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我國工業(yè)機器人與金屬成形機床集成應用的現狀與問題

工業(yè)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(tǒng)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(yè)機器人的曬制上優(yōu)勢較為明顯。而這些優(yōu)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(yè)所察覺。所以，早于多年前，便已有部分機床及企業(yè)介人對工業(yè)機器人
的制造與研發(fā)。發(fā)展至當前，我國開展工業(yè)機器人研制的金屬成形機床企業(yè)，主要為數控系統(tǒng)廠和主機廠兩類。其中，后者的產品門類較為齊全，主要優(yōu)勢集中于成套項目承接。

然而現階段，雖然我國工業(yè)機器人與金屬成形機床的集成應用正日趨廣泛。但從行業(yè)的整體發(fā)展程度來看，二者集成應用在數量與規(guī)模上，均處于初級起步階段，與發(fā)達國家仍有較大差距。主要表現為以下幾方面 ：第一，工業(yè)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(yè)機器人相組合，但各自使用分離的控制系統(tǒng)。第二，行業(yè)內部缺乏可借鑒與參考的技術標準規(guī)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(yè)機器人領域屬于新興行業(yè)，相關應用型專業(yè)人才十分匱乏，導致諸多項目受阻。總體而言，在工業(yè)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(fā)揮工業(yè)機器人與金屬成形機床的集成應用優(yōu)勢，還需各餐祝主體的不懈努力。

4 、工業(yè)機器人與金屬形成機床集成應用的發(fā)展路徑

根據上文所述，當前我國工業(yè)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(fā)揮二者的合力優(yōu)勢，推進汽車制造企業(yè)發(fā)展進程。

其一，汽車機床企業(yè)在研制工業(yè)機器人的過程中，應充分發(fā)揮產業(yè)自身固有優(yōu)勢，樹立更高的發(fā)展目標。制造商應立足于自身實際發(fā)展需要，完善工業(yè)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(chuàng)新，突破減速器與伺服電機等基礎零部件的傳統(tǒng)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(yè)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(xù)穩(wěn)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(yè)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(tǒng)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(tǒng)等，實現工業(yè)機器人與金屬成型機床的空間集成。

其四，在促進工業(yè)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(guī)范與流程，有效滿足二者對機械結構設計與控制系統(tǒng)等的特殊要求。因此，汽車制造企
業(yè)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(guī)范，加強各環(huán)節(jié)的交流、溝通與協作，充分實現優(yōu)勢互補、資源共享與發(fā)展合力，推進我國機床工具行業(yè)轉
型升級 [5]。

其五，為加快工業(yè)機器人與金屬成形機床集成應用的普及，應加大對專業(yè)領域人才的培養(yǎng)力度。一方面，需加大工業(yè)機器人研制與開發(fā)相關專業(yè)人才的培養(yǎng)力度，促進工業(yè)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(yè)機器人應用人才的培養(yǎng)，并不斷深化關人才的專業(yè)知識與技能水平。

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RSI Software Products 9301-2SE230ESU2R RSVIEW32 WORKS 150-1500 UPGRADE OUT-SUPT (ES)

RSI Software Products 9701-VWSS000AJPE RSVIEW SE SERVER UNLIMITED DISPLAY (JAPANESE)

RSI Software Products 9399-INTOSFUG INTERCHANGE FOR DIGITAL UNIX USER GUIDE

Motion Control 2098-DSD-020X DRIVE, 10A/30A,ULTRA 3000

788 SLDERLSS Field CONN Adapter, Used W/995, 4161 (2-4 Digits), 4162. Screw Term O/I'S For Data LNS

HE693IBM235 Terminal Emulation Software on 3.5" disk, (included with module)

IC300OCS100 OCS with 2x20 LCD Display, and 17-key tactile feel keypad. Supports up to 4 SmartStack I/O Boards, full ladder instruction set and CsCAN Networking.

