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MATROX CORONA 688-06,

MATROX CORONA 688-06

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我国工业机器人与金属成形机床集成应用的现状与问题

工业机器人与金属成形机床在制造原理和结构等诸方面均较为相似，如伺服电机驱动、数控系统控制，以及可实现精确位置移动的自动装置等。因此，金属成形机床制造商在工业机器人的晒制上优势较为明显。而这些优势带来的巨大商机，早已被国内诸多目光敏锐机床制造企业所察觉。所以，早于多年前，便已有部分机床及企业介人对工业机器人
的制造与研发。发展至当前，我国开展工业机器人研制的金属成形机床企业，主要为数控系统厂和主机厂两类。其中，后者的产品门类较为齐全，主要优势集中于成套项目承接。

然而现阶段，虽然我国工业机器人与金属成形机床的集成应用正日趋广泛。但从行业的整体发展程度来看，二者集成应用在数量与规模上，均处于初级起步阶段，与发达国家仍有较大差距。主要表现为以下几方面 ：第一，工业机器人与金属成形机床集成应用所处水平较低，诸多先进技术仍未充分应用。并且，应用形式仅是简单地将金属成形机床和工业机器人相组合，但各自使用分离的控制系统。第二，行业内部缺乏可借鉴与参考的技术标准规范或理论基础，制造商与用户均缺乏充足的知识与经验。第三，工业机器人领域属于新兴行业，相关应用型专业人才十分匮乏，导致诸多项目受阻。总体而言，在工业机器人与金属成形机床集成应用中，许多理论与实践问题均未得到充分认识、论证与解决。
因此，要充分发挥工业机器人与金属成形机床的集成应用优势，还需各餐祝主体的不懈努力。

4 、工业机器人与金属形成机床集成应用的发展路径

根据上文所述，当前我国工业机器人与金属成形机床集成应用中仍存在诸多问题。因此，需从以下几方面对二者的集成应用进行探讨，充分发挥二者的合力优势，推进汽车制造企业发展进程。

其一，汽车机床企业在研制工业机器人的过程中，应充分发挥产业自身固有优势，树立更高的发展目标。制造商应立足于自身实际发展需要，完善工业机器人与金属成形机床集成应用的基础理论研究，提升工作工艺与转配。同时，需不断创新，突破减速器与伺服电机等基础零部件的传统束缚，大幅提高国产汽车制造工艺的质量与整体水平。
其二，在金属成形机床的制造过程中，需加入充足的自动化功能，促进其与工业机器人工作的协调开展。在此过程中，汽车制造商需加强对刀具中先进技术的应用研究，包括强刀具磨损与补偿道具的自动检测与更换等，有效保证汽车机床加工各单元工作的持续稳定开展。

其三，汽车加工制造商需对共同协调工作的双方进行联动设计，并对工业机器人与金属成形机床做出适合双方的相应调整，形成二者度集中的协调有机统一体。此设计与调整不单是改变机床机械的结构，还应包括调整设备传感器与整合控制系统等，实现工业机器人与金属成型机床的空间集成。

其四，在促进工业机器人与金属成形机床的集成应用过程中，应制定较为完善的技术规范与流程，有效满足二者对机械结构设计与控制系统等的特殊要求。因此，汽车制造企
业间应建立完备的组织联络机制，并在机制中建立必要的技术标准与规范，加强各环节的交流、沟通与协作，充分实现优势互补、资源共享与发展合力，推进我国机床工具行业转
型升级 [5]。

其五，为加快工业机器人与金属成形机床集成应用的普及，应加大对专业领域人才的培养力度。一方面，需加大工业机器人研制与开发相关专业人才的培养力度，促进工业智能机器人的应用与普及。另一方面，在汽车金属成形机床制造领域，应加强对工业机器人应用人才的培养，并不断深化关人才的专业知识与技能水平。
 

Silver Series 1398-55 MANUAL, TOUCHPAD OPERATIONS

IC200ALG230 ANALOG INPUT 12 BIT VOLTAGE/CURRENT 4CH

IC754VBI10MTD 10" Monochrome Quickpanel View Intermediate, Touch, 24VDC, Blank Label

MTR-1337-N-D-E-SRR Stepping Motor Nema34 Splashproof

PSPC-MONITOR10/E Prof Shop Floor SPC Monitor 10 User eSig

PXIe-6376

MOXA 摩莎 C168H

P5WDG2

FSP460-60PFN

FSP300-60GTB

WADE-8656-J2

1492-MS6X12V1-END Connection Products

数字量输入/输出模块SM 6ES7 321-1BL00-0AA0 DI/32 24VDC，光电隔离，40pin 前连接器

行程开关 3SE53122SD12

运行版软件 6AV2105-2BB04-0AC0 SIMATIC WinCC Runtime 专业版 Powerpack Runtime Advanced 128 PowerTags -> Runtime 专业版 128 PowerTags V14

