Dziko loyambarobot ya mafakitaleanabadwira ku United States mu 1962. Katswiri wina wa ku America dzina lake George Charles Devol, Jr. Lingaliro lake linayambitsa chidwi ndi wamalonda Joseph Frederick Engelberger, yemwe amadziwika kuti "bambo wa maloboti", moterorobot ya mafakitalewotchedwa "Unimate (= bwenzi logwira ntchito ndi luso lapadziko lonse)" anabadwa.
Malinga ndi ISO 8373, maloboti akumafakitale ndi ma manipulator ophatikizana ambiri kapena maloboti aulere ambiri pamafakitale. Maloboti a mafakitale ndi zida zamakina zomwe zimangogwira ntchito ndipo ndi makina omwe amadalira mphamvu zawo ndikuwongolera kuti akwaniritse ntchito zosiyanasiyana. Ikhoza kuvomereza malamulo aumunthu kapena kuyendetsa molingana ndi mapulogalamu omwe adakonzedweratu. Maloboti amakono amakampani amathanso kuchita zinthu motsatira mfundo ndi malangizo opangidwa ndiukadaulo wanzeru.
Zomwe zimagwiritsidwa ntchito pama robot a mafakitale zimaphatikizapo kuwotcherera, kujambula, kusonkhanitsa, kusonkhanitsa ndi kuyika (monga kulongedza, palletizing ndi SMT), kuyang'anira ndi kuyesa zinthu, ndi zina zotero; ntchito zonse zimatsirizidwa ndi mphamvu, kulimba, kuthamanga ndi kulondola.
Makina omwe amagwiritsidwa ntchito kwambiri ndi maloboti omveka, maloboti a SCARA, maloboti a delta, ndi ma Cartesian (maloboti apamwamba kapena ma xyz). Maloboti amawonetsa kudziyimira pawokha kosiyanasiyana: maloboti ena amapangidwa kuti azichita zinthu zina mobwerezabwereza (zobwerezabwereza) mokhulupirika, popanda kusintha, komanso molondola kwambiri. Zochita izi zimatsimikiziridwa ndi machitidwe omwe amapangidwa omwe amalongosola mayendedwe, mathamangitsidwe, liwiro, kutsika, ndi mtunda wa mndandanda wazinthu zomwe zimagwirizanitsidwa. Maloboti ena amatha kusinthasintha, chifukwa angafunikire kuzindikira malo a chinthu kapena ntchito yoti ichitidwe pa chinthucho. Mwachitsanzo, pofuna chitsogozo cholondola, maloboti nthawi zambiri amakhala ndi makina owonera monga masensa awo owoneka, olumikizidwa ndi makompyuta amphamvu kapena zowongolera. Artificial Intelligence, kapena chilichonse chomwe chimaganiziridwa kuti ndi chanzeru chochita kupanga, chikukhala chinthu chofunikira kwambiri pama robot amakono amakampani.
George Devol poyamba anapereka lingaliro la robot ya mafakitale ndipo adafunsira patent mu 1954. (Patent inaperekedwa mu 1961). Mu 1956, Devol ndi Joseph Engelberger adayambitsa Unimation, kutengera patent yoyambirira ya Devol. Mu 1959, loboti yoyamba yamakampani ya Unimation idabadwa ku United States, ndikuyambitsa nthawi yatsopano yopanga maloboti. Pambuyo pake Unimation inapereka chilolezo ku Kawasaki Heavy Industries ndi GKN kuti ipange maloboti a mafakitale a Unimates ku Japan ndi United Kingdom, motsatana. Kwa nthawi ndithu, mpikisano yekha wa Unimation anali Cincinnati Milacron Inc. ku Ohio, USA. Komabe, chakumapeto kwa zaka za m’ma 1970, zinthu zinasintha kwambiri pambuyo poti magulu angapo akuluakulu a ku Japan anayamba kupanga maloboti ofanana ndi amenewa. Maloboti a mafakitale ananyamuka mofulumira kwambiri ku Ulaya, ndipo ABB Robotics ndi KUKA Robotics anabweretsa maloboti kumsika ku 1973. Chakumapeto kwa zaka za m'ma 1970, chidwi cha robotic chinali kukula, ndipo makampani ambiri a ku America adalowa m'munda, kuphatikizapo makampani akuluakulu monga General Electric ndi General Motors (omwe mgwirizano wawo ndi FANUC Robotics wa Japan unapangidwa ndi FANUC). Zoyambira zaku America zidaphatikiza Automatix ndi Adept Technology. Panthawi ya robotic boom mu 1984, Unimation idagulidwa ndi Westinghouse Electric kwa $ 107 miliyoni. Westinghouse idagulitsa Unimation ku Stäubli Faverges SCA ku France mu 1988, yomwe imapangabe maloboti omveka bwino akugwiritsa ntchito mafakitale ndi zipinda zoyera, ndipo adapeza gawo la robotic la Bosch kumapeto kwa 2004.
