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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。
 

IC647SI5M SI5:Siemens SI5

IC693MDL654CA Conformal Coated Input module 32 points 5/12VDC TTL POS/NEG logic. Termination is a Fujitsu connector.

IC756DVE010K-98 EO GECK (Graphical Editor Construction Kit) - Intel x87, Korean, Versi on 9.8

MSI-QUAL-100 Quality Management Clients 100 Pack

PLC-5/1771 System 1785-L40L EXTENDED LOCAL PLC5/40, 48K WORD SRAM

Distributed I/O 1734-IT2I 24V DC 2 CHANNEL THERMOCOUPLE INPUT MODULE

Application-specific products 1403-NENET COMMUNICATION MODULE (ETHERNET)

Operator Interface 2711P-RBT7 PV PLUS 700 TOUCH REPLACEMENT BEZEL

Operator Interface 2727-TRA7 MOBILEVIEW AC ADAPTER

Support 9305-RSVADSDER SUPT REINSTATEMENT CONTRACT FOR 9305RSVADSDE

Support 9515-RSCHM500S SUPT RENEWAL CONTRACT FOR 9515RSCHM500ENE

EtherNet/IP Products 2711-B5A20L1 PV550 MONO KEY&TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE3400ZHU3 RSVIEW32 RUNTIME 150-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9515-RSNHS050ENE RSMACC NETWORK HEALTH FOR 50 NETWORKS

Motion Control 1326AB-B520E-S2L MOTOR,SERVO,460V,13.0NM,3000RPM,SINGL,IP67

4161-4-24+/-N12 BCD To 7 SEG Display . 3 Numeric Digits & 1 +/- Digit, 24VDC. NEMA 12

HMI-CAB-C89 CABLE SATTCON 05-35

IC693CBL324 Cable, Terminal Board Connections for DSM302, 1 Meter

QSI31200S2P QUICKSTART KIT 10.5" STN

TRM-21006667 20 point connector for S2K digital I/O

20BC8P7A0NYNANC0 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF061JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-E1P7H204 PowerFlex 40 0.75 kW (1 Hp) AC Drive

140AIO33000 Quantum 模拟量输出, 8通道, 电流, 本安型

284E-FVD7P6Z-25-DRN-DB1-SB-EMI EtherNet Variable Frequency Drive

E2E-X10MF1 10mm,非屏蔽电感式,三线,常开200mA PNP 电源:10-30VDC圆M18

1492-SPM1C160 Mcb Supplementary Protector 16 A

通用型变频器 6SE6 430-2UD33-7EB0 "37 KW,275 x 650 x 245"

电机启动器 3VU13401NK00

150-C16NCR SMC-3 16A Smart Motor Controller

1608P-200A380V4S 200 A Pro DySC Sag Corrector

1769-SM1 PowerFlex-SCANport To Compact IO module

193-CBCT1 E3 Plus Ground Fault Current Sensor

194R-R5 Operating Shaft

2090-CPBM7E7-08AF05 5 m Length SpeedTec Extension Cable

2090-XXTPMP-16S20 MP-Series 20 m Length Power Cable

CP3I-0WPB-0070-AZ Motor power cable with straight connector for A8HVis/A12HVis/B8HVis/B12HVis. 7 meters

GF-905694 Connecting FlashCable to Mitutoyo Angled Connection (LEFT).

IC200UER016 VersaMax Micro Expansion 16 Output Expansion (16) Relay Outputs, 24VDC Power Supply (includes IC200CBL501).

IC647ADC001 PA Dashboard Client

IC647PCL025 Proficy Process Systems Standard Edition Single Node 250 I/O with Cimplicity

IC693CBL305 Cable, Port Expansion, Used With PCM301, PCM311, and CMM311

IC754ACC12ADP 12 inch QP View-Ctrl to CEIIx Cut-out Adaptor Kit (Qty 10 Kits)

IMC-316D-X-D 6 amp IMC servo motor controller with Devicenet

SLC/1746 System 9399-CCDUG CONTROLGUARDIAN DETECTOR5 USERS GUIDE

Open Automation Systems 1789-STRT1DE SOFTLOGIX 5800 STARTER KIT GERMAN

Application-specific products 1404-M805A-232 MASTER MODULE-PQ 232 COM-120/240V P/S

