Eyokuqala emhlabeniirobhothi lezimboniwazalelwa e-United States ngo-1962. Unjiniyela waseMelika uGeorge Charles Devol, Jr. uhlongoze “irobhothi elingasabela ngokuguquguqukayo ekuziguquleni ngokuzenzakalelayo ngokufundisa nokudlala”. Umbono wakhe wavusa inhlansi kusomabhizinisi uJoseph Frederick Engelberger, owaziwa ngokuthi “uyise wamarobhothi”, ngaleyo ndlelairobhothi lezimboniebizwa ngokuthi “Unimate (= uzakwethu osebenzayo onamakhono asemhlabeni wonke)” wazalwa.
Ngokusho kwe-ISO 8373, amarobhothi ezimboni angama-manipulator ahlangene noma amarobhothi aneziqu eziningi zenkululeko emkhakheni wezimboni. Amarobhothi ezimboni angamathuluzi ayimishini enza umsebenzi ngokuzenzakalelayo futhi ayimishini ethembele emandleni awo nasemandleni okulawula ukufeza imisebenzi ehlukahlukene. Ingamukela imiyalo yabantu noma isebenze ngokwezinhlelo ezihlelwe ngaphambilini. Amarobhothi esimanje ezimboni nawo angenza ngokuvumelana nezimiso nemihlahlandlela eyakhiwe ubuchwepheshe bobuhlakani bokwenziwa.
Izicelo ezijwayelekile zamarobhothi ezimboni zihlanganisa ukushisela, ukudweba, ukuhlanganisa, ukuqoqwa kanye nokubekwa (okufana nokupakisha, i-palletizing kanye ne-SMT), ukuhlolwa nokuhlolwa komkhiqizo, njll.; wonke umsebenzi uqedwa ngokusebenza kahle, ukuqina, isivinini nokunemba.
Ukulungiswa kwamarobhothi okuvame ukusetshenziswa kakhulu amarobhothi aphikisiwe, amarobhothi e-SCRA, amarobhothi e-delta, namarobhothi e-Cartesian (amarobhothi angaphezulu noma amarobhothi e-xyz). Amarobhothi abonisa amazinga ahlukene okuzimela: amanye amarobhothi ahlelelwe ukwenza izenzo ezithile ngokuphindaphindiwe (izenzo eziphindaphindayo) ngokwethembeka, ngaphandle kokuhlukahluka, nangokunemba okuphezulu. Lezi zenzo zinqunywa izinqubo ezihleliwe ezicacisa isiqondiso, ukusheshisa, isivinini, ukwehla, nebanga lochungechunge lwezenzo ezihlanganisiwe. Amanye amarobhothi avumelana nezimo, njengoba angase adinge ukukhomba indawo yento noma umsebenzi okufanele wenziwe entweni. Isibonelo, ukuze uthole isiqondiso esinembe kakhudlwana, amarobhothi ngokuvamile ahlanganisa amasistimu okubona omshini njengezinzwa zawo ezibonakalayo, axhunywe kumakhompyutha anamandla noma izilawuli. I-Artificial intelligence, nanoma yini ethathwa ngephutha njengobuhlakani bokwenziwa, iba yinto ebaluleke kakhulu kumarobhothi ezimboni zanamuhla.
