (Pt-100)

IC300OCS995 OCS100 Demo Kit, incl. DIQ616, buttons & LEDs

IC752WTG592 Display Station 2000 Series - 15" active matrix SGA (1024x768) resistive touchscreen

MTR-3T44-J-R-B-M-0RR Servo Motor Metric 24V Brake

20AC8P7A3AYNACC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC015A0EYYANANE PowerFlex 700S AC Drive 20D

20G1ALF330JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D1P4N104 PowerFlex 525 0.4kW (0.5Hp) AC Drive

2715-B7CA PanelView 5500 6.5 in. Graphic Terminal

FR-A740-1.5K 3KVA 4A 1.5KW

1492-LD32P IEC Term Blck 5.1x80.5x45mm Spr Clp

1494F-FS100 100 A Fuse Block

软启动器 3RW44346BC36

ET 200SP 6ES7155-6AR00-0AN0 IM155-6 PN 基本型，含服务模块，集成 2xRJ45 接口

1585D-D4UBJM-0M6 Micro D-Code, QD Style Ethernet Media

1747-PBASE SLC Basic Development Software

1794-APBDPV1 Flex Profibus Adapter

194E-AA16E-PE-TN 194E Load switch

2080-IQ4 Micro800 4 Point IEC Digital Input

2090-CSWM1DF-14AA12 Kinetix Cable Single DSL 2090-Series

20AC2P1A3AYNNNC0 PowerFlex 70 AC Drive 20A

GC646MOSS99 QuickPanel Control Development Software - Site License with Proficy GlobalCare Complete

HE693MIX800 Discontinued Part. Check with GE IP on migration path.

IC609SJR102RR Series One Junior 24Vdc Sink In, 115/230Vac Out,115Vac P/S

IC647HSTSC1250KM Server to Server Collector for Historian - Standard Server 1,250,000 Points (M4 Key)

IC660BBA025 Block 24/48Vdc Analog Current Source 6 Outputs

IC694MDL740 Output module 12/24 VDC 0.5 amps 16 points, positive logic.

IC756WDJ001E-28 DataViews Development System for Visual Basic & Java 1 User, English v2.8

MicroLogix 1500/1769 System 1764-DAT DATA ACCESS TOOL

PLC-5/1771 System 1784-CP10 CABLE ASSY, 10FT/3.20M, IBM AT OR COMPATIBLE CMPTR

Distributed I/O 1797-IRT8 EX RTD/THERMOCOUPLE/MV INPUT MODULE, 16 BIT, 8 PT.

Operator Interface 2711P-K4M5A PV PLUS 400 GRAYSCALE, KEYPAD, RS232, AC PS. INCL

Support 9323-PA1ES SUPT RENEWAL CONTRACT FOR 9323PA1E

Support 9358-HSTS2350R SUPT REINSTATEMENT CONTRACT FOR 9358HSTS2350

Support F1772-LWSERA FIRMWARE UPGRADE FOR 1772-LW PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300NXPTE RSLOGIX 5000 STD., RSNETWORX BUNDLE, PTG

RSI Software Products 9304-WVR256D WINTELLIGENT VIEW 256 ADDITIONAL RUNTIME

RSI Software Products 9358-PLTM2600U5R UPGRADE: OUT-SUPT: PLANTMETRICS 100 TO 200 WORKCEL

Motion Control 1756-M08SE 1756 8 AXIS SERCOS SERVO MODULE

A06B-0128-B575#7076 A6/3000 Servo Motor, IP67 Sealing, 64K Serial Encoder

IC200UAR014 14 point PLC, (8) 120VAC In, (6) Relay Out (2 at 10 amp and 4 at 2 amp), 120V/240VAC Power Supply

IC752BTS400 Display Station 1084 - 10.4" active matrix VGA (640x480) resistive touch screen with integrated keypad, Pentium 133, 32MB, 2 Gig hard drive, expansion slots, Ethernet, with CIMPLICITY HMI and Win 95

