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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。
 

194E-KA32E-P11 194E Load switch

198-N1 IEC Closing Enclosure Accessory

2090-CPBM7DF-08AA03 MP-Series 3m Power and Brake Cable

2090-CSWM1DF-14AA10 Kinetix Cable Single DSL 2090-Series

BC646MPHSBA Logic Developer PDA Site License BASE

GC647SVB001 GCScheduler Visma Business Adapter

HE800CBL019 I/O Extension Cable, 19-pin, 0.5m. For use in conjunction with TRM519

IC646NMF000 Mitcubishi FX Series Front Port OPC Server

IC647HSTCCP25M Historian Client Connection Pack 25 Users (M4 Key)

IC647TIAC TIA:Texas Instrument Unilink PC Adapter

IC693MDR390RR Mixed I/O, 24Vdc Input (8 points), Relay Output (8 points)

IC756LDV010E-925 "DV-Draw Development on Intel Linux/Red Hat, English v9.25"

Pico Controllers D1760-UM001BENP PICO CONTROLLER USER MANUAL

PLC-5/1771 System 1771-OW16K CONFORMALLY COATED, CHNL-ISOL. CONTACT OUTPUT MDL.

Distributed I/O 1791-IOVW BLOCK I/O, 24V DC, 64 PT MODULE

Communications 1786-FS300 200 MICRON CABLE ASSEMBLY 300 METERS (984.2 FT)

Operator Interface 9399-2SE32UG RSVIEW32 USER GUIDE

Support 9356-PRO2300R SUPT REINSTATEMENT CONTRACT FOR 9356PRO2300

Support 9324-RL0300PTS SUPT RENEWAL CONTRACT FOR 9324RL0300PT

EtherNet/IP Products 1403-NENET COMMUNICATION MODULE (ETHERNET)

RSI Software Products 9301-2SE3500ESU4 RSVIEW32 RUNTIME 150-100K UPGRADE IN-SUPT (ES)

RSI Software Products 9356-PRO2500U1 UPGRADE: IN-SUPT: RSSQL STD.150 TO PROF.70000 TAG

Motion Control N-3406-2-H04AA SERV MTR,0.8NM,6000RPM,2000 LN ENCDR,BRK

44A730464-G24 Connector Kit, AC12, A12, A22, A30 & A40 Motor Encoder

IC200ALG326 ANALOG OUTPUT 13 BIT CURRENT 8 Channel

IC693PIF400 High Performance PC/AT Interface (PCIF) to Series 90-30 I/O with software

Silver Series 9323-L2300D PLC-2/1774-PLC OFFLINE/ONLINE PROGRAMMING

VSPC-SRV/OR VisualSPC Oracle Server Interface (Version 8.1.7 or greater).

20BD027A0AYNACD1 PowerFlex 700 AC Drive 27 A at 20 Hp 20B

20G11FD027AA0NNNNN PowerFlex 755 AC Packaged Drive

22C-D142A103 PowerFlex 400- 75 kW (100 HP) AC Drive

MA0186100 Quantum 远程电缆分离器

285-BRCF25-M14 ArmorConnect Brake and Motor Cable

E6B2-CWZ3E 5-12VDC,电压输出,负载电流20mA, 3相,360P/R,500P/R,600P/R

1492-SPM1D500-N MCB Supplementary Protector 50 A

变频器选件 6SE6 400-0AP00-0AA1 AOP 高级操作面板 420/440

电机启动器 3VU16400MJ00

150-CA10 Smart Motor Controller Accessory

1715-A3IO 1715 3 Slot Input/Output Base Unit

1771-IT 1771 8 Point Digital Input Module

193-EC4BB E3 Plus 3-15 A Current Relay

198-W109 ModCenter IEC Wiring Kit

2090-CPWM4DF-16AF04 MP-Series 4 m Length Power Cable

2094-BL10S Kinetix Line Interface Module

DEMOCD00011 Proficy MMI DEMO CD

GFK-0750 OnTOP for Series 90-30 Online Troubleshooting and Operator Program User's Manual

IC210BDR024 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog inputs, Expandable, without LCD/Keypad

IC647ASC001 PA SDK

IC647PPSOC5 Proficy Process Systems Operator Console with CIMPLICITY - 5 Pak

IC693CPU311CA Conformal Coated CPU311 5 slot base. CPU built into base.

