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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(chǎng)。據(jù)國際機(jī)器人聯(lián)盟 (IFR) 統(tǒng)計(jì)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(tái)，已成為全球工業(yè)機(jī)器人的第一大市場(chǎng)。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(shí)現(xiàn)我國自主品牌工業(yè)機(jī)器人年產(chǎn)量 10 萬臺(tái)。其中，六軸及以上工業(yè)機(jī)器人年產(chǎn)量超過 5 萬臺(tái)。在工業(yè)機(jī)器人制造業(yè)不斷發(fā)展的同時(shí)，我國裝備制造業(yè)也在逐步轉(zhuǎn)型升級(jí)。近年來，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(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(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(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)器人以折彎機(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)二者的無縫連接。進(jìn)而開發(fā)出折彎軟件包，對(duì)折彎過程中工業(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說，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(shí)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(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。

 

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MicroLogix 1200 System 1762-IF2OF2 4 CHANNEL ANALOG COMBO MODULE

PLC-5/1771 System 1771-SPI SPI PROTOCOL INTERFACE MODULE

Distributed I/O 1794-OB8EP FLEX I/O 24VDC 8 CHANNEL ELECT. FUSED 2AMP OUT MOD

Communications 9399-INTWINEUG INTERCHANGE FOR WINDOWS (ETHERNET) USER GUIDE

Support 6200-AGA7S SUPT RENEWAL CONTRACT FOR 6200AGA7

Support 9358-BIZDME2S SUPT RENEWAL CONTRACT FOR 9358BIZDME2

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

RSI Software Products 9324-RL5700NXENE RSLOGIX 5 PROFESSIONAL, ENU

RSI Software Products 9301-2SE350FRU3R RSVIEW32 RUNTIME 150-100K UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-HSTS2400U2 UPGRADE: IN-SUPT: HISTORIAN 300 TO 32K TAG

Motion Control 8720SM-007S1CBS3 SPARE PART ONLY - GMS ITEM

78005069 Target Analog I/O Expansion Card Kit, 4 bs/4 outputs

IC200MDD848LT MIXED OUTPUT 120VAC 0.5A PER PT ISOLATED 8PT / INPUT 120VAC GRP 8PT (LT)

IC697BEM741 FIP Bus Controllerfor 9070

MTR-1235-E-A-E-0RR Stepping Motor Nema23 Encoder

DAQ-MS01

PCA-6178VE

Dialogic D/120JCT-LS

MAGMA PCIHIF68

IPC-610L AKMB-G41M/E5300/2G/500G/DVD

PC104-DAS08

AFL-W10A-N270

1492-SPM3B030-N MCB Supplementary Protector 3 A

軟啟動(dòng)器 3RW40241BB14

電機(jī)啟動(dòng)器 3VU16402CQ00

150-F43NBRB SMC Flex Smart Motor Controller

1734-ADNX POINT I/O DeviceNet Adaptor with Subnet

1783-BMS06SGL Stratix 5700 6 Port Managed Switch

193-EGF E1 Plus GND Fault I Protection Module

20-750-BUS5-F8 PF755 FR8,IP00,DC IN,INPUT TERMINATION

2090-CPWM7DF-10AF03 MP-Series 3 m Length Power Cable

2097-V34PR3 Kinetix 300 Servo Drive

ET-GT-9ES-1 9 RJ45 Port Ethernet Switch

GFK-2059 VMIC - Analog Output User's Manual - IC697VAL348

IC220MDL751 OUTPUT, 24VDC POSITIVE LOGIC 0.5A, 2PT (REQUIRES 1 IC220TBK082)

IC647DMC050 DataMart 50 Reporting Clients

IC647REAC REA:Reliance Electric Automate 15/20/30/40

IC693MDL330 120/240 Vac Output, 2 Amp (8 Points)

IC756CDV001K-98 DV Development - Compaq True64 Op Sys Addt'l User, Korean, Version 9.8

MSI-PROD-2-43 Product Mang Clients 2 Pack-43

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

Distributed I/O 1790-0W8X LDX I/O, 24VDC, 8 RELAY OUT EXPANSION , D-SHELL

Communications 1788-CNCR CNET LOGIX DAUGHTERCARD - REDUNDANT COAX MEDIA

Operator Interface 2711E-NT2 ANALOG TOUCH SCREEN REPLACEMENT KIT

Support 9304-WVR300R SUPT REINSTATEMENT CONTRACT FOR 9304WVR300

Support 9324-RLD300DES SUPT RENEWAL CONTRACT FOR 9324RLD300DE

DeviceNet Products 2711-K10G10 PV1000 GRAYSCALE KEY, DNET & RS232 PRINT

RSI Software Products 9301-2SE3400DEU5 RSVIEW32 RUNTIME 5K-32K UPGRADE IN-SUPT (DE)

RSI Software Products 9371-EIEC3 RSWIRE IEC LIBRARY

Motion Control MPF-A430P-MJ22BA MOTOR,SERVO,FDGRADE,6.55NM,5000RPM,MULTI

2024-LV Greyline OS, 2 Line, (20) 5MM Chars, LCD, Quick Connect, 10-30 VDC. NEMA 4

HE693THM665 6 channel thermocouple b module for Series 90-30 with 0.1癈 resolution, bus/channel isolation and 50Hz filtering.

