Nyika yekutangarobhoti yemaindasitiriakaberekerwa muUnited States muna 1962. Injiniya wekuAmerica George Charles Devol, Jr. akaronga "robhoti rinogona kupinduka kupindura kune otomatiki kuburikidza nekudzidzisa uye kutamba". Pfungwa yake yakamutsa moto kune muzvinabhizimusi Joseph Frederick Engelberger, anozivikanwa sa "baba vemarobhoti", uye nekudarorobhoti yemaindasitiriyakanzi "Unimate (= mushandirwi anoshanda ane masimba epasi rose)" akazvarwa.
Zvinoenderana neISO 8373, marobhoti emaindasitiri ane akawanda-akabatana manipulators kana akawanda-dhigirii-e-rusununguko marobhoti emunda weindasitiri. Marobhoti eindasitiri midziyo yemagetsi inongoita basa uye michina inovimba nesimba rayo uye kugona kwekudzora kuita mabasa akasiyana. Inogona kugamuchira mirairo yevanhu kana kumhanya maererano nezvirongwa zvakafanorongwa. Marobhoti emazuva ano eindasitiri anogonawo kuita zvinoenderana nemisimboti uye nhungamiro dzakagadzirwa nehunyanzvi hwehunyanzvi hwekugadzira.
Zvakajairika mashandisirwo emarobhoti emaindasitiri anosanganisira welding, kupenda, kusangana, kuunganidza uye kuiswa (sekurongedza, palletizing uye SMT), kuongorora chigadzirwa uye kuyedza, nezvimwe; basa rose rinopedzwa nekubudirira, kusimba, kukurumidza uye nekururama.
Iyo inonyanya kushandiswa marobhoti marobhoti, marobhoti eSCRA, marobhoti edelta, uye maCartesian marobhoti (marobhoti epamusoro kana marobhoti exyz). Marobhoti anoratidza kuzvimiririra kwakasiyana-siyana: mamwe marobhoti akarongedzerwa kuita zviito zvakananga kakawanda (kudzokorora zviito) nokutendeka, pasina mutsauko, uye nekururama kwepamusoro. Zviito izvi zvinotariswa nezvirongwa zvakarongwa zvinotsanangura gwara, kukurumidza, kumhanya, kudzikisira, uye chinhambwe chenhevedzano yezviito zvakarongeka. Mamwe marobhoti anogona kuchinjika, sezvo angangoda kuziva nzvimbo yechinhu kana kunyange basa rinofanira kuitwa pane chinhu. Semuyenzaniso, kuti uwane kutungamira chaiko, marobhoti anowanzo sanganisira muchina wekuona masisitimu semasensa ekuona, akabatana nemakomputa ane simba kana ma controller. Artificial intelligence, kana chinhu chipi nechipi chinokanganisa sehungwaru hwekugadzira, chiri kuwedzera kukosha mumarobhoti emazuva ano eindasitiri.
George Devol akatanga kutaura pfungwa yerobhoti yeindasitiri uye akanyorera patent muna 1954. (Iyo patent yakapihwa muna 1961). Muna 1956, Devol naJoseph Engelberger vakabatana Unimation, zvichibva pane yekutanga patent yaDevol. Muna 1959, robhoti rekutanga reindasitiri reUnimation rakazvarwa muUnited States, richiunza nguva itsva yekuvandudza marobhoti. Unimation yakazopa rezinesi tekinoroji yayo kuKawasaki Heavy Industries neGKN kugadzira marobhoti eUnimates emumaindasitiri muJapan neUnited Kingdom, zvichiteerana. Kwenguva yakati, mukwikwidzi weUnimation chete aive Cincinnati Milacron Inc. muOhio, USA. Zvisinei, mukupera kwema1970, mamiriro ezvinhu aya akachinja zvikuru pashure pokunge mapoka makuru akawanda echiJapan atanga kugadzira marobhoti eindasitiri akafanana. Marobhoti eIndustrial akasimuka nekukurumidza muEurope, uye ABB Robotics neKUKA Robotics yakaunza marobhoti kumusika muna 1973. Mukupera kwema1970, kufarira kwemarobhoti kwaikura, uye makambani mazhinji eAmerica akapinda mumunda, kusanganisira makambani makuru akadai seGeneral Electric neGeneral Motors (avo vanobatana neJapan FANUC Robotics vakaumbwa neFANUC). Matangiro eAmerica aisanganisira Automatix uye Adept Technology. Munguva yebhobhoti boom muna 1984, Unimation yakatorwa neWestinghouse Electric nemadhora zana nemakumi manomwe emamiriyoni. Westinghouse yakatengesa Unimation kuStäubli Faverges SCA muFrance muna 1988, iyo ichiri kugadzira marobhoti akasarudzika ezvese maindasitiri nekuchenesa maapplication, uye akatowana Bosch's robhoti chikamu mukupera kwa2004.