Operator Interface 2711-K10G15L1 PV1000 GRAYSCALE KEY, CNET & RS232 PRINT

Support 9301-2SE3300JPR SUPT REINSTATEMENT CONTRACT FOR 93012SE3300JP

Support 9381-P15KENS SUPT RENEWAL CONTRACT FOR 9381P15KEN

DeviceNet Products 1792D-CBFM MAXUM MEDIA BASE FOR KWIKLINK FLAT MEDIA

RSI Software Products 9301-2SE3300ITE RSVIEW32 RUNTIME 1500 (ITALIAN)

RSI Software Products 9358-EP30U2 UPGRADE: IN-SUPT: RSBIZWARE EPROCEDURE 10 TO 30

Motion Control MPL-B4540F-MK22AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,460V

Motion Control 9101-0326 CONNECTOR KIT, MOTOR POWER, F/H-4X, STRAIGHT

GQPI3D200C2P QUICKPANEL COLOR 10.5" TFT GE LABEL

IC646MRB075 Logic PC 75 Tag Runtime System

MTR-1N41-G-N-A-E-0 Stepping Motor Nema42, Parallel Wdg

SA07-018 Industrial Application Server (4 days)

20BC056A0AYNACC0 PowerFlex 700 AC Drive 56 A 30 kW 20B

20F11ND077AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF034-CS PowerFlex EMC Filter

2711P-RN20 PV Plus 6 700 to 1500 ENet Comms Module

281D-F12B-10A-RR-3FR ArmorStart Direct Online RVSG Starter

C200H-IA222 输入单元,16点, 200 -240 VAC

1492-PDME1111 115 A Enclosed Power Distribution Block

通讯处理器 6GK7443-5FX02-0XE0 CP443-5 基本型，PROFIBUS FMS

变送器 3RS10301DD00

1497-C-BASX-1-N Control Circuit Transformer

1606-XL120D Power Supply XL 120 W Power Supply

1762-IA8 MicroLogix 8 Point Digital Input Module

188-K3C100-N Miniature Circuit Breaker 10 A

194L-G2853 194L Shaft Extension Kit

2090-CPBM7DF-02AA40 40 m Length DIN Power and Brake Cable

2090-XXNFT-S07 Kinetix Drives 07m Standard Cable

BC647PSF000 Proficy Process Systems 5000+ I/O with iFIX with Global Care

GC647PME001 GlobalCare Complete for Proficy Change Management Server Machine Edition Version - 1 Concurrent User

IC200MDL329LT OUTPUT 120VAC 0.5A PER PT ISOLATED 8PT (LT)

IC646NWV000 WebView - Single License

IC647MITM MIT:Mitsubishi A Series

IC676CBLPBM050 IP67 Profibus Cordset - 5 Meters - Male Connector w/Leads

IC697MLX000 Series 90-70 Labels Kit

IC800SSI104RP2RR 4.3A, 115/230V, Profibus S2K Servo Controller for MTR Series Motors

SoftLogix System 1789-L60 SOFTLOGIX5860 CONTROLLER W/16 SLOT VIRTUAL CHASSIS

Industrial Computers 6182H-15TRH6B VVCE 1500, TOUCH, STD MEM, RIO/DH, AC

Process Control 1757-DNBUPG80 DEVICENET LIC UPG 80 DNBS

Operator Interface 2711-B5A15L1 PV550 MONO KEY&TOUCH, CNET & RS232 PRINT

Support 9303-23S0E20S SUPPORT RENEWAL CONTRACT FOR 9303-23S0E20

Support 9371-EPCO3R SUPT REINSTATEMENT CONTRACT FOR 9371EPCO3

ControlNet Products 9355-WABENE RSLINX PROFESSIONAL - ENGLISH

RSI Software Products 9301-2SE2500ESU2 RSVIEW32 WORKS 1500-100K UPGRADE IN-SUPT (ES)

RSI Software Products 9358-BANT30U2R UPGRADE: OUT-SUPT: RSBATCH ARCHIVER 10 TO 30

Motion Control MPL-A4530F-HJ24AA MOTOR,SERVO,8.36NM,2800RPM,ENCDR,230V,BRK,11KG

Motion Control 2090-UXNPBMP-14S15 CABLE,460V,NON-FLEX,MOTOR POWER,MP,14 GAUGE,15M

CBL-3C-RD-10 Resolver Cable, MTR-3S & MTR-3N Series Servo Motors, 10 Ft.

