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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。
 

1797-ACNR15 FlexEx ControlNet Adaptor

194E-A16-1753-4N 16 A 194E Load switch

198-F3 IEC Mounting Foot Enclosure Accessory

2090-CSBM1DF-18AA12 Kinetix Cable Single DSL 2090-Series

2093-AM02 Kinetix 2000 Axis Module

GA647TRT300 Proficy GlobalCare Assist for CIMPLICITY HMI Server 300 I/O Runtime System

GF-2232R Connecting FlashCable to DWM-IV, Heise, Omega, Toledo, Weightronix (B are Ended).

IC5002TAX0130 PanelPC 12 inch Standard Unit Deluxe with Windows XP and Stainless Steel Bezel

IC646MPT001 GE Compare Single License

IC647IFSTDV00075M iFIX Standard HMI 75 I/O Development (M4 Part)

IC670ALG310RR Analog Output Voltage, 8 Channel, +/-10V, 0 to 10V

IC697CPU788 GMR Redundancy CPU, 386, 100 Triplex (voted) I/O,

IC800S2K4DSTRKIT S2K series controller starter kit with 4.3 amp Devicenet controller

ControlLogix/1756 System 1756-OW16I N.O. ISOLATED RELAY OUTPUT 16 PTS (36 PIN)

Industrial Computers 6182H-10KRH6B VVCE 1000, KEYPAD, STD MEM, RIO/DH, AC

Process Control 1757-FIMUL005 FOUNDATION FIELDBUS FIM MODULE USAGE LICENSE

Operator Interface 2711P-RDK10C PV PLUS 1000, KEYPAD DISPLAY MODULE

Support 9355-WABDES SUPT RENEWAL CONTRACT FOR 9355WABDE

Support 9351-WESRTS SUPT RENEWAL CONTRACT FOR 9351WESRT

ControlNet Products 1756-CNB CONTROLNET BRIDGE MODULE

RSI Software Products 9301-2SE2400ITU1 RSVIEW32 WORKS 1500-32K UPGRADE IN-SUPT (IT)

RSI Software Products 9355-WABOEMFRE RSLINX OEM - FRENCH

Motion Control MPL-A320P-HJ24AA MOTOR,SERVO,2.94NM,5000RPM,ENCR,230V,BRK,5.1KG

Motion Control 2090-U3AE-D4415 CABLE,TWO AXISTO LOGIX 1756MOAE2 CARD,15M

CBL-119-2 Cable. GE Series 1 Plus (RS-422)

IC600CP610RR 13" Series Six Plus CPU w/o Power Supply (8 Slots)

IC800PCUBDINMTG PowerCube DIN Rail Mounting Adaptor

OC647IFESGDV00300M iFIX Optn: ESig & ERec 300 I/O Development (M4 Part)

PCI-MIO-16XE-50

HICORE-i6313/V

艾讯 SBC8159

PCI DIO 2416

PRA-8243AVE-A7.0

LUX170-RT5U

1492-M6X10V101-200 Connection Products

1494HL-EN3H2 General Duty Safety Switch

软启动器 3RW44466BC36

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 Intelligence Industrial Computer - Bundled - Performance 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-JD3F IEC 2Ckt Feed-Thru Blk 2 Stab Conn 2.5mm

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

软启动器 3RW40756BB35

安全 CPU 模块 6ES7 517-3FP00-0AB0 SIMATIC S7-1500F，CPU 1517F-3 PN/DP，中央处理单元，带有 3 MB 工作存储区和 8 MB 数据存储区

156-B20CB3 20 A Three-Phase Solid State Contactor

1746-HCA CABLE ASSY IMC110 TO TERM PANEL 7 FT

1786-RPFM ControlNet Fiber Ring Medium Repeater

193-T1AC10 7.2-10.0 A IEC Bimetallic Overload Relay

20-FR09823 IGBT MODULE,SUB-ASSEMBLY, FR. 9 600V CL

2090-CSBM1DF-14AA09 Kinetix 9m Smartlink Single Cable

20AC015A3AYNADC0 PowerFlex 70 AC Drive 20A

GA647TPD300 Proficy GlobalCare Assist for CIMPLICITY HMI ProServer 300 I/O Development and Runtime System

GP647IFPRSR00075 GCP iFIX Profsnl SCADA 75 I/O Srv

IC600CB507RR 8K Register Memory Module (for use in Model 600 or 6000)

IC647HSTCS250KM Historian Enterprise Corporate Server 250000 Points (M4 Key)

IC647TSSRV002 Proficy Troubleshooter 2 User Server License

IC693PWR330CA Conformal Coated Power Supply 120/240VAC 125VDC, added capacity.