Tanthauzirani Ma Parameter Sinthani Nambala ya Nkhwangwa - Nkhwangwa ziwiri zimafunikira kuti mufike kulikonse mundege; nkhwangwa zitatu zimafunika kuti zifike kulikonse mumlengalenga. Kuti muwongolere kwathunthu kuloza kwa mkono wakumapeto (ie, dzanja), nkhwangwa zina zitatu (poto, phula, ndi roll) zimafunika. Mapangidwe ena (monga maloboti a SCORA) amapereka ndalama pamtengo, liwiro, komanso kulondola. Madigiri a Ufulu - Nthawi zambiri zofanana ndi kuchuluka kwa nkhwangwa. Envelopu yogwira ntchito - Malo omwe robot imatha kufika. Kinematics - Kukonzekera kwenikweni kwa zinthu zolimba za thupi la loboti ndi mfundo zake, zomwe zimatsimikizira kusuntha konse kwa maloboti. Mitundu ya robot kinematics imaphatikizapo kufotokozedwa, cardiac, parallel, ndi SCARA. Mphamvu kapena katundu - Kodi loboti ingakweze kulemera kotani. Kuthamanga - Kodi loboti imatha kuyika mkono wake kumapeto mwachangu bwanji. Gawoli limatha kutanthauzidwa ngati liwiro la angular kapena mzere wa mzere uliwonse, kapena ngati liwiro lamagulu, kutanthauza kuthamanga kwa mkono wakumapeto. Kuthamangitsa - Momwe olamulira amatha kuthamanga mwachangu. Ichi ndi chinthu cholepheretsa, chifukwa robotyo sangathe kufika pamtunda wake wothamanga pamene ikuchita maulendo afupiafupi kapena njira zovuta ndi kusintha kwafupipafupi. Kulondola - Kodi loboti imatha kufika pamalo omwe mukufuna. Kulondola kumayesedwa ngati malo amtundu wa loboti ali kutali bwanji ndi pomwe akufunidwa. Kulondola kungawongoleredwe pogwiritsa ntchito zida zakunja monga masomphenya kapena infrared. Reproducibility - Momwe loboti imabwereranso pamalo okonzedwa. Izi ndi zosiyana ndi zolondola. Itha kuuzidwa kuti ipite kumalo ena a XYZ ndipo imangopita mkati mwa 1 mm ya malo amenewo. Ili ndi vuto lolondola ndipo litha kuwongoleredwa ndi ma calibration. Koma ngati malowa aphunzitsidwa ndikusungidwa mu kukumbukira kwa olamulira, ndipo amabwerera mkati mwa 0.1 mm ya malo ophunzitsidwa nthawi iliyonse, ndiye kuti kubwereza kwake kuli mkati mwa 0.1 mm. Kulondola ndi kubwerezabwereza ndizitsulo zosiyana kwambiri. Kubwerezabwereza nthawi zambiri kumakhala kofunika kwambiri kwa robot ndipo kumakhala kofanana ndi "kulondola" muyeso - ponena za kulondola ndi kulondola. ISO 9283[8] imakhazikitsa njira zoyezera kulondola komanso kubwereza. Kawirikawiri, loboti imatumizidwa ku malo ophunzitsidwa kangapo, nthawi iliyonse kupita kumalo ena anayi ndikubwerera ku malo ophunzitsidwa, ndipo cholakwikacho chimayesedwa. Kubwerezabwereza kumawerengedwa ngati kupatuka kwa zitsanzo izi m'miyeso itatu. Roboti wamba ikhoza kukhala ndi zolakwika zomwe zimapitilira kubwereza, ndipo izi zitha kukhala vuto la pulogalamu. Kuphatikiza