MTR-1362-0-A-E-0RR Stepping Motor Nema34 Dbl Shft

ZA06B-0086-B503 B22/2000HVis servo motor with 24 VDC brake and 128k serial encoder

20BD365A3ANNNNC0 PowerFlex 700 AC Drive 20B

20G11TC750JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-A4P8 PowerFlex 520 0.75kW (1Hp) Power Module

140XTS33200 Quantum IP20 本安型蓝色线端子, 40点

FRN 0.75E1S-4C 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

61F-G 自动供水和排水控制?电源:110/220VAC

1492-SPM3C300 MCB Supplementary Protector 30 A

软启动器 3RW40462TB05

数字量输入 / 输出信号板 6ES7 223-0BD30-0XB0 SB 1223 DI 2x24 V DC，DQ 2x24 V DC

150-SC1NUD SMC-50 SOLID STATE MOTOR CONTROLLER 210A

1734-TBS POINT I/O Terminal Base

1783-RMS06T Stratix 8300 6 Port Ethernet Switch

193-ESM-VIG-100A-T E300/E200 100 Amp Sensing Module

20-750-I2B-C567D545 PowerFlex 750 Inverter Assembly

2090-CPWM7DF-16AA05 MP-Series 5m Servo Power Cable

2099-BM08-S Kinetix 700037kW Servo Drive

GA647IFCLNTSRO100 GCP iFIX iClient Read Only 1 PK Keyed Runtime Version

GP-2102NT GagePort Digital NT 2-port input

IC5005TBX0130 PanelPC 15 inch Performance Unit Deluxe with Windows XP and Stainless Steel Bezel

IC647HSTAE5KM Alarm and Events Option for Historian - Standard Server 5000 Points (M4 Key)

IC647SSE004 Scheduler Server Small

IC693MDL741LT 12/24 Vdc Output, 0.5 Amp, Negative Logic (16 Points) (LT)

IC756HDV010K-99 DV Draw Development on HP/UX Op Sys, Korean, Version 9.9

Pico Controllers 1760-MM2 MEMORY MODULE FOR 18 I/O PICO CONTROLLER

PLC-5/1771 System 1771-OAD 120V AC OUTPUT MODULE, 16 OUTPUTS

Distributed I/O 1791D-RTBN21 BLOCK I/O REPLACEMENT TERMINAL BLOCK, 21 PIN NEMA

Communications 1785-KA5P COMMUNICATION MODULE, PANEL MOUNT DH+ TO DH-405

Operator Interface 2706-PDH485K DH-485 COMMUNICATION MODULE FOR 2706-P7X & P9X

Support 9701-VWRTMCR SUPT REINSTATEMENT CONTRACT FOR 9701VWRTMCENE

Support 9515-RSNHS100S SUPT RENEWAL CONTRACT FOR 9515RSNHS100ENE

EtherNet/IP Products 2711P-K6M20D PV PLUS 600 GRAYSCALE, KEYPAD, ETHERNET, DC PS

RSI Software Products 9301-2SE340FRU5R RSVIEW32 RUNTIME 5K-32K UPGRADE OUT-SUPT (FR)

RSI Software Products 9356-PRO2300U5R UPGRADE: OUT-SUPT: RSSQL PROF.150 TO 1500 TAG

Motion Control 1326AB-B740C-M2L MOTOR,SERVO,460V,53.0NM,2200RPM,MULTI,IP67

4162-L-3 4162 CONTINUOUS LENS KIT. FOR (3) 4162s

HMI-KPN-301 QUICKPANEL KEYPAD FOR 9"

IC693CPU360 CPU 360 Module (240K Bytes configurable user memory, 4K I/O, 8 Racks), no built-in Serial Ports .22msec/K

SPS-12W 24 VDC PS, 0.5A, 85-265 VAC Input

TRM-21006696 4 point screw terminal motor power connector for S2K stepper controller

