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工業(yè)機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。而在當前數(shù)字制造時代背景下，數(shù)控技術(shù)與人工智能推進了工業(yè)機器人與金屬成形機床的迅速融合。并通過高效組合形成了自動化極強的集成單元，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，文章立足于當前工業(yè)機器人與金屬成形機床集成的常見應用類型，分析了其主要形式。進而探討了二者集成應用中存在的問題，并提出了相應發(fā)展途徑。

關(guān)鍵詞 ：工業(yè)機器人 ；金屬 ；成形機床 ；集成應用
當前，我國已成為全球最大的工業(yè)機器人市場。據(jù)國際機器人聯(lián)盟 (IFR) 統(tǒng)計數(shù)據(jù)顯示， 2015 年，我國工業(yè)機器人的用量共為 6.7 萬臺，已成為全球工業(yè)機器人的第一大市場。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)機器人年產(chǎn)量 10 萬臺。其中，六軸及以上工業(yè)機器人年產(chǎn)量超過 5 萬臺。在工業(yè)機器人制造業(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，在先進技術(shù)進步與市場需求多元化的雙重作用下，考慮用工業(yè)機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)機器人應用的主要領(lǐng)域，受消費者自動化需求的提升，進一步擴大了工業(yè)機器人的應用范圍。包括除焊接外的其他大部分領(lǐng)域，如汽車機床噴涂、打磨、物料搬運碼垛、上下料與裝配等。在機床工具的組成部分當中，金屬成形機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)機器人與金屬成形機床相集成，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)機器人與金屬成形機床集成應用進行研究，為汽車制造業(yè)發(fā)展提供借鑒 [1]。

1 、工業(yè)機器人與金屬成形機床集成的應用類型

1.1 工業(yè)機器人的激光切割

工業(yè)機器人定位精度高，因此，應用其進行激光切割已成為激光切割與工業(yè)機器人應用領(lǐng)域的主要熱點。在工業(yè)機器人手臂中集成激光束引導裝置，當工業(yè)機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。此類型應用的主要特點包括 ：工業(yè)機器人運動靈活、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組成。在此生產(chǎn)線上，工業(yè)機器人集成應用通常會配置兩臺機器人，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 ；另一臺負責從沖壓成型模鍛壓機取料后，移送至另一臺模鍛壓機進行切邊。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行潤滑。而此過程處于高溫高濕環(huán)境中，既可由專門機構(gòu)操作，又可由工業(yè)機器人完成。如由后者進行，可以大幅提升系統(tǒng)安全性于加工效率。但需做好機器人的維護工作，提升其抗熱、抗輻射的能力。

1.3 數(shù)控折彎機集成

工業(yè)機器人折彎集成應用可分為兩種主要方式，一是工業(yè)機器人與金屬成形機床中的各類設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)機器人行走軸與激光設備或數(shù)控轉(zhuǎn)臺沖床等 ；二是工業(yè)機器人以折彎機為中心，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)機器人控制系統(tǒng)和機床數(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。進而開發(fā)出折彎軟件包，對折彎過程中工業(yè)機器人托料實現(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)機器人與金屬成形機床集成應用的主要形式

工業(yè)機器人在金屬成形機床中的應用領(lǐng)域較為廣泛，包括碼操、搬運、焊接與裝配等，但一般被作為輔機使用。目前，工業(yè)機器人與金屬成形機床集成應用的主要形式如下。

第一，二者集成柔性生產(chǎn)線。此種形式中，工業(yè)機器人承擔的工作任務是轉(zhuǎn)換工件工序，并與多臺金屬成形機床組成柔性生產(chǎn)線。其較某種單機上下料更為復雜，價值也更高。在當前工業(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，由三臺金屬成形機床構(gòu)成的 U型布局，主要由一臺工業(yè)機器人在場地中間進行工件轉(zhuǎn)換，布局特別緊湊。

第二，單機上下料。此種形式中，工業(yè)機器人在金屬成形機床中的應用最為成熟與典型。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、速度快且準確。工業(yè)機器人與金屬成形機床的結(jié)構(gòu)關(guān)系可分為兩種形式，即與金屬成形機床構(gòu)成一體和工業(yè)機器人安裝于機床外部。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)機器人裝上專用手爪，其便可完成機床清洗、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、機械鍛造與鑄造與取鐵液等。在此情形下，工業(yè)機器人本身便可視為一臺金屬成形機床。并且，具備觸覺與視覺的工業(yè)機器人，可以被用于復雜工序中，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)機器人在沖剪、折彎機上夾持工件，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床工作中的工傷隱患。

 

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1585J-M8PBJM-20 RJ45 Ethernet Media

1760-L18BWB-EXND Pico 18 Point DC Controller

188-K2C630 Miniature Circuit Breaker 63 A

194L-E12-1753-6N 12A 194L Load Switch

2090-CNSSPRS-AA03 Kinetix 6000M network cable

2090-XNSM-T Kinetix Safe Off Header Connector Kit

BC647MSS001 Logic Developer State Standard with Proficy GlobalCare Complete with USB Hardware key