1585J-M8CBJM-0M5 RJ45 Ethernet Media

1756-PAXTR Extended Temp AC Redundant Supply

188-K1C630-N Miniature Circuit Breaker 63 A

194E-S1-P 194E Shaft Adptr Kit w/194R-S1 Shaft

2090-CFBM7DF-CEAF30 Kinetix 30m Flexible Cable

2090-UXNFBMP-S05 MP-Series 5 m Length Feedback Cable

BC646TDV700 Server 700 I/O Develop/Runtime System with Proficy GlobalCare

GC647IFESGRN00150 GCC iFIX Optn: ESig & ERec 150 I/O Run

IC200ALG620CA ANALOG INPUT 16 BIT RTD 4CH CONFORMAL COATED

IC646MDA300 View Development/Runtime 300 I/O

IC647IFPRRN00900C iFIX Profsnl SCADA 900 I/O Runtime (M1Component Part)

IC660TBA104 Terminal Assembly for IC660BBA104

IC697CHS791 Rack, 9 Slots, Front Mount

IC800MCUB12160XD 50 oz-in NEMA 23 stepping Motorcube with Devicenet interface

ControlLogix/1756 System 1756-IA8D 79-132 VAC DIAGNOSTIC INPUT 8 PTS (20 PIN)

Industrial Computers 6182H-7TEH6D VVCE 700, TOUCH, EXT MEM, RIO/DH, DC

Process Control 9358-PBEPB30ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 30 UNITS

Operator Interface 2711P-RAK10 PVP/VVCE1000 KEY/COMBO TO PV1000/1000E KEY ADAPTER

Support 9352-WGS200S SUPT RENEWAL CONTRACT FOR 9352WGS200

Support 9330-RSRDEVENS SUPT RENEWAL CONTRACT FOR 9330RSRDEVEN

ControlNet Products 1786-TNCJI4 CONTROLNET TNC COAXIAL CONN - ISOL JACK TO JACK

RSI Software Products 9301-2SE235JPU1R RSVIEW32 WORKS 150-5K UPGRADE OUT-SUPT (JP)

RSI Software Products 9355-WABCEU2 UPGRADE: IN-SUPT: 9351WKTS TO RSLINX C SDK CD

Motion Control MPL-A310F-SJ22AA MOTOR,SERVO,1.58 NM,3000RPM,SINGL,230V,3.0KG

Motion Control 2090-DANFCT-S01 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 01M

BC647MBP001 Machine Edition Professional Development Suite with Proficy GlobalCare Complete and a Hardware key.

IC320CGM560 CsCPCI CsCAN Interface Board, 1 channel. Bundled with CsCAN OPC Server

IC800CBL062 A12/3000 and A22/2000 Motor Power Cable, 14 Meters

OC647APS30025 CSense Predictive Soft Sensor 25 KPI's

PCIe-6351

HSB-681

BPS-400SP

MHG2-6400P

IMBA-9454G-R10

ACTEL ProASIC3

1492-M5X10H41-50 Connection Products

1494H-BF3H6 Heavy Duty Fusible Safety Discon Switch

软启动器 3RW44446BC34

ET 200SP 6ES7135-6HB00-0DA1 AO 2xU/I 高速型，基座单元类型A0、A1

1585D-M4TBDM-0M3 Micro D-Code, QD Style Ethernet Media

1756-CNB ControlLogix Communication Module

1794-N2 Flex Dummy Filler Module

194E-CA32E 194E Load switch

2080-TC2 Micro800 2 Channel TC Plug-In

2090-DAIO-D5001 Cable Non-Flex CN1 Control 1m

20AC5P0A3AYNNNC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MSP101 Proficy GlobalCare Complete for Logic Developer - State Professional w/Programming Cable

HE693TCU400 Thumbwheel Interface, sets (4) 4-digit registers in PLC (via SNP port)

IC630CHS306RR Base Unit, 6 Slots

IC647HSTSS300M Historian Standard Server 300 Points (M4 Key)

IC660BBS103RR 115Vac/125Vdc Low Leak Isol Block w/o Failed Sw Diag, 8 Ckt

IC695ALG608 Analog Input module, 8 channels single ended, 4 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 5V. The anal

IC756WDV000E-28 DataViews Development System for Visual Basic 1 User,English v2.8

