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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。
IC693MDL930LTRelay Output, Isolated, 4 Amp (8 Points) (LT)
IC697MDL650RR24 Vdc bbbbb, Positive Logic (32 Points)
IC800SLT001SL series amplifier terminal block for APM and DSM motion controller interface
SoftLogix System1789-L60SOFTLOGIX5860 CONTROLLER W/16 SLOT VIRTUAL CHASSIS
Industrial Computers6181P-17TPXPHVERSAVIEW INTEGRATED DISPLAY COMPUTER 17-INCH TFT
Application-specific products1404-M605B-232MASTER MODULE - PQ 24V POWER SUPPLY 232 COM
Operator Interface2706-PRIOPREMOTE I/O COMMUNICATION MODULE FOR 2706-P22R
Support9357-CNETMD3SSUPT RENEWAL CONTRACT FOR 9357CNETMD3E
Support9361-PTLUSRRSUPT REINSTATEMENT CONTRACT FOR 9361PTLUSR
ControlNet Products1734-OW424V DC COIL N.O. DPST 4 RELAY MODULE
RSI Software Products 9301-2SE2400ZHU3RSVIEW32 WORKS 150-32K UPGRADE IN-SUPT (ZH)
RSI Software Products 9323-LOOP01UUPGRADE: IN-SUPT: 93231003ENE TO LOOP01ENE RSLOOP
Motion ControlMPL-A420P-SJ24AAMOTOR,SERVO,4.74 NM,5000RPM,SINGL,230V,BRK,6.8KG
Motion Control2090-UXNFBN-R03CABLE,ULTRA, NON-FLEX,RT ANGLE,3M
CBL-13-MP-30Power Cable, MTR-1235, 13xx, 14xx & 1N Series Stepping Motors, 30 Ft.
IC600YR560RR19" I/O Rack with High Capacity P/S, 115-230Vac (11 Slots)
IC800SLA003230W, 230 VAC SL Servo Amplifier
OC647IFGLBLCLN005MiFIX WebSpace 5 Additional Users (M4 key)
20AD2P1A0AYNNNC0PowerFlex 70 AC Drive 2.1 A at 1 Hp 20A
20DC8P7A0EYNANCNKPowerFlex 700S AC Drive 8.7 A 4 kW 20D
20P21AD250RA0NNNPowerFlex 250 A DC Drive
2711-NF7PanelView Accessory
280-PWRM22G-M3ArmorConnect 3-PH Power Media drop cable
4FX-50DU-CAB0-RFX1S/0N/2N/1N与触摸屏的联机电缆140.-
1492-MCAA13030 A UL489 Miniature Circuit Breaker
1494U-FC30R1494U 30A Class R 600V Fuse Clip
软启动器3RW44546BC34
SIMATIC STEP 7 V14 6ES7806-2CD02-0YA0SIMATIC ODK 1500S V2.0
1585D-M4UBDM-15Ethernet Media M12 Patchord
1756-IH16ISOEControlLogix 16 Point D/I Module
1797-IBN16FlexEx 16 Point bbbbb Module
194E-E32-1753-6N32 A 194E Load switch
2090-CFBM4DF-CEAA15MP-Series 15m Feedback Cable
2090-MCNPMP-6S30MP-Series 30 m Length Power Cable
BC646MBS001Machine Edition Standard Development Suite with Proficy bbbbbbCare Complete
GC646VPS002Proficy bbbbbbCare for VersaPro Micro/Mini Edition
HMI-CAB-C109CABLE IDEC
IC641SWC306LM 90-30/20/Micro DOS Serial Software, w/ CD Documentation.