20BD011A3NYYACC0 PowerFlex 700 AC Drive 20B

20G11BC1K6JN0NNNNN PowerFlex 755 AC Packaged Drive

22B-V6P0C104 PowerFlex 40 1.1 kW (1.5 Hp) AC Drive

140XBP00300 Quantum 背板, 3槽

284R-360P500-M05 360 Ohm Dynamic Brake Resistor

面板安装，触点:5A

1492-SPM1D020-N MCB Supplementary Protector 2 A

通用型变频器 6SE6 440-2UC31-5DA1 "15 KW,275 x 520 x 245"

电机启动器 3VU13403MD00

150-C317NBD SMC-3 317A Smart Motor Controller

1609-EXBAT External Battery Housing

1770-XYV PLC-5 Battery

193-EC1JG E3 84-420 A Overload Relay

195-GL01 Auxiliary Contact Block, Side Mounting

2090-CPBM7E7-14AF07 MP-Series 7 m Length Pwr and Brake Cable

2093-PRS4 Kinetix 2000 4 Axis Slim Power Rail

CP9B-0WPB-0140-AZ Power cable for B2/4000is or B4/4000is motors. 14 meters

GFK-0255 Series 90 Programmable Coprocessor Module & Support Software User's Manual

IC200UEX211-24 Qty of 24, 28 point expansion. (16) 24VDC In, (12) Relay Out, 120V/24 0AC Power Supply (includes IC200CBL501)

IC647AMK0441 PA Media Kit v4.4.1

IC647PCMSCH Proficy Change Management Scheduler

IC693CHS392 Base, Expansion, 10 Slots

IC754CKL06MTD Starter Kit 6 In Mono Ctrl Loaded 24 VDCVDC

KIT-GFS-350 QP View & Control Workshop Student Kit

SLC/1746 System D1746-6.7 SLC 500 RTD/RESISTANCE INPUT MOD USER MANUAL

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Support 9381-PA2500ENR SUPT REINSTATEMENT CONTRACT FOR 9381PA2500EN

DeviceNet Products 1790D-0V16 DNET LDX I/O, 24VDC, 16 SINK OUT BASE, D-SHELL

RSI Software Products 9301-2SE3303ESE RSVIEW32 RUNTIME 1500 WITH RSLINX (SPANISH)

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Motion Control MPL-B540K-MK24AA MOTOR,SERVO,19.4NM,4000RPM,MULTI,460V,BRK,19.1KG

Motion Control 9101-1779 CABLE, ADAPTOR,50 POS, PCB TO J1 D PLUG

GQPK-DEM-L02 QUICKPANEL JR DEMO 6" MONO LCD GE LABEL

IC646MRE300 Logic PC & View (HRT) 300 Tag Runtime System

MTR-3T43-J-R-0-M-0 MTR-Series Servo Motor, Resolver, Metric

ST-1114 STXi input module 4 points, Positive Logic, 5VDC

20BC072A3AYNACC0 PowerFlex 700 AC Drive 72 A 37 kW 20B

20F11RC015AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-A1P4N113 PowerFlex 4- 0.2 kW (0.25 HP) AC Drive

140CPU65150C Quantum CC QUANTUM PROCESS- UNITY W/ 1024/7

281E-F23Z-25D-CR-3FR ArmorStart Direct Online RVSG Starter

C200H-DA001 模出单元,2路12位?D/A 4-20mA/1-5V/0-10V 可选

1492-RCDA2A40 Residual Current Device 40 A

存储卡 6ES7952-0KF00-0AA0 FEPROM 存储卡， 64K

变送器 3RS11202DD20

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

1606-XL960E-3S Power Supply XL 960 W Power Supply

1762-MM1RTC MicroLogix 1200 with RTC Memory Module

188-K3D020-N Miniature Circuit Breaker 2 A

194L-HC4A-825 Actuator For Control Switch

2090-CPBM7DF-06AA15 MP-Series 15m Power and Brake Cable

2090-XXNPMF-10S25 Kinetix Drives 25m Standard Cable

BC647TPD075 CIMPLICITY HMI ProServer 75 I/O Development and Runtime System with Proficy GlobalCare

