Tsvagiridzo pamusoro peKudzora Kwakabatana Kwemota dzeMarobhoti Anoshanda Pamwe Chete

1.1 Nhoroondo Yekutsvagisa

Nekufambira mberi kwesainzi netekinoroji nekukurumidza,kugona kwakangwaraKuramba kuri kuenderera mberi nekuvandudza, zvichiita kuti kugadzira zvinhu zvine hungwaru kuve tsika inotonga mukusimudzira maindasitiri. Semuenzaniso, data rakaburitswa neChina Ministry of Information Industry rinoratidza kuti kugadzira zvinhu zvine hungwaru mudzimba kwakawana kukura kunoshamisa kwe11.6% muna 2023—uchapupu hwekuedza kuri kuramba kuripo kwenyika uye hunyanzvi hwetekinoroji mundima iyi. Uyezve, huwandu hwezvinhu zvitsva pakati pemakambani ekugadzira zvinhu zvine hungwaru hwakawedzera zvakanyanya, zvichisanganisira zvikamu zvakaita sekugadzira michina yepamusoro-soro, zvinhu zvepamusoro, uye matekinoroji ezvakatipoteredza, zvichiratidza simba reindasitiri uye shanduko huru. Maitiro aya haana kungochinja nzira dzekugadzira zvinhu zvechinyakare asiwo akakurumidzisa kuvandudzwa kwemaindasitiri, zvichiwedzera kushanda zvakanaka uye mhando. Zviri kuwedzera, mitsetse yekugadzira otomatiki nemarobhoti emaindasitiri zviri kutsiva basa revanhu.

Nekufambira mberi kwenguva yekugadzira yakangwara, hunhu hwehunyanzvi hwemarobhoti emaindasitiri hunoshanda otomatiki uye hune hungwaru hunoenderana zvakakwana nezvinodiwa zviri kukura muindasitiri yekugadzira zvekururama kwakanyanya, nyore kushanda, uye kushanduka-shanduka mumabasa ekugadzira. Izvi zvakawedzera kukosha kwawo mukugadzira, zvichiita kuti ave simba guru rinosimudzira shanduko yeindasitiri nekusimudzira. Marobhoti anoshanda pamwe chete—zvishandiso zvemaindasitiri zvinokwanisa kuita zvese muchina-ku-muchina uye kushandira pamwe kwemarobhoti evanhu—ave chinhu chakakosha mukutsvagisa marobhoti nekuda kwemaitiro avo ekuzvitonga uye kugona kushanda pamwe chete, zvichivaisa panzvimbo yekuti vatore basa guru mumarobhoti emaindasitiri mune ramangwana. Muhunyanzvi hwemarobhoti anoshanda pamwe chete, zviyero zvekushanda kwemota dzeservo—kusanganisira kumhanya kwekupindura kwetorque, kururama kwetorque, kunyatsoisa nzvimbo, kushandiswa kwesimba, uye kugadzikana kwetembiricha—zvinotarisa zvakananga kushanda kwerobhoti, kugadzikana, uye kururama. Sesimba guru remarobhoti, mashandiro emarobhoti eservo anokanganisa zvakanyanya kunaka kwekufamba uye kuvimbika. Zvinoshamisa kuti, marobhoti eservo ane chekuita nekuita kuti nzvimbo ive yakarurama. Mota yeservo ine chekuita nekubatana yakanaka inoita kuti nzvimbo ive chaiyo uye kufamba kwakasimba panguva dzemabasa akaoma, nokudaro ichivandudza kushanda zvakanaka uye ichideredza zvikanganiso.

"Chirongwa chemakore mashanu chechi14 chekuvandudza indasitiri yemarobhoti" chinosimbisa kufambira mberi kwekutsvaga pamusoro pemajobhoti akabatana akangwara, uye majobhoti akadaro akakodzera marobhoti anoshanda pamwe chete. Pfungwa yavo yekugadzira yakabatana zvikuru inosanganisira ma actuator ari pasi, masensa, uye madhiraivha zvakananga mujobho pacharo, zvichishandura jobho rega rega kuita unit yekudzora yakazvimirira. Nekugadzirisa chimiro chemukati uye marongero, dhizaini yekudzora yakagoverwa inoderedza zvakanyanya huwandu hwetambo pakati pemazinga akasiyana esystem, nokudaro ichideredza mari yekugadzirisa uye inowedzera kuvimbika kwese. Dhizaini iyi inoitawo kuti zvive nyore kutsiva nekugadzirisa majobhoti zviri nyore, zvichiwedzera zvakanyanya kukwikwidzana kwemusika kwemarobhoti anoshanda pamwe chete.

