Ehlabathini lokuqalairobhothi yoshishinowazalelwa eUnited States ngo-1962. Injineli yaseMelika uGeorge Charles Devol, Omnci. wenze isindululo “irobhothi enokuthi iphendule ngokulula kwi-automation ngokufundisa nangokudlala”. Umbono wakhe wavusa intlantsi kumrhwebi uJoseph Frederick Engelberger, owaziwa ngokuba “nguyise weerobhothi”, ngoko keirobhothi yoshishinoigama elithi "Unimate (= iqabane elisebenzayo elinobuchule bendalo yonke)" yazalwa.
Ngokutsho kwe-ISO 8373, iirobhothi zemizi-mveliso zi-manipulators ezidityanisiweyo ezininzi okanye iirobhothi ezine-degree-free-freedom zecandelo lemizi-mveliso. Iirobhothi zoshishino zizixhobo zoomatshini ezenza umsebenzi ngokuzenzekelayo kwaye zingoomatshini abaxhomekeke kumandla abo kunye nokukwazi ukulawula ukufezekisa imisebenzi eyahlukeneyo. Inokwamkela imiyalelo yabantu okanye iqhube ngokweenkqubo ezicwangciswe kwangaphambili. Iirobhothi zale mihla zemizi-mveliso zinokusebenza ngokwemigaqo nezikhokelo eziqulunqwe bubuchwephesha bobukrelekrele bokwenziwa.
Ukusetyenziswa okuqhelekileyo kweerobhothi zoshishino ziquka ukuwelda, ukupeyinta, ukudibanisa, ukuqokelela kunye nokubekwa (okufana nokupakishwa, i-palletizing kunye ne-SMT), ukuhlolwa kwemveliso kunye nokuvavanya, njl.; wonke umsebenzi ugqitywe ngempumelelo, ukuqina, isantya kunye nokuchaneka.
Ulungelelwaniso lwerobhothi olusetyenziswa ngokuqhelekileyo ziirobhothi ezichaziweyo, iirobhothi ze-SCRA, iirobhothi zedelta, kunye neerobhothi zeCartesian (iirobhothi ezingaphezulu okanye iirobhothi zexyz). Iirobhothi zibonisa amanqanaba ahlukeneyo okuzimela: ezinye iirobhothi zicwangciswe ukuba zenze izenzo ezithile ngokuphindaphindiweyo (izenzo eziphindaphindiweyo) ngokuthembeka, ngaphandle kokuhluka, kunye nokuchaneka okuphezulu. Ezi ntshukumo zimiselwa ziinkqubo ezicwangcisiweyo ezichaza isalathiso, isantya, isantya, ukwehla, kunye nomgama wothotho lwezenzo ezilungelelanisiweyo. Ezinye iirobhothi zibhetyebhetye ngakumbi, njengoko zinokufuna ukuchonga indawo yento okanye nomsebenzi oza kwenziwa kwinto leyo. Umzekelo, ukuze ufumane isikhokelo esichanekileyo, iirobhothi zihlala zibandakanya ii-subsystems zokujonga umatshini njengezinzwa zazo ezibonakalayo, eziqhagamshelwe kwiikhompyuter ezinamandla okanye abalawuli. I-Artificial intelligence, okanye nantoni na ephazanyiswe ngobukrelekrele bokwenziwa, iya isiba yinto ebaluleke ngakumbi kwiirobhothi zale mihla.