IC647IFCLNTCRO001MiFIX iClient Read Only 1 PK Keyed (M4 Part)
IC660EBA100Electronic Assembly for IC660BBA100
IC695NKT002CARX3i one NIU001 and two ETM001 Conbbbbal
IC756WRE049E-28Runtime License for bbbbbbs 25-49 Users, Per User, English v2.8
FlexLogix System1794-IB16KCONbbbbAL COATED, 24V DC SINK bbbbb MODULE, 16 PT
PLC-5/1771 SystemD1771-UM001AUSPREMOTE I/O ADAPTER USER MANUAL
Process Control1757-PLXSIFIPLX HW XLNET HVAC CONTROLLER QUICKBUILDER INTERFAC
Operator Interface2711P-B10C4B1PV PLUS 1000, KEY/TOUCH, ENET, AC PS, STD MEM
Support9307-RSPRTSSUPT RENEWAL CONTRACT FOR 9307RSPRT
SupportINX-DSRSUPT REINSTATEMENT CONTRACT FOR INXDS
SupportF1785-L30BSERDFIRMWARE UPGRADE FOR 1785-L30B PLC5 PROCESSOR MODU
RSI Software Products 9301-2SE2300ITU1RSVIEW32 WORKS 300-1500 UPGRADE IN-SUPT (IT)
RSI Software Products 9701-VWSB250ENU3RSVIEW SE STATION 250 - SE SRV 250 DISP+CLIENT
RSI Software Products 9399-L5SR9399-L5SR PLC-5 A.I. SERIES SOFTWARE REFERENCE
Motion Control2098-DSD-005-SESERCOS DRIVE,2.5A/7.5A,ULTRA 3000
BC646MDA700View Development /Runtime 700 I/O
IC300HSC600High Speed Counter. Two bbbbbs and Two outputs
IC752SKT001Mature, order Datapanel 160 instead. DataPanel J+ Starter Kit: Includes Datapanel J (DPJ000), download & communication cables, WinCfg, user & programming manuals
MTR-3S67-G-R-B-E-SRRServo Motor 24V Brake, Seal
ZA06B-6114-K505Replacement lithium battery holder for Alpha i amplifiers (except Alpha aSVM1-180HVi)
20C-PP00018TERM BLOCK PF 700H 24V I/O NO. 11 - 20
20G1ABD617AN0NNNNNPowerFlex 755 AC Packaged Drive
25A-D024N104PowerFlex 523 11kW (15Hp) AC Drive
2711P-T19C22A9P-BPanelView Plus 7 Graphic Terminal
6SE6440-2UD13-7AA10.37KW
1492-JKD4TWTerminal Block
1492-WR3IEC Term Blck 8x47.6x41mm Screw
软启动器3RW44233BC36
紧凑型信号模块6ES7 531-7QD00-0AB0AI 4：模拟量输出模块，AI 4x U/I/RTD/TC ST, 25mm 模块，含前连接器
1585-C4HB-S6001585 Ethernet Cable
1746-OB32SLC 32 Point Digital Output Module
1788-FBJB61788 Field Bus 6 Way Junction Box
194E-25-C4Terminal Cover 4 Pole 25 - 32 A
20-PP01096INTERNAL FAN 60MM ASICBOARD
2090-CSBM1DF-18AA02Kinetix Cable Single DSL 2090-Series
20AC030A3AYNANG0PowerFlex 70 AC Drive 30 A at 15 kW 20A
GC-8459-HC-MTHybrid Workbench, bbbbbb Care Only
GQPM3D200B2P6 inch Blue Monochrome Mini/ GE Fanuc Label/ 24VDC
IC600DM736RRDP Ram 64K Memory Module (DPU)
IC647HSTES100KMHistorian Enterprise Server 100000 Points (M4 Key)
IC647WKM003RRWorkmaster II Sys Unit, 2 MB RAM, 30 MB HD, MS-DOS
IC694ALG233CAConbbbbal Coated RX3i Efficiency 16-Channel Advanced Analog Current bbbbb module provides 16 single-ended or 8 differential bbbbb channels. 0 - 20mA and 4 - 20mA with 16 bit resolution. Advanced diagnostics. Requires Proficy? Machine Edition Logic De
IC756SDV000E-912DV Dev - Solaris Op Sys Eng v9.12
MicroLogix 1200 System1762-IT44 CHANNEL, THERMOCOUPLE/MILLIVOLT MODULE
PLC-5/1771 System1771-VHSCVERY HIGH SPEED COUNTER MODULE
Distributed I/O1794-OM8220V AC OUTPUT MOD, 8 PT.
