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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。
 

284D-FHD6P0B-25-CR-SB DeviceNet Variable Frequency Drive

E3JM-DS70M4T 70cm,扩散反射式,触点输出3A带ON/OFF延时?电源同上

1492-SPM1C050-N MCB Supplementary Protector 5 A

软启动器 3RW30461BB14

电源 6ES7 505-0KA00-0AB0 PS：25 W，额定输入电压 DC 24 V

1497D-A16-M21-0-2 1EN PURPOSE TRANSFORMER

1732D-IB161212D ArmorBlock 16 Point Input Block

1788-EN2PAR 1788 Red ENet/IP to ProfibusPA Link Dev

188-K3D130-N Miniature Circuit Breaker 13 A

194L-HE4A-250 194L Control and Load Switch Actuator

2090-CPBM7DF-08AA09 MP-Series 9m Power and Brake Cable

2090-XXNPMF-14S12 Kinetix Drives 12m Standard Cable

BC647TPR935 "CIMPLICITY HMI ProServer 35,000 I/O Runtime System with Proficy GlobalCare"

GC647PSC025 Global Care for Proficy Process Systems 250 I/O with CIMPLICITY

IC200MDL750LT OUTPUT 12/24VDC POS LOGIC 0.5A PER PT (2 GROUPS OF 16) 32PT (LT)

IC646PME003 Proficy Change Management for Machine Edition 3 User Pack

IC647MTLM MTL:Mettler Weighing Terminals

IC684TROLI604 CIMPLICITY HMI Plant Edition Online Course -Module 4

IC697VAL306 Discontinued, future replacement is Embedded VME-6500. Contact GE IP Embedded for details.

IC800SSI407RD2 7.2 amp 480 VAC Devicenet S2K servo controller for MTR series motors

SLC/1746 System 1747-L553P PRO-SET 200 - 5/05 - 64K

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

Application-specific products 9358-PBBK30ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 30 UNITS

Operator Interface 2711-K5A12 PV550 MONOCHROME KEY, PBUS & RS232 PRINT

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Support 9393-RSTHYDR SUPT REINSTATEMENT CONTRACT FOR 9393RSTHYD, PHYD

ControlNet Products 2711E-K10C15 PANELVIEW 1000E KEYPAD TERMINAL, 10.4" FLAT PANEL

RSI Software Products 9301-2SE2500U1 UPGRADE: IN-SUPT: RSVIEW32 WORKS 32K TO 100K

RSI Software Products 9358-BEPB30U2 UPGRADE: IN-SUPT: RSBW BATCH & EPROCEDURE 10 TO 30

Motion Control MPL-A4540C-SK24AA MOTOR,SERVO,10.2 NM,1500RPM,SINGL,230V,BRK,13KG

Motion Control 2090-XXNFY-S04 CABLE,NON-FLEX,MOTOR FEEDBACK,Y,4M

CFBA-0WPB-0140-AZ Encoder Feedback Cable, BM Series Motors, 14 Meters

IC641PCC132 Logic Engine (runtime) with GUI - 128 Points

IC800SSD407RS1 7.2A, 480V, S2K Servo Drive for MTR Series Motors

PR-PAT-HS02 Proficy PAT - Driver For Spectranet-Coupled Hamilton Sundstrand Analect Ftir Spectrometers