UGeorge Devol waqala ukuphakamisa umqondo werobhothi lezimboni futhi wafaka isicelo selungelo lobunikazi ngo-1954. (Ilungelo lobunikazi lanikezwa ngo-1961). Ngo-1956, u-Devol no-Joseph Engelberger basungula i-Unimation, ngokusekelwe kulungelo lobunikazi lokuqala lika-Devol. Ngo-1959, irobhothi lokuqala lezimboni le-Unimation lazalwa e-United States, lingenisa inkathi entsha yokuthuthukiswa kwamarobhothi. I-Unimation kamuva yanikeza ilayisense ubuchwepheshe bayo e-Kawasaki Heavy Industries kanye ne-GKN ukukhiqiza amarobhothi ezimboni ze-Unimates e-Japan nase-United Kingdom, ngokulandelana. Isikhathi esithile, okuwukuphela kwembangi we-Unimation kwaba yiCincinnati Milacron Inc. e-Ohio, e-USA. Kodwa-ke, ngasekupheleni kwawo-1970, lesi simo sashintsha ngokuyisisekelo ngemva kokuba ama-conglomerates ambalwa amakhulu aseJapane eqale ukukhiqiza amarobhothi ezimboni afanayo. Amarobhothi ezimboni asuka ngokushesha eYurophu, futhi i-ABB Robotics ne-KUKA Robotics yaletha amarobhothi emakethe ngo-1973. Ngasekupheleni kwawo-1970, isithakazelo kumarobhothi sasikhula, futhi izinkampani eziningi zaseMelika zangena kulo mkhakha, kuhlanganise nezinkampani ezinkulu ezifana neGeneral Electric kanye neGeneral Motors (ibhizinisi labo elihlanganyelwe ne-FANUC Robotics yaseJapane lakhiwa yi-FANUC). Iziqalo zaseMelika zihlanganisa i-Automatix ne-Adept Technology. Ngesikhathi se-robotics boom ngo-1984, i-Unimation yatholwa yi-Westinghouse Electric nge-$ 107 million. I-Westinghouse yadayisela i-Unimation ku-Stäubli Faverges SCA e-France ngo-1988, esakha amarobhothi ashiwo ngokoqobo ezimbonini nasezindlini ezihlanzekile, yaze yathola nesigaba samarobhothi sika-Bosch ngasekupheleni kuka-2004.
Chaza Amapharamitha Hlela Inombolo Yezimbazo - Izimbazo ezimbili ziyadingeka ukuze ufike noma yikuphi endizeni; izimbazo ezintathu ziyadingeka ukuze ufike noma yikuphi esikhaleni. Ukuze ulawule ngokugcwele ukukhomba kwengalo yokugcina (okungukuthi, isihlakala), amanye ama-ax amathathu (i-pan, pitch, and roll) ayadingeka. Eminye imiklamo (efana namarobhothi e-SCRA) idela ukunyakaza ngezindleko, isivinini, nokunemba. Amadigri Enkululeko - Imvamisa afana nenani lezimbazo. Imvilophu yokusebenza - Indawo esesikhaleni irobhothi elingafinyelela kuyo. I-Kinematics – Ukumiswa kwangempela kwezakhi zomzimba eziqinile werobhothi namalunga, okunquma konke ukunyakaza okungase kwenzeke. Izinhlobo ze-robot kinematics zifaka i-articulated, i-cardianic, i-parallel, ne-SCRA. Amandla noma umthamo wokulayisha - Singakanani isisindo esingasiphakamisa irobhothi. Isivinini - Irobhothi lingashesha kangakanani ukuthola indawo yalo engalweni ekugcineni. Le pharamitha ingachazwa njengesivinini se-angular noma somugqa we-eksisi ngayinye, noma njengesivinini esiyinhlanganisela, okusho ngokuya ngesivinini sengalo yokuphela. Ukusheshisa - Yeka ukuthi i-eksisi ingashesha kangakanani. Lesi yisici esikhawulelayo, njengoba irobhothi lingase lingakwazi ukufinyelela isivinini salo esiphezulu lapho lenza umnyakazo omfishane noma izindlela eziyinkimbinkimbi ezinezinguquko ezivamile zokuqondisa. Ukunemba - Irobhothi lingasondela kangakanani endaweni oyifunayo. Ukunemba kukalwa ngokuthi indawo ephelele yerobhothi ikude kangakanani nendawo oyifunayo. Ukunemba kungathuthukiswa ngokusebenzisa izinzwa zangaphandle ezifana namasistimu okubona noma i-infrared. Ukukhiqiza kabusha - Irobhothi libuyela kahle kangakanani endaweni ehleliwe. Lokhu kuhlukile ekunembeni. Ingase itshelwe ukuthi iye endaweni ethile ye-XYZ futhi iya kuphela phakathi kuka-1 mm waleyo ndawo. Lena inkinga yokunemba