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工業(yè)機(jī)器人作為綜合性的高新技術(shù)產(chǎn)品，實(shí)現(xiàn)了數(shù)字控制、驅(qū)動(dòng)制造、精密傳動(dòng)與 IT、傳感和信息等技術(shù)的有效集合。而在當(dāng)前數(shù)字制造時(shí)代背景下，數(shù)控技術(shù)與人工智能推進(jìn)了工業(yè)機(jī)器人與金屬成形機(jī)床的迅速融合。并通過(guò)高效組合形成了自動(dòng)化極強(qiáng)的集成單元，可以為工業(yè)生產(chǎn)提供更為多元的的智能解決方案?；诖耍恼铝⒆阌诋?dāng)前工業(yè)機(jī)器人與金屬成形機(jī)床集成的常見(jiàn)應(yīng)用類型，分析了其主要形式。進(jìn)而探討了二者集成應(yīng)用中存在的問(wèn)題，并提出了相應(yīng)發(fā)展途徑。

關(guān)鍵詞 ：工業(yè)機(jī)器人 ；金屬 ；成形機(jī)床 ；集成應(yīng)用
當(dāng)前，我國(guó)已成為全球最大的工業(yè)機(jī)器人市場(chǎng)。據(jù)國(guó)際機(jī)器人聯(lián)盟 (IFR) 統(tǒng)計(jì)數(shù)據(jù)顯示， 2015 年，我國(guó)工業(yè)機(jī)器人的用量共為 6.7 萬(wàn)臺(tái)，已成為全球工業(yè)機(jī)器人的第一大市場(chǎng)。并且，我國(guó)先后發(fā)布的《中國(guó)制造 2025》、2016-2020年機(jī)器人產(chǎn)業(yè)發(fā)展規(guī)劃中均提出，到 2020 年，實(shí)現(xiàn)我國(guó)自主品牌工業(yè)機(jī)器人年產(chǎn)量 10 萬(wàn)臺(tái)。其中，六軸及以上工業(yè)機(jī)器人年產(chǎn)量超過(guò) 5 萬(wàn)臺(tái)。在工業(yè)機(jī)器人制造業(yè)不斷發(fā)展的同時(shí)，我國(guó)裝備制造業(yè)也在逐步轉(zhuǎn)型升級(jí)。近年來(lái)，在先進(jìn)技術(shù)進(jìn)步與市場(chǎng)需求多元化的雙重作用下，考慮用工業(yè)機(jī)器人代替人力勞動(dòng)的企業(yè)逐漸增多。而長(zhǎng)期以來(lái)，汽車制造行業(yè)作為工業(yè)機(jī)器人應(yīng)用的主要領(lǐng)域，受消費(fèi)者自動(dòng)化需求的提升，進(jìn)一步擴(kuò)大了工業(yè)機(jī)器人的應(yīng)用范圍。包括除焊接外的其他大部分領(lǐng)域，如汽車機(jī)床噴涂、打磨、物料搬運(yùn)碼垛、上下料與裝配等。在機(jī)床工具的組成部分當(dāng)中，金屬成形機(jī)床所處的位置即為重要。其成形加工中通常伴有金屬粉塵、噪聲污染、高溫高濕與高勞動(dòng)強(qiáng)度等，工作對(duì)工作人員身體健康的傷害程度較大，且簡(jiǎn)單枯燥，因此企業(yè)招工較為困難。而將工業(yè)機(jī)器人與金屬成形機(jī)床相集成，既能有效提高汽車加工的精度、安全性與工作效率，又可以解決企業(yè)用工難問(wèn)題，發(fā)展空間較大。由此，需對(duì)工業(yè)機(jī)器人與金屬成形機(jī)床集成應(yīng)用進(jìn)行研究，為汽車制造業(yè)發(fā)展提供借鑒 [1]。

1 、工業(yè)機(jī)器人與金屬成形機(jī)床集成的應(yīng)用類型

1.1 工業(yè)機(jī)器人的激光切割

工業(yè)機(jī)器人定位精度高，因此，應(yīng)用其進(jìn)行激光切割已成為激光切割與工業(yè)機(jī)器人應(yīng)用領(lǐng)域的主要熱點(diǎn)。在工業(yè)機(jī)器人手臂中集成激光束引導(dǎo)裝置，當(dāng)工業(yè)機(jī)器人跟蹤工件輪廓的同時(shí)，激光束也在工作，從而實(shí)現(xiàn)切削。此類型應(yīng)用的主要特點(diǎn)包括 ：工業(yè)機(jī)器人運(yùn)動(dòng)靈活、柔性高 ；激光切割質(zhì)量好、速度快且切縫窄，極大地滿足了現(xiàn)代制造業(yè)的發(fā)展需要。