IC670MDL930 Relay 2A 8 Pt. 6 Form A/2 Form C Isolated

QPJ-DVN-202 MODULE DEVICE NET SLAVE

STXPBS132 STXi Profibus with 24VDC source (Negative Logic) b, 32 points, expandable to 8 additional modules.

SCC-68

DVX-E1 U23-PC-411

超微C2SBX

LAN1400 PCI-E (1000)

PC104-SC486SLC

SE-450-48

1492-SPM1B150 MCB Supplementary Protector 15 A

直流電源 6EP1332-2BA00 120/230VAC 輸入，24VDC/3.8A 輸出

6ES72881ST400AA0

1497D-A13-M14-0-N Gen Purpose Transber

1606-XLSCAP24-6 XLS Buffer Module

1769-L30ERM CompactLogix 1 MB Motion Controller

190E-BND2-CC10X 6.3-10.0 A Economy Starter W/Ckt-Bkr

194R-J600-1753 Disconnect, fused, J-type, 600A

2090-CPBM7DF-14AF30 MP-Series 30m Continuous-Flex Cable

2090-XXNPTN-16S N-Series to TL-Series Transition Cable

CBL-3T-RD-30 Resolver cable for MTR-3T series servo motors. 30 feet

GF-1326R Connecting FlashCable to Starrett Calipers, Micrometers.

IC200UAR028-24 Qty of 24, 28 point PLC< (16) 120VAC In, (12) Relay Out (2 at 10 amp & 10 at 2 amp), 120V/240AC Power Supply. Battery (IC200ACC403) is requ ired for data retention. Battery not included.

IC646TDV999 Viewer Development System

IC647OMFC OMF:Omron Fins

IC693ALG390 Analog Output, Voltage, 2 Channels

IC752DEM001RR Datapanel Demo Kit B

IC800VMM30LBKSE25 3 kW VersaMotion servo motor with 24 VDC holding brake (14.3 Nm)

SLC/1746 System 1746-N3 CONNECTOR-MATING CONNECTOR FOR 32 PT USER MADE CBL

Industrial Computers 6189V-SLDVDROM CD/DVD DRIVE READ ONLY (SLIM)

Application-specific products 1404-DM DISPLAY MODULE FOR POWERMONITOR

Operator Interface 2711-K6C8L1 PV600 COLOR KEY, DH+ & RS232 PRINT

Support 9301-2SE2500ZHR SUPT REINSTATEMENT CONTRACT FOR 93012SE2500ZH

Support 9380-RSBAR10000S SUPT RENEWAL CONTRACT FOR 9380RSBAR10000

DeviceNet Products 1734-VHSC5 5 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS

RSI Software Products 9301-2SE3200FRE RSVIEW32 RUNTIME 300 (FRENCH)

RSI Software Products 9358-BPC60U3 UPGRADE: IN-SUPT: RSBIZWARE PC PHASES 30 TO 60

Motion Control MPL-B430P-SJ22AA MOTOR,SERVO,6.55 NM,5000RPM,SINGL,460V,6.4KG

Motion Control 2090-SCNP1-0 SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,1.0M

GFK-1246 TCP/IP Ethernet Communications (Type 2) for the Series 90-70 PLC User's Manual

IC646MDD159 Logic Developer PC (HRT)1500 Tag Runtime & Development System

MSP-TCK-IN1 Obsolete - Type K (0 to 1300C) in / Pulse out

QPI-GEG-201 Communication Module for 7 inch/ 9 inch/ 10 inch & 12 inch: GE Fanuc Genius/ UL/ cUL/ UL1604

PXIe-4303

300693-06 500692-00

TE420P

ORION-400W

PCI-GPIB

LV-67C

1492-PD3141 175 A Power Distribution Block

電源模塊 6ES7405-0DA02-0AA0 PS405 輸入電壓 24V DC 4A

變送器 3RS17051KD00

TIA 博途數(shù)字化選件 6ES7823-0BA00-1CA0 SIMATIC OPC UA S7-1500 medium ( CPU-1515 / CPU-1516 (F) )

1585J-M8PBJM-8X 1585J Ethernet Media Cables

1760-NDC Pico Protective Cover

188-K2D320 Miniature Circuit Breaker 32 A

194L-E12-4501 12A 194L Load Switch

2090-CPBM4DF-14AF02 MP-Series 2 m Length Pwr and Brake Cable

2090-XXLF-X330B Kinetix 6200/6500 Line Filter

BC647OEM0210 OEM Edge Program Additional Key - CIMPLICITY (Approval Required)

GC647IPWRTSUSBSEM iPower Option - TS Base Globalcare Complete part

IC200ETM001CA EXPANSION TRANSMITTER CONFORMAL COATED

IC646NHR000 Redundancy

IC647ITMM ITM:Intermec Barcode Readers

IC670MDL730 24VDC 2A Output, Pos. Logic, 8 Point, Electronic Short Circuit Protect ion

IC697MDL640 125 Vdc Input (16 Points)

IC800SLCPV100 Power cable for SDM100 or SLM100 or SDM250 or SLM250 or SGM450 S-series servo motor. 10 meters

ControlLogix/1756 System 1756-PA75R 85-265VAC REDUNDANT POWER SUPPLY

Industrial Computers 6182H-12TEH6D VVCE 1250, TOUCH, EXT MEM, RIO/DH, DC

Process Control 1757-PFBUPG003 PROFIBUS LIC UPG 3 IOMS