IC752WTA050 Display Station 2000 Series - 10.4" active matrix VGA (640x480), resistive touchscreen, Pentium 233MHz, 128MB RAM, 6 GB HD, PCI/ISA expansion slots, Ethernet, 300 pt ct CIMPLICITY HMI, Win NT

MTR-3T42-H-R-B-M-0RR Servo Motor Metric 24V Brake

ZA66L-6001-0026#L5R003 A22/3000HVi & A12/4000HVis & A22/4000HVis, Fiber Optic Cable (Sheathed) 5M

20DB052A0EYNANANE PowerFlex 700S AC Drive 52 A 20 Hp 20D

20G1ALC567AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-B5P0N104 PowerFlex 525 0.75kW (1Hp) AC Drive

2711R-T10T PANELVIEW 800 10.4-INCH HMI TERMINAL

6SE6420-2UD21-5AA1 1.5KW

1492-L4 IEC Term Blck 6.1x62x35.7mm Spr Clp

1494C-DJ622-A5-B1-D-E 200 A Flange Mtd Cable Switch

軟啟動器 3RW44273BC34

備品備件 6ES7 592-2AX00-0AA0 標簽條，35 mm 模板適用，一包 100 片

1585BX-M8UB-5 Variant 1 Ethernet Media

1747-L511 SLC 5/01 1K Controller

1790D-TN4C0 CompactBlock LDX Analog Input Base Block

194E-A63-3753 63 A 194E Load switch

20-VB00601 PowerFlex DPI Interface Board

2090-CSWM1DE-18AA01 Kinetix Cable Single DSL 2090-Series

20AC072C3AYNANC0 PowerFlex 70 AC Drive 72 A at 37 kW 20A

GC646MDB300 Proficy GlobalCare Complete for Logic Developer PC w/Runtime 300 I/O

HE693CBL222 RS-232 cable for 9-pin personal computer serial port

IC600RB752RR RPU Device Switch Module

IC647HSTESEO5000KM eSignature Option for Historian - Enterprise Server 5,000,000 Points (M4 Key)

IC655MDL576RR 115/230Vac Isolated Output (16 points)

IC694MDL632CA Conbal Coated Input module 125 VDC 8 point NEG/POS logic.

IC756URT100 Unix DV Tools Runtime 100+, Per User

MicroLogix 1500/1769 System 1769-IR6 6 CHANNEL RTD/RESISTANCE INPUT MODULE

PLC-5/1771 System 1771-CX25 PLC-5 LOCAL CABLE

Distributed I/O 1797-CE3S BUS EXTENDER CABLE FOR BUS ISOLATOR - 3 FOOT

Communications D5000-6.4.21 REFERENCE MANUAL INTERCHANGE SOFTWARE

Support 9321-L2160R SUPT REINSTATEMENT CONTRACT FOR 9321L2160

Support 9358-EP03S SUPT RENEWAL CONTRACT FOR 9358BEPNT03ENE

Support F1771-SN FIRMWARE UPGRADE FOR 1771-SN MODULE

RSI Software Products 9324-RLD2U3PTE RSLOGIX 5000 MINI TO STD UP, PTE

RSI Software Products 9304-WVD256D WINTELLIGENT VIEW 256 DEVELOPMENT

RSI Software Products 9358-PLTM2500U1R UPGRADE: OUT-SUPT: PLANTMETRICS 5 TO 100 WORKCELL

Motion Control 8720SM-055S5PAS2 55 KW/116 AMP, 750VDC, AC MOTOR WITH SRM660 ENC.

995-4-0 Thumbwheel Assembly. 4 Digit. 0 True. Dust Seal

IC200TBX110 Tool box, 10 point (IC200NDR001) 24VDCIn/Relay Out, 24 P/S, VersaMax DataPanel DP45 with Programming software and cables, (IC640VPS00, IC752DDZ000, IC200CBL555)

IC698CHS117 RX7i 17 VME Slot Rack, Front Mount

MTR-1350-0-D-E-0RR Stepping Motor Nema34 Dbl Shft

ZA06B-0076-B503 B8/3000HVis servo motor with 24 VDC brake and 128k serial encoder

20BD248A0ANNANC0 PowerFlex 700 AC Drive 20B

20G11RC5P0JA0NNNNN PowerFlex 755 AC Packaged Drive

25-ENC-2 PowerFlex 527 Incremental Encoder

140XTS01212 Quantum CABLEFAST電纜, 大電流, 帶 QUANTUM I/O 端

294E-FD4P2Z-G2-3 Variable Frequency Drive

D4MC-5020 觸點:1開/1閉,10A 250VAC機械壽命:1000萬次 滾珠按鈕式

1492-SPM3C060-N MCB Supplementary Protector 6 A

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數字量輸入 / 直流輸出模塊 6ES7 223-1BH32-0XB0 SM 1223DI 8×24 V DC，DQ 8×24 V DC

