Yintoni iirobhothi yoshishino?
“Irobhothi”ligama elingundoqo elinoluhlu olubanzi lweentsingiselo eziguquguqukayo kakhulu. Izinto ezahlukeneyo zinxulunyaniswa, ezinje ngoomatshini be-humanoid okanye oomatshini abakhulu abathi abantu bangene kwaye basebenzise.
Iirobhothi zaqala ukukhawulwa kwimidlalo kaKarel Chapek ekuqaleni kwenkulungwane yama-20, emva koko zaboniswa kwimisebenzi emininzi, kwaye iimveliso ezithiywe ngeli gama ziye zakhululwa.
Kulo mongo, iirobhothi namhlanje zithathwa njengezohlukeneyo, kodwa iirobhothi zamashishini zisetyenzisiwe kumashishini amaninzi ukuxhasa ubomi bethu.
Ukongeza kwishishini leemoto kunye neleemoto kunye noomatshini kunye nomzi mveliso wesinyithi, iirobhothi zamashishini ngoku zisetyenziswa ngakumbi kumashishini ahlukeneyo, kubandakanya ukwenziwa kwe-semiconductor kunye nolungiselelo.
Ukuba sichaza iirobhothi zoshishino ngokwembono yeendima, sinokuthi zingoomatshini abanceda ukuphucula imveliso yezoshishino kuba babandakanyeka kakhulu kumsebenzi onzima, umsebenzi onzima, kunye nomsebenzi ofuna ukuphindaphinda ngokuchanekileyo, kunokuba abantu.
Imbali yeIiRobhothi zoShishino
EUnited States, irobhothi yokuqala yezorhwebo yazalwa ekuqaleni kweminyaka yoo-1960.
Yaziswa eJapan, eyayikwixesha lokukhula ngokukhawuleza kwisiqingatha sesibini seminyaka yee-1960, amalinge okuvelisa kunye nokuthengisa iirobhothi ngaphakathi aqala ngo-1970s.
Emva koko, ngenxa yezothuso ezimbini ze-oyile ngo-1973 kunye no-1979, amaxabiso anyuka kwaye umfutho wokunciphisa iindleko zemveliso waqiniswa, owawuza kungena kulo lonke ishishini.
Ngo-1980, iirobhothi zaqalisa ukusasazeka ngokukhawuleza, yaye kuthiwa ngunyaka apho iirobhothi zaqala ukuthandwa.
Injongo yokusetyenziswa kwangethuba kweerobhothi yayikukutshintsha imisebenzi efunwayo kwimveliso, kodwa iirobhothi zikwanazo iingenelo zokuqhubeka nokusebenza ngokuphindaphindiweyo, ngoko ke zisetyenziswa ngokubanzi namhlanje ukuphucula imveliso yamashishini. Indawo yesicelo iyanda kungekuphela nje kwiinkqubo zokuvelisa kodwa nakwiinkalo ezahlukeneyo ezibandakanya ezothutho kunye nolungiselelo.
Uqwalaselo lweerobhothi
Iirobhothi zemizi-mveliso zinendlela efana neyomzimba womntu kuba zithwala umsebenzi kunabantu.
Umzekelo, xa umntu eshukumisa isandla sakhe, udlulisela imiyalelo esuka ebuchotsheni bakhe ngemithambo-luvo yakhe aze ashukumise izihlunu zengalo zakhe ukuze zishukumise ingalo yakhe.
Irobhothi yoshishino inomatshini osebenza njengengalo kunye nezihlunu zayo, kunye nomlawuli osebenza njengengqondo.
Mechanical inxalenye
Irobhothi yiyunithi yoomatshini. Irobhothi ifumaneka kubunzima obuhlukeneyo obuphathekayo kwaye inokusetyenziswa ngokomsebenzi.
Ukongezelela, i-robot inamalungu amaninzi (abizwa ngokuba yi-joints), adibaniswe ngamakhonkco.
Iyunithi yokulawula
Umlawuli we-robot uhambelana nomlawuli.
Umlawuli we-robot wenza izibalo ngokwenkqubo egciniweyo kwaye ukhupha imiyalelo kwi-servo motor esekelwe kule nto yokulawula i-robot.