CompactLogix System 1769-IF4 4 CHANNNEL ANALOG CURRENT/VOLTAGE INPUT MODULE

PLC-5/1771 System 9399-EVENTMSTRUG RSEVENTMASTER USER GUIDE

Distributed I/O 1799-DNETSCON 5-POSITION OPEN STYLE PLUG/LOCKING SCREWS FOR DN

Operator Interface 2711P-T6C20A PV PLUS 600 COLOR, TOUCH, ETHERNET, AC PS

Support 9325-S5255S SUPT RENEWAL CONTRACT FOR 9325S5255

Support 9358-PBEPB60R SUPT REINSTATEMENT CONTRACT FOR 9358PBEPB60ENE

Support F1779-KFLSERB FIRMWARE UPGRADE FOR 1779-KFL COMMUNICATION MODULE

RSI Software Products 9301-2SE2100PTE RSVIEW32 WORKS 150 (PORTUGUESE)

RSI Software Products 9701-VWMR075AENE RSVIEW ME STATION RUNTIME 75 DISPLAYS - WIN 2000

RSI Software Products 9361-PTLSEAT RSPORTAL SEAT LICENSE FOR GUARANTEED CONNECT

Motion Control 2098-DSD-030 DRIVE, 15A/30A, ULTRA3000

A81L-0001-0083#3C AC Line Filter, 5.4 KW

IC200UEX626-24 Qty of 24, 6 channel Analog expansion. (4) Analog bs & (2) Analog Outputs, 24VDC Power Supply (includes IC200CBL501)

IC752DEM001 Mature Products, order QuickPanel instead. DataPanel Demo Kit B

MTR-3S22-G-R-0-N-S MTR series servo motor with resolver and shaft seal

NI 9475

ROCKY-058HV

ADAM-4013

H8SGL-F

01-w3369f 30-50573-02

6064881C

1492-J4M IEC 1-Ckt Feed-Thru Blk Motor Conn 4mm

1492-SPM3D400 MCB Supplementary Protector 40 A

软启动器 3RW40562BB35

CPU 模块 6ES7 518-4AP00--0AB0 CPU 1518-4 PN/DP，4 MB 程序，20 MB 数据；1 ns；集成X1: 2x PN 接，X2: 1x PN 接口，X3:1x 1000M 以太网接口，X4: 1x DP 接口

150B-SD3JBD-BP Encl. SMC-50 150B- Motor Controller

1738-OB16E25DS ArmorPoint 16 Point Output Module

1784-SD2 ControlLogix Secure Digital Card

193-NCXP-DIO-CNT E300 Digital Module Connectors

20-750-S PowerFlex 750 SAFE Torque-Off Opt module

2090-CSBM1DE-14AF09 Kinetix Cable Single DSL 2090-Series

20AB6P8C3AYNANC0 PowerFlex 70 AC Drive 6.8 A at 2 Hp 20A

GA647IFPRRNUNLMT GCA iFIX Profsnl SCADA Unlmt Run

GP647IFESGSR00150 GCP iFIX Optn: ESig & ERec 150 I/O Srv

IC600BF909RR 48Vdc Source Output Module (8 points)

IC647HSTCR150KM Collector Redundancy Option for Historian - Standard Server 150000 Points (M4 Key)

IC647TPD075 CIMPLICITY HMI ProServer 75 I/O Development & Runtime System

IC693PCM300MP Prog. Coproc. Mdl., 160Kb (35Kb Basic Prgm), w/Port Exp. Cbl. Modified for use by OEMs

IC756LDV010K-97 DV Draw Development on Inb/Linux RedHat Op Sys, Korean, Version 9.7

MicroLogix 1000/1761 System 1761-L20AWA-5A 25 I/O MICROLOGIX 1000 WITH ANALOG

PLC-5/1771 System 1771-IFEK CONFORMALLY COATED, ANALOG INPUT MODULE, 12 BIT

Distributed I/O 1792D-16BVT0D 16 SINK/SOURCE INPUTS, 8 CONNECTORS

Communications 9300-KF2RAD REMOTE ACCESS KIT FOR DH+

Operator Interface D6190-6.5.10DE CONTROLVIEW EVENT DETECTOR USER MANUAL (GERMAN)

Support 9356-SQLSAP200S SUPT RENEWAL CONTRACT FOR 9356SQLSAP200

Support 1789-SLXR SUPT REINSTATEMENT CONTRACT FOR 1789SLX

EtherNet/IP Products 9351-VS INTERCHANGE FOR OPENVMS

RSI Software Products 9301-2SE3500ITU3 RSVIEW32 RUNTIME 300-100K UPGRADE IN-SUPT (IT)