Communications9399-MAILMANGRRSMAILMAN GETTING RESULTS GUIDE
Support6201-PLC2ARSUPT REINSTATEMENT CONTRACT FOR 6201PLC2A
Support9358-BIZUC1PRSUPT REINSTATEMENT CONTRACT FOR 9358BIZUC1PENE
SupportF1771-DMCUFIRMWARE UPGRADE FOR 1771-DMC CONTROL COPROCESSOR
RSI Software Products 9324-RLC300ENERSLOGIX 5/RSLOGIX 500 PROGRAMMING BUNDLE - CD-ROM
RSI Software Products 9301-2SE350ITU1RRSVIEW32 RUNTIME 32K-100K UPGRADE OUT-SUPT (IT)
RSI Software Products 9358-HSTS2400U3RUPGRADE: OUT-SUPT: HISTORIAN 1500 TO 32K TAG
Motion Control8720SM-015S2EAS115 KW/33.4 AMP, 750 VDC, AC MOTOR WITH SRS60 ENC.
8115SLDERLSS Field CONN Adapter, Used W/4161 (2-4 & 6-8 Digits), 4162. Screw Term O/I'S For Data LNS
IC200MDL141bbbbb 240VAC (1 GROUP OF 8) 8PT
IC697CGR935RRHot Standby Genius Dual Bus CPU, 486DX4, 12K Discrete I/O, I M fixed user memory, Floating pt.
MTR-1235-N-A-E-0RRStepping Motor Nema23
Z44A730465-011Motor half key for B1/6000is motor
20BD096A0AYNACD0PowerFlex 700 AC Drive 96 A 75 Hp 20B
20G11NC085AA0NNNNNPowerFlex 755 AC Packaged Drive
22F-D024N114PowerFlex 4M- 11 kW (15 HP) AC Drive
ASMBKT085QuantumMB+ LINE CONNECTOR KIT
294D-FD4P2P-G1Variable Frequency Drive
S8JC-15024 NEW220VAC，容量： 150W输出 24V 6.5A
1492-SPM3B040-NMCB Supplementary Protector 4 A
软启动器3RW40272BB05
电机启动器3VU16403CG00
150-F480NBDBSMC Flex Smart Motor Controller
1734-AENTRPOINT I/O Dual Port Network Adaptor
1783-BMS06TAStratix 5700 6 Port Managed Switch
193-EIMDE3 Plus Module
20-750-BUS6-F9PF755 FR9,IP00,600/690 VAC,DC BUS TERM
2090-CPWM7DF-10AF07MP-Series 7 m Length Power Cable
2097-V34PR5Kinetix 300 Servo Drive
ET-GT-9ES-2ST8 RJ45 Ports, 1 Multimode Fiber Port Ethernet Switch
GFK-2061VMIC - Thermocouple User's Manual - IC697VTM004/008
IC220MDL753OUTPUT, 24VDC POSITIVE LOGIC 0.5A, 8PT (REQUIRES 4 IC220TBK082)
IC647DMC200DataMart 200 Reporting Clients
IC647ROC000CROC:Fisher Remote Operations Controller for 2048 Units
IC693MDL330RR120/240 Vac Output, 2 Amp (8 Points)
IC756CDV010E-97DV Draw Development on Compaq True64, English, Version 9.7
MSI-PROD-25-43Product Mang Clients 25 Pack-43
PLC-5/1771 System1771-DRS4CONTROL COPROCESSOR, STATIC RAM MENORY EXPANSION
Distributed I/O1790-16BV0XLDX I/O, 24VDC, 16 UNIVERSAL IN EXPANSION, D-SHELL
Communications1788-CNFRCONTROLNET LOGIX DAUGHTER CARD
Operator Interface2711-NC2NEMA 4, REMOTE KEYSWITCH & RS232 PORT ASSEMBLY
Support9305-RSVADDCDESSUPT RENEWAL CONTRACT FOR 9305RSVADDCDE
Support9324-RLD300ESRSUPT REINSTATEMENT CONTRACT FOR 9324RLD300ES
DeviceNet Products 2711-T10C10L1PV1000 COLOR TOUCH, DNET & RS232 PRINT
RSI Software Products 9301-2SE3400ESU2RSVIEW32 RUNTIME 300-32K UPGRADE IN-SUPT (ES)
RSI Software Products 9371-EPNE3RSWIRE PNUEMATIC LIBRARY
Motion ControlMPF-SST-A3B3KIT,SHAFT SEAL,FOR MPF-A3XX AND MPF-B3XX MTR
2025-230Greyline OS, 4 Line, (20) 4MM Chars, LCD, Quick Connect, 230VAC, NEMA 4
HE693THM8098 ch. J, K, N, T, E, R, S, 0.5 癈 resolution, 癈/癋 engr. units
IC675PDM841Profibus Station IP67 24VDC Positive Logic 8 bbbbbs / 4 Outputs 2.0A
QPJ-MBP-201MODULE MODICON MODBUS PLUS
STXPBS432STXi Profibus with 16 24VDC sink (Positive Logic) bbbbb and 16 24VDC source output, expandable to 8 additional modules.