150-FPP85B SMC Flex Repair Part

1734-OV2E POINT I/O 2 Point Digital Output Module

1783-IMS28NAC Stratix 5410 28 Port Managed Switch

193-ESM-I-60A-T E300/E200 60 Amp Sensing Module

20-750-I1-C460D430 PowerFlex 750 Inverter Assembly Kit

2090-CPWM7DF-14AF05 MP-Series 5 m Length Power Cable

2098-DSD-HV100 Ultra 3000 Servo Drive

GA646PME005 GlobalCare Assist for PCM Machine Edition Version 5 User

GP-0602NT-F4 GagePort LVDT NT (Full Bridge for Solartron)

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IC647HSTAE1500KM Alarm and Events Option for Historian - Standard Server 1,500,000 Points (M4 Key)

IC647SMK001 Scheduler Desktop Pro 1 user

IC693MDL731 12/24 Vdc Output, 2 Amp, Negative Logic (8 Points)

IC756HDV001E-99 DV Development - HP/UX Op Sys Addt'l User, English, Version 9.9

MSI-SDK-2-43 SDK Connections 2 Pack-43

PLC-5/1771 System 1771-IDK CONFORMALLY COATED, ISOLATED INPUT MODULE

Distributed I/O 1790D-T8A0 DNET LDX , 120V AC, 8 INPUT BASE, TERMINAL BLOCK

Communications 1784-KTS ISA BUS PC CARD WITH RIO SCANNER

Operator Interface 2706-P22R INVIEW PANEL MOUNT DISPLAY

Support 9305-RSVADSESS SUPT RENEWAL CONTRACT FOR 9305RSVADSES

Support 9515-RSEOL040R SUPT REINSTATEMENT CONTRACT FOR 9515RSEOL040ENE

EtherNet/IP Products 2711-B6C20L1 PV600 COLOR KEY&TOUCH, ENET & RS232 PRINT

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4161-4-5-N4 BCD To 7 SEG Display . 4 Digit, 5VDC. NEMA 4

HMI-CCT-201 BACKLIGHT TUBE 10.5"

IC693CMM302 Communication Module, Genius (1 Kbyte) GCM+

QSK3D200C2P QUICKSTART KIT 6" TFT COLOR

TRM-21006672 4 point screw terminal motor power connector for 7.2 amp 460 VAC S2K

20BC8P7A3AYYANC0 PowerFlex 700 AC Drive 8.7 A 4 kW 20B

20F1ANF142JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-E4P2C104 PowerFlex 40 2.2 kW (3 Hp) AC Drive

140AMM09000 Quantum 模擬量混合模塊, 4通道輸入, 2通道輸出

284E-FVD7P6Z-25-RRN-3-DB-SB-EMI-OC EtherNet Variable Frequency Drive

E2E-X10Y1 10mm,電感式,二線,常開 300mA 電源:24-240VAC圓M30

1492-SPM1C250-N MCB Supplementary Protector 25 A

通用型變頻器 6SE6 430-2UD41-1FB0 110 KW,326 x 1400 x 356

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150-C201NBR SMC-3 201A Smart Motor Controller

1608P-BP110A480V3 ProDySC 110 Amp Bypass

1770-CD3 Data Highway 300-300 ft Length Cable

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194R-S1 194R Standard Length Operating Shaft

2090-CPBM7E7-08AF20 20 m Length SpeedTec Extension Cable

2090-XXTPMP-16S90 MP-Series 90 m Length Power Cable

CP5A-1MPB-0140-AZ Mtr Power Cable, A30 & A40 Motors, 14 M

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GQPI-DEM-CV2 QUICKPANEL DEMO 10.5" VIDEO GE LABEL