apo, magawo osiyanasiyana a envulopu yantchitoyo azikhala ndi kubwereza kosiyana, ndipo kubwerezanso kumasiyananso ndi liwiro komanso kulipira. ISO 9283 imanena kuti kulondola ndi kubwereza kuyesedwa pa liwiro lalikulu komanso pamlingo wolipira kwambiri. Komabe, izi zimapanga chidziwitso chopanda chiyembekezo, chifukwa kulondola kwa robot ndi kubwerezabwereza kudzakhala bwino kwambiri pa katundu wopepuka komanso kuthamanga. Kubwerezabwereza m'machitidwe a mafakitale kumakhudzidwanso ndi kulondola kwa terminator (monga gripper) komanso ngakhale kupanga "zala" pazitsulo zomwe zimagwiritsidwa ntchito kuti zigwire chinthucho. Mwachitsanzo, loboti ikanyamula wononga ndi mutu wake, wonongayo imatha kukhala mongolowera mwachisawawa. Kuyesa kotsatira kuyika screw mu dzenje la screw ndizotheka kulephera. Mikhalidwe yotereyi ingathe kukonzedwa ndi "zotsogolera", monga kupanga khomo la dzenje la tapered (chamfered). Motion Control - Pazinthu zina, monga kusankha kosavuta ndi malo ochitira msonkhano, loboti imangofunika kupita mmbuyo ndi mtsogolo pakati pa malo ochepa omwe adaphunzitsidwa kale. Kwa ntchito zovuta kwambiri, monga kuwotcherera ndi kupenta (kupenta kutsitsi), kayendetsedwe kake kayenera kuyendetsedwa mosalekeza panjira mumlengalenga molunjika komanso kuthamanga. Gwero la Mphamvu - Maloboti ena amagwiritsa ntchito ma motors amagetsi, ena amagwiritsa ntchito ma hydraulic actuators. Zakale zimakhala zachangu, zotsirizirazi zimakhala zamphamvu kwambiri ndipo zimakhala zothandiza pa ntchito monga kujambula kumene zonyezimira zingayambitse kuphulika; komabe, mpweya wochepa kwambiri mkati mwa mkono umalepheretsa kulowa kwa nthunzi yoyaka ndi zonyansa zina. Thamangitsani - Maloboti ena amalumikiza ma motors kupita kumalo olumikizirana kudzera m'magiya; ena ali ndi ma motors olumikizidwa mwachindunji kumagulu (molunjika pagalimoto). Kugwiritsa ntchito magiya kumabweretsa "backlash" yoyezeka, yomwe ndikuyenda kwaulere kwa axis. Zida zing'onozing'ono za robot nthawi zambiri zimagwiritsa ntchito ma motors a DC othamanga kwambiri, otsika kwambiri, omwe nthawi zambiri amafunikira magiya apamwamba, omwe amakhala ndi vuto la backlash, ndipo munthawi ngati izi zochepetsera zida za harmonic zimagwiritsidwa ntchito nthawi zambiri. Kutsatira - Ichi ndi muyeso wa kuchuluka kwa ngodya kapena mtunda umene mphamvu yogwiritsidwa ntchito pa axis ya robot imatha kuyenda. Chifukwa chotsatira, lobotiyo imatsika pang'ono ikanyamula katundu wambiri kuposa momwe ilili yopanda malipiro. Kutsatira kumakhudzanso kuchuluka kwa kuchulukirachulukira muzochitika zomwe kufulumizitsa kumayenera kuchepetsedwa ndi kuchuluka kwa malipiro.
Nthawi yotumiza: Nov-15-2024