20BC3P5A0AYNANC0PowerFlex 700 AC Drive 20B
20F1AND186AA0NNNNNPowerFlex 753 AC Packaged Drive
22B-CCCPowerFlex 40 C Frame Cover Kit
140DDO84300Quantum开关量DC输出,16点,10-60VDC,2组隔离,2A/组
284E-FVD2P3Z-10-CR-3-EMIEtherNet Variable Frequency Drive
E3Z-T61 NEW15m对射式?晶体管输出?NPN 100Ma电源DC12-24V
1492-SPM1B160-NMCB Supplementary Protector 16 A
直流电源6EP1333-3BA00120/230-500VAC 输入，24VDC/5A 输出
6EP13532BA00
1497D-A14-M10-0-N3000VA 240x480-120x240V 60Hz GPT
1606-XLSRED1606 XLS Redundancy Module Power Supply
1769-L32ECompactLogix 750KB Enet Controller
190E-CND2-CC16S10-16 A Economy Starter W/Ckt-Bkr
194R-LNC20194R UL Finger Safe Terminal Covers
2090-CPBM7DF-14AF60MP-Series 60 m Length Cable
2090-XXNPY-16S05Y-Series 5 m Length Power Cable
CBL-H1IC-06Serial cable for S2K or IMC or Target RS-232 communication. 6 feet
GF-2502RConnecting FlashCable to Deltronic, Marposs, Nikon, Panametrics, Spaul ding (Cable is 25 pin Female and is designed for devices that transmit on Pin 2).
IC200UDD064VersaMax Micro 64 point PLC,(40) 24VDC In, (24) 24VDC source Out ESCP, 24VDC Power Supply. (1) serial port and (1)optional communication port.
IC646TPD075ProServer 75 I/O Point Dev/Runtime System
IC647OMRMOMR:Omron Host bbbb
IC693ALG391Analog Output, Current, 2 Channels
IC752DPA062RRDatapanel 1062 with resistive touch. 10.4 inch VGA (640x480) active matri x TFT color display. Black bezel mounting from front of pa nel. Suppo rts all WinCfg functionality.
IC800VMM30MNKSE253 kW VersaMotion Motor
SLC/1746 System1747-C10REPLACEMENT CABLE FOR PROCESSOR TO PERIPHERAL
Industrial Computers6186-M12ALTRVERSAVIEW 12 INCH MONITOR, RESISTIVE TOUCH SCREEN
Application-specific products1404-M405A-CNT1404-M4 CONTROLNET PM3000 120/240V P.S.
