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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(lèi)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(chē)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(chē)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(chē)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(chē)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(lèi)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(lèi)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(mǎn)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(xiàn)通常由切邊與沖壓兩臺(tái)模鍛壓機(jī)組成。在此生產(chǎn)線(xiàn)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(zhuān)門(mén)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(lèi)設(shè)備形成板材柔性加工線(xiàn)，包括真空吸盤(pán)抓手、定位臺(tái)、板料傳輸線(xiàn)、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(pán)，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(xiàn)。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(xiàn)。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(xiàn)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(lèi)型包括對(duì)面布置型、有直線(xiàn)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(zhuān)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(zhuān)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(lèi)機(jī)床工作中的工傷隱患。

 

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RSI Software Products 9358-PLTM2600U2 UPGRADE: IN-SUPT: PLANTMETRICS 10 TO 200 WORKCELL

Motion Control 8720SM-075S6SAS3 75 KW/137 AMP, 750 VDC, AC MOTOR WITH SNS60 ENC.

A06B-0113-B075#7008 B0.5/3000 Servo Motor, 32K Serial Encoder

IC200UAA007 28 point; (16) AC In, (12) AC Out, AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC752BCL001 Download cable for DataPanel 30/35/50/55 Series

MTR-1350-N-A-E-0RR Stepping Motor Nema34

NI 9207

ROCKY-538TXV-R7

MIC-3368

orbotech vint-021584-rev

威達(dá)工控機(jī)底板 PCI-6S

HAL-8063

PCI-1720U

1492-SPM3C150-N MCB Supplementary Protector 15 A

軟啟動(dòng)器 3RW40471BB05

熱電阻模擬量輸入模塊 6ES7 231-5PD32-0XB0 SM 1231 AI 4 x 16 位熱電阻

150-SB3NUR SMC-50 SOLID STATE MOTOR CONTROLLER 140A

1734-RTBCJC POINT I/O Accessory

1783-MX04S Stratix 8000 4 Port SFP Exp. Module

193-ESM-IG-60A-C55 E300/E200 60 Amp Sensing Module

20-750-I1B-C750D710 PowerFlex 750 Replacement Inverter

2090-CPWM7DF-14AF60 MP-Series 60 m Length Power Cable

2098-DSD-HV220 Ultra 3000 Servo Drive

GA647IFCLNTS005 GCA iFIX iClientTS 5 Additional Users

GP-0602NT-H1 GagePort LVDT NT (Half Bridge H1 Blocks)

IC5005TAX0030 PanelPC 15 inch Standard Unit Deluxe with Windows XP

IC647HSTAE30KM Alarm and Events Option for Historian - Standard Server 30000 Points (M4 Key)

IC647SRB001 Scheduler Ressource Booking

IC693MDL734RR 125 Vdc Output, (6 Points)

IC756HDV010E-98 DV Draw Development on HP/UX Op Sys, English, Version 9.8

Pico Controllers 1760-L12BWB-ND 12 I/O PICO CONTROLLER W/OUT DISPLAY, 24V DC

PLC-5/1771 System 1771-IQ16 ISOLATED INPUT MODULE, 24V DC

Distributed I/O 1791D-0B16PX 24 VDC BLOCK I/O EXPANSION, 16 OUT SOURCE, RTB

Communications 1784-PCMKS PRMCIA 1784PCMKS/A CARD FOR RIO SCANNER

Operator Interface 2706-P74CN2 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

Support 9305-RSVADSZHS SUPT RENEWAL CONTRACT FOR 9305RSVADSZH

Support 9515-RSNHS005R SUPT REINSTATEMENT CONTRACT FOR 9515RSNHS005ENE

EtherNet/IP Products 2711-T10G20 PV1000 GRAYSCALE TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE340ESU1R RSVIEW32 RUNTIME 1500-32K UPGRADE OUT-SUPT (ES)