GC647IPWRPLDVUNLMTM iPower Option - Nwk Unlmt I/O Dev Globalcare Complete part

IC200DEM004UNVCN MicroMotion and VersaMotion Demo-China

IC646NDM000 CIMPLICITY for Windows Distributor Demonstration Package

IC647IFUBSTSM iFIX iClientTS User Base Support (M4 Part)

IC670MDL330 12 - 120Vac 1A Output, 16 Point

IC697MDL251RR 120 Vac Input (16 Points) Non-isolated

IC800SLCEV050 Encoder cable for any 1 kW to 5 kW S-series servo motor. 5 meters

ControlLogix/1756 System 1756-TBCH 36 PIN SCREW CLAMP BLOCK WITH STANDARD HOUSING

Industrial Computers 6182H-12KEH6B VVCE 1250, KEYPAD, EXT MEM, RIO/DH, AC

Process Control 1757-PFBUL001 PROFIBUS INTERFACE MODULE USAGE LICENSE

Operator Interface 2711P-RR64 PVP/VVCE RAM SO-DIMM 64MB

Support 9357-CNETL3S SUPT RENEWAL CONTRACT FOR 9357CNETL3

Support 9361-PTLSEATR SUPT REINSTATEMENT CONTRACT FOR 9361PTLSEAT

ControlNet Products 1734-OV4E 24V DC 4 CHANNEL SINK OUTPUT MODULE

RSI Software Products 9301-2SE2400ZHU1 RSVIEW32 WORKS 1500-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9323-ATUNEENE LOOP TUNER FOR LOGIX5000 PIDE FUNCTION BLOCK

Motion Control MPL-A420P-MK24AA MOTOR,SERVO,4.74 NM,5000RPM,MULTI,230V,BRK,6.8KG

Motion Control 2090-UXNFBN-K30 CABLE,ULTRA, NON-FLEX,SKWD,R/A,30M

CBL-13-MP-20 Power Cable, MTR-1235, 13xx. 14xx & 1N Series Stepping Motors, 20 Ft.

IC600YR555RR 13" I/O Rack with High Capacity P/S, 125Vdc (8 Slots)

IC800SLA0031 30W, 115 VAC SL Servo Amplifier

OC647IFGLBLCLN001M-55 iFIX WebSpace Client v5.5 - Additional Single User

PXI-2531

ACS-6241VE

BP-08P4

W0PSA5000

IB820H-R

G2+/MILP/8D/IBM

1492-MCAA125 25 A UL489 Miniature Circuit Breaker

1494U-FC30J Disconnect Switch Accessory

軟啟動器 3RW44542BC46

SIMATIC STEP 7 V14 6ES7823-1FA00-0YA5 SIMATIC S7-PLCSIM Advanced V1.0

1585D-M4UBDM-10 1585D Ethernet Media Patchcord

1756-IH16I ControlLogix 16 Point D/I Module

1797-EXMK FlexEx Accessories

194E-E32-1753-6G 32 A 194E Load switch

2090-CFBM4DF-CEAA09 MP-Series 9 m Length Feedback Cable

2090-MCNPMP-6S25 MP-Series 25 m Length Power Cable

BC646MBPS99 Machine Edition Professional Development Suite Unlimited Seat Site License with Proficy GlobalCare Complete

GC646VPP799 Proficy GlobalCare Complete for VersaPro Professional Edition - Site License

HMI-CAB-C106 CABLE MICROLOGIX

IC641HBR302 Max-ON Extended Software for 90-30 Hot Stand By Redundancy

IC647IFCLNTCRO001K iFIX iClient Read Only 1 PK Keyed (M1 Kit Part)

IC660EBA026RR Current Source Analog, 24/48Vdc Power, Elec Asm only

IC695NKT002 RX3i Ethernet NIU Kit with two Ethernet modules.

IC756WRE049E-275 "Runtime License for Windows 25-49 Users, Per User, English v2.7.5"

FlexLogix System 1794-IB16D 24V DC SINK DIAGNOSTIC INPUT MODULE, 16PT

PLC-5/1771 System D1771-6.5.99 CONFIGURABLE FLOWMETER MODULE USER MANUAL 1771-CFM

Process Control 1757-PLXSIFH PLX HW MICROMAX LPU QUICKBUILDER INTERFACE

Operator Interface 2711P-B10C15D2 PV PLUS 1000, KEY/TOUCH, CNET, DC PS, EXT MEM

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

BC646MDA300 View Development /Runtime 300 I/O

IC300FOX404 FOX Fiber Optic Base/Hub

IC752SKT000RR Datapanel K Starter Kit: Includes Datapanel K (DPK000), download & communication cables, WinCfg, user & programming manuals

MTR-3S67-G-R-0-E-SRR Servo Motor with Seal