IC754VBL06MTD View Loaded 6 In Mono Touch DC Blank

MSI-DASH-UNL Unlimited Dashboard Clients

SLC/1746 System 1746-R13 REPLACEMENT COVER & LABELS FOR SPECIALTY I/O MOD.

Distributed I/O 1734-OV4E 24V DC 4 CHANNEL SINK OUTPUT MODULE

Application-specific products 1803-EEM21 EEM,32 PULSES,24V DC, 8 ANALOG, 4 TO 20 MA

Operator Interface 2711E-K10C6 PANELVIEW 1000E KEYPAD TERMINAL, 10.4" FLAT PANEL

Support 9302-BATS SUPT RENEWAL CONTRACT FOR 9302BAT

Support 9381-PP250ENR SUPT REINSTATEMENT CONTRACT FOR 9381PP250EN

DeviceNet Products 1791D-8B8P DNET 24VDC CBLOCK I/O,8 IN SINK 8 OUT SOURCE, BASE

RSI Software Products 9301-2SE3350ESU3 RSVIEW32 RUNTIME 1500-5K UPGRADE IN-SUPT (ES)

RSI Software Products 9358-PBRENT01ENE RSBATCH NT FOR PROCESSLOGIX REPORT EDITOR

Motion Control MPL-B860D-SJ24AA MOTOR,SERVO,83.0NM,2000RPM,SINGL,460V,BRK

Silver Series 1398-DDM-009-DN DRIVE,15A PEAK, ULTRA 100 W/DNET

HE660BGM424 Genius BASIC Prog. Co-processor with RS-232 and RS-422/485 ports

IC646TJV000 CIMPLICITY?Tracker Display-Intel

QDA-EDT-001/L QuickDesigner Lite (download cable NOT included)

ST-3114 STXi analog input module 4 Channels, 0~20mA, 12-bit

20BC105A0AYNANC0 PowerFlex 700 AC Drive 20B

20F14NC260AN0NNNNN PowerFlex 753 AC Packaged Drive

22A-B2P3F104 PowerFlex 4 0.4 kW (0.5 Hp) AC Drive

140CPS12420C Quantum LMS AC PS 115/230V RED CC

284D-FHD2P3B-10-CR-DB-SB DeviceNet Variable Frequency Drive

CJ1W-PA205R 电源单元100-240VAC,输出能力：5A,5VDC

1492-RIFM20F-F120-2 Connection Products

上位网卡 6GK1561-1AA01 CP5611,PCI 卡，用于台式机

变送器 3RS17001AD00

1497A-A10-M6-0-N Control Power Transformer

1606-XLP100F Power Supply XLP 100 W Power Supply

1764-MM3 MicroLogix 1500 Memory Module

188-K4B200 Miniature Circuit Breaker 20 A

194L-HE6E-175I 194L Control and Load Switch Actuator

2090-CPBM7DF-08AF40 40 m Length SpeedTec Flexible Cable

2090-XXNPMF-16S40 Kinetix Drives 40m Standard Cable

CA-870-2 Adapter for True Position probe to GP-3102NT GagePort.

GC647SES010 GCScheduler Server Medium

IC200PKG103 I/O starter kit DeviceNet NIU

IC646TBLCLT002 Proficy Troubleshooter for Intelligent Historian Standard, Enterprise and Corporate Clients Access 2 Users

IC647NCN020 CIMPLICITY HMI for CNC Additional Connection

IC690CBL714 Cable, Dual-port, Multi-drop SNP

IC698ACC720 Shielded double slot faceplate, package of six.