RSI Software Products 9356-PRO2300U1 UPGRADE: IN-SUPT: RSSQL STD.150 TO PROF.1500 TAG

Motion Control 1326AB-B720F-S2K7L MOTOR,SERVO,460V,31.8NM,5000RPM,SINGL,BRK,IP67

4161-901-N4 4161 NEMA 4 LENS KIT

HMI-COV-201 FRONT SHEET COVER FOR 9"

IC693CPU341 CPU 341 Module (80K Bytes user memory), 10K Registers, .3 msec/K

SM1000-MEL QUICKMARQUEE OFF-LINE EDITOR

NUPRO-842LV/P

PCM-8200

PCI-9820

P4DCE+

IPC-610L/H

IMB-9454G-R20

IPC-623BP-00R

1492-SPM1C630-N MCB Supplementary Protector 63 A

通用型變頻器 6SE6 440-2UC22-2BA1 "2.2 KW,149 x 202 x 172"

電機(jī)啟動(dòng)器 3VU13402NH00

150-C25NBR SMC-3 25A Smart Motor Controller

1609-D1000E Uniterruptible Power Supply

1770-XG Dropline Connector Kit

193-EC1DE E3 9-45 A Overload Relay

195-GA02 Auxiliary Contact

2090-CPBM7E7-10AF25 MP-Series 25 m Length Cable

2093-AMP5 Kinetix 2000 Axis Module

CP8B-1WEB-0140-AZ Shielded motor power cable for B0.4is/B0.5is/B1is motors (elbow connector). 14 meters

GF-AU5V/AMS Connecting FlashCable to

IC200UEX164 VersaMax Micro 64 point expansion (40) 24VDC bs, relay outputs, AC power supply. Compatible with Micro 20/40/64 revision -Bx hardware only version 4.0 firmware and above.

IC647AEC050 PA Efficiency Client 50 Pak

IC647PCMS03 Proficy Change Management Electronic Signature Option - 3 Concurrent Users

IC693CBL334 Cable, Right Side, Two - 24 Pin 90 Degree Connectors, .5 Meter

IC754CBL06MTD Ctrl Loaded 6 In Mono Touch DC Blank

IMC-78005773 Custom modified IMC enhanced stepping motor controller

SLC/1746 System D1746-6.16DE SLC500 THERMOC'PL/MV ISOL.INPUT MOD. USR MNL(GERMA

Distributed I/O 1732D-OB8EM8 DEVICENET 24VDC 8 0.5A OUTPUT W/M8

Application-specific products 1404-M805B-CNT-02 1404-M8 CONTROLNET PM3000 CLASS 0.2 24V P.S.

Operator Interface 2711-T10C12 PV1000 COLOR TOUCH, PBUS & RS232 PRINT

Support 9301-2SE3400FRS SUPT RENEWAL CONTRACT FOR 93012SE3400FR

Support 9381-P5KENS SUPT RENEWAL CONTRACT FOR 9381P5KEN

DeviceNet Products 1790-T0V16X LDX I/O, 24VDC, 16 SINK OUT EXPANSION, TERM BLK

RSI Software Products 9301-2SE3300U2 RSVIEW RUNTIME 150 TO 1500 UPGRADE: IN-SUPPORT

RSI Software Products 9358-GTSSEE GTS - GAGE TRACKING AND CALIBRATION SYSTEM

Motion Control MPL-B520K-SJ22AA MOTOR,SERVO,10.7 NM,4000RPM,SINGL,460V,11.3KG

Motion Control 9101-1477 MATING CONNECTOR KIT/J2 20 PIN MINI D(SOLDER CUP)

GQPK2D100L2P QUICKPANEL MONO 6" LCD GE LABEL

IC646MRD159 Logic PC (HRT) 1500 Tag Runtime System

MTR-3T23-G-R-B-M-S MTR-Series Servo Motor, Resolver, Metric, 24V Brake, Seal

SNAP 4C5 PC Port is 25-pin male and port on CNC is 25-pin female. This is for hardware handshake communications.

