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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，實現(xiàn)了數(shù)字控制、驅(qū)動制造、精密傳動與 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。并通過高效組合形成了自動化極強(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。基于此，文章立足于當(dāng)前工業(yè)機(jī)器人與金屬成形機(jī)床集成的常見應(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，我國已成為全球最大的工業(yè)機(jī)器人市場。據(jù)國際機(jī)器人聯(lián)盟 (IFR) 統(tǒng)計數(shù)據(jù)顯示， 2015 年，我國工業(yè)機(jī)器人的用量共為 6.7 萬臺，已成為全球工業(yè)機(jī)器人的第一大市場。并且，我國先后發(fā)布的《中國制造 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，實現(xiàn)我國自主品牌工業(yè)機(jī)器人年產(chǎn)量 10 萬臺。其中，六軸及以上工業(yè)機(jī)器人年產(chǎn)量超過 5 萬臺。在工業(yè)機(jī)器人制造業(yè)不斷發(fā)展的同時，我國裝備制造業(yè)也在逐步轉(zhuǎn)型升級。近年來，在先進(jìn)技術(shù)進(jìn)步與市場需求多元化的雙重作用下，考慮用工業(yè)機(jī)器人代替人力勞動的企業(yè)逐漸增多。而長期以來，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，受消費者自動化需求的提升，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、高溫高濕與高勞動強(qiáng)度等，工作對工作人員身體健康的傷害程度較大，且簡單枯燥，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)用工難問題，發(fā)展空間較大。由此，需對工業(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。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，激光束也在工作，從而實現(xiàn)切削。此類型應(yīng)用的主要特點包括 ：工業(yè)機(jī)器人運動靈活、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)用通常會配置兩臺機(jī)器人，一臺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) ；另一臺負(fù)責(zé)從沖壓成型模鍛壓機(jī)取料后，移送至另一臺模鍛壓機(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模具進(jìn)行潤滑。而此過程處于高溫高濕環(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)控折彎機(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、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)臺沖床等 ；二是工業(yè)機(jī)器人以折彎機(jī)為中心，配置真空吸盤，磁力分張上料架、定位臺、下料臺、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，實現(xiàn)可實現(xiàn)二者的無縫連接。進(jìn)而開發(fā)出折彎軟件包，對折彎過程中工業(yè)機(jī)器人托料實現(xiàn)閉環(huán)控制 [2,3]。在不同折彎速度下，工業(yè)機(jī)器人實現(xiàn)了自動匹配的完全跟蹤，使折彎示教實踐叫從前縮短十倍。

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、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，價值也更高。在當(dāng)前工業(yè)轉(zhuǎn)型升級時代背景下，市場需求的旺盛程度不斷增加。因此，現(xiàn)場條件與工藝路線等因素對金屬成形機(jī)床的布局起著決定性因素。常見類型包括對面布置型、有直線型、U 型和 L 型等。其中，由三臺金屬成形機(jī)床構(gòu)成的 U型布局，主要由一臺工業(yè)機(jī)器人在場地中間進(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。其對需要吊裝的笨重工件，以及加工時間短且生產(chǎn)批量大的中小零件加工來說，明顯優(yōu)勢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、移動式和固定式等 [4]。

第三，獨立完成加工工序。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金屬成形機(jī)床。并且，具備觸覺與視覺的工業(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、折彎機(jī)上夾持工件，從而實現(xiàn)加工操作。此工作不僅是簡單的上下料，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。

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Support 9307-RSPRTR SUPT REINSTATEMENT CONTRACT FOR 9307RSPRT

Support GML-DZS SUPT RENEWAL CONTRACT FOR GMLDZ

Support F1785-L30BSERC FIRMWARE UPGRADE FOR 1785-L30B PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300ITE RSVIEW32 WORKS 1500 (ITALIAN)

RSI Software Products 9701-VWSB250ENU2 RSVIEW SE STATION 100 - 250 DISPLAY UPGRADE