IC800VMA042 400 W VersaMotion servo amplifier

SLC/1746 System 1746-C9 36-INCH RACK INTERCONNECT CABLE

Industrial Computers 6181P-17TS2KH VERSAVIEW INTEGRATED DISPLAY COMPUTER 17-INCH TFT

Application-specific products 9358-PBPC60ENE RSBIZWARE BATCH FOR PLX PC BASED PHASE 60 UNITS

Operator Interface 2711-K5A3L2 PV550 MONOCHROME KEY, DH485 & RS232 PRINT

Support 9301-2SE2100PTS SUPT RENEWAL CONTRACT FOR 93012SE2100PT

Support 9500-CPAKPSENR SUPT REINSTATEMENT CONTRACT FOR 9500CPAKPSEN

ControlNet Products 9904-CNA10T CONTROLNET CNA10T ASIC (BOX OF 90)

RSI Software Products 9301-2SE2503ITE RSVIEW32 WORKS 100K WITH RSLINX (ITALIAN)

RSI Software Products 9358-BEPNT60U1R UPGRADE: OUT-SUPT: EPROCEDURE FOR NT 03 TO 60

Motion Control MPL-A520K-SK24AA MOTOR,SERVO,10.7 NM,4000RPM,SINGL,230V,BRK,13.9KG

Motion Control 2090-XXNPMP-14S30 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,14 GAUGE,30M

GC646MDA159 Proficy GlobalCare Complete for View Development /Runtime 1,500 I/O""

IC641SWM701 Logicmaster 90-70 S/W Dev. Pkg., 3.5"/5.25" disks + paper docs.

IC800SSI228RD2 28A, 230V, DeviceNet S2K Servo Controller for MTR Series Motors

PSPC-DC-220 Prof Shop Floor SPC DC 1 User 220v

20BB154A0AYNANC0 PowerFlex 700 AC Drive 20B

20DH105A0ENNANANE PowerFlex 700S AC Drive 20D

2198-DB20-F Kinetix 5500 20A Line Filter

2711P-K6C20A9 PanelView Plus 6 Graphic Terminal

280-PWRM35E-M12 ArmorStart Three-Phase Power Media

C20P-EDR-A C20P扩展，12点入， 8点出?（继电器）.已停产，替换品：CPM1A-20EDR1

1492-MS6X12V21-30 Connection Products

数字量输入/输出模块SM 6ES7 321-1FF01-0AA0 DI/8 110/230VAC，光电隔离，20pin 前连接器

行程开关 3SE53122SG12

运行版软件 6AV2105-2HH04-0AC0 SIMATIC WinCC Runtime 专业版 Powerpack Runtime Advanced 4096 PowerTags -> Runtime 专业版 4096 PowerTags V14

1585J-M8CBJM-1 RJ45 Ethernet Media

1756-PB72K ControlLogix DC Power Supply

188-K1D005-N Miniature Circuit Breaker 0.5 A

194E-Y100-1753-6N 100 A 194E Load switch

2090-CFBM7DF-CEAF50 50 m Length SpeedTec Flexible Cable

2090-UXNFBMP-S09 MP-Series 9 m Length Feedback Cable

BC646TDV935 Server 35,000 I/O Develop/Runtime System with Proficy GlobalCare

GC647IFESGRN00900 GCC iFIX Optn: ESig & ERec 900 I/O Run

IC200ALG630 Analog input 16 bit Thermocouple, 7 channel

IC646MDG001 GE FANUC SRTP OPC Server

IC647IFPRRN00900M iFIX Profsnl SCADA 900 I/O Runtime (M4 Part)

IC660TBA106 Terminal Assembly for IC660BBA106

IC697CMM711 Communications Coprocessor, CCM, RTU, SNP, and SNPx Protocols

IC800MCUB12160XE 50 oz-in stepping Motorcube with pulse/direction interface and encoder feedback

ControlLogix/1756 System 1756-IB16D 10-30 VDC DIAGNOSTIC INPUT 16 PTS (36 PIN)

Industrial Computers 6182H-7TRH15D VVCE 700, TOUCH, STD MEM, CNET, DC

Process Control 9358-PBNT03ENE RSBATCH NT FOR PROCESSLOGIX 03 UNITS

Operator Interface 2711P-RAK12S PVP/VVCE1250 KEY/COMB TO PV1400 KEY ADAPTER

Support 9352-WM9300S SUPT RENEWAL CONTRACT FOR 9352WM9300

Support 9330-RSRRTENS SUPT RENEWAL CONTRACT FOR 9330RSRRTEN

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

RSI Software Products 9301-2SE235JPU3R RSVIEW32 WORKS 1500-5K UPGRADE OUT-SUPT (JP)