1.2 熱模鍛集成

熱模鍛生產(chǎn)線通常由切邊與沖壓兩臺(tái)模鍛壓機(jī)組成。在此生產(chǎn)線上，工業(yè)機(jī)器人集成應(yīng)用通常會(huì)配置兩臺(tái)機(jī)器人，一臺(tái)用于將中頻處理后的高溫物料，移送至沖壓成型模鍛壓機(jī) ；另一臺(tái)負(fù)責(zé)從沖壓成型模鍛壓機(jī)取料后，移送至另一臺(tái)模鍛壓機(jī)進(jìn)行切邊。為了避免模具被粘附與高溫沖壓工件上，每次沖壓后需用石墨對(duì)模具進(jìn)行潤(rùn)滑。而此過(guò)程處于高溫高濕環(huán)境中，既可由專門機(jī)構(gòu)操作，又可由工業(yè)機(jī)器人完成。如由后者進(jìn)行，可以大幅提升系統(tǒng)安全性于加工效率。但需做好機(jī)器人的維護(hù)工作，提升其抗熱、抗輻射的能力。

1.3 數(shù)控折彎?rùn)C(jī)集成

工業(yè)機(jī)器人折彎集成應(yīng)用可分為兩種主要方式，一是工業(yè)機(jī)器人與金屬成形機(jī)床中的各類設(shè)備形成板材柔性加工線，包括真空吸盤抓手、定位臺(tái)、板料傳輸線、工業(yè)機(jī)器人行走軸與激光設(shè)備或數(shù)控轉(zhuǎn)臺(tái)沖床等 ；二是工業(yè)機(jī)器人以折彎?rùn)C(jī)為中心，配置真空吸盤，磁力分張上料架、定位臺(tái)、下料臺(tái)、翻轉(zhuǎn)架形成折彎單元。制造商利用自身在工業(yè)機(jī)器人控制系統(tǒng)和機(jī)床數(shù)控系統(tǒng)上的技術(shù)優(yōu)勢(shì)，實(shí)現(xiàn)可實(shí)現(xiàn)二者的無(wú)縫連接。進(jìn)而開(kāi)發(fā)出折彎軟件包，對(duì)折彎過(guò)程中工業(yè)機(jī)器人托料實(shí)現(xiàn)閉環(huán)控制 [2,3]。在不同折彎速度下，工業(yè)機(jī)器人實(shí)現(xiàn)了自動(dòng)匹配的完全跟蹤，使折彎示教實(shí)踐叫從前縮短十倍。

2、 工業(yè)機(jī)器人與金屬成形機(jī)床集成應(yīng)用的主要形式

工業(yè)機(jī)器人在金屬成形機(jī)床中的應(yīng)用領(lǐng)域較為廣泛，包括碼操、搬運(yùn)、焊接與裝配等，但一般被作為輔機(jī)使用。目前，工業(yè)機(jī)器人與金屬成形機(jī)床集成應(yīng)用的主要形式如下。

第一，二者集成柔性生產(chǎn)線。此種形式中，工業(yè)機(jī)器人承擔(dān)的工作任務(wù)是轉(zhuǎn)換工件工序，并與多臺(tái)金屬成形機(jī)床組成柔性生產(chǎn)線。其較某種單機(jī)上下料更為復(fù)雜，價(jià)值也更高。在當(dāng)前工業(yè)轉(zhuǎn)型升級(jí)時(shí)代背景下，市場(chǎng)需求的旺盛程度不斷增加。因此，現(xiàn)場(chǎng)條件與工藝路線等因素對(duì)金屬成形機(jī)床的布局起著決定性因素。常見(jiàn)類型包括對(duì)面布置型、有直線型、U 型和 L 型等。其中，由三臺(tái)金屬成形機(jī)床構(gòu)成的 U型布局，主要由一臺(tái)工業(yè)機(jī)器人在場(chǎng)地中間進(jìn)行工件轉(zhuǎn)換，布局特別緊湊。