20BB015A0AYNBNC0 PowerFlex 700 AC Drive 20B

20DD820N0ENNBNANE PowerFlex 700S AC Drive 820 A 700 Hp 20D

20YF325A0ANNANA0 PowerFlex 700 AFE Active Front End

2711P-K10C4A9 PanelView Plus Terminal

280-PWRM35C-M6 ArmorStart Three-Phase Power Media

CPM2A-20CDT-D 20点主机 DC24V 12点入8点晶体管输出 自带RS232C口

1492-MS5X12V31-40 Connection Products

1495-N64 Protective Fuse Cover

行程开关 3SE53120SF11

运行版软件 6AV2105-0DA14-0AA0 SIMATIC WinCC Runtime 专业版 512 PowerTags ASIA V14

1585J-M4TBJM-8 RJ45 Ethernet Media

1756-OG16 ControlLogix 16 Point D/O Module

188-K1C100 Miniature Circuit Breaker 10 A

194E-HE8N-175 194E Load Switch Actuator

2090-CFBM7DF-CEAA20 MP-Series 20m Servo Feedback Cable

2090-UXLF-336 Ultra Series 36A AC Line Filter

BC646SJH365 Sol Provider license w/HMI - Japan Only

GC647IFCLNTS005 GCC iFIX iClientTS 5 Additional Users

IC200ALG321 Analog output 12 bit voltage 0-10VDC 4 channel

IC646IFCLNTCRO100K iFIX iClient Read Only 100 PK Keyless (M1 Kit Part)

IC647IFPRDV00300K iFIX Profsnl SCADA 300 I/O Development (M1 Kit Part)

IC660SLA026 Red Safety Label Kit for IC660BBA026 Genius Blocks

IC697CBL709 Cable, MAP Controller to Broadband Modem

IC800CBL001 Digital servo command cable for DSM302 or DSM314. 1 meter

ControlLogix/1756 System 1756-M12 LOGIX5555 750K MEMORY MODULE

Industrial Computers 6182H-7KEH15B VVCE 700, KEYPAD, EXT MEM, CNET, AC

Process Control 9358-PBA03ENE RSBIZWARE BATCH FOR PROCESSLOGIX ARCHIVER 03 UNITS

Operator Interface 2711P-K15C4D2 PV PLUS 1500, KEYPAD, ENET, DC PS, EXT MEM

Support 9352-WC2500R SUPPORT REINSTATEMENT CONTRACT FOR 9352-WC2500

Support 9310-WL100R 9310-WL100 SOFTWARE SUPPORT CONTRACT REINSTATEMENT

Support F6008-LTV FIRMWARE UPGRADE FOR 6008-LTV PLC5 PROCESSOR MODUL

RSI Software Products 9301-2SE2353ITE RSVIEW32 WORKS 5K WITH RSLINX (ITALIAN)

RSI Software Products 9351-WES INTERCHANGE FOR WINDOWS

RSI Software Products 9399-WL5UG WINTELLIGENT LOGIC 5 USER GUIDE

Motion Control 2090-CDNPBMP-8S30 CABLE, 460V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,30M

BC646MSP101 Logic Developer - State Professional w/1 Yr of SAFE w/Programming Cable

IC300TIU201 Graphical Operator Control Station Two serial ports, (1) RS-232 and (1) RS-485/RS-232 port, (1) CAN port, 3 meg of screen memory. (4) SmartStack support. No controller support.

IC754VSI10MTD 10" Monochrome Quickpanel View Intermediate, Touch, 24VDC

MTR-3T66-H-R-B-M-0RR Servo Motor Metric 24V Brake

20AD011A3AYNAEG1 PowerFlex 70 AC Drive 11 A at 7.5 Hp 20A

20DC043A0EYNANANK PowerFlex 700S AC Drive 20D

20G1ANC367AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-A4P8N114 PowerFlex 527 0.75kW (1Hp) AC Drive

280-MTR22-LC ArmorStart Three-Phase Power Media

FR-F740-S75K 110 KVA 144A 75KW 3相AC380V/50Hz/60Hz

1492-LMJ3 IEC Mini Rail 5.1x35x23.7mm Spr Clp

1494G-DF3N-421 NEMA 1494G Enclosed Disconnect

软启动器 3RW44432BC44

ET 200SP 6ES7132-6HD00-0BB1 RQ 4x120VDC-230VAC/5A 继电器输出，常开触点， 标准型，基座单元类型 B0、B1

1585D-E4UBDE-9 Ethernet Media M12 Patchcord

1756-A13K ControlLogix 13 Slots Chassis

1794-IF4I Flex 4 Point Analog Input Module

194E-AA80E-P11 194E Load switch

2080-LC50-24QBB Micro850 24 I/O EtherNet/IP Controller

2090-CSWM1DF-18AA12 Kinetix 12m Smartlink Single Cable

20AC3P5C0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MRA150 Proficy GlobalCare Complete for View Runtime 150 I/O

HE693SER300 Discontinued Part. Check with GE IP on migration path.