GC647PRTHE010 GlobalCare Complete - Proficy Portal Historian Edition Client Pack 10 Users Ver 3.0

IC200MDL740LT OUTPUT 12/24VDC POS LOGIC 0.5A PER PT (1 GROUP OF 16) 16PT (LT)

IC646PCN110 OpenProcess Operator Console (700 I/O)

IC647MRA150 View Runtime 150 I/O with USB Hardware key

IC677CBLY006 IP67 Sensor/actuator cable, 3-pos., PUR halogen-free black, straight M12 Y-socket, on 2x angled M12 connector, cable length: 0.6 meters

IC697PWR732RR Replacement Power Supply, 125 Vdc, 60 Watts

IC800SSI216RD2 16 amp 230 VAC Devicenet S2K servo controller for MTR series motors

SLC/1746 System 1747-L511 SLC 5/01 CONTROLLER, 1K MEMORY - DH 485

Industrial Computers 6189-RW2 VVCE COMPACT FLASH 128MB W/ME

Application-specific products 9358-PB30ENE RSBIZWARE BATCH FOR PROCESSLOGIX 30 UNITS

Operator Interface 2711-B5A8L1 PV550 MONO KEY&TOUCH, DH+ & RS232 PRINT

Support 9303-3CS0E80S SUPP RENEWAL CNTRCT FOR 9303-3CS0E80

Support 9391-SDHEHR 9391-SDHEH SOFTWARE SUPPORT CONTRACT REINSTATEMENT

ControlNet Products 2711-B5A15L2 PV550 MONO KEY&TOUCH, CNET & RS232 PRINT

RSI Software Products 9301-2SE2500KOE RSVIEW32 WORKS 100K (KOREAN)

RSI Software Products 9358-BCMPN01ENE RSBIZARE BATCHCAMPAIGN

Motion Control MPL-A4530K-SK24AA MOTOR,SERVO,8.36 NM,4000RPM,SINGL,230V,BRK,11KG

Motion Control 2090-XXNFMP-S07 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,7M

CBL-HSLK-06-RA Serial Cable, Operator Interface Panel (OIP) to IMC or Target, Rt. Ang, 6 Ft.

IC641PCC002 Complete Development System - 128 Points

IC800SLR003 Ext. Regen Resistor, 20 Ohm 300W for 1000W 230VAC SL Amplifier

OIP-DSP1-CRR Operator Interface Panel

20B-STD-A0 PowerFlex 700 std Control Cassette Kit

20DD460ACENNBEASE PowerFlex 700S AC Drive 20D

20SF1K0NEM PowerFlex 1000 A SCR Bus Supply

2711P-B6M5A8 PanelView Plus 6 6 Gray/Touch AC RS232

280-PWRM35B-M30 ArmorConnect 3-PH Power Media trnk cable

输出:0～10V,-10～+10V,4～20毫安

1492-MR5X8H11-20 Connection Products

1494V-RB3 Connecting Rod

软启动器 3RW44666BC35

运行版软件 6AV2104-4HH04-0AE0 SIMATIC WinCC Runtime Advanced V14 Upgrade ： WinCC flexible 2008 Runtime 4096 PowerTags -> WinCC Runtime Advanced 4096 PowerTags V14

1585J-M4TBJM-20 RJ45 Ethernet Media

1756-OB32K ControlLogix 32 Point Digital Output

188-K1C005-N Miniature Circuit Breaker 0.5 A

194E-G3665 Abs Thermoplstc Encl 175 X 230 X 120 mm

2090-CFBM7DF-CDAF50 MP-Series 50 m Length Feedback Cable

2090-UXBB-DM15 Ultra Series Breakout Board Kit

BC646OEM0300 OEM Edge - Machine Edition Kit (Approval Required)