第二，單機(jī)上下料。此種形式中，工業(yè)機(jī)器人在金屬成形機(jī)床中的應(yīng)用最為成熟與典型。其對(duì)需要吊裝的笨重工件，以及加工時(shí)間短且生產(chǎn)批量大的中小零件加工來(lái)說(shuō)，明顯優(yōu)勢(shì)是比人工上下料更為安全、速度快且準(zhǔn)確。工業(yè)機(jī)器人與金屬成形機(jī)床的結(jié)構(gòu)關(guān)系可分為兩種形式，即與金屬成形機(jī)床構(gòu)成一體和工業(yè)機(jī)器人安裝于機(jī)床外部。其中，后者又可分為銜架式、移動(dòng)式和固定式等 [4]。

第三，獨(dú)立完成加工工序。此種形式中，為工業(yè)機(jī)器人裝上專用手爪，其便可完成機(jī)床清洗、拋光、切割與打磨等工藝。甚至可以直接夾持切削工具，對(duì)工件進(jìn)行切削加工、鉚接、攻絲與打孔等。此外，可將其用于高溫環(huán)境下，進(jìn)行人工難以直接完成的工作，包括更換熱態(tài)模具、上下熱毛坯、澆注、機(jī)械鍛造與鑄造與取鐵液等。在此情形下，工業(yè)機(jī)器人本身便可視為一臺(tái)金屬成形機(jī)床。并且，具備觸覺(jué)與視覺(jué)的工業(yè)機(jī)器人，可以被用于復(fù)雜工序中，如零件分選、上下料與組裝等，且無(wú)需攜帶專用工位器具。

第四，共同完成加工工藝。此種形式中，工業(yè)機(jī)器人在沖剪、折彎?rùn)C(jī)上夾持工件，從而實(shí)現(xiàn)加工操作。此工作不僅是簡(jiǎn)單的上下料，而是替代全部的傳統(tǒng)人工作業(yè)。此形式的主要優(yōu)勢(shì)是較人工操作更為快速、準(zhǔn)確，可以大幅提升提高生產(chǎn)效率與產(chǎn)品質(zhì)量，甚至有利于徹底解決沖壓類機(jī)床工作中的工傷隱患。

上億庫(kù)存，國(guó)內(nèi)外近千個(gè)倉(cāng)庫(kù)，公司部分產(chǎn)品型號(hào)如下，歡迎聯(lián)系哦~！

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IC5002TAX0000 12" Unbundled Inbligence Industrial Computer with WIN XP Standard Series

IC800CBL067 B0.5/3000 Motor Power Cable, 14 Meters

OC647HSTSCADA300 Proficy Historian for SCADA 300 pts

20AD014A3AYYANC0 PowerFlex 70 AC Drive 14 A at 10 Hp 20A

20DC140A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ANE063AA0NNNNN PowerFlex 755 AC Packaged Drive

25C-D030N104 PowerFlex 527 15kW (20Hp) AC Drive

280-PWRM22A-M015 ArmorStart Three-Phase Power Media

FX1S-30MT 主機(jī)16入/14出 晶體管輸出

1492-M5X12H1-10 Connection Products

1494H-CA3H2 Heavy Duty Fusible Safety Switch

軟啟動(dòng)器 3RW44446BC46

ET 200SP 6ES7136-6DB00-0CA0 故障安全型模塊F-DQ 4x24VDC/2A PM 高性能型，基座單元類型A0

1585D-M4TBDM-18 Micro D-Code, QD Style Ethernet Media

1756-CPR2D ControlLogix Redundant Supply Cable Down

1794-OB16 Flex 16 Point Digital Output Module

194E-CA40 194E Load switch

2085-IF4 Micro800 4 Point Analog Input Module

2090-DANBT-18S05 TL-Series 5 m Length Brake Cable

20AC5P0C3AYNANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MVSS99 Proficy GlobalCare Complete for View Standard Edition - Site License

HE693THM665 Discontinued Part. Check with GE IP on migration path.