IC756MDV010K-99 DV Draw Dvlpnt on Alpha OpenVMS, Korean, Version 9.9

MicroLogix 1000/1761 System D1761-6.3 MICROLOGIX 1000 PROGRAMMABLE CONTROL.USER MANUAL

PLC-5/1771 System 1771-OFE1 ANALOG OUTPUT MODULE

Distributed I/O 1794-ADNK CONFORMALLY COATED, DEVICENET ADAPTER

Communications 9355-JBOXENE RSJUNCTIONBOX

Operator Interface D6190-6.5.3RU CONTROLVIEW MOUSE GRAFIX USER MNL (RUSSIAN)

Support 9358-BA60R SUPT REINSTATEMENT CONTRACT FOR 9358BA60ENE

Support 9392-KBCDRSENE KNOWLEDGEBASE CD-ROM SUBSCRIPTION

RSI Software Products 9324-RL01U3ENE UPGRADE: IN-SUPT: RS500 STARTER TO RS500

RSI Software Products 9301-2SE3500U5 UPGRADE: IN-SUPT: RSVIEW32 RUNTIME 5000 TO 100K

RSI Software Products 9356-STD2350U1R UPGRADE: OUT-SUPT: RSSQL STD 150 TO STD 5000 TAG

Motion Control Y-1003-1-H04AA MOTOR,SERVO,0.35 NM,4500RPM,ENCDR,115V,BRK,1.2KG

5004S Obsolete - Message Center. 1 Line, 15MM, Green VFD. SLAVE Unit. NEMA 4

IC200CHS122 I/O INTERPOSING FUSE STYLE, 16 PT EXPANSION

IC694MDL753 OUTPUT MODULE 12/24 VDC 0.5AMP 32 POINT POSITIVE LOGIC

MSI-WEB-2-43 Web or Excel Reping Clients 2 Pack-43

cRIO-9030

AIMB-562

阿尔泰科技 PCI2310

Nupro-852LV

ACE-832AP

DMC1600

AVerMedia V1A3-E

1492-SPM2C500 MCB Supplementary Protector 50 A

软启动器 3RW30362BB04

电机启动器 3VU16403LS00

150-F251NBR SMC Flex Smart Motor Controller

1732E-16CFGM12P5QCR ArmorBlock 16 Point Configurable QC

1771-P5EK 1771 Power Supply

193-EEDP 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 Transformer

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

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

189-AL02 MCB Accessory Auxiliary Contact

194R-HF-400-4U 194R Disc Switch Conductor Mtg Hdwre

2090-CPBM7DF-12AA25 MP-Series 25m Power and Brake Cable

2090-XXNPMP-16S15 MP-Series 15 m Length Power Cable

CBL-30-BT-20 Brake cable for MTR-3S or MTR-3N series servo motors with brake. 20 feet

GF-0201 Connecting FlashCable to Fowler Ultra Digit I and II.

IC200TBX164 Tool box, Micro 64 and software. Includes (IC200UDR164) 24VDC In/Relay Out, AC Power Supply, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with Proficy software, manuals and cables (IC646MPM101)

IC646TBSPMPS500 Smart Process Monitoring Process+ server 500 loops

IC647NSF000 Siemens TCP/IP OPC Server

IC693ACC331 Base is discontiued. Use generic TBQC base IC693ACC329.

IC752CAB102 AB Micrologix cable for DataPanel 30/50

IC800VMCP1030 Power cable for 1 kW VersaMotion servo motor- 3 meter

SLC/1746 System 1746-OW4 RELAY OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-ACCORD IEC AC POWER CORD.

Application-specific products 1400-PD51B POWERMONITOR DISPLAY MODULE

Operator Interface 2711-B6C2L1 PV600 COLOR KEY&TOUCH, DH485

Support 9301-2SE2400DES SUPT RENEWAL CONTRACT FOR 93012SE2400DE

Support 9307-EM8MGRR SUPT REINSTATEMENT CONTRACT FOR 9307EM8MGRENE

DeviceNet Products 1734-IA2 120 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE250ZHU1R RSVIEW32 WORKS 32K-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60U2R UPGRADE: OUT-SUPT: RSBATCH 10 TO 60

Motion Control MPL-B330P-MK24AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,460V,BRK

Motion Control 2090-U3BC-D4401 BREAKOUT BOARD CABLE,CN1,ULTRA 3000,1M

GFK-0664 Axis Positioning Module (APM) Programmer's Manual

IC646CNC000 CIMPLICITY Client for Microsoft Windows with NetDDE

MSCPX-212806NT Marathon Exp CPU - 333 MHz AMD CPU, 128M, 6G, WinNT, 2 ISA and 2 PCI/ISA expansion slots

PSPC-DC50/E Prof Shop Floor SPC DC 50 User w/ eSig

PXIe-2515

CONTEC COM-8(PCI)H

CI7BM-1.10

KVR16LS11/4

CIO-DAS1400

IEEE 1394A PCI

1492-N30 TERM BLCK 50 Pole Side Jumper

快速进给/爬行定位模块 6ES7351-1AH01-0AE0 FM351，快速进给/爬行定位模块，以双速电机实现闭环定位，8DI/8DO，15?针D?型编码器接口，20pin前连接器

行程开关 3SE53223SD23

TIA 博途 WinCC 选件 6AV2107-2KF00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 3 -> 10 Clients

1585J-M8HBJM-5 RJ45 Ethernet Media

1760-IB12XOW4IOF PicoGFX Analog Combination Module

188-K2B630 Miniature Circuit Breaker 63 A

194L-A12-1753 12A 194L Load Switch

2090-CHBP8S8-12AA09 Kinetix 6000M IDM Hybrid Cable

2090-UXTBMP-18S09 MP-Series 9 m Length Brake Cable

BC647MPP050 Logic Developer PLC Professional 50 pack with Proficy GlobalCare Complete with USB Hardware key

GC647IFPRSRUNLMT GCC iFIX Profsnl SCADA Unlmt Srv

IC200CHS102 I/O interposing disconnect style, 16 point expansion

IC646MSP005 Logic Developer State Professional 5 Pack

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