RSI Software Products 9399-L5PG 9399-L5PG PLC-5 A.K. SERIES PROGRAMMING GUIDE

Motion Control 2098-IPD-HV220-DN HIGH VOLTAGE DRIVE, 47A/94A, ULTRA5000 DEVICENET

BC646MDA159 View Development /Runtime 1,500 I/O

IC300FOX104 FOX Fiber Optic Base

IC752SKT000 Mature, order Datapanel 150 instead. DataPanel K Starter Kit: Includes Datapanel K (DPK000), download & communication cables, WinCfg, user & programming manuals

MTR-3S65-H-R-B-E-SRR Servo Motor 24V Brake, Seal

ZA06B-6114-K232#S Motor brake power straight connector for B0.4/5000is or B0.5/6000is or B1/6000is BM0.5/4000 or BM1/4000 motors

20C-DPI1 PowerFlex 700H DPI Option Kit

20G1ABD485AN0NNNNN PowerFlex 755 AC Packaged Drive

25A-D017N104 PowerFlex 523 7.5kW (10Hp) AC Drive

2711P-T15C4D9 PanelView Plus Terminal

6SE6440-2UC22-2BA1 2.2KW

1492-JKD3TP 2.5 mm Knife Disconnect Terminal Block

1492-WMG3 IEC Term Blck 8x47.6x41mm Screw

軟啟動器 3RW44233BC35

緊湊型信號模塊 6ES7 522-1BH10-0AA0 DQ 16：數(shù)字量輸出模塊，晶體管 DQ 16 x 24 VDC/ 0.5A BA, 25mm 模塊，含前連接器

1585-C4HB-S100 1585 Ethernet Cable

1746-OB16 SLC 16 Point DC Output Module

1788-ENBT FlexLogix/DriveLogix ENet/IP Comms Card

194E-16-C3 194E 3 Pole Terminal Cover

20-PP01082 PLASTIC TERMINAL BASE, FRAME 9

2090-CSBM1DF-14AF50 Kinetix Cable Single DSL 2090-Series

20AC030A3AYNAEC0 PowerFlex 70 AC Drive 30 A at 15 kW 20A

GC-8459-EB-MT Ethernet BIM Workbench, Global Care Only

GQPK2D101L2P 6 inch Monochrome/ GE Fanuc Label/ 24VDC/ CE

IC600DM706RR DP Prom Type 1A Module (DPU)

IC647HSTES10000KM Historian Enterprise Server 10,000,000 Points (M4 Key)

IC647WIMM WIM:Westinghouse IMPACC

IC694ALG232LT Low Temperature. RX3i Efficiency 16-Channel Advanced Analog Voltage Input module provides 16 single-ended or 8 differential b channels. 0 to 10 V (unipolar), -10 to +10V (bipolar) with 16 bit resolution. Advanced diagnostics. Requires Proficy? M

IC756SDV000CS-99 DV Development - Solaris Op Sys, Simplified Chinese, Version 9.9

MicroLogix 1200 System 1762-IF4 4 CHANNEL CURRENT/VOLTAGE ANALOG INPUT MODULE

PLC-5/1771 System 1771-TCM TEMPERATURE CONTROL MODULE

Distributed I/O 1794-OB8EPK CONFORMAL COAT, 24VDC SOURCE OUT ELECT FUSED, 8 PT

Communications 9399-INTWINUG INTERCHANGE FOR WINDOWS USER GUIDE

Support 6200-APIR SUPT REINSTATEMENT CONTRACT FOR 6200API

Support 9358-BIZUC0PR SUPT REINSTATEMENT CONTRACT FOR 9358BIZUC0PENE

Support F1771-DA FIRMWARE UPGRADE FOR 1771-DA I/O MODULE

RSI Software Products 9324-RL5ENU1R UPGRADE: OUT-SUPT: WIN LOGIC 5 TO RSLOGIX 5

RSI Software Products 9301-2SE350FRU4R RSVIEW32 RNTM 150-100K UP

RSI Software Products 9358-HSTS2400U2R UPGRADE: OUT-SUPT: HISTORIAN 300 TO 32K TAG

Motion Control 8720SM-011S1DAS3 SPARE PART ONLY - GMS ITEM

78005102 Target Spare Module

IC200MDD849 MIXED OUTPUT RELAY 2.0A PER PT ISOLATED 8PT / INPUT 120VAC ISO 8PT

IC697CGR772 Hot Standby Genius Dual Bus CPU, 486DX4, 2K Discrete I/O, 512K byte fixed user memory, Floating Pt.