IC641CTL932 Upgrade to Add Series 90-30 (351/352) Target Support to a CIMPLICITY Control License

IC800SLM040N1KE25 400W, 115 VAC SL Servo Motor, 2.5K Quad Encoder

OC647IPWRSTRNUNLMTM iPower Option - Std Unlmt I/O Run

20AE011A0AYNNNC0 PowerFlex 70 AC Drive 11 A at 10 Hp 20A

20DD077A0ENNANANE PowerFlex 700S AC Drive 77 A 60 Hp 20D

20P41AD495RA0NNN PowerFlex 460V AC 300 HP DC Drive

2711P-B12C4D9 PanelView Plus Terminal

280-PWRM24H-M6 ArmorConnect 3-PH Power Media drop cable

MPT002-G4P-V1 单色LCD 160*64 四行带RS232+外设端口

1492-MCEA125 Miniature Circuit Breaker, 25 A

1494V-DSX60 Disconnect Switch

软启动器 3RW44586BC46

运行版软件 6AV2103-0XA00-0AL0 SIMATIC WinCC 专业版 max. PowerTags

1585J-M4EBJM-0M3 RJ45 Ethernet Media

1756-M08SEG ControlLogix Generic Motion Module

188-K1B080 Miniature Circuit Breaker 8 A

194E-FA40E-PD10 194E Load switch

2090-CFBM7DD-CEAF15 Kinetix 15m Flexible Cable

2090-U3BC-D4401 Ultra 3000 Breakout Board Cable

BC646MRA159 View Runtime 1500 I/O with Proficy GlobalCare Complete

GC647ASC001 GC PA SDK

IC200ACC003 EZ program store, CPU RS485 port update device, VersaMax CPU001,002/00 5/E05 and Series 90-30 CPU374/CPU372/CPU370

IC646APS30050 CSense Predictive Soft Sensor 50 KPI's

IC647IFPLRN00150C iFIX Plus SCADA 150 I/O Runtime (M1Component Part)

IC660MBM503 Hand-Held Monitor Panel Mount Kit

IC697ACC822 DIN Rail Transition Module 96 Pin for IC697Vxxxxx modules

IC756XRT001 Intel x86 DV Tools Runtime

FlexLogix System 1794-TBN NEMA TERMINAL BASE

GuardPLC Systems 1753-L32BBBP8A GUARDPLC 1800 - SAFETY PLC W/ PROFIBUS, 32 I/O

Process Control 1757-UPGSIFJ UPGRADE HW XLNET NETWORK NODE QUICKBUILDER I/F

Operator Interface 2711P-K12C6B2 PV PLUS 1250, KEYPAD, RIO/DH, AC PS, EXT MEM

Support 6640-NAA0R 6640-NAA0 SOFTWARE SUPPORT REINSTATEMENT

Support 1771-PCBS CONTROL COPROCESSOR SOFTWARE RENEWAL

Support F1785-L80ESERC FIRMWARE UPGRADE FOR 1785-L80E PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350FRE RSVIEW32 WORKS 5K (FRENCH)

RSI Software Products 9701-VWSS250ENU2 RSVIEW SE 100 TO 250 DISPLAY UPGRADE

RSI Software Products 9399-WAB32LUGDE RSLINX LITE USER GUIDE (GERMAN)

Motion Control 8720MC -D065-AA- 65 AMP C CHASSIS DRIVE, ENCLOSURE, LESS OPTIONS

BC646MQPS99 Machine Edition View for Quick Panel, Unlimited Site License

IC300OCS390 OCS350 DEMO KIT WITH CASE

IC752WTD853 Display Station 2000 Series - 18.1" active matrix SXGA (1280x1024) resistive touch screen, Pentium 350 MHz, 128 MB RAM, 6.4 GB HD, expansion slots, Ethernet, with unlimited point count CIMPLICITY HMI R&D and Win 95