IC646MRB700 Logic PC 700 Tag Runtime System

MTR-3T11-G-R-B-M-S MTR-Series Servo Motor, Resolver, Metric, 24V Brake, Seal

SFW-CCSD-6 CCS for Windows sofware version 6.0 on CD-ROM

20BC056A0AYNANC1 PowerFlex 700 AC Drive 56 A 30 kW 20B

20F11ND5P0AA0NNNNN PowerFlex 753 AC Packaged Drive

22-RF9P5-AS PowerFlex EMC Filter

140CPU11302 Quantum CPU256K,8K用戶邏輯,10K寄存器,1MB和1MB+

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

C200H-OC223 輸出單元, 5點, 繼電器獨立接點 同上

1492-PP3 IEC Term Blck 1.5x47x40 mm Partition Plt

接口模塊 6ES7461-0AA00-7AA0 用于 IM461-0 的終端連接器

變送器 3RS10301DW20

1497-D-AXSX-0-N Control Circuit Transber

1606-XL240E Power Supply XL 240 W Power Supply

1762-IQ8 MicroLogix 8 Point Digital Input Module

188-K3C200 Miniature Circuit Breaker 20 A

194L-G3195 194L 57 mm Plastic Operating Shaft

2090-CPBM7DF-04AA09 MP-Series 9 m Length Pwr and Brake Cable

2090-XXNFTN-S N-Series to TL-Series Transition Cable

BC647PSF300 Proficy Process Systems 3000 I/O with iFIX with Global Care

GC647PME050 GlobalCare Complete for Proficy Change Management Server Machine Edition Version - 50 Concurrent Users

IC200MDL631 Input 125VDC POS/NEG logic isolated 8 point

IC646PCM001 Proficy Change Management 1 user

IC647MODEV Motion Developer for S2K Series Amplifiers/Controllers with USB Hardware key

IC676CBLPWB020 IP67 Power Cordset - 2 Meters

IC697PCM711 Programmable Coprocessor

IC800SSI104S1RR 4.3A, 115/230V, S2K Servo Controller for S-Series Motors

SoftLogix System 1789-STRT1FR SOFTLOGIX 5800 STARTER KIT FRENCH

Industrial Computers 6189-RDB7C VVCE 700, KEY/TOUCH DISPLAY MODULE

Process Control 9399-RSBEEUG RSBATCH EQUIPMENT EDITOR USER'S GUIDE

Operator Interface 2711-B5A1L2 PV550 MONO KEY&TOUCH, RIO & RS232 PRINT

Support 9303-23S0EFFR SUPPORT REINSTATEMENT CONTRACT FOR 9303-23S0EFF

Support 9371-ETBP3S SUPT RENEWAL CONTRACT FOR 9371ETBP3

ControlNet Products 2706-P42C INVIEWW MESSAGE DISPLAY. 1 OR 2 LINE

RSI Software Products 9301-2SE2500FRU1 RSVIEW32 WORKS 32K-100K UPGRADE IN-SUPT (FR)

RSI Software Products 9358-BANT60U2R UPGRADE: OUT-SUPT: RSBATCH ARCHIVER 10 TO 60

Motion Control MPL-A4530F-MK22AA MOTOR,SERVO,8.36 NM,2800RPM,MULTI,230V,8.2KG

Motion Control 2090-UXNPBMP-16S15 CABLE,460V,NON-FLEX,MOTOR POWER,MP,16 GAUGE,15M

CBL-3P-MP-30 Power Cable, MTR-3S6x-H Series Servo Motors, 30 Ft.

IC641CTL971 CIMPLICITY Control 90-70 Programmer with Paper Documentation Library

IC800SLM075N2XE25 750W, 230 VAC SL Servo Motor, Holding Brake, 2.5K Quad Encoder

OC647IPWRTSUSBSEM iPower Option - TS Base

20AE032A0AYNNNC0 PowerFlex 70 AC Drive 32 A at 30 Hp 20A

20DD077A3EYNANASE PowerFlex 700S AC Drive 77 A 60 Hp 20D

20P41AD996RA0NNN PowerFlex DC Drive 996 A

2711P-B15C4A8 PanelView Plus Terminal

280-PWRM35A-M10 ArmorConnect 10 Meter M35 Patchcord

CPM1A-10CDR-D-V1 10點主機 DC24V、6點入， 4 點繼電器輸出

1492-MCEA225 Miniature Circuit Breaker, 25 A

1494V-FS60 Fuse Block

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運行版軟件 6AV2104-0HA04-0AA0 SIMATIC WinCC Runtime Advanced 4096 PowerTags V14