RSI Software Products 9355-WABDEE RSLINX PRO - GERMAN

Motion Control MPL-A310F-SK22AA MOTOR,SERVO,1.58NM,3000RPM,SINGLE,230V,3.1KG

Motion Control 2090-DANFCT-S03 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 03M

BC647MBT001 Machine Edition Traditional Development Suite with Proficy GlobalCare Complete and a hardware key

IC5002TAN0000 12" Intelligence Industrial PC, Standard Series WinNT

IC800CBL064 Use IC800CBL067 for New Applications: B0.5/3000 Motor Power Cable, 14 Meters

OC647APS30100 CSense Predictive Soft Sensor 100 KPI's

20AD014A3AYYADC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC105A0EYNANANE PowerFlex 700S AC Drive 20D

20G1AND361AN0NNNNN PowerFlex 755 AC Packaged Drive

25C-D017N114 PowerFlex 527 7.5kW (10Hp) AC Drive

280-MTRF22-M4 ArmorConnect Motor Flex Cable

FX1S-20MR-001 主机12点入/8点出 继电器输出

1492-M5X10H61-70 Connection Products

1494H-BN3H2 Heavy Duty Fusible Safety Discon Switch

软启动器 3RW44446BC35

ET 200SP 6ES7 134-6PA20-0BD0 AI 电能测量，480VAC，标准型，基座单元类型 D0

1585D-M4TBDM-10 Micro D-Code, QD Style Ethernet Media

1756-CNBRK ControlLogix Communication Module

1794-OA16 Flex 16 Point Digital Output Module

194E-CA32E-P11-PE 194E Load switch

2080-USBADAPTER Micro810 USB Adapter

2090-DANBT-18S02 TL-Series 2 m Length Brake Cable

20AC5P0A3AYYNCC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MSS005 Proficy GlobalCare Complete for Logic Developer - State Standard - 5 Pack

HE693THM166 16 ch. J, K, N, T, E, R, S, B, C 0.5 degC resolution, C/F units, 16 a larms

IC630CPU301RR CPU/Programmer Unit, 4K Words

IC647HSTSS30KM Historian Standard Server 30000 Points (M4 Key)

IC660BLA020 Cover w/Label for IC660BBA020

IC695ALG608RS Refurbished Analog Input module, 8 channels single ended, 4 channels differential, channels are configurable for voltage and current. Can be configured for Current: 0 to 20mA, 4 to 20mA, +/- 20mA; Voltage: +/- 10V, 0 to 10V, +/- 5V, 0 to 5V, 1 to 5V

IC756WDV009E-22 DV Development Sys Visual Basic, English, Version 2.2

CompactLogix System 1769-IF8 8 CHANNEL ANALOG VOLTAGE/CURRENT INPUT MODULE

PLC-5/1771 System 9399-FW5DDGRDE RSLGIX FRAM'WK DIAG.DEVEL.GET'G RESULTS GUIDE(GERM

Distributed I/O 1799-DSSCON D-SUB(50) I/O MATING CONNECTOR (SOLDER)

Operator Interface 2711P-T6C3A PV PLUS 600 COLOR, TOUCH, DH485, AC PS

Support 9341-L5200S SUPT RENEWAL CONTRACT FOR 9341L5200

Support 9358-PBPC03R SUPT REINSTATEMENT CONTRACT FOR 9358PBPC03ENE

Support F1779-KFMRSERB FIRMWARE UPGRADE FOR 1779-KFMR COMMUNICATION MODUL

RSI Software Products 9301-2SE2103 RSVIEW32 WORKS 150 WITH RSLINX

RSI Software Products 9701-VWMR075AJPE RSV ME STATION RT 75 DISP -WINDOWS 2000 (JAPANESE)

RSI Software Products 9363-SNAPSHOT RSSNAPSHOT SOFTWARE

Motion Control 2098-DSD-075 DRIVE, 35/75A, ULTRA3000

A99L-0035-0001 Cable Grounding Clamp

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

IC752DEM004 New DataPanel Demo consists of DataPanel 55 and DataPanel 160, DataDesigner and accessories.

