1. Imvelaphi yeeRobhothi zoShishino Ukuveliswa kweerobhothi zamashishini kunokulandwa emva kowe-1954, xa uGeorge Devol wafaka isicelo selungelo elilodwa lomenzi wechiza ekuguquleni iinxalenye ezicwangcisekileyo. Emva kokusebenzisana noJoseph Engelberger, inkampani yokuqala yehlabathi yeerobhothi i-Unimation yasekwa, kwaye irobhothi yokuqala yasetyenziswa kumgca wemveliso weGeneral Motors ngo-1961, ngokukodwa ukukhupha iinxalenye kumatshini wokufa. Uninzi lwee-manipulators ezixhaswe ngamanzi aphantsi komhlaba (Unimates) zathengiswa kule minyaka ilandelayo, zisetyenziselwa ukuphatha amalungu omzimba kunye nokuwelda amabala. Zombini izicelo ziye zaphumelela, nto leyo ebonisa ukuba iirobhothi zinokusebenza ngokuthembekileyo kwaye ziqinisekise umgangatho osemgangathweni. Kungekudala, ezinye iinkampani ezininzi zaqala ukuphuhlisa kunye nokwenza iirobhothi zemizi-mveliso. Ushishino oluqhutywa yintshatsheli lwavela. Nangona kunjalo, kwathatha iminyaka emininzi ukuba eli shishini libe nengeniso yokwenene.
2. I-Stanford Arm: Impumelelo enkulu kwiRobhothi “Ingalo yaseStanford” eyilwe nguVictor Scheinman ngo-1969 njengomfuziselo weprojekthi yophando. Wayengumfundi wobunjineli kwiSebe lobuNjineli booMatshini kwaye wasebenza kwiLebhu yoBukrelekrele boBugcisa baseStanford. "I-Arm yaseStanford" inee-degrees ze-6 zenkululeko, kwaye i-manipulator yombane ngokupheleleyo ilawulwa yikhompyutheni eqhelekileyo, isixhobo sedijithali esibizwa ngokuba yi-PDP-6. Esi sakhiwo se-kinematic esingeyo-anthropomorphic sine-prism kunye namalungu amahlanu ajikelezayo, okwenza kube lula ukusombulula i-kinematic equations ye-robot, ngaloo ndlela ikhawuleza amandla e-computing. Imodyuli yokuqhuba iqukethe i-motor ye-DC, i-harmonic drive kunye ne-spur gear reducer, i-potentiometer kunye ne-tachometer yesikhundla kunye nempendulo yesantya.
3. Ukuzalwa kwerobhothi yemizi-mveliso enombane ngokupheleleyo Ngo-1973, i-ASEA (ngoku eyi-ABB) yaphehlelela irobhothi yokuqala yehlabathi elawulwa yi-microcomputer, esebenza ngokupheleleyo yombane ye-IRB-6. Inokwenza intshukumo eqhubekayo yendlela, eyona nto ifunekayo kwi-arc welding kunye nokucubungula. Kuxelwe ukuba olu yilo lubonakalise ukuba lomelele kwaye irobhothi inobomi benkonzo obufikelela kwiminyaka engama-20. Ngeminyaka yoo-1970, iirobhothi zasasazeka ngokukhawuleza kwishishini leemoto, ngakumbi ukuwelda kunye nokulayisha kunye nokothula.
4. I-Revolutionary Design ye-SCORA Robots Ngo-1978, i-Selectively Compliant Assembly Robot (i-SCRA) yaphuhliswa ngu-Hiroshi Makino kwiYunivesithi yaseYamanashi, eJapan. Olu lwakhiwo olunexabiso eliphantsi lwe-axis ezine lulungelelaniswe ngokugqibeleleyo kwiimfuno zendibano yamacandelo amancinci, njengoko i-kinematic structure ivumela ukunyakaza kwengalo ngokukhawuleza nokuthobelayo. Iinkqubo zeendibano eziguquguqukayo ezisekelwe kwiirobhothi ze-SCRA ezinokuhambelana koyilo lwemveliso zikhuthaze kakhulu ukuphuhliswa kweemveliso ze-elektroniki kunye nabathengi kwihlabathi jikelele.
