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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。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(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(guó)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(zhǎng)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(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?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。

 

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Motion Control MPL-A310P-HJ22AA MOTOR,SERVO,1.58NM,5000RPM,ENCDR,230V,3.0KG

Motion Control 2090-DANFCT-S05 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 05M

BC647MOP001 Logic Developer PC with View - Development ONLY Supports up to 8000 I/O tags and with Proficy GlobalCare Complete and a hardware key

IC5002TAW2000 Discontinued - Order a BC5002TAW0000 & Appropriate CIM PE Software

IC800CBL066 Use IC800CBL069 for New Applications: AC12/2000 Motor Power Cable, 14 Meters

OC647HSTSCADA2500 Proficy Historian for SCADA 2500 pts

PCIe-6509

MSC-242

PS-7270F

PCI-1753E-B

IPC-622

AC6111

1492-M5X12 IEC 5 x 12 mm Marker Card

1494H-BN3N Heavy Duty Non-Fus Safety Discon Switch

軟啟動(dòng)器 3RW44446BC36

ET 200SP 6ES7136-6BA00-0CA0 故障安全型模塊F-DI 8x24VDC 高性能型，基座單元類型A0

1585D-M4TBDM-15 Micro D-Code, QD Style Ethernet Media

1756-CPR2 ControlLogix Redundant Supply Cable

1794-OA8I Flex 8 Point Digital Output Module

194E-CA32E-TN-PE 194E Load switch

2085-IA8 Micro800 8 Point 120 VAC Input Module

2090-DANBT-18S04 TL-Series 4 m Length Brake Cable

20AC5P0C0NYNANC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MVD000 Global Care for View OPC Driver License and Software Key

HE693THM449 4 ch. J, K, N, T, E, R, S, 0.5 deg C resolution, deg C/deg F units, open circuit alarms

IC630MDL304RR 24Vdc Sink Input/Output Module (16 In/16 Out)

IC647HSTSS3KM Historian Standard Server 2500 Points (M4 Key)

IC660BLA023 Cover w/Label for IC660BBA023

IC695ALG616CA Conformal Coated Analog Input Module,16 channel voltage/current.

IC756WDV009E-25 DV Dev Sys VB, English v2.5

CompactLogix System 1769-IT6 6 CHANNEL THERMOCOUPLE/MILLIVOLT INPUT MODULE

PLC-5/1771 System 9399-FW5FBGRDE RSLGX FRAMWKS FUNCTION BLDR GET'G RESULT GUID(GERM

Distributed I/O 1799-MP32 PLASTIC MOUNTING PLATE/4 SCREWS-32 PT BOARD

Operator Interface 2711P-T6C5A PV PLUS 600 COLOR, TOUCH, RS232, AC PS

Support 9342-L2200S SUPT RENEWAL CONTRACT FOR 9342L2200

Support 9358-PBPC10R SUPT REINSTATEMENT CONTRACT FOR 9358PBPC10ENE

Support F1779-KFMSERB FIRMWARE UPGRADE FOR 1779-KFM COMMUNICATION MODULE

RSI Software Products 9301-2SE2103ESE RSVIEW32 WORKS 150 WITH RSLINX (SPANISH)

RSI Software Products 9701-VWMR075DEU2 RSVIEW ME STATION RT 30 TO 75 DISP UPGRADE(GERMAN)

RSI Software Products 9399-2SE32GRDE RSVIEW32 GETTING RESULTS GUIDE (GERMAN)

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

ABI31200C2P/ABR QUICKPANEL 10.5" TFT W/AB RIO

IC200USB001 VersaMax Micro 64, RS-232 communications option board with (2) 0 - 10VDCanalog input channels built-in. The option board also supports program storage memory module. Compatible with VersaMax Micro 64 only.

IC752DNMU11 DeviceNet Master/Scanner for ControlStation CE Iix

MTR-3S32-G-R-0-E-ERR Servo Motor Nema34 Flg Explosion-Proof

NI 9501

JUKI-3711P

ADAM-4572

NCCH-DL 875P 604

FSC-1612V2N

Equinox SST-16P 910277-001/F

1492-J50-B IEC 1-Ckt Feed-Through Blk 50mm

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

GP647IFPLDV00075 GCP iFIX Plus SCADA 75 I/O Dev

IC600BF913RR 10-50Vdc Sink Output Module

IC647HSTCR20000KM Collector Redundancy Option for Historian - Standard Server 20,000,000 Points (M4 Key)