IC610MDL116RR Analog Input Module, 4-20mA/1-5Vdc (4 channels)

IC647HSTSS100M-35 Historian v3.5 Standard Server 100 Points (M4 Key)

IC660BBD025 Block 5/12/24Vdc Sink I/O Block 32 Circuits

IC694TBS132 Spring clamp style High Density Terminal Block with extended depth for l arge wires - 36 Connections

IC756WDN009K-99 DV Development Sys VB, Java, C++, C, Korean, Version 9.9

CompactLogix System 1769-ADN 1769 COMPACT I/O DEVICENET ADAPTER

PLC-5/1771 System 1771-PS7K CONFORMALLY COATED, MULTIVOLTAGE 1771 RACK PWR SPL

Distributed I/O 1798-BP6 FLEXARMOR 6 SLOT BASE PLATE

Operator Interface 2711P-K6C3A PV PLUS 600 COLOR, KEYPAD, DH485, AC PS

Support 9323-PLC5S SUPT RENEWAL CONTRACT FOR 9323PLC5

Support 9358-PBA30R SUPT REINSTATEMENT CONTRACT FOR 9358PBA30ENE

Support F1775-L1SERB FIRMWARE UPGRADE FOR 1775-L1 PLC3 PROCESSOR MODULE

RSI Software Products 9324-RLD700NXPTE RSLOGIX 5000 PRO EDITION, PORTUGUESE

RSI Software Products 9305-RSVADSESE RSVIEW32 ACTIVE DISPLAY SERVER (SPANISH)

RSI Software Products 9322-ECCBENE ENTERPRISE CONTROLS CONTROL BUNDLE

Motion Control 2094-PR8 POWER RAIL, 230V OR 460V, 8 AXIS

A06B-6089-H106 Alpha Series SVU1-130 Amplifier

IC200UEX012-24 Qty of 24, 14 point expansion. (8) 24VDC In, (6) Relay Out, 24VDC Power Supply (includes IC200CBL501)

IC752CBT073RR Datapanel 320T CEG w/ Advanced s/w: 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With Real Time Trends & Host Communications. With 2Meg & Genius PC/104.

MTR-35005685 Custom modified MTR series NEMA 34 stepping motor

ZA06B-0143-B175#7008 A12/3000 servo motor with brake and 64k serial encoder

20BD600N3ANNNNC0 PowerFlex 700 AC Drive 600 A 500 Hp 20B

20G14NC140JN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-E1P7 PowerFlex 520 0.75kW (1Hp) Power Module

OFSCSPBLU Quantum OFS LARGE SUBSCRIPTION RENEWAL

FVR0.75E11S-4JE 1. 9KVA 2.5A 0.75KW 3相AC380V/50Hz/60Hz

1492-J3-W 2.5 square mm Standard Terminal Block

1492-SPM3D080 MCB Supplementary Protector 8 A

软启动器 3RW40382BB04

SIMATIC HMI 系列面板 "6AV2124-0GC01-0AX0

150-SM3 SMC-50 Analog I/O Module

1738-EXT3 ArmorPoint Bus Extension

1784-CF128 ControlLogix CompactFlash Card

193-KB16 1.1-1.6 A IEC Bimetallic Overload Relay

20-750-PBAY-LBRK-4 POWERFLEX 750 KIT,L BUSBAR,CU,4 HOLE

2090-CPWM7DF-16AF75 MP-Series 75 m Length Power Cable

20AB042C0AYNANC0 PowerFlex 70 AC Drive 42 A at 15 Hp 20A

GA647IFPLRN00300 GCA iFIX Plus SCADA 300 I/O Run

GP647IFCLNTSRO025 GCP iFIX iClientTS Read Only 50 PK Runtime Version

IC600BF819RR Type R Thermocouple Input Module (8 points)

IC647HSTCC5KM Calculation Collector for Historian - Standard Server 5000 Points (M4 Key)