RSI Software Products 9356-PRO2500U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO PROF.70000 TG

Motion Control N-5647-2-H00AA MOTOR,NEMA 56,47 LB-IN,3000 RPM

44A731246-G05 APM301 Firmware Upgrade Kit to V2.70

IC200BEM103 PLC NETWORK COMMUNICATION DeviceNet MASTER

IC694ALG221 INPUT MODULE ANALOG 4 POINT CURRENT

MSI-SDK-50-43 SDK Connections 50 Pack-43

cFP-AIO-600

PCA-6752

PWA-Copcil 6E7328

VIPER830/BZB-01

PCIe-PoE4+

FWX2-PCIE10

DMC-1822

1492-SPM2B100 MCB Supplementary Protector 10 A

软启动器 3RW30141BB14

电机启动器 3VU16401MK00

150-CS1FX SMC-3 Repair Part

1715-TADOF8 1715 8 Pt Duplex A/O Termination Assy

1771-NIVR 1771 Analog Module

193-EC5EE E3 Plus 18-90 A Overload Relay

198E-C0S4R Plastic IP66 and NEMA 4/4X/12K Enclosure

2090-CPWM4E2-08TR MP-Series 0.5m Length Transition Cable

2094-BMP5-S Kinetix 6000 Axis Module

DEMOCD00023 1012010

GFK-0840 Power Mate APM for Series 90-30 PLC Standard Mode User's Manual

IC210EAO002 2 channel analog out expansion (0 – 10VDC or 0 – 20mA). Requires Durus Plus controller with 3.0 version firmware.

IC647ATS001 PA Test Bed Key

IC647PRTEE002M Proficy Portal Enterprise Edition Client Pack 2 Users (M4 Key)

IC693CPU331 CPU 331 Module (16K Bytes), The battery for the CPU is now included in the CPU backplane box.

IC754VKI12CTD Starter Kit/ 12 inch View TFT Interm/ 24VDC

MSI-DASHBOARD-5 Dashboard Client 5 Pack

SLC/1746 System 1746-RL45 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-IV16

Distributed I/O 1734-IJ 5 VDC INCREMENTAL ENCODER MODULE

Application-specific products 9307-10KMGDBPENE RSEMETRIX MGR(65-10K METERS)W/1MSSQL PROCESSOR LIC

Operator Interface 2711-CBL-HM05 5METER RS232 CABLE, PV300MICRO TO MICROLOGIX

Support 9302-DFAS SUPT RENEWAL CONTRACT FOR 9302DFA

Support 9382-CM01R SUPT REINSTATEMENT CONTRACT FOR 9382CM01ENE

DeviceNet Products 1756-DNB DEVICENET BRIDGE/SCANNER MODULE

RSI Software Products 9301-2SE3350JPU3 RSVIEW32 RUNTIME 1500-5K UPGRADE IN-SUPT (JP)

RSI Software Products 9307-EM64MGRENE RSENERGYMETRIX MANAGER (9 - 64 METERS)

Motion Control MPL-B980B-MJ24AA MOTOR,SERVO,122.0NM,1000RPM,MULTI,460V,BRK

Silver Series 1398-DDM-030X DRIVE,30A PEAK, ULTRA 200 W/INDE

HE690CBL102 Ribbon cable for HE690RLY160, 2 foot.

IC646TPR700 Pro Server 700 I/O Point Run Time System

QM4204COA QUICKMARQUEE 4 X 20 4.8" OR 8 X 40 2.1" TRICOLOR

ST-3624 STXi analog b module 4 Channels, 0~5Vdc, 12-bit

USB-6003

IBACT-SB16SCSI

SRC MAIN Y-0689B

cognex MVS-7000

SPI-235HP

PCIE-FRM11

1492-RIFM40F-FS120A-4 Connection Products

WinCC 上位监控软件 6GK1716-1TB63-3AA0 TF-1613 驱动

变送器 3RS17031AD00

1497A-A14-M6-3-N Control Power Transber

1606-XLP50F Power Supply XLP 50 W Power Supply

1768-CNB CompactLogix L4X ControlNet Module

188-K4C080 Miniature Circuit Breaker 8 A

194R-30-C3 194R 30 A Line or Load Terminal Shield

2090-CPBM7DF-10AA20 MP-Series 20m Standard Cable

2090-XXNPMP-10S25 MP-Series 25 m Length Power Cable

CBL-12-MPS-10 Power cable for MTR-1221-*-D and Power cable for MTR-1231-*-D stepping motor connected to S2K. 10 feet

GC647SSL001 GCScheduler Site license

IC200PWR011 Isolated 24 VDC Power Supply

IC646TBLSS100 Proficy Troubleshooter for Inbligent Historian for Hist 100 Points

IC647NGE000 GE Fanuc SRTP Driver

IC690USB128 128Meg USB memory stick that has been tested with the Portable Program Download device (IC690ACC990).