Define Parameters Rongedza Nhamba yeAxes - Matemo maviri anodiwa kuti asvike chero kupi mundege; mbezo nhatu dzinodiwa kuti usvike kupi zvako muchadenga. Kudzora zvizere kunongedza kweruoko rwekupedzisira (kureva, wrist), mamwe matemo matatu (pani, pitch, uye roll) anodiwa. Mamwe madhizaini (akadai seSCRA marobhoti) anobayira mafambiro emutengo, kumhanya, uye chokwadi. Madhigirii eRusununguko - Kazhinji zvakafanana nehuwandu hwematemo. Working envelope - Nzvimbo iri muchadenga iyo robhoti inogona kusvika. Kinematics - Iko kurongeka chaiko kweiyo robhoti yakaoma muviri zvinhu uye majoini, ayo anotarisisa zvese zvinobvira robhoti kufamba. Mhando dzemarobhoti kinematics dzinosanganisira articulated, cardanic, parallel, uye SCARA. Kugona kana mutoro wekutakura - Huremu hwakadii iro robhoti inogona kusimudza. Velocity - Inokurumidza sei iro robhoti inogona kuwana yayo yekupedzisira-ruoko chinzvimbo munzvimbo. Iyi parameter inogona kutsanangurwa seangular kana mutsara velocity yeaxis yega yega, kana seanosanganiswa velocity, zvichireva maererano nemagumo-ruoko velocity. Kukwidziridza - Inokurumidza sei axis inogona kukurumidza. Ichi chinhu chinomisikidza, sezvo robhoti ringatadza kusvika pakumhanya kwaro parinoita mapfupi mafambisirwo kana nzira dzakaomarara dzinogara dzichichinja nzira. Kurongeka - Kuti robhoti iri padhuze sei kusvika panzvimbo yaunoda. Kururama kunoyerwa kuti kureba kwakadii kweabsolute nzvimbo yerobhoti kubva pane yaunoda. Kurongeka kunogona kuvandudzwa nekushandisa midziyo yekunzwa yekunze senge masisitimu ekuona kana infrared. Reproducibility - Robhoti rinodzokera sei kune yakarongwa chinzvimbo. Izvi zvakasiyana nekururama. Inogona kuudzwa kuti iende kune imwe nzvimbo yeXYZ uye inongoenda mukati me1 mm yechinzvimbo ichocho. Iri idambudziko rechokwadi uye rinogona kugadziriswa necalibration. Asi kana iyo chinzvimbo ichidzidziswa uye ichichengetwa mukudzora ndangariro, uye inodzokera mukati me 0.1 mm yenzvimbo yakadzidziswa nguva imwe neimwe, ipapo kudzokorora kwayo kuri mukati me 0.1 mm. Kurongeka uye kudzokororwa kwakasiyana kwazvo metrics. Kudzokorora kazhinji ndiko kunonyanya kukosha kutsanangurwa kwerobhoti uye kwakafanana ne "chaiyo" mukuyera - maererano nekururama uye nemazvo. ISO 9283 [8] inogadza nzira dzekuyera chokwadi uye kudzokorora. Kazhinji, robhoti inotumirwa kunzvimbo yakadzidziswa kakawanda, nguva imwe neimwe ichienda kune dzimwe nzvimbo ina uye kudzokera kunzvimbo yakadzidziswa, uye kukanganisa kunoyerwa. Iko kudzokororwa kunozoverengerwa seyakajairwa kutsauka kweaya masampuli muzvikamu zvitatu. Robhoti rakajairwa rinogona