IC647TDV700 CIMPLICITY HMI Server 700 I/O Development & Runtime System

IC693MDL940 Relay Output, 2 Amp (16 Points)

IC756LDV001J-99 DV Development - Intel/Linux RedHat Addt'l User, Japanese, Version 9.9

Pico Controllers 1760-PICOPROPC02 PICOSOFTPRO W/PROG CABLE

PLC-5/1771 System 1771-OQ16 ISOLATED OUTPUT MODULE, 24V DC

Distributed I/O 1791-8AC BLOCK I/O, 120V AC, 16 POINT MODULE

Communications 1786-TPYS CONTROLNET Y-TAP/STRAIGHT

Operator Interface 9399-2SE32GRDE RSVIEW32 GETTING RESULTS GUIDE (GERMAN)

Support 9701-VWSTR SUPT REINSTATEMENT CONTRACT FOR 9701VWSTENE

Support 9324-RL0300ESS SUPT RENEWAL CONTRACT FOR 9324RL0300ES

EtherNet/IP Products 1769-L35E COMPACTLOGIX ETHERNET PROCESSOR, 1.5MBYTE MEMORY

RSI Software Products 9301-2SE3500DEU4 RSVIEW32 RUNTIME 150-100K UPGRADE IN-SUPT (DE)

RSI Software Products 9356-PRO2450U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO 32000 TAGS

Motion Control 0041-5061 SHAFT SEAL KIT, F-6000 SERIES MOTOR

44A728335-012 Test & Upgrade - PLC

IC200ALG263 ANALOG INPUT 15 BIT VOLTAGE 15CH

IC693MDL752LT 5/12/24 Vdc (TTL) Output, Neg Logic, (32 points) (LT)

Silver Series 2711E-K14C15 PANELVIEW 1400E KEYPAD TERMINAL, 14"COLOR CRT

VMEM-REP10 Add on - VisualMEM Admin Bundle, 10 licenses. Requires VMEM-SVR.

20BD022A3AYNACC1 PowerFlex 700 AC Drive 22 A at 15 Hp 20B

20G11FC104JA0NNNNN PowerFlex 755 AC Packaged Drive

22C-D038A103 PowerFlex 400- 18.5 kW (25 HP) AC Drive

975750000 Quantum RIO同轴电缆，RG-6

285-BRC25-M6D Source Brake Patchcord Cable, 6M, M25

H7CX-A NEW AC100-240V -999999-999999次，无电压/电压输入，继电器输出，一常开/闭

1492-SPM1D320 MCB Supplementary Protector 32 A

通用型变频器 6SE6 440-2UD41-3GB1 132 KW,326 x 1533 x 545

电机启动器 3VU13401TL00

150-C86 SMC-3 Accessory

170-PW23 Bulletin 100-C Accessory

1771-IN INPUT MODULE, 24V AC, 8 INPUT

193-EC3KH E3 Plus 125-630 A Overload Relay

198-SCB2 ModCenter IEC Shaft Kit

2090-CPWM4DF-14AF20 MP-Series 20 m Length Power Cable

2094-BC04-M03-M Kinetix 6200/6500 Integrated Module

DEMOCD00005 Proficy Machine Edition DEMO CD

GFK-0726 State Logic Processor for Series 90-30 PLC User's Guide

IC200UUB001 VersaMax Micro 20/40/64, USB Slave communications option board. The option board also supports program storage memory module. Compatible with VersaMax Micro 20/40/64 only.

IC647ARC005 PA Reporting Client 5 Pak

IC647PPS8KW PPS PAC8000 Workbench

IC693CMM311LT Communications Module, CCM, RTU, SNP, and SNPx Protocols (LT)

IC754VBI06MTD View Intermediate 6 inch Mono Touch DC Blank

MSI-BETA Beta Software

SLC/1746 System 1746-F5 FUSE (MDL 1.6 AMP) FOR DC FIXED HARDWARE PWR SPLY

Distributed I/O 1734-OA2 120/230 VAC 2 CHANNEL OUTPUT MODULE

Application-specific products 1803-EEM12 EEM,16 PULSES,24V DC, 16 ANALOG, 4 TO 20 MA

