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我國工業機器人與金屬成形機床集成應用的現狀與問題

工業機器人與金屬成形機床在制造原理和結構等諸方面均較為相似，如伺服電機驅動、數控系統控制，以及可實現精確位置移動的自動裝置等。因此，金屬成形機床制造商在工業機器人的曬制上優勢較為明顯。而這些優勢帶來的巨大商機，早已被國內諸多目光敏銳機床制造企業所察覺。所以，早于多年前，便已有部分機床及企業介人對工業機器人
的制造與研發。發展至當前，我國開展工業機器人研制的金屬成形機床企業，主要為數控系統廠和主機廠兩類。其中，后者的產品門類較為齊全，主要優勢集中于成套項目承接。

然而現階段，雖然我國工業機器人與金屬成形機床的集成應用正日趨廣泛。但從行業的整體發展程度來看，二者集成應用在數量與規模上，均處于初級起步階段，與發達國家仍有較大差距。主要表現為以下幾方面 ：第一，工業機器人與金屬成形機床集成應用所處水平較低，諸多先進技術仍未充分應用。并且，應用形式僅是簡單地將金屬成形機床和工業機器人相組合，但各自使用分離的控制系統。第二，行業內部缺乏可借鑒與參考的技術標準規范或理論基礎，制造商與用戶均缺乏充足的知識與經驗。第三，工業機器人領域屬于新興行業，相關應用型專業人才十分匱乏，導致諸多項目受阻。總體而言，在工業機器人與金屬成形機床集成應用中，許多理論與實踐問題均未得到充分認識、論證與解決。
因此，要充分發揮工業機器人與金屬成形機床的集成應用優勢，還需各餐祝主體的不懈努力。

4 、工業機器人與金屬形成機床集成應用的發展路徑

根據上文所述，當前我國工業機器人與金屬成形機床集成應用中仍存在諸多問題。因此，需從以下幾方面對二者的集成應用進行探討，充分發揮二者的合力優勢，推進汽車制造企業發展進程。

其一，汽車機床企業在研制工業機器人的過程中，應充分發揮產業自身固有優勢，樹立更高的發展目標。制造商應立足于自身實際發展需要，完善工業機器人與金屬成形機床集成應用的基礎理論研究，提升工作工藝與轉配。同時，需不斷創新，突破減速器與伺服電機等基礎零部件的傳統束縛，大幅提高國產汽車制造工藝的質量與整體水平。
其二，在金屬成形機床的制造過程中，需加入充足的自動化功能，促進其與工業機器人工作的協調開展。在此過程中，汽車制造商需加強對刀具中先進技術的應用研究，包括強刀具磨損與補償道具的自動檢測與更換等，有效保證汽車機床加工各單元工作的持續穩定開展。

其三，汽車加工制造商需對共同協調工作的雙方進行聯動設計，并對工業機器人與金屬成形機床做出適合雙方的相應調整，形成二者度集中的協調有機統一體。此設計與調整不單是改變機床機械的結構，還應包括調整設備傳感器與整合控制系統等，實現工業機器人與金屬成型機床的空間集成。

其四，在促進工業機器人與金屬成形機床的集成應用過程中，應制定較為完善的技術規范與流程，有效滿足二者對機械結構設計與控制系統等的特殊要求。因此，汽車制造企
業間應建立完備的組織聯絡機制，并在機制中建立必要的技術標準與規范，加強各環節的交流、溝通與協作，充分實現優勢互補、資源共享與發展合力，推進我國機床工具行業轉
型升級 [5]。

其五，為加快工業機器人與金屬成形機床集成應用的普及，應加大對專業領域人才的培養力度。一方面，需加大工業機器人研制與開發相關專業人才的培養力度，促進工業智能機器人的應用與普及。另一方面，在汽車金屬成形機床制造領域，應加強對工業機器人應用人才的培養，并不斷深化關人才的專業知識與技能水平。
 

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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.

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

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

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20G11FD027AA0NNNNN PowerFlex 755 AC Packaged Drive

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

MA0186100 Quantum 遠程電纜分離器

285-BRCF25-M14 ArmorConnect Brake and Motor Cable

E6B2-CWZ3E 5-12VDC,電壓輸出,負載電流20mA, 3相,360P/R,500P/R,600P/R

1492-SPM1D500-N MCB Supplementary Protector 50 A

變頻器選件 6SE6 400-0AP00-0AA1 AOP 高級操作面板 420/440

電機啟動器 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

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IC754VBL06MTD View Loaded 6 In Mono Touch DC Blank

MSI-DASH-UNL Unlimited Dashboard Clients

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

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

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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

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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

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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

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

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

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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

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1585J-M8CBJM-1 RJ45 Ethernet Media

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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

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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

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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 主機12點入/8點出 繼電器輸出

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

1756-CNBRK ControlLogix Communication Module

1794-OA16 Flex 16 Point Digital Output Module

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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

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

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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 安全型開關量輸出模板

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

軟啟動器 3RW40566BB34

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

IC200CBL002 CABLE EXPANSION NIU FIRMWARE UPGRADE

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

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

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1492-SPM2B150 MCB Supplementary Protector 15 A