5. Ukuphuhliswa kweeRobhothi eziKhalayo kunye neziFanayo Iimfuno zesantya serobhothi kunye nobunzima zikhokelele kuyilo lwenoveli yekinematic kunye nokuhanjiswa. Ukususela kwiintsuku zokuqala, ukunciphisa ubunzima kunye ne-inertia yesakhiwo serobhothi yayiyinjongo enkulu yophando. Umlinganiselo wobunzima obuyi-1:1 kwisandla somntu wawuthathwa njengowona mlinganiselo uphakamileyo. Kwi-2006, le njongo yaphunyezwa yi-robot elula evela kwi-KUKA. Yingalo yerobhothi ehlangeneyo enezidanga ezisixhenxe zenkululeko enobuchule obuphambili bolawulo. Enye indlela yokufezekisa injongo yobunzima bokukhanya kunye nesakhiwo esiqinileyo iye yaphononongwa kwaye ilandelwa ukususela ngo-1980, oko kukuthi ukuphuhliswa kwezixhobo zoomatshini ezihambelanayo. Aba matshini badibanisa iziphumo zabo zokugqibela kwimodyuli yesiseko somatshini ngokusebenzisa i-3 ukuya kwi-6 iibrakethi ezihambelanayo. Ezi zibizwa ngokuba zii-robots ezihambelanayo zifaneleke kakhulu kwisantya esiphezulu (njengokubamba), ukuchaneka okuphezulu (okufana nokucubungula) okanye ukuphatha imithwalo ephezulu. Nangona kunjalo, indawo yabo yokusebenza incinci kuneyerobhothi ezifanayo okanye ezivulekileyo.
6. Iirobhothi zeCartesian kunye neerobhothi ezinezandla ezibini Okwangoku, iirobhothi zeCartesian zisafaneleka ngokufanelekileyo kwizicelo ezifuna indawo yokusebenza ebanzi. Ukongeza kuyilo lwemveli usebenzisa i-axes yoguqulelo lwe-orthogonal ene-dimensional-dimensional, i-Gudel iphakamise i-notched barrel frame frame ngo-1998. Ngale ndlela, indawo yokusebenza yerobhothi inokuphuculwa ngesantya esiphezulu kunye nokuchaneka. Oku kunokuba luncedo ngakumbi kulungiselelo lolungiselelo kunye nokwenziwa koomatshini.Ukusebenza okucekethekileyo kwezandla zozibini kubalulekile kwimisebenzi enzima yokuhlanganisa, ukusetyenzwa komsebenzi ngaxeshanye kunye nokulayishwa kwezinto ezinkulu. Irobhothi yokuqala esebenza ngezandla ezibini ezilungelelanisiweyo yaziswa nguMotoman ngowama-2005. Njengerobhothi enezandla ezibini elinganisa ukufikelela kunye nobuchule bengalo yomntu, inokubekwa kwindawo ababesebenza kuyo abasebenzi ngaphambili. Ngoko ke, iindleko ezinkulu zinokuncitshiswa. Ibonisa i-axes ezili-13 zentshukumo: 6 kwisandla ngasinye, kunye ne-axis enye yokujikeleza okusisiseko.