IC630MDL306RR 24Vdc Sink Input Module, D Connector, w/LEDs (32 points)

IC647HSTSS3KM-35 Historian v3.5 Standard Server 2500 Points (M4 Key)

IC660BLA024 Cover w/Label for IC660BBA024

IC695ALG616RS Refurbished Analog Input module, 16 channels single ended, 8 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 5

IC756WDV009E-26 DV Dev Sys VB, English v2.6

CompactLogix System 1769-OF2 2 CHANNEL ANALOG CURRENT/VOLTAGE OUTPUT MODULE

PLC-5/1771 System 9399-L5MAN 9399-L5MAN PLC-5 A.I. SERIES MANUAL SET

Distributed I/O 1799-ZCIOB ZONE CONTROL I/O CARD W/SOURCING OUTPUTS AND ZIP

Operator Interface 2711P-T6C5D PV PLUS 600 COLOR, TOUCH, RS232, DC PS. INCL USB,

Support 9343-S5200R SUPT REINSTATEMENT CONTRACT FOR 9343S5200

Support 9358-PBPC10S SUPT RENEWAL CONTRACT FOR 9358PBPC10ENE

Support F1779-KP2 FIRMWARE UPGRADE FOR 1779-KP2 COMMUNICATION MODULE

RSI Software Products 9301-2SE2103FRE RSVIEW32 WORKS 150 WITH RSLINX (FRENCH)

RSI Software Products 9701-VWMR075ENU1 RSVIEW ME STATION RUNTIME 15 TO 75 DISPLAY

RSI Software Products 9399-2SE32GRES RSVIEW32 GETTING RESULTS GUIDE (SPANISH)

Motion Control 2098-DSD-150X DRIVE, 65A/150A, ULTRA3000 W/INDEXING

ABI31200C2P/DVN QUICKPANEL 10.5" TFT W/DVN

IC200USB002 VersaMax Micro 64, RS-485 communications option board with (2) 0 - 10VDCanalog b channels built-in. The option board also supports program storage memory module. Compatible with VersaMax Micro 64 only.

IC752DPA060 Mature, order QuickPanel instead. DataPanel 1060 with resistive touch. 10.4" VGA (640x480) active matrix TFT color display. No bezel - mounts from inside panel. Supports all WinCfg functionality.

MTR-3S32-G-R-0-E-S MTR series servo motor with resolver and shaft seal

ZA06B-0273-B200 Alpha 40/4000HVis servo motor with straight shaft and key

20BE017A0AYNAND0 PowerFlex 700 AC Drive 17 A at 15 Hp 20B

20G14ND248AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PMFC-FB PowerFlex 520 Fr B Power Mod Front Cover

2711P-RP8DK PV Plus 6 512MB DC C Coated Logic Module

FRN7.5G11S-4CX 14 KVA 18 A 7.5 KW 3相AC380V/50Hz/60Hz

1492-J6 6 square mm Feed-Through Terminal Block

1492-SPM3D630 MCB Supplementary Protector 63 A

軟啟動(dòng)器 3RW40566BB35

CPU 模塊 6ES7 515-2AM01-0AB0 CPU 1515-2 PN，500 KB 程序，3 MB 數(shù)據(jù)；30 ns；集成 X1: 2x PN 接口，X2: 1x PN 接口

152H-C201XBD-52 SMC-3 Enclosed Motor Starter

1738-OB8EM23 ArmorPoint 8 Point Output Module

1785-ACC5LB PLC-5 Accessory Kit

193-NREEHZ E1 Plus Replacement Overload Relay

20-COMM-B PF ARCH. CLASS BACNET/MSTP ADAPTER

2090-CSBM1DE-18AA09 Kinetix Cable Single DSL 2090-Series

20AB9P6C3AYNANC0 PowerFlex 70 AC Drive 9.6 A at 3 Hp 20A

GA647IFPRSRUNLMT GCA iFIX Profsnl SCADA Unlmt Srv

GP647IFPLDV00150 GCP iFIX Plus SCADA 150 I/O Dev

IC600BF914RR Reed Relay Output Module (6 points)

IC647HSTCR2000KM Collector Redundancy Option for Historian - Standard Server 2,000,000 Points (M4 Key)

IC647TPD915 CIMPLICITY HMI ProServer 1500 I/O Development & Runtime System

IC693PCM311 Prog. Coproc. Mdl., 640 KB (190 KB Basic Prgm), w/Port Exp. Cbl.