futhi ingalungiswa ngokulinganisa. Kodwa uma leso sikhundla sifundiswa futhi sigcinwe kumemori yesilawuli, futhi sibuyela ngaphakathi kuka-0.1 mm wesikhundla esifundisiwe isikhathi ngasinye, khona-ke ukuphindaphinda kwaso kungaphakathi kuka-0.1 mm. Ukunemba nokuphindaphinda amamethrikhi ahluke kakhulu. Ukuphindaphinda ngokuvamile kuwukucaciswa okubaluleke kakhulu kwerobhothi futhi kuyefana “nokunemba” esilinganisweni - ngokubhekisela ekunembeni nokunemba. I-ISO 9283[8] isungula izindlela zokulinganisa ukunemba nokuphindaphinda. Ngokuvamile, i-robot ithunyelwa endaweni efundiswa izikhathi eziningana, isikhathi ngasinye iya kwezinye izikhundla ezine futhi ibuyela esikhundleni esifundisiwe, futhi iphutha liyalinganiswa. Ukuphindaphinda bese kubalwa njengokuchezuka okujwayelekile kwalawa masampuli ngobukhulu obuthathu. Irobhothi elivamile lingase libe namaphutha esikhundla adlula ukuphindaphinda, futhi lokhu kungase kube inkinga yokuhlela. Ngaphezu kwalokho, izingxenye ezihlukene zemvilophu yomsebenzi zizophindaphinda okuhlukile, futhi ukuphindaphinda nakho kuzohluka ngesivinini kanye nomthwalo okhokhelwayo. I-ISO 9283 icacisa ukuthi ukunemba nokuphindaphinda kukalwa ngesivinini esikhulu nangomthwalo okhokhelwayo omkhulu. Kodwa-ke, lokhu kukhiqiza idatha engenathemba, njengoba ukunemba nokuphindaphinda kwerobhothi kuzoba ngcono kakhulu ekulayisheni okulula nesivinini. Ukuphindaphinda ezinqubweni zezimboni nakho kuthintwa ukunemba kwesinqamuli (njengesibambi) ngisho nangokuklanywa “kweminwe” yokubamba esetshenziselwa ukubamba into. Isibonelo, uma irobhothi licosha isikulufu ngekhanda laso, isikulufu singase sibe nge-engeli engahleliwe. Imizamo elandelayo yokubeka isikulufu embobeni yesikulufu kungenzeka yehluleke. Izimo ezinjengalezi zingathuthukiswa “ngezici zokuhola”, njengokwenza umnyango wembobo ube tapered (chamfered). Ukulawula Ukunyakaza - Kwezinye izinhlelo zokusebenza, njengokukhetha okulula nokuhlanganisa imisebenzi, irobhothi lidinga kuphela ukuya emuva naphambili phakathi kwenani elilinganiselwe lezikhundla ezifundiswe ngaphambilini. Ukuze uthole izinhlelo zokusebenza eziyinkimbinkimbi, ezifana nokushisela nokudweba (umdwebo we-spray), ukunyakaza kufanele kulawulwe ngokuqhubekayo endleleni emkhathini endaweni ethile kanye nesivinini. Umthombo Wamandla - Amanye amarobhothi asebenzisa izinjini zikagesi, amanye asebenzisa ama-hydraulic actuators. Eyokuqala iyashesha, lena yokugcina inamandla kakhulu futhi iwusizo ezinhlelweni ezifana nokudweba lapho izinhlansi zingabangela ukuqhuma; kodwa-ke, umoya ophansi wokucindezela ngaphakathi kwengalo uvimbela ukungena kwemfucumfucu evuthayo nokunye ukungcola. Shayela - Amanye amarobhothi axhuma izinjini kumalunga ngamagiya; ezinye zinezinjini ezixhunywe ngqo emajoyini (direct drive). Ukusetshenziswa kwamagiya kubangela "ukubuyela emuva" okulinganiselwe, okuwukunyakaza okukhululekile kwe-eksisi. Izingalo zamarobhothi ezincane zivame ukusebenzisa izinjini ze-DC ezinesivinini esikhulu, ezinetorque ephansi, ngokuvamile ezidinga izilinganiso zegiya eziphakeme, ezinobubi bokubuyela emuva, futhi ezimweni ezinjalo kuvame ukusetshenziswa izinciphisi zamagiya e-harmonic. Ukuthobelana - Lesi isilinganiso senani le-engeli noma ibanga amandla asetshenziswe ku-eksisi yerobhothi anganyakaza. Ngenxa yokuthobela imithetho, irobhothi lizohamba kancane uma liphethe umthwalo omkhulu kunalapho lingawuphethe. Ukuthobelana kuphinde kuthinte inani lokweqa ezimeni lapho ukusheshisa kudingeka kwehliswe ngomthwalo okhokhelwayo ophezulu.
Isikhathi sokuthumela: Nov-15-2024