IC698CPE030 RX7i Pentium M CPU - 600mHz with 64 meg of user memory. No fan required.CPU includes built-in Ethernet with switch and 2 serial communication ports.

IC800VMBR020 VersaMotion amplifier external braking resistor- 20 Ohm/1 kW

SLC/1746 System 1746-IM4 AC INPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6180W-15KP2KH VERSAVIEW 15-INCH WORKSTATION, KEYPAD

Application-specific products 6556-PA00M5 MINIMUM PACKAGE 5 FOR CLUTCH/BRAKE SOFTWARE PA00

Operator Interface 2711-K5A9L1 PV550 MONOCHROME KEY, RS232 (DH485) & RS232 PRINT

Support 9301-2SE2200ITR SUPT REINSTATEMENT CONTRACT FOR 93012SE2200IT

Support ABTS-W101R ABT-SW101 PATHFINDER SW SUPPORT REINSTATEMENT

ControlNet Products D1771-6.5.110 CONTROL NET ADAPTER MODULE USER MANUAL

RSI Software Products 9301-2SE250ESU2R RSVIEW32 WORKS 1500-100K UPGRADE OUT-SUPT (ES)

RSI Software Products 9358-BERP03U1 UPGRADE: IN-SUPT: RSBW BATCH ERP 1 TO 10 SERVER

Motion Control MPL-A560F-SJ22AA MOTOR,SERVO,26.8NM,3000RPM,SINGL,230V

Motion Control 2090-XXNPMP-16S15 CABLE,NON-FLEX,MOTOR POWER,MP/1326AB,16 GAUGE,15M

GC646TDV000 Proficy GlobalCare Complete for Server Unlimited Develop/Runtime System

IC641SWP060 Host Communications Toolkit

IMC-105D-1-D Stepping Motor Controller, DeviceNet, 5 Amp

PSPC-DC10/E-220L Prof Shop Floor SPC DC 10 User eSig 220v

PXI-6711

PCI-8134

Dialogic D/300JCT-E1-75 D300JCT

MRW-6400P

IPC-586VDH(D)

PCM-3621

1492-MS8X12H31-40 Connection Products

数字量输入/输出模块SM 6ES7 323-1BH01-0AA0 DO/8，DI/8，光电隔离，20pin 前连接器

行程开关 3SE53220SD22

运行版软件 6AV2105-3KK04-0AE0 SIMATIC WinCC Runtime 专业版 8192 PowerTags V14 Upgrade V11..V13 -> V14

1585J-M8CBJM-2M5 RJ45 Ethernet Media

1756-PSCA2 ControlLogix Redundant P S Adaptor

188-K1D080-N Miniature Circuit Breaker 8 A

194E-Y25-1756-6G 25 A 194E Load switch

2090-CFBM7E7-CDAF15 MP-Series 15 m Length Feedback Cable

2090-UXNFBY-S04 Y-Series 4 m Length Feedback Cable

BC646TPR300 ProServer 300 I/O Runtime Sys with Proficy GlobalCare

GC647IFPLDV00075 GCC iFIX Plus SCADA 75 I/O Dev

IC200CBL501 I/O Expansion cable, 0.1 meter long (Qty 5)

IC646MPM101 Logic Developer PLC Nano/Micro with Programming Cable

IC647IFPRSR00300M iFIX Profsnl SCADA 300 I/O Server (M4 Part)

IC660TRD020 Genius 24/48Vdc Terminal Asm. for Redundancy T Output Configuration

IC697CPM790 GMR Redundancy CPU, 486, 2K Triplex (voted) I/O

IC800MCUB12310XE 175 oz-in stepping Motorcube with pulse/direction interface and encoder feedback

ControlLogix/1756 System 1756-OA16I 74-265 VAC ISOLATED OUTPUT 16 PTS (36 PIN)

Industrial Computers 6182H-10BRH15D VVCE 1000, KEY/TOUCH, STD MEM, CNET, DC

Process Control 9358-PBPCNT03ENE RSBATCH NT FOR PROCESLGIX PC BASED PHASES 03 UNITS

Operator Interface 2711P-RBB12 PV PLUS 1250 KEY/TOUCH REPLACEMENT BEZEL

Support 9355-JBOXENS SUPT RENEWAL CONTRACT FOR 9355JBOXEN

Support 9351-HPUSS SUPT RENEWAL CONTRACT FOR 9351HPUS