Umlawuli werobhothi uqhagamshelwe kwipendant yokufundisa njengojongano lonxibelelwano nabantu, kunye nebhokisi yokusebenza exhotyiswe ngamaqhosha okuqala kunye nokumisa, utshintsho olungxamisekileyo, njl.
Irobhothi iqhagamshelwe kumlawuli werobhothi ngentambo yokulawula ehambisa amandla okuhambisa irobhothi kunye nemiqondiso evela kumlawuli werobhothi.
Irobhothi kunye nomlawuli werobhothi uvumela ingalo enentshukumo yememori ukuba ihambe ngokukhululekileyo ngokwemiyalelo, kodwa idibanisa izixhobo zeperipheral ngokwesicelo ukwenza umsebenzi othile.
Kuxhomekeka kumsebenzi, kukho izixhobo ezahlukeneyo zokuxhoma iirobhothi ngokudibeneyo ezibizwa ngokuba zii-end effectors (izixhobo), ezixhonywe kwi-port enyusayo ebizwa ngokuba yi-mechanical interface kwincam yerobhothi.
Ukongeza, ngokudibanisa izixhobo eziyimfuneko ze-peripheral, iba irobhothi yesicelo esifunwayo.
※ Ngokomzekelo, kwi-arc welding, i-welding gun isetyenziswe njengesiphumo sokugqibela, kunye nokunikezelwa kombane kunye nesixhobo sokutya sisetyenziselwa ukudibanisa ne-robot njengesixhobo se-peripheral.
Ukongeza, abenzi boluvo bangasetyenziswa njengeeyunithi zokuqaphela iirobhothi ukuqaphela indawo engqongileyo. Isebenza njengamehlo omntu (umbono) kunye nolusu (ukubamba).
Ulwazi lwento lufunyenwe kwaye lucutshungulwe ngenzwa, kwaye ukuhamba kwerobhothi kunokulawulwa ngokwemeko yento usebenzisa olu lwazi.
Indlela yerobhothi
Xa i-manipulator yerobhothi yoshishino ihlelwa ngendlela, yahlulahlulwe ngokweendidi ezine.
1 IRobhothi yeCartesian
Iingalo ziqhutywa ngamacandelo okuguqulela, aneenzuzo zokuqina okuphezulu kunye nokuchaneka okuphezulu. Ngakolunye uhlangothi, kukho ukungonakali ukuba uluhlu olusebenzayo lwesixhobo luncinci ngokumalunga nommandla woqhagamshelwano lomhlaba.
2 Irobhothi yeCylindrical
Ingalo yokuqala iqhutywa yi-rotary joint. Kulula ukuqinisekisa uluhlu lwentshukumo kunerobhothi yolungelelwaniso oluxande.
3 iPolar Robot
Iingalo zokuqala nezesibini ziqhutywa ngokudibeneyo okujikelezayo. Inzuzo yale ndlela kukuba kulula ukuqinisekisa uluhlu lwentshukumo kunerobhothi yokulungelelanisa i-cylindrical. Nangona kunjalo, ukubalwa kwesimo kuba nzima ngakumbi.
4 IRobhothi Ecacileyo
Irobhothi apho zonke iingalo ziqhutywa zizihlanganisi ezijikelezayo inoluhlu olukhulu kakhulu lwentshukumo enxulumene nenqwelomoya ephantsi.
Nangona ubunzima bokusebenza buyinto engalunganga, ubucukubhede bamacandelo e-elektroniki buye benza ukuba imisebenzi enzima icutshungulwe ngesantya esiphezulu, ibe yeyona nto iphambili kwiirobhothi zoshishino.
Ngendlela, iirobhothi ezininzi zemizi-mveliso yohlobo lwerobhothi echaziweyo zineezembe ezintandathu zokujikeleza. Oku kungenxa yokuba isikhundla kunye nokuma kunokumiselwa ngokunyanzeliswa ngokunika amadigri amathandathu enkululeko.
Kwezinye iimeko, kunzima ukugcina indawo ye-6-axis ngokuxhomekeke kwimilo ye-workpiece. (Umzekelo, xa usonga lufuneka)
Ukujamelana nale meko, songeze i-axis eyongezelelweyo kwi-robot yethu ye-7-axis kunye nokwandisa ukunyamezela kwengqondo.
Ixesha lokuposa: Feb-25-2025