IC647TPD910 CIMPLICITY HMI ProServer 10000 I/O Development and Runtime

IC693PCM301RR Programmable Coprocessor Mod, 85K, w/Port Expansion Cable

IC756MDV000E-98 DV Development - Alpha OpenVMS Op Sys, English, Version 9.8

MicroLogix 1000/1761 System 1761-L32AWA 32 I/O MICROLOGIX 1000

PLC-5/1771 System 1771-ILK CONFORMALLY COATED, ANALOG INPUT MODULE

Distributed I/O 1792D-4BV4D 4 SINK/SOURCE INPUTS, 4 SOURCING 0.5 AMP OUTPUTS

Communications 9300-RAPMKIT UNIVERSAL PAGING MODEM KIT

Operator Interface D6190-6.5.16 CONTROLVIEW MODBUS DRIVER(6190-MOD)USER MANUAL

Support 9356-SQLSAP250S SUPT RENEWAL CONTRACT FOR 9356SQLSAP250

Support 1789-L10UL30 SOFTLOGIX 5800 1789L10 TO 1789L30 UPGRADE

EtherNet/IP Products 9351-WKTS INTERCHANGE FOR WINDOWS

RSI Software Products 9301-2SE3500JPU1 RSVIEW32 RUNTIME 32K-100K UPGRADE IN-SUPT (JP)

RSI Software Products 9356-PRO2500U8R UPGRADE: OUT-SUPT: RSSQL PROF.5000 TO 70000 TAG

Motion Control 0041-5070 N-4200 SHAFT SEAL KIT

44A735709-001 Failure Analysis - PLC

IC200CBL110 CABLE I/O NON-SHIELDED 2 CONNECTORS 1.0M

IC694ALG392 OUTPUT MODULE ANALOG CURRENT VOLTAGE 8 POINT

MSI-SERVICES-43 Professional services (Billed/Hour)-43

cFP-CTR-500

PCM-9577F

PCI-1240U

KON MODEL 10115C

SOM-5892FG-T03A1E

IOI FWB-PCIE1X21A

MH005-000016-2A

1492-SPM2B200 MCB Supplementary Protector 20 A

軟啟動(dòng)器 3RW30161BB14

電機(jī)啟動(dòng)器 3VU16401MP00

150-F108NBR SMC Flex Smart Motor Controller

1715-TASOF8 1715 8 Simplex A/O Termination Assembly

1771-NT1 1771 Analog Module

193-EC5JG E3 Plus 84-420 A Overload Relay

198E-DF1286 TYPE 3, 3R, 4, 12 Metal Hinged Enclosure

2090-CPWM6DF-16AA02 TL-Series 2m Standard Power Cable

2094-EN02D-M01-S0 Kinetix 6200/6500 Control Module

DNR120AS12-I 12V, 10A POWER SUPPLY

GFK-0868 MMS-Ethernet Communications for the Series 90-70 PLC User's Manual

IC210EDS001 DeviceNet slave communications expansion module, 24V DC power source

IC647AUR010 PA Universal Reporting Client 10 Pak

IC647PRTEE010M Proficy Portal Enterprise Edition Client Pack 10 Users (M4 Key)

IC693CPU341RR CPU 341 Module, (80K Bytes user memory), 10K Reg., 3 msec/K

IC754VSB06CTD VIEW BASIC 6IN TFT TOUCH DC

MSI-DEMO Proficy Plant Apps Demo Software

SLC/1746 System 1746-RL51 REPLACEMENT OCTAL LABEL KIT FOR CTLG # 1746-OB16

Distributed I/O 1734-VHSC5 5 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS

Application-specific products 9307-8MGDBPENE RSEMETRIX MGR(0-8 METERS),W/1MSSQL PROCESSOR LIC

Operator Interface 2711-NC13 5METER RS232 OPERATING/PROGRAMMING CABLE

Support 9302-H1S SUPT RENEWAL CONTRACT FOR 9302H1

Support 9510-PB1000ENS SUPT RENEWAL CONTRACT FOR 9510PB1000EN

DeviceNet Products 1799-DNETSCON 5-POSITION OPEN STYLE PLUG/LOCKING SCREWS FOR DN

RSI Software Products 9301-2SE3350KOU3 RSVIEW32 RUNTIME 1500-5K UPGRADE IN-SUPT (KO)

RSI Software Products 9307-EMDB1C RSEMETRIX ONE CLIENT LICENSE

Motion Control MPL-B980C-MJ24AA MOTOR,SERVO,122.0NM,1500RPM,MULTI,460V,BRK

Silver Series 1398-DDM-150X DRIVE,150A,PEAK,ULTRA 200 W/INDEXING

HE693ADC415 4ch., 4-20mA/0-20mA Analog Input, 700Vac Isolation, 14-bit resolution

IC647CBL703 Cable, Workstation Intf. to Series 90-70 CPU, Parallel, 10 feet