MTR-3T44-H-R-0-M-0RR Servo Motor Metric

20AC8P7A0AYNANC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC011A0EYYANANE PowerFlex 700S AC Drive 20D

20G1ALD485AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D017N114 PowerFlex 525 7.5kW (10Hp) AC Drive

2711T-JBIP20DC MobileView Accessory, Junction Box

FR-E540-1.5K 3.2 KVA 4A 1.5 KW 3相AC380V/50Hz/60Hz

1492-L6 IEC Term Blck 8.1x65x38mm Spr Clp

1494F-D100 Disconnect Switch

软启动器 3RW44342BC45

电源 6ES7 507-0RA00-0AB0 PS：60 W，额定输入电压 AC / DC 120 / 230 V

1585BZ-MCAP Variant 1 Metal Plug Dust Cap

1747-L552 SLC 5/05 32K Controller

1794-ACNR15 Flex Controlnet Adapter

194E-AA00E-PE-TN 194E Load switch

2071-AP4 Kinetix 3 400W Component Servo Drive

2090-CSWM1DF-14AA04 Kinetix Cable Single DSL 2090-Series

20AC2P1A0AYNANC0 PowerFlex 70 AC Drive 20A

GC646MFC001 FANUC Ladder III-C for Open CNC with Proficy GlobalCare Complete

HE693FLT050 Operator Interface Displays, Clears PLC Fulat Tables

IC600WD050 Expansion Rack I/O Cable, 50 feet (15m)

IC647HSTMK031 Historian Media Kit v3.1

IC660BBA020RR Analog I/O Block, 24/48Vdc Power, 4 In/2 Out, Ph B

IC694MDL655 Input module 24 VDC 32 point POS/NEG logic.

IC756WDC009J-22 DV Development Sys VB, Java, C++, Japanese, Version 2.2

MicroLogix 1500/1769 System 1769-SDN DEVICENET SCANNER FOR 1764 AND 1769 CONTROLLERS

PLC-5/1771 System 1784-PCM5 PLC-5/PCMCIA COMMUNICATION CABLE

Distributed I/O 1797-TPYR CONTROLNET EX Y-TAP RIGHT ANGLE

Communications D9240-6.5.2 DEVICENET SLAVE DEVEL. TOOL SOFTWRE USER MANUAL

Support 9321-L5250S SUPT RENEWAL CONTRACT FOR 9321L5250

Support 9358-HSTCLTENR SUPT REINSTATEMENT CONTRACT FOR 9358HSTCLTEN

Support F1772-LS FIRMWARE UPGRADE FOR 1772-LS PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300ESE RSLOGIX 5000 STANDARD, ESP

RSI Software Products 9304-WVPR300D WINTELLIGENT VIEW PRO RUNTIME

RSI Software Products 9358-PLTM2600U1R UPGRADE: OUT-SUPT: PLANTMETRICS 5 TO 200 WORKCELL

Motion Control 8720SM-075-S6SAS4 75 KW/137 AMP, 750 VDC, MOTOR WITH SNS60,+MPL

A06B-003-B075#7008 B3/3000 Servo Motor, 32K Serial Encoder

IC200UAA003-24 Qty of 24, 14 point PLC, (8) 120VAC In, (6) 120VAC Out, 120V/240VAC Power Supply

IC752BCL000RR Datapanel Download Cable

MTR-1350-N-A-E-0 MTR series NEMA 34 stepping motor with parallel winding connection

ZA06B-0079-B503 B12/3000HVis servo motor with 24 VDC brake and 128k serial encoder