Operator Interface2711-T6C10L1PV600 COLOR TOUCH, DNET & RS232 PRINT
Support9301-2SE3100DESSUPT RENEWAL CONTRACT FOR 93012SE3100DE
Support9380-RSBAR2500RSUPT REINSTATEMENT CONTRACT FOR 9380RSBAR2500
DeviceNet Products 1734-RTB3REPLACEMENT 12 bbbbbbbb IP20 SCREW TERMINAL BLOCK
RSI Software Products 9301-2SE3200ITU1RSVIEW32 RUNTIME 150-300 UPGRADE IN-SUPT (IT)
RSI Software Products 9358-BPCNT10ENERSBATCH PC-BASED PHASES 10 UNITS
Motion ControlMPL-B430P-SK24AAMOTOR,SERVO,6.55 NM,5000RPM,SINGL,460V,BRK
Motion Control2090-SCNP20-0SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,20.0M
GFK-1295Using CIMPLICITY Control
IC646MDE000Logic Developer - PC & View Development/Runtime (HRT) 8,000 I/O
MSP-VOL-OT1Obsolete - 0-10 V out / Pulse in
QPI-PBS-201Communication Module for 7 inch/ 9 inch/ 10 inch & 12 inch: Profibus Slave/ without me mory retention
20BC030A0AYNANC0PowerFlex 700 AC Drive 30 A at 15 kW 20B
20F11GD077AA0NNNNNPowerFlex 753 AC Packaged Drive
21G14WF370JN0NNNNN-HD-P20PowerFlex Air Cooled 755 Packaged Drive
2711P-RDT15CPanelView Plus Disp Mod - 2711P-RDT15 C
280E-F12Z-NB-RArmorStart Direct Online Starter
C200HX-CPU65-ZECPU单元 内存63.2K最大I/O点数:1184点 带RS232C口?时钟
1492-PD32127760 A Power Distribution Block
电源模块6ES7405-0RA01-0AA0PS405 输入电压 24/48/60VDC 20A 宽槽
变送器3RS17052FW00
TIA 博途数字化选件6AV2107-0PX04-0AA6SIMATIC Visualization Architect V14 Rental license (90days)
1585J-M8RB-2M5RJ45 Ethernet Media
1760-PICOSOFTMPico programming MED Software
188-K2D500Miniature Circuit Breaker 50 A
194L-E12-451312A 194L Load Switch
2090-CPBM4DF-14AF07MP-Series 7 m Length Pwr and Brake Cable
2090-XXNFLT-S03TL-Series 3 m Length Feedback Cable
BC647OEM0300OEM Edge Program - Machine Edition (Approval Required)
GC647MGP001Proficy Plant Applications Adaptor Assisted Support
IC200GBI001CAConbbbbal Coated REMOTE I/O Genius NETWORK INTERFACE UNIT
IC646NMA000bbbbbbb Driver
IC647JYCMJYC:Johnson Yokogawa YS 100 Series
IC670MDL74012/24VDC 0.5A Pos. Logic Output 16 Pt. Grouped
IC800SLCPVL100Power cable for SLM350 or SDM500 or SLM500 S-series servo motor. 10 meters
ControlLogix/1756 System1756-PB7219.2 - 32 VDC POWER SUPPLY (5V @ 10 AMP)
Industrial Computers6182H-12TRH15DVVCE 1250, TOUCH, STD MEM, CNET, DC
Process Control1757-PFBUPG010PROFIBUS LIC UPG 10 IOMS
Operator Interface2711P-ST10BPANELVIEW PLUS 1000 KEY/TOUCH STARTER KIT
Support9357-ENETMD3RSUPT REINSTATEMENT CONTRACT FOR 9357ENETMD3E
Support9363-SNAPSHOTSSUPT RENEWAL CONTRACT FOR 9363SNAPSHOT
ControlNet Products1734-VHSC55 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS
RSI Software Products 9301-2SE240DEU3RRSVIEW32 WORKS 150-32K UPGRADE OUT-SUPT (DE)
RSI Software Products 9358-B30U1UPGRADE: IN-SUPT: RSBIZWARE BATCH 03 TO 30
Motion ControlMPL-A430H-SK22AAMOTOR,SERVO,6.55 NM,3500RPM,SINGL,230V,6.4KG
Motion Control2090-UXNFBY-S30CABLE,ULGRF50ON-FLEX,MOTOR FEEDBACK,Y,30M
CBL-14-ET-20MTR-1300 and MTR-1N Series SPLASHPROOF Stepping Motor Encoder Feedback Cable, 20 Ft.
IC610MDL151RR24Vdc Sink Output (8 points)
IC800SLCAPM010Control Cable, SL Servo Terminal Block to APM300, 1 Meter
OC647IFGLBLENBLRMiFIX WebSpace Server Enabler including 2 Web Users(M4 Key)
20AD3P4A0NYNANC0PowerFlex 70 AC Drive 3.4 A at 2 Hp 20A
20DD014A0EYNANANEPowerFlex 700S AC Drive 20D
20P41AB012RA0NNNPowerFlex DC Drive 230V AC 3 HP
2711-NP2PanelView Mounting Clips
280-PWRM24A-M05ArmorConnect 3-PH Power Media drop cable
3G3MV-A4007 NEW3.6KVA 3.4A 0.75KW 三相AC380-460V/50HZ/60HZ
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