IC756MDV000E-99 DV Development - Alpha OpenVMS Op Sys, English, Version 9.9

MicroLogix 1000/1761 System 1761-L32BBB 32 I/O MICROLOGIX 1000

PLC-5/1771 System 1771-IR RTD INPUT MODULE, 3-WIRE RTD'S

Distributed I/O 1792D-4BVT4D 4 SINK/SOURCE INPUTS, 4 SOURCING 0.5 AMP OUTPUTS

Communications 1787-DNPS DEVICENET CLASS II 24VDC POWER SUPPLY

Operator Interface D6190-6.5.18 CONTROLVIEW BATCH MANAGEMENT SW(6190-BAT)MANUAL

Support 9356-STD2100R SUPT REINSTATEMENT CONTRACT FOR 9356STD2100

Support 1789-L30R SUPT REINSTATEMENT CONTRACT FOR 1789L30

EtherNet/IP Products 9351-WKTSRT INTERCHANGE FOR WINDOWS RUNTIME

RSI Software Products 9301-2SE3500JPU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (JP)

RSI Software Products 9356-PRO2500U9 UPGRADE: IN-SUPT: RSSQL PROF.32000 TO 70000 TAG

Motion Control 0041-5071 N-5600 SHAFT SEAL KIT

44A735709-003 Failure Analysis - PowerMotion

IC200CBL120 CABLE I/O NON-SHIELDED 2 CONNECTORS 2.0M

IC694ALG442 ANALOG COMBINATION MODULE CURRENT VOLTAGE 4 INPUT 2 OUTPUT

MSI-SOL-PROVIDER MSI-SOL-PROVIDER

VSPC32-IMP50 VisualSPC Importer, 50 license pack.

20BD034A0AYYANA0 PowerFlex 700 AC Drive 34 A at 25 Hp 20B

20G11GC2P1JA0NNNNN PowerFlex 755 AC Packaged Drive

22D-B033N104 PowerFlex 40P- 7.5 kW (10 HP) AC Drive

140CRA21110 Quantum DIO站適配器和電源,115/230VAC,獨(dú)立,3A

290D-FAP-G1-3 Direct Online Starter

熱電偶/PT100輸入，繼電器輸出，3個(gè)報(bào)警

1492-SPM2B250 MCB Supplementary Protector 25 A

軟啟動(dòng)器 3RW30162BB04

電機(jī)啟動(dòng)器 3VU16401MQ00

150-F108NBRB SMC Flex Smart Motor Controller

1732D-16CFG1212W Armor WeldBlock 16 Point Block

1771-NT2 1771 Analog Module

193-EC5PB E3 Plus 0.4-2 A Overload Relay

198E-DF14168 Ip66/Nema 4/4X/12 Metal Hinged Enclosure

2090-CPWM6DF-16AA03 TL-Series 3m Standard Power Cable

2094-EN02D-M01-S1 Kinetix 6200/6500 Control Module

DNR240PS24-I FIELD PSU 24VDC 10A

GFK-0870 Host Communications Toolkit for C/C++ Applications User's Manual

IC210EMS001 Modbus RTU slave communications expansion module, 24V DC power source

IC647AUR025 PA Universal Reporting Client 25 pak

IC647PRTEE025C Proficy Portal Enterprise Edition Client Pack 25 Users (M1 Key)

IC693CPU350 CPU 350 Module (32K Bytes user memory, 4K I/O, 8 Racks), no built-in S erial Ports .22msec/K, The battery for the CPU is now included in the CPU backplane box.

IC754VSB06MTD View Basic 6 inch Mono Touch DC

MSI-DEMO-43 Proficy Plant Apps Demo Software-43

SLC/1746 System 1746-RL52 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OG16

Distributed I/O 1734-FPD FIELD POTENTIAL DISTRIBUTOR

Application-specific products 9307-EM10K3PXENE RSENERYMETRIX 3RD PARTY OPC (65 - 10K METERS)

Operator Interface 2711-NC14 10METER RS232 OPERATING/PROGRAMMING CABLE

Support 9302-HCOR SUPT REINSTATEMENT CONTRACT FOR 9302HCO

Support 9510-PB2500ENR SUPT REINSTATEMENT CONTRACT FOR 9510PB2500EN

DeviceNet Products 1761-NET-DNI DEVICENET INTERFACE (DNI)

RSI Software Products 9301-2SE3350PTE RSVIEW32 RUNTIME 5K (PORTUGUESE)