20BD292A3ANNNNC0 PowerFlex 700 AC Drive 20B

20G11TC460AN0NNNNN PowerFlex 755 AC Packaged Drive

25-JBAB PowerFlex 520 Frame B NEMA/UL Type 1 Kit

140XCP60000 Quantum 端子条跨接器

FRN18.5F1S-4C 28 KVA 37 A 18.5KW 3相AC380V/50Hz/60Hz

Z-15GW-B 触点:1开/1闭,15A 250VAC机械寿命:1000万次合页摆杆型

1492-SPM3C150 MCB Supplementary Protector 15 A

软启动器 3RW40471BB15

热电偶模拟量输入模块 6ES7 231-5QF32-0XB0 SM 1231 AI 8 x 16 位热电偶

150-SB3NBR SMC-50 SOLID STATE MOTOR CONTROLLER 140A

1734-RTB3S POINT I/O Accessory

1783-MX04E Stratix 8000 4 Port PoE Exp. Module

193-ESM-IG-30A-T E300/E200 30 Amp Sensing Module

20-750-I1B-C650D617 PowerFlex 750 Replacement Inverter

2090-CPWM7DF-14AF50 MP-Series 50 m Length Power Cable

2098-DSD-HV150X-DN Ultra 3000 Servo Drive

GA647IFCLNTS001 GCA iFIX iClientTS Each Additional User

GP-0602NT-H GagePort LVDT NT (Half Bridge)

IC5005TAX0010 PanelPC 15 inch Standard Unit with Windows XP

IC647HSTAE300M Alarm and Events Option for Historian - Standard Server 300 Points (M4 Key)

IC647SQM001 Scheduler Sequencing Module

IC693MDL734LT 125 Vdc Output, (6 Points) (LT)

IC756HDV010E-97 DV Draw Development on HP/UX Op Sys, English, Version 9.7

Pico Controllers 1760-L12BWB-NC 12 I/O PICO CONTROLLER, DC

PLC-5/1771 System 1771-IQ SELECTABLE INPUT MODULE, 5-30V DC, 8 INPUT

Distributed I/O 1791D-8V8P DNET 24VDC CBLOCK I/O, 8 IN SOURCE 8 OUT SINK,BASE

Communications 1784-PCMK PCMCIA COMMUNICATIONS CARD

Operator Interface 2706-P74CN1 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

Support 9305-RSVADSZHR SUPT REINSTATEMENT CONTRACT FOR 9305RSVADSZH

Support 9515-RSMSVRS SUPT RENEWAL CONTRACT FOR 9515RSMSVRENE

EtherNet/IP Products 2711-T10C20L1 PV1000 COLOR TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE340DEU5R RSVIEW32 RUNTIME 5K-32K UPGRADE OUT-SUPT (DE)

RSI Software Products 9356-PRO2300 RSSQL PROFESSIONAL VERSION WITH 1500 TAG LIMIT

Motion Control 1326AB-B720F-M2L MOTOR,SERVO,460V,31.8NM,5000RPM,MULTI,IP67

4161-6-5-N4 BCD TO 7 SEG DISPLAY. 6 DIGIT. 5 VDC. NEMA 4

HMI-CLP-200 MOUNTING CLAMP FOR QP2 & QP3 Series ONLY - 1 Set

IC693CPU340 CPU 340 Module (32K Bytes user memory), 10K Registers, .3 msec/K

SM1000HWB QUICKMARQUEE BRACKETS SINGLE WALL OR HANGING MOUNT (SET OF 2)

TRM-21006681 Devicenet connector for Target series TGT-S00N system module

20BD011A0AYNAND0 PowerFlex 700 AC Drive 20B

20G11BC1K0AN0NNNNN PowerFlex 755 AC Packaged Drive

22B-E9P9N104 PowerFlex 40- 5.5 kW (7.5 HP) AC Drive

140ERT85410 Quantum 事件纪录模块, SER

284G-FVD4P0S-N-RG-CBG-DB1-EMI ArmorStart Spare Parts

TL-L100 100mm,差动线圈式，NPN 电源：12VDC 圆98

1492-SPM1C630 MCB Supplementary Protector 63 A

通用型变频器 6SE6 440-2UC21-5BA1 "1.5 KW,149 x 202 x 172"

电机启动器 3VU13402MP00

150-C25NBD SMC-3 25A Smart Motor Controller

1609-BRK Bul 1609 UPS 2 Screw Mounting Bracket

1770-XF DATA HIGHWAY TERMINATOR SET

193-EC1DD E3 9-45 A Overload Relay

195-GA01 Auxiliary Contact

2090-CPBM7E7-10AF15 MP-Series 15 m Length Cable