Iyopfungwa yemarobhoti anoshanda pamwe cheteYakatangwa kekutanga muna 1996, ine pfungwa yayo yekugadzira ichichinja marobhoti echinyakare nekugonesa kushanda pamwe chete pakati pemarobhoti nevanhu pamitsetse yekugadzira. Nzira iyi yekushandira pamwe haingoshandisi chete kushanda zvakanaka uye kwakarurama kwemarobhoti asiwo inobatanidza njere dzevanhu uye kuchinjika, ichivandudza kushanda zvakanaka uye kuchinjika. Kana ichienzaniswa nemarobhoti echinyakare eindasitiri, marobhoti ekushandira pamwe anoratidza hunhu hwakasiyana, achizviratidza sechikamu chakakosha mumunda wemarobhoti. Maumbirwo avo emuviri uye masisitimu ekudzora akagadziriswa zvakanyanya. Marobhoti echinyakare eindasitiri—akadai semagadzirirwo emaoko erobhoti anoratidzwa muMufananidzo 1—anonyanya kushandiswa mukuita ma pallet, kubata zvinhu, kusonera, uye kucheka ne laser. Kunyange zvazvo marobhoti aya aine kusimba kwakanyanya, kugadzikana kwechimiro, uye kugona kwakasimba kwekutakura mutoro, anewo zvipingamupinyi: saizi yakakura nehuremu, kusagadzikana kwekufamba kwakanyanya, magadzirirwo akakura asina kuchinjika zvakanyanya, uye kusakwanisa kuita mabasa ekubatanidza anokurumidza. Pamusoro pezvo, simba rawo guru rekuita uye kufamba nekukurumidza zvinoisa njodzi huru dzekuchengetedza kuvashandi vari mukati menzvimbo yavo yekushanda, zvichiita kuti zviomere kushanda munzvimbo dzakavharirwa.

Mufananidzo 1 Marobhoti echinyakare emuindasitiri nemarobhoti anoshanda pamwe chete

Marobhoti anoshanda pamwe chete anogonesa kushanda pamwe chete nevanhu munzvimbo dzakagovaniswa uye anorerutsira kudyidzana kwepedyo munzvimbo dzekushandira pamwe. Kana tichienzanisa nemaoko echinyakare erobhoti, marobhoti anoshanda pamwe chete anowanzo takura mutoro wepamusoro we20 kg pamagumo awo ekushanda, ane huwandu hwekushanda hwakafanana nehwemunhu. Maumbirwo awo ari nyore pane emaoko echinyakare erobhoti eindasitiri ane nzira dzakaoma dzekutumira, ukuwo achipa mhinduro yesimba rinonzwa, kuchinjika kuri nyore, uye kugona kwakasimba kwekuona. Aya maficha anovabvumira kugadzirisa simba panguva yekudyidzana kwevanhu, zvichidzivirira kukuvara kwechisimba. Nekuda kweizvozvo, marobhoti anoshanda pamwe chete anogona kushanda pamwe chete nevanhu zvakachengeteka kuti vapedze mabasa vasina kuda zvipingamupinyi zvekuchengetedza zvechinyakare.

Marobhoti anoshanda pamwe chete anoshanda zvakananga nekubata vanhu; saka, kuchengetedzeka chinhu chakakosha pakushanda pamwe chete nemarobhoti. Zvakakosha kudzora simba rekushanda uye torque yekutenderera uchishandisa matanho ehunyanzvi akadai sekudzora mashandiro, kudzora torque, masensa ekubata, uye kuona kurovera kudzivirira kukuvara kwevashandi. Masisitimu ekudzora madhiraivha akangwara emarobhoti anodawo kugadziriswa kwakawedzerwa kwekutarisira kuchengetedzeka, zvichigonesa kudzora kwakapfava kuburikidza nekuverenga kwakasimba uye kutevedzera kwakavakirwa pakutarisa.

Muongororo yakaitwa munguva pfupi yapfuura, International Federation of Robotics (IFR) yakaratidza kuti kugadzirwa kwemarobhoti mune