PXIe-8510/2

PCI-I4DA

AIMB-782

PEAK-703P(LF)

LDI200-PCI

686LCD/MG

1492-RAFB4250 IEC Term Blck 10 x 110 x 44.8mm Spr Clp

存儲(chǔ)卡 6ES7952-0AF00-0AA0 RAM/64K

變送器 3RS11011CK20

1497-E-M4-0-N Control Circuit Transber

1606-XL480F Power Supply XL 480 W Power Supply

1762-L40AWA MicroLogix 1200 40 Point Controller

188-K3C630 Miniature Circuit Breaker 63 A

194L-HC4A-175 194L Control and Load Switch Actuator

2090-CPBM7DF-06AA02 MP-Series 2m Power and Brake Cable

2090-XXNPMF-10S04 MP-Series 4 m Length Pwr and Brake Cable

BC647SPR0X0 "Solution Provider Renewal > 30 keys includes key flashes which could be M4 or M1, Global Care Complete (iGC SP1)

GC647PRTEE005 GlobalCare Complete - Proficy Portal Enterprise Edition Client Pack 5 Users Ver 3.0

IC200MDL644LT INPUT 5/12VDC POS/NEG LOGIC (4 GROUPS OF 8) 32PT (LT)

IC646PCMS10 Proficy Change Management Electronic Signature Module 10 Pack

IC647MPS010 Logic Developer PLC Standard 10 Pack with USB Hardware key

IC676PBI016 IP67 Input Block - 24 VDC Positive Logic - 16 Pt - Profibus

IC697PWR720 Replacement Power Supply Adaptor

IC800SSI107RS1RR 7.2A, 115/230V, S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-L30B 30 I/O FIXED HARDWARE STYLE

Industrial Computers 6189-RPRH VVCE LOGIC MODULE, 128MB FLASH, 128MB RAM

Process Control D1770-6.5.21 SMART TRANSMITTER TOOLKIT USER MANUAL

Operator Interface 2711-B5A3L2 PV550 MONO KEY&TOUCH, DH485 & RS232 PRINT

Support 9303-3CS0E20UR UPGRADE: OUT-SUPT: DRIVEMONITOR TO DRIVEMONITOR32

Support 9371-RSWDI1S SUPT RENEWAL CONTRACT FOR 9371RSWDI1

ControlNet Products 2706-P92C INVIEW MESSAGE DISPLAYS

RSI Software Products 9301-2SE2500ITU5 RSVIEW32 WORKS 5K-100K UPGRADE IN-SUPT (IT)

RSI Software Products 9358-BBKEY30ENE RSBIZWARE BATCH BACK-UP KEY 30 UNITS

Motion Control MPL-A4530K-MJ22AA MOTOR,SERVO,8.36 NM,4000RPM,MULTI,230V,8.2KG

Motion Control 2090-UXPC-D0915 CABLE,9/9 POS,45 DEG D/STRAIGHT D,15M

CBL-6113 Cable. IBM COMP. To Model 9650, 25 Pin PC COMM. Port

IC641LCN053 Runtime license for DEC VAX/VMS

IC800SLMCONKITVB Connector Kit, 1 kW to 2.5 kW S-Series Servo Motors with Brake

OC647WFLRDB Proficy Workflow - Relational DB SP

PXI-5404

BP07I

W26361-W83-X-02 D1826-G31

ADT-925C

kJ060000 500XD

IAC-H671

1492-MD6X9 IEC 6 x 9 mm Marker Card

1494V-M70 Variable Depth Circuit Breaker Operator

軟啟動(dòng)器 3RW44662BC35

運(yùn)行版軟件 6AV2104-3FF04-0AE0 SIMATIC WinCC Runtime Advanced 2048 PowerTags V14 Upgrade ： V11..V13 -> V14

1585J-M4TBJM-0M8 RJ45 Ethernet Media