1585J-M4HBJM-1 RJ45 Ethernet Media

1756-OA16I ControlLogix 16 Point D/O Module

188-K1B130-N Miniature Circuit Breaker 13 A

194E-FA63-P11 194E Load switch

2090-CFBM7DD-CEAF50 50 m Length SpeedTec Flexible Cable

2090-U3CBB-DM12 Ultra 3000 Breakout Board Kit

BC646MSP001 Logic Developer State Professional with Proficy GlobalCare Complete

GC647ASC050 GC SDK 50 Pak

IC200ACC302 I/O b simulator

IC646CSPC001 Proficy Cause+ for Inbligent HMI/SCADA Client Enabler - 1X CAL

IC647IFPLRN00300M iFIX Plus SCADA 300 I/O Runtime (M4 Part)

IC660MLA021 Label for IC660BBA021 (Qty 100)

IC697ALG230RR Analog Input, Voltage/Current, 8 Channels

IC758DCH000 Consulting per hour

FlexLogix System 1788-CNCR CNET LOGIX DAUGHTERCARD - REDUNDANT COAX MEDIA

GuardPLC Systems 1753-IB20XOB8 GUARDPLC DISTRIBUTED I/O - 28 I/O, GUARDPLC ENET

Process Control 1757-UPGSIFN UPGRADE MODICON PLC MODBUS QUICKBUILDER I/F

Operator Interface 2711P-T12C15B2 PV PLUS 1250, TOUCH, CNET, AC PS, EXT MEM

Support 9220-CCR SUPT REINSTATEMENT CONTRACT FOR 9220CC

Support 1784-DPS SUPPORT PLAN 1784-DP RENEWAL

Support F1785-L86BSERD FIRMWARE UPGRADE FOR 1785-L86B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2350ITE RSVIEW32 WORKS 5K (ITALIAN)

RSI Software Products 9701-VWSS250JPU2 RSVIEW SE 100 TO 250 UPG JAPANESE

RSI Software Products 9399-WAB32LUGPT RSLINX LITE USER GUIDE (PORTUGUESE)

Motion Control 8720MC -D097-AA- 97 AMP D CHASSIS DRIVE, ENCLOSURE, LESS OPTIONS

BC646MRA150 View Runtime 150 I/O

IC300OCS991 Starter Kit includes IC300OCS033 and IC300OSW232. No simulator. Limited one per customer (HSC/PWM)

IC752WTE051 Display Station 2000 Series - 10.4" active matrix VGA (640x480) resistive touchscreen, Pentium 333MHz, 128MB RAM, 6.4 GB HD, Ethernet, 300pt count CIMPLICITY HMI, field detachable front/rear housing and Win '95

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

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20DC011A3NYNACGNE PowerFlex 700S AC Drive 20D

20G1ALD710AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D030N114 PowerFlex 525 15kW (20Hp) AC Drive

2715-B10CD PanelView 5500 10.4 in. Graphic Terminal

FR-E540-7.5K 14KVA 18A 7.5KW 3相AC380V/50Hz/60Hz

1492-LAFB6 IEC Term Blck Spr Clp Fuse Blk

1494F-D60 Disconnect Switch

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ET 200SP 6ES7155-6AU00-0BN0 IM 155-6 PN 標準型PROFINET接口模塊，不含總線適配器

1585D-D4TBJM-1 Micro D-Code, QD Style Ethernet Media

1747-NP1 SLC Wall Mounting Power Supply

1794-AENT Flex EtherNet/IP Adaptor

194E-AA16E-P11 194E Load switch

2080-DNET20 Micro800 DeviceNet Scanner Plug-In

2090-CSWM1DF-14AA09 Kinetix Cable Single DSL 2090-Series

20AC2P1A3AYNAEG0 PowerFlex 70 AC Drive 20A

GC646MODEV05PK Proficy GlobalCare Complete for Motion Developer 5 Pack

HE693IBS313 Discontinued Part. Check with GE IP on migration path.

IC609EXP120RR Series One Junior Expansion 24Vdc Sk In/Rly Out,115Vac P/S

IC647HSTSC100KM Server to Server Collector for Historian - Standard Server 100000 Points (M4 Key)

IC660BBA024 Block 24/48Vdc Analog Current Source 4 Inputs / 2 Outputs

IC694MDL732 Output module 12/24 VDC 0.5 amps 8 points, positive logic.

IC756WDC009K-23 DV Development Sys VB, Java, C++, Korean, Version 2.3

MicroLogix 1500/1769 System 1769-PA4 120/240 VAC INPT. PWR SUPPLY 4A @ 5VDC, 2A @ 24VDC

PLC-5/1771 System 1771-DA ASCII I/O MODULE