GC647DMC020 GC DataMart 20 Reporting Clients

IC200ALG240LT ANALOG INPUT 16 BIT VOLTAGE/CURRENT ISOLATED 8 CH (LT)

IC646IFCLNTCRO005C iFIX iClient Read Only 5 PK Keyless (M1Component Part)

IC647IFPLSR00900C iFIX Plus SCADA 900 I/O Server (M1Component Part)

IC660MLD025 Label for IC660BBD025 (Qty 100)

IC697BEM721 I/O Link Interface Module for the Series 90-70

IC800AIHV040 Alpha SVM1-40HVi Alpha HVi-series 40 amp amplifier kit

ControlLogix/1756 System

Industrial Computers

Process Control 1757-UPGSR50 UPGRADE 50PT RED SERVER

Operator Interface 2711P-B15C4D1 PV PLUS 1500, KEY/TOUCH, ENET, DC PS, STD MEM

Support 9240-DNEXPS SUPT RENEWAL CONTRACT FOR 9240DNEXP

Support 6310-DER 6310-DE SOFTWARE SUPPORT REINSTATEMENT

Support F1794-ACN15SERB FIRMWARE UPGRADE FOR 1794-ACN15 I/O MODULE

RSI Software Products 9301-2SE2350U1R UPGRADE: OUT-SUPT: RSVIEW32 WORKS 150 TO 5000

RSI Software Products 9351-AIX INTERCHANGE FOR AIX

RSI Software Products 9399-WCSUG WINTELLIGENT VISION USER'S GUIDE

Motion Control 8720MC-LR10-062B 10%,62AMP,460VAC LINE REACTOR

BC646MRD075 Logic PC Runtime (HRT) 75 I/O

IC300RCS082 8 DC Inputs (12/24vdc), 8 Positive Logic DC Outputs (5/12/24vdc, 0.5A with ESCP), 4 Analog Inputs (0-5vdc, +/-5vdc, 0-10vdc, +/-10vdc, 12 bit). 2 Analog Outputs (+/-10vdc). Built-in network interface ofr CsCAN or DeviceNet salve

IC754VBI12CTD 12" Color-TFT QuickPanel View Intermediate, Touch, 24VDC, Blank Label

MTR-3T55-H-R-B-M-0 MTR series metric servo motor with resolver and brake

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20DC030A0NYNACASE PowerFlex 700S AC Drive 20D

20G1ANC170JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-E1P7N104 PowerFlex 525 0.75kW (1Hp) AC Drive

280-BRCAP-M25 Cap, Sealing for M25 Source Brake

FR-F740-1.5K 2.7KVA 3.5A 1.5KW 3相AC380V/50Hz/60Hz

1492-LG2Q IEC Term Blck 3.5x75x29.5mm Spr Clp

1494F-P2 Disconnect Switch Handle

软启动器 3RW44362BC34

ET 200SP 6ES7131-6TF00-0CA0 DI 8xNAMUR 高性能型，基座单元类型 A0

1585D-E4UBDE-0M3 1585D Ethernet Media Patchcord

1753-IB8XOB8 GuardPLC Digital Combo Module

1794-IB8 Flex 8 Point Digital Input Module

194E-AA32E-PE-TN 194E Load switch

2080-LC30-10QWB Micro830 10 I/O Controller

2090-CSWM1DF-14AA50 Kinetix Cable Single DSL 2090-Series

20AC3P5A3AYNACC0 PowerFlex 70 AC Drive 20A

GC646MPS010 Proficy GlobalCare Complete for Logic Developer - PLC Standard - 10 Pack

HE693PIF104 PC Interface to Series 90-30 I/O in PC104 form factor.

IC610CHS130RR Rack, 115/230Vac Power Supply (10 Slots)

IC647HSTSC5000KM Server to Server Collector for Historian - Standard Server 5,000,000 Points (M4 Key)

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