UGeorge Devol waqala ukwenza isindululo ngengqikelelo yerobhothi yeshishini waza wafaka isicelo selungelo elilodwa lomenzi wechiza ngo-1954. (Ilungelo elilodwa lomenzi wechiza lanikezelwa ngo-1961). Ngo-1956, uDevol noJoseph Engelberger baseka i-Unimation, ngokusekelwe kwi-patent yokuqala kaDevol. Ngo-1959, irobhothi yokuqala ye-Unimation yemizi-mveliso yazalwa eUnited States, ingenisa ixesha elitsha lophuhliso lweerobhothi. I-Unimation kamva yanikezela ngetekhnoloji yayo kwi-Kawasaki Heavy Industries kunye ne-GKN ukuvelisa iirobhothi ze-Unimates zoshishino e-Japan nase-United Kingdom, ngokulandelelanayo. Ixesha elithile, ekuphela kokhuphiswano lweUnimation yayiyiCincinnati Milacron Inc. eOhio, USA. Nangona kunjalo, ekupheleni kweminyaka yee-1970, le meko yatshintsha ngokusisiseko emva kokuba iindibano ezinkulu zaseJapan ziqalise ukuvelisa iirobhothi zemizi-mveliso ezifanayo. Iirobhothi ze-Industrial zahamba ngokukhawuleza eYurophu, kwaye i-ABB Robotics kunye ne-KUKA Robotics yazisa iirobhothi kwimarike ngo-1973. Ngasekupheleni kweminyaka yee-1970, umdla kwi-robotics wawukhula, kwaye iinkampani ezininzi zaseMelika zangena endle, kuquka iinkampani ezinkulu ezifana neGeneral Electric kunye neGeneral Motors (intsebenziswano kunye neFANUC Robotics yaseJapan yenziwa yiFANUC). Iziqalo zaseMelika ziquka i-Automatix kunye ne-Adept Technology. Ngexesha le-robotics boom ngo-1984, i-Unimation yafunyanwa yi-Westinghouse Electric nge-$ 107 yezigidi. I-Westinghouse yathengisa i-Unimation kwi-Stäubli Faverges SCA yase-France ngo-1988, esayenza iirobhothi ezicacileyo kulungiselelwa usetyenziso ngokubanzi lwemizi-mveliso kunye negumbi lokucoca, yaze yafumana necandelo leerobhothi lika-Bosch ngasekupheleni kuka-2004.
Chaza iiParameters Hlela inani lee-Axes – ii-axes ezimbini ziyafuneka ukuze ufumane naphi na kwinqwelomoya; iizembe ezintathu ziyafuneka ukuya naphi na esithubeni. Ukulawula ngokupheleleyo ukukhomba ingalo yokuphela (oko kukuthi, isihlahla), ezinye iizembe ezintathu (i-pan, i-pitch, kunye ne-roll) ziyafuneka. Olunye uyilo (olufana neerobhothi ze-SCRA) zincama intshukumo ngexabiso, isantya, kunye nokuchaneka. Amanqanaba eNkululeko – Adla ngokulingana nenani lamazembe. Imvulophu yokusebenza - Indawo esesithubeni apho irobhothi inokufikelela kuyo. I-Kinematics-Olona lungelelwaniso lwezinto eziqinileyo zomzimba werobhothi kunye namalungu, amisela zonke iintshukumo zerobhothi ezinokubakho. Iindidi ze-robot kinematics ziquka i-articulated, i-cardanic, i-parallel, kunye ne-SCRA. Umthamo okanye umthamo womthwalo - Ubungakanani bobunzima obunokuphakamisa irobhothi. Isantya-Inokukhawuleza kangakanani irobhothi ukufumana indawo yayo yokuphela kwengalo kwindawo. Le parameter inokuchazwa njengesantya se-angular okanye somgca we-axis nganye, okanye njengesantya esidibeneyo, intsingiselo yesantya sengalo yokuphela. Ukunyusa isantya-Inokukhawuleza kangakanani i-axis. Lo ngumba osisithintelo, njengoko irobhothi isenokungakwazi ukufikelela kwisantya esiphezulu xa isenza iintshukumo ezimfutshane okanye iindlela ezintsonkothileyo ezinokutshintsha rhoqo kwendlela. Ukuchaneka -Indlela ekufutshane ngayo irobhothi inokufikelela kwindawo oyifunayo. Ukuchaneka kulinganiswa ukuba ikude kangakanani indawo epheleleyo yerobhothi ukusuka kwindawo oyifunayo. Ukuchaneka kunokuphuculwa ngokusebenzisa izixhobo zangaphandle zokuziva ezifana neenkqubo zombono okanye i-infrared. Ukuvelisa kwakhona -Indlela i-robot ebuyela ngayo kwindawo ecwangcisiweyo. Oku kwahlukile ekuchanekeni. Isenokuxelelwa ukuba iye kwindawo ethile ye-XYZ kwaye iya kuphela kwi-1 mm yaloo ndawo. Le yingxaki yokuchaneka kwaye inokulungiswa