MTR-3S23-G-R-0-N-S MTR series servo motor with resolver and shaft seal

ZA06B-0266-B200 Alpha 22/4000HVis servo motor with straight shaft and key

20BE011A0AYNANC0 PowerFlex 700 AC Drive 11 A at 10 Hp 20B

20G14ND156AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM2-D2P3 PowerFlex 520 0.75kW (1Hp) Power Module

140SDO95300S Quantum 安全型开关量输出模板

FRN2.2G11S-4CX 4.2KVA 5.5A 2.2 KW 3相AC380V/50Hz/60Hz

1492-J4TW TERMINAL BLOCK

1492-SPM3D500 MCB Supplementary Protector 50 A

软启动器 3RW40566BB34

CPU 模块 6ES7 517-3AP00-0AB0 CPU 1517-3 PN/DP，2 MB 程序，8 MB 数据；2 ns；集成 X1: 2x PN 接口，X2: 1x PN 接口，X3:1x DP 接口

152H-C135XBD-50 SMC-3 Enclosed Motor Starter

1738-OB2EPM12 ArmorPoint 2 Point Output Module

1784-U2DHP Data Highway Plus Cable

193-NREC3ZZ E3 Plus Replacement Overload Relay

20-750-SPL1-F10 PowerFlex 750 FiberOptic Cable Spool Kit

2090-CSBM1DE-18AA01 Kinetix Cable Single DSL 2090-Series

20AB9P6A0AYNNNC0 PowerFlex 70 AC Drive 9.6 A at 3 Hp 20A

GA647IFPRSR00150 GCA iFIX Profsnl SCADA 150 I/O Srv

GP647IFESGSR00900 GCP iFIX Optn: ESig & ERec 900 I/O Srv

IC600BF911RR 5VTTL Output Module

IC647HSTCR1750KM Collector Redundancy Option for Historian - Standard Server 1,750,000 Points (M4 Key)

IC647TPD300 CIMPLICITY HMI ProServer 300 I/O Development & Runtime System

IC693PCM301 Prog. Coproc. Mdl., 192 KB (47 KB Basic Prgm), w/Port Exp. Cbl.

IC756LDV010K-99 DV Draw Development on Intel/Linux RedHat Op Sys, Korean, Version 9.9

MicroLogix 1000/1761 System 1761-L20BWB-5A 25 I/O MICROLOGIX 1000 WITH ANALOG

PLC-5/1771 System 1771-IFMS INTRINSICALLY SAFE FAST MILIVOLT INPUT MODULE

Distributed I/O 1792D-2BVA2D 2 SINK/SOURCE INPUTS W/ALARM, 2 SOURCING 1AMP OUT

Communications 9300-RADKIT UNIVERSAL REMOTE ACCESS MODEM KIT

Operator Interface D6190-6.5.14 CONTROLVIEW INTELLIGENT CONTROL PNL(6190-CP14)MNL

Support 9356-SQLSAP225S SUPT RENEWAL CONTRACT FOR 9356SQLSAP225

Support 1789-L10R SUPT REINSTATEMENT CONTRACT FOR 1789L10

EtherNet/IP Products 9351-WES INTERCHANGE FOR WINDOWS

RSI Software Products 9301-2SE3500ITU5 RSVIEW32 RUNTIME 5K-100K UPGRADE IN-SUPT (IT)

RSI Software Products 9356-PRO2500U7R UPGRADE: OUT-SUPT: RSSQL PROF.1500 TO 70000 TAG

Motion Control 0041-5068 N-2300 SHAFT SEAL KIT

44A732298-G04 DSM Firmware Upgrade Kit to V1.40

IC200CBL002 CABLE EXPANSION NIU FIRMWARE UPGRADE

IC694ALG223 INPUT MODULE ANALOG 16 SINGLE ENDED 8 DIFFERENTIAL CURRENT

MSI-SDK-UNL-43 Unlimited SDK Connections (per site)-43

VSPC32-IMP VisualSPC Importer.

20BD034A0AYNANA0 PowerFlex 700 AC Drive 34 A at 25 Hp 20B

20G11GC060JA0NNNNN PowerFlex 755 AC Packaged Drive

22D-B024F104 PowerFlex 40P 5.5 kW (7.5 Hp) AC Drive

600544000 Quantum 用于 RG-6 F 连接器压接工具

290-G3-A5 Gland Kit, G3-A5 (Pkg of 5 Plt)

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