Operator Interface 2711-T10G3L1 PV1000 GRAYSCALE TOUCH, DH485 & RS232 PRINT

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Support 9381-PP1KENR SUPT REINSTATEMENT CONTRACT FOR 9381PP1KEN

DeviceNet Products 1791D-0B8P DNET 24 VDC COMPACTBLOCK I/O, 8 OUT SOURCE, BASE

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Motion Control MPL-B680F-MJ24AA MOTOR,SERVO,60.0NM,3000RPM,MULTI,460V,BRK

Silver Series 1398-55 MANUAL, TOUCHPAD OPERATIONS

HE300GEN100 Genius Communications Interface for GE AF-300E$ Adjustable Freq. Drives

IC646NWV005 WebView-5 Pack License

PC752PBM104 Scanner module to be a master of Profibus network for 10.5" unit

ST-2624 STXi output module 4 points, Positive Logic, 24VDC/ 2A

20BC105A0ANNANA0 PowerFlex 700 AC Drive 20B

20F14NC170JA0NNNNN PowerFlex 753 AC Packaged Drive

22A-B017F104 PowerFlex 4 3.7 kW (5 Hp) AC Drive

Quantum Power Supply 电源模板

284-PWRM24A-M12 Power Cable, Patch,Shielded,M24, 12m

CJ1G-CPU43H CPU单元I/O点数960，20K程序容量，最多二个扩展机架。

1492-REC20G IEC GFCI Rcpt, 20A, Din Rail Mtg

总线插头 6ES7972-0BA41-0XA0 RS485 总线插头， 12MBd 35? ，不带编程接口

变送器 3RS20 41-1GW50

1497-M-HXDX-0-N Control Circuit Transformer

1606-XLE960MX-3N 480VAC Input 48VDC Out 20A Power Supply

1764-LRP MicroLogix 1500 Processor

188-K3D630-N Miniature Circuit Breaker 63 A

194L-HE6A-175 194L Control and Load Switch Actuator

2090-CPBM7DF-08AF09 9 m Length SpeedTec Flexible Cable

2090-XXNPMF-16S09 Kinetix Drives 9m Standard Cable

BQ2320-ACC PWR SUPP MOUNTING KIT

GC647SCDK001 GCScheduler API Developers Kit

IC200PBI001 Remote I/O Profibus DP network interface unit

IC646PPD935 PA-70 with 935 CPU - DC

IC647NCA910 CIMPLICITY Change Approval for 10000 Point Server

IC690CBL003 12-Inch Male to Female Extension Cable.

IC697VPC463RR Plug & Play PC Coprocessor, 486DX2/66, 16 Mbytes

IC800STI105S1 5 amp 115 VAC S2K stepper controller

SLC/1746 System 1746-A13 13-SLOT CHASSIS-MODULAR HARDWARE STYLE

Industrial Computers 6181P-17NP2KH VERSAVIEW INTEGRATED DISPLAY COMPUTER 17-INCH TFT

Application-specific products 9358-PBNTK10ENE RSBATCH NT FOR PROCESSLOGIX BACK-UP KEY 10 UNITS

Operator Interface 2711-K5A20L1 PV550 MONOCHROME KEY, ENET & RS232 PRINT

Support 9301-2SE2100FRS SUPT RENEWAL CONTRACT FOR 93012SE2100F

Support 9500-CPAKMENR SUPT REINSTATEMENT CONTRACT FOR 9500CPAKMEN

ControlNet Products 2711P-K15C15B1 PV PLUS 1500, KEYPAD, CNET, AC PS, STD MEM

RSI Software Products 9301-2SE2500ZHU4 RSVIEW32 WORKS 150-100K UPGRADE IN-SUPT (ZH)

RSI Software Products 9358-BEPNT30U1 UPGRADE: IN-SUPT: EPROCEDURE FOR NT 03 TO 30

Motion Control MPL-A520K-MJ24AA MOTOR,SERVO,10.7 NM,4000RPM,MULTI,230V,BRK,13.9KG

Motion Control 2090-XXNPMP-14S07 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,14 GAUGE,7M

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