MTR-1235-E-D-E-0 MTR series NEMA 23 stepping motor with series winding connection and encoder

Z44A730465-003 Motor half key for B22/2000is or B22/2000HVis motor

20BD096A0ANNANC0 PowerFlex 700 AC Drive 96 A 75 Hp 20B

20G11NC072AA0NNNNN PowerFlex 755 AC Packaged Drive

22F-D024N104 PowerFlex 4M- 11 kW (15 HP) AC Drive

990NAD23012 Quantum RUGGEDIZED MBUS+ TAP DIN

294D-FD2P5Z-G2 Variable Frequency Drive

S8JC-10024 NEW 220VAC，容量： 100W輸出 24V 4.2A

1492-SPM3B040 MCB Supplementary Protector 4 A

軟啟動器 3RW40272BB15

電機(jī)啟動器 3VU16402CR00

150-F480NBD SMC Flex Smart Motor Controller

1734-AENT POINT I/O Ethernet Network Adaptor

1783-BMS06SL Stratix 5700 6 Port Managed Switch

193-EGJ E1 Plus Ground Fault and Jam Module

20-750-BUS5-F9 PF755 FR9,IP00,DC IN,INPUT TERMINATION

2090-CPWM7DF-10AF05 MP-Series 5 m Length Power Cable

2097-V34PR3-LM Kinetix 350 1.0kW Servo Drive

ET-GT-9ES-2SC 8 RJ45 Ports, 1 Multimode Fiber Port Ethernet Switch

GFK-2060 VMIC

IC220MDL752 OUTPUT, 24VDC POSITIVE LOGIC 0.5A, 4PT (REQUIRES 1 IC220TBK123)

IC647DMC100 DataMart 100 Reporting Clients

IC647REAM REA:Reliance Electric Automate 15/20/30/40

IC693MDL330LT 120/240 Vac Output, 2 Amp (8 Points) (LT)

IC756CDV001K-99 DV Development - Compaq True64 Op Sys Addt'l User, Korean, Version 9.9

MSI-PROD-25 Product Management Clients 25 Pack

PLC-5/1771 System 1771-DRS1 CONTROL COPROCESSOR, STATIC RAM MEMORY EXPANSION

Distributed I/O 1790-15CMCBL LDX I/O LONGER RIBBON CABLE, 15CM (LOTS OF 5)

Communications 1788-CNF CONTROLNET LOGIX DAUGHTER CARD

Operator Interface 2711-NC1 PANELBUILDER UPLOAD/DOWNLOAD CABLE

Support 9305-RSVADDCDER SUPT REINSTATEMENT CONTRACT FOR 9305RSVADDCDE

Support 9324-RLD300ENS SUPT RENEWAL CONTRACT FOR 9324RLD300EN

DeviceNet Products 2711-T10C10 PV1000 COLOR TOUCH, DNET & RS232 PRINT

RSI Software Products 9301-2SE3400ESU1 RSVIEW32 RUNTIME 1500-32K UPGRADE IN-SUPT (ES)

RSI Software Products 9371-EPCO3 RSWIRE ISA LIBRARY

Motion Control MPF-AIR-TOOL TOOL, AIR PURGE COVER INSERTION AND

2025-128-C Greyline OS, 4 Line, (20) 4MM Chars, LCD, Quick Connect, 128K Memory W/CLOCK/DATE, NEMA 4