ngolungelelwaniso. Kodwa ukuba eso sikhundla sifundiswa kwaye sigcinwe kwimemori yomlawuli, kwaye sibuyela ngaphakathi kwe-0.1 mm yendawo efundiswayo ngexesha ngalinye, ukuphindaphinda kwayo kungaphakathi kwe-0.1 mm. Ukuchaneka kunye nokuphinda-phinda ziimetrics ezahlukeneyo kakhulu. Ukuphindaphinda ngokuqhelekileyo yeyona nto ibaluleke kakhulu kwi-robot kwaye ifana "nokuchaneka" kumlinganiselo - ngokubhekiselele ekuchanekeni kunye nokuchaneka. I-ISO 9283[8] iseka iindlela zokulinganisa ukuchaneka kunye nokuphindaphinda. Ngokuqhelekileyo, i-robot ithunyelwa kwindawo efundiswayo ngamaxesha amaninzi, ixesha ngalinye ukuya kwezinye izikhundla ezine kwaye ibuyele kwindawo efundiswayo, kwaye impazamo ilinganiswa. Ukuphinda-phinda ke kubalwa njengomgangatho wokutenxa kwezi sampuli kwimilinganiselo emithathu. Irobhothi eqhelekileyo ngokuqinisekileyo inokuba neempazamo zesikhundla ezidlula ukuphindaphinda, kwaye oku kunokuba yingxaki yokucwangcisa. Ngaphaya koko, iindawo ezahlukeneyo zemvulophu yomsebenzi ziya kuba nokuphinda-phinda okwahlukileyo, kwaye ukuphinda-phinda kuya kwahluka ngesantya kunye nomthwalo wokuhlawula. I-ISO 9283 icacisa ukuba ukuchaneka kunye nokuphinda kulinganiswe ngesantya esiphezulu kunye nomthamo omkhulu wokuhlawula. Nangona kunjalo, oku kuvelisa idatha engathandekiyo, njengoko ukuchaneka kwerobhothi kunye nokuphindaphinda kuya kuba ngcono kakhulu kwimithwalo ekhaphukhaphu kunye nesantya. Ukuphindaphinda kwiinkqubo zoshishino kwakhona kuchaphazeleka ngokuchaneka kwe-terminator (njenge-gripper) kunye noyilo lwe "iminwe" kwi-gripper esetyenziselwa ukubamba into. Umzekelo, ukuba irobhothi ithatha isikrufu ngentloko yayo, isikrufu sinokuba kwi-engile engacwangciswanga. Iinzame ezilandelayo zokubeka isikrufu kumngxunya we-screw zinokusilela. Iimeko ezinjengalezi zinokuphuculwa "ngeempawu zokukhokela", ezifana nokwenza umnyango we-tapered (chamfered). Ulawulo lweMotion - Kwezinye izicelo, ezifana nokukhetha okulula kunye nokubeka imisebenzi yendibano, i-robot idinga kuphela ukubuyela emva naphambili phakathi kwenani elilinganiselweyo lezikhundla ezifundiswe kwangaphambili. Ukufumana izicelo eziyinkimbinkimbi, ezifana ne-welding kunye nepeyinti (ipeyinti yokutshiza), intshukumo kufuneka ilawulwe ngokuqhubekayo ecaleni kwendlela kwindawo ekuqhelaniswa nayo kunye nesantya. Umthombo wamandla - Ezinye iirobhothi zisebenzisa iimotor zombane, ezinye zisebenzisa i-hydraulic actuators. Eyangaphambili ikhawuleza, le yokugqibela inamandla ngakumbi kwaye iluncedo kwizicelo ezifana nokupeyinta apho iintlantsi zinokubangela uqhushumbo; nangona kunjalo, umoya ophantsi woxinzelelo ngaphakathi kwengalo uthintela ukungena komphunga ovuthayo kunye nezinye izinto ezingcolileyo. Qhuba – Ezinye iirobhothi ziqhagamshela iimotor kumalungu ngeegiya; ezinye zineenjini eziqhagamshelwe ngokuthe ngqo kumalungu (direct drive). Ukusetyenziswa kweegiya kubangela ukulinganisa "i-backlash", eyona ntshukumo yamahhala ye-axis. Iingalo zerobhothi ezincinci zihlala zisebenzisa isantya esiphezulu, i-torque ephantsi yeemotor zeDC, ezihlala zifuna umlinganiselo wegiya ephezulu, enento engalunganga yokubuyela umva, kwaye kwiimeko ezinjalo izinciphisi zezixhobo ze-harmonic zihlala zisetyenziswa endaweni yoko. Ukuthobela - Lo ngumlinganiselo wobungakanani be-angle okanye umgama apho amandla afakwe kwi-axis yerobhothi inokuhamba. Ngenxa yokuthobela, irobhothi iya kuhamba kancinci xa iphethe owona msebenzi mkhulu kunaxa ungawuthwalanga. Ukuthotyelwa kwakhona kuchaphazela ubuninzi bokugqithisa kwiimeko apho ukukhawuleza kufuneka kuncitshiswe kunye nomthwalo ophezulu wokuhlawula.
Ixesha lokuposa: Nov-15-2024
