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A06B-0856-B100,

A06B-0856-B100

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，我國已成為全球最大的工業(yè)機(jī)器人市場。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。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(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。

上億庫存，國內(nèi)外近千個(gè)倉庫，公司部分產(chǎn)品型號(hào)如下，歡迎聯(lián)系哦~！

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190S-BNEJ2-CC16C 10-16 A Compact Comb Starter W/Ckt-Bkr

194R-NHR4 194R Internal Operating Handle

2090-CPBM7DF-16AF05 MP-Series 5m Cable

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

CFDA-7WPB-0140-AZ "AHVi, AHVis, Bis and BHVis Series Motor Encoder Feedback Cable, 90 Degree Connector, 14 M"

GF-4010R Connecting FlashCable to LaserMike, Tekmet.

IC200UDR064 VersaMax Micro 64 point PLC,(40) 24VDC In, (24) Relay Out, 24VDC Power Supply. (1) serial port and (1)optional communication port.

IC646TRW112 REPORT MGR SUITE SINGLE UPGRADE

IC647PATKASR Proficy PAT - Driver For Kaiser

IC693BEM320 I/O Link Interface Module (Slave)

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

IMC-105P-1-DRR Stepping Motor Controller, Enhanced, DeviceNet, 5 Amp

SLC/1746 System 1747-NP1 WALL MOUNTED POWER SUPPLY (120V AC INPUT)

Industrial Computers 6189V-MPS EXTERNAL AC PWR SPLY, 90-264VAC, 47-63HZ @ 50 C

Application-specific products 1404-M505B-RIO MASTER MODULE - PQ 24V P/S RIO COM

Operator Interface 2711-K10C1L1 PV1000 COLOR KEY, RIO & RS232 PRINT

Support 9301-2SE3200ITS SUPT RENEWAL CONTRACT FOR 93012SE3200IT

Support 9380-RSBVB1000R SUPT REINSTATEMENT CONTRACT FOR 9380RSBVB1000

DeviceNet Products 1792D-2BVA2D 2 SINK/SOURCE INPUTS W/ALARM, 2 SOURCING 1AMP OUT

RSI Software Products 9301-2SE320ESU1R RSVIEW32 RUNTIME 150-300 UPGRADE OUT-SUPT (ES)

RSI Software Products 9358-BPMGR03U2 UPGRADE: IN-SUPT: RSBW BATCH PRD MGR 3 TO 10 SERV

Motion Control MPL-B4530F-SJ24AA MOTOR,SERVO,8.36 NM,2800RPM,SINGL,460V,BRK,11KG

Motion Control 2090-SCVP20-0 SERCOS FBR CABL,CONN,STANDARD PVC JKT,PLASTIC 20.0

GPWPB01MV30-C49 OBSOLETE - V3.0 GP PRO FOR WINDOWS

IC646MPPU01 Logic Developer - PLC Professional - Upgrade from LM90, CC90, VersaPro

MTR-1337-N-D-E-0 Stepping Motor Nema34, Series Wdg

QPK3D200L2P/B 6 inch Monochrome/ Blank Label/ 24VDC/ UL/ cUL/ CE/ UL1604

20BC037A3AYYANC0 PowerFlex 700 AC Drive 20B

20F11NC104JA0NNNNN PowerFlex 753 AC Packaged Drive

22-JBAA PowerFlex 4 Conversion Kit

2711P-RGT19P PanelView Plus 7 Protective Overlay

280S-PWRM22C-M3 ArmorConnect 3-PH Power Media drop cable

C200HW-CE001 C200HW controller link 連接器

1492-PDEC4 Power Distribution Block Accessory

數(shù)字量輸入/輸出模塊 6ES7422-7BL00-0AB0 DO/32 24V DC, 光隔離，0.5A

變送器 3RS10002CK00

1497-A-BASX-1-N Control Circuit Transformer

1585J-M8UBJM-15 RJ45 Ethernet Media

1761-L16BWA MicroLogix 1000 16 Point Controller

188-K3B630-N Miniature Circuit Breaker 63 A

194L-E20-3254 20A 194L Load Switch

2090-CPBM6DF-16AA03 TL-Series 3m Power and Brake Cable

2090-XXNFMP-S07 MP-Series 7 m Length Feedback Cable

BC647OEMR030 OEM Edge Renewal <(><<)> 30 keys includes up to 30 M4 key flashes which could be M4 or M1, Global Care Complete (iGC OEM)

GC647PATMODB Proficy PAT - Modbus Slave Interface: Provides The Capability To Interact With Other Systems Via The Modbus Protocol - Assist Suppor

IC200MDD850 MIXED OUTPUT RELAY 2.0A PER PT ISOLATED 8PT / INPUT 240VAC ISO 4PT

IC646NSL805 Proficy SQL 2008 - 5 CALs using Client Access licensing model

IC647MDA300 View Development/Runtime 300 I/O with USB Hardware key

IC675PTR001 Profibus Terminator

IC697MEM713 Expansion RAM, 64K Bytes, CMOS (Used w/77X CPUs and PCM)

IC800SSD216RS1 16 amp 230 VAC S2K servo drive for MTR series motors

ControlLogix/1756 System D1756-UM002AUSP CONTROL LOGIX PROGRAMMABLE LIMIT SWITCH MODULE UM