7. IiRobhothi ezihambayo (AGVs) kunye neFlexible Manufacturing Systems Ngexesha elifanayo, i-industrial robotics automatic guided vehicles (AGVs) yavela. Ezi robhothi ezihambayo zinokujikeleza indawo yokusebenza okanye zisetyenziselwe ukulayishwa kwesixhobo sokukhomba. Kwingcamango yeenkqubo zokuvelisa eziguquguqukayo ezizenzekelayo (i-FMS), ii-AGV ziye zaba yinxalenye ebalulekileyo yokuguquguquka kwendlela.Ekuqaleni, ii-AGV zixhomekeke kwiiplatifti ezilungiselelwe ngaphambili, ezifana neengcingo ezifakwe ngaphakathi okanye imagnethi, ukuhambahamba. Okwangoku, ii-AGVs ezihamba simahla zisetyenziswa kwimveliso enkulu kunye nolungiselelo. Ngokuqhelekileyo ukuhamba kwabo kusekelwe kwi-scanners ye-laser, enika imephu ye-2D echanekileyo yendawo yangoku yendawo yokuzimela yokuzimela kunye nokuthintela umqobo.Ukususela ekuqaleni, ukudibanisa kwee-AGV kunye neengalo zerobhothi kwakucatshangelwa ukuba zikwazi ukulayisha ngokuzenzekelayo kunye nokukhulula izixhobo zomatshini. Kodwa eneneni, ezi ngalo zerobhothi zinezibonelelo zoqoqosho kunye neendleko kuphela kwiimeko ezithile ezithile, ezinjengokulayisha kunye nokukhulula izixhobo kwishishini le-semiconductor.
8. Iindlela ezisixhenxe eziphambili zophuhliso lweerobhothi zoshishino Ukususela ngo-2007, ukuguquka kweerobhothi zoshishino kunokumakishwa ngolu hlobo lulandelayo: 1. Ukunciphisa iindleko kunye nokuphucula ukusebenza - Umyinge wexabiso leyunithi yeerobhothi uye wehla ukuya kwi-1/3 yexabiso lokuqala leerobhothi ezilinganayo kwi-1990, oku kuthetha ukuba i-automation iyancipha kwaye ngexesha elifanayo leerobhothi, ngexesha elifanayo lomthwalo we-robot, kwi-robot yesantya. umthamo, ixesha eliphakathi phakathi kweentsilelo MTBF) ziye zaphuculwa kakhulu. 2. Ukudityaniswa kobuchwepheshe be-PC kunye namacandelo e-IT - iteknoloji yekhompyutheni (i-PC) iteknoloji, isofthiwe ye-software yomthengi kunye namacandelo enziwe ngolungelelwaniso alethwe yi-IT industry iye yaphucula ngokufanelekileyo indleko-esebenzayo yeerobhothi.- Ngoku, abaninzi abavelisi badibanisa iiprosesa ezisekelwe kwi-PC kunye neprogram, unxibelelwano kunye nokulinganisa kumlawuli, kwaye basebenzise i-market ye-IT ephezulu ukuyigcina. 3. Ulawulo lwentsebenziswano yeerobhothi ezininzi - Iirobhothi ezininzi zinokucwangciswa kwaye zilungelelaniswe kwaye zihambelane ngexesha langempela ngokusebenzisa umlawuli, ovumela iirobhothi ukuba zisebenze ngokuchanekileyo kunye kwindawo enye yokusebenza. 4. Ukusetyenziswa ngokubanzi kweenkqubo zombono - Iinkqubo zombono zokuqatshelwa kwezinto, ukubeka indawo kunye nokulawula umgangatho kuyanda ukuba yinxalenye yabalawuli berobhothi.5. Uthungelwano kunye nolawulo olukude - Iirobhothi zixhunyiwe kwinethiwekhi nge-fieldbus okanye i-Ethernet yokulawula okungcono, ukucwangciswa kunye nokugcinwa.6. Iimodeli ezintsha zoshishino - Izicwangciso ezitsha zemali zivumela abasebenzisi bokugqibela ukuba baqeshe iirobhothi okanye babe nenkampani yobuchwephesha okanye nokuba umboneleli werobhothi usebenze iyunithi yerobhothi, enokunciphisa umngcipheko wotyalo-mali kunye nokugcina imali.7. Ukusasazwa koqeqesho kunye nemfundo - Uqeqesho kunye nokufunda kuye kwaba ziinkonzo ezibalulekileyo kubasebenzisi abaninzi bokugqibela ukuba baqaphele iirobhothi. -Izixhobo zobuchwephesha bemultimedia kunye nezifundo ziyilelwe ukufundisa iinjineli kunye nomsebenzi ukuze zikwazi ukucwangcisa ngokufanelekileyo, inkqubo, ukusebenza kunye nokugcina iiyunithi zerobhothi.
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Ixesha lokuposa: Apr-15-2025