kunge riine zvikanganiso zvechinzvimbo zvinopfuura kudzokororwa, uye iri rinogona kunge riri dambudziko rekuronga. Uyezve, zvikamu zvakasiyana zvehamvuropu yebasa zvichave nekudzokorora kwakasiyana, uye kudzokorora kunosiyanawo nekumhanya uye mubhadharo. ISO 9283 inotsanangura kuti kurongeka uye kudzokorora kuyerwa pakumhanya kwakanyanya uye pamubhadharo wepamusoro. Nekudaro, izvi zvinoburitsa data risingafadzi, sezvo iro robhoti kurongeka uye kudzokorora kunenge kuri nani pakureruka uye kumhanya. Kudzokororwa mumashandisirwo emaindasitiri kunokanganisawo nekururama kweterminator (senge gripper) uye kunyangwe nekugadzirwa kwe "minwe" pane gripper iyo inoshandiswa kubata chinhu. Semuyenzaniso, kana robhoti rikanhonga sikuruu nemusoro waro, sikuruu yacho inogona kunge iri pamakona. Kuedza kunotevera kuisa sikururu mukati megomba rescrew kunogona kutadza. Mamiriro ezvinhu akadai seaya anogona kuvandudzwa ne "lead-in features", sekuita mukova wegomba tapered (chamfered). Motion Kudzora - Kune mamwe maapplication, akadai seakapusa kusarudza uye kuisa magungano mavhisi, iro robhoti rinongoda kudzoka nekudzoka pakati pehuwandu hushoma hwezvinzvimbo zvakadzidziswa. Kune mamwe maapplication akaoma, senge welding nekupenda (spray pendi), kufamba kunofanirwa kuramba kuchidzorwa munzira iri muchadenga pane yakatarwa uye nekumhanya. Simba Source - Mamwe marobhoti anoshandisa mota dzemagetsi, mamwe anoshandisa hydraulic actuators. Iyo yekutanga inokurumidza, iyo yekupedzisira ine simba zvakanyanya uye inobatsira kune zvikumbiro zvakaita sekupenda uko mazhenje anogona kukonzera kuputika; zvisinei, mhepo yakaderera-yakadzika mukati meruoko inodzivirira kupinda kwemhepo inopisa uye zvimwe zvinosvibisa. Dhiraivha - Mamwe marobhoti anobatanidza mota kune majoini kuburikidza nemagiya; mamwe ane mamotor akabatana zvakananga kumajoini (direct drive). Kushandiswa kwemagiya kunoguma nekuyerwa "backlash", inova kufamba kwakasununguka kweaxis. Maoko madiki marobhoti anowanzo shandisa yakakwira-kumhanya, yakaderera-torque DC mota, iyo inowanzoda yakakwira giya reshiyo, iyo ine iyo yakashata yekudzokera shure, uye mumamiriro ezvinhu akadaro harmonic gear reducers inowanzoshandiswa panzvimbo. Kuteerera - Ichi chiyero chehuwandu hwekona kana chinhambwe icho simba rinoiswa paaxis yerobhoti rinogona kufamba. Nekuda kwekuteerera, iro robhoti richafamba zvishoma parinotakura mubhadharo wepamusoro pane kana kutakura pasina mubhadharo. Kuteerera kunokanganisawo kuwanda kwekuwanda mumamiriro ezvinhu apo kukurumidza kunoda kuderedzwa nemubhadharo wakakwira.
Nguva yekutumira: Nov-15-2024