Industrial Computers 6182H-15KRH15B VVCE 1500, KEYPAD, STD MEM, CNET, AC

Process Control 1757-DNBUL100 DEVICENET USAGE LICENSE, 100 DNB MAX

Operator Interface 2711-M3A18L1 PV300MICRO MONOCHROME, DF1

Support 9326-AD25USS SUPT RENEWAL CONTRACT FOR 9326AD25USENE

Support 9371-EDETIACR SUPT REINSTATEMENT CONTRACT FOR 9371EDETIAC

ControlNet Products 1797-RPA CONTROLNET EX MODULAR REPEATER ADAPTER

RSI Software Products 9301-2SE240PTU2R RSVIEW32 WORKS 300-32K UPGRADE OUT-SUPT (PT)

RSI Software Products 9358-BA30U2R UPGRADE: OUT-SUPT: RSBIZWARE ARCHIVER 10 TO 30

Motion Control MPL-A4520K-SJ24AA MOTOR,SERVO,6.10 NM,4000RPM,SINGL,230V,BRK,9.5KG

Motion Control 2090-UXNPAMP-8S09 CABLE, 230V,NON-FLEX,MOTOR POWER,MP,8 GAUGE,9M

CBL-30-BT-10 Brake Cable, MTR-3S & MTR-3T Series Servo Motors with Brake, 10 Ft.

IC640HWP310 Series 90 Workstation Intf. (XT/AT) w/LM 90-30/20 Serial

IC800SLCPVL100 Power Cable, 3500W and 5000W SL Servo Motor, 10 Meters

OC647IFXPESPC-50 iFIX for Embedded XP SPC Blocks Option V5.0

20AD8P0A0AYNANC0 PowerFlex 70 AC Drive 8 A at 5 Hp 20A

20DD034A0EYNANANE PowerFlex 700S AC Drive 20D

20P41AD027RA0NNN PowerFlex 460V AC 15 HP DC Drive

2711C-T4T PanelView Component 4-Inch Terminal

NT631C-ST141(B)-EV1 彩色STN LCD 分辨率：640×480點(diǎn),8色 11.3英寸.

1492-MCBA2H50 50 A Ul489 Miniature Circuit Breaker

1494V-DJ644-A-B-D-E-F NEMA Flange Mtd Rod Switch Disconnect Sw

軟啟動(dòng)器 3RW44576BC34

運(yùn)行版軟件 6AV2102-4AA04-0AE5 SIMATIC WinCC Advanced V14 Upgrade WinCC flexible 2008 Advanced -> WinCC Advanced V14 Combo

1585D-M8UGDM-20 Gigabit Ethernet Media

1756-L73SXT Logix 5573SXT Automation Controller 8/4M

1799-D16U16VL 32 Point Embedded I/P/Output Comb Module

194E-FA20E-PD10-TN 194E Load switch

2090-CFBM7DD-CEAA09 MP-Series 9m Servo Feedback Cable

2090-SCVP25-0 Kinetix 25-25m Fiber Optic Cable

BC646MPPU01 Logic Developer PLC Professional Upgrade with Proficy GlobalCare Complete

GC647AQC001 GC PA Quality Client

HMI-CCT-405 Backlight for the 12.1 inch Color TFT (QPLCxxE0000)

IC641VPS300 VersaPro Standard Edition - Windows Programming Software for Series 90 -30 and VersaMax PLCs

IC647IFPLDV00075K iFIX Plus SCADA 75 I/O Development (M1 Kit Part)

IC660EBS103RR 115Vac/125Vdc Low Leak Isol I/O, w/o Failed Sw Diag, Elec Asm

IC697ACC726 Top PWA Cover, CPU-Style, (Quantity 6)

IC756WRJ049J-27 Runtime License Windows 25-49 Users Japanese v2.7

FlexLogix System 1794-OF4I ISOLATED ANALOG OUTPUT MODULE, 16 BIT, 4 POINT

PLC-5/1771 System D6200-6.4.6RU PLC5 PROG. SW CONFIG.& MAINTENANCE MNL (RUSSIAN)

Process Control 1757-UPGNG PLX SERVER BATCH REPORT UPGRADE

Operator Interface 2711P-B12C4B1 PV PLUS 1250, KEY/TOUCH, ENET, AC PS, STD MEM

Support 6001-F2ES SUPT RENEWAL CONTRACT FOR 6001F2E

Support 2711-ND2DES SUPT RENEWAL CONTRACT FOR 2711ND2DE

Support F1785-L60CSERD FIRMWARE UPGRADE FOR 1785-L60C PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE230JPU1R RSVIEW32 WORKS 300-1500 UPGRADE OUT-SUPT (JP)

RSI Software Products 9701-VWSS025LENE RSVIEW SE SERVER 25 W/RSLINX ENTERPRISE

RSI Software Products 9399-RSRGR RSRULES GETTING STARTED GUIDE

Motion Control 1394C-SJT22-C MODULE,SYSTEM,22KW,IMCS,NO RIO,NO AXIS,LI

BC646MPP005 Logic Developer - PLC Standard Bundled 1 Year SAFE - 5 Pack

IC300OCS072 OCS with 2x20 LCD Display and with 16-key keypad. Built in I/O no expansion. 16 DC Inputs (12/24vdc), 12 DC Outputs (5/12/24vdc, 0.5A neg. logic with ESCP). With CAN network interface

IC752WFC575 CONTROLSTATION DS2050 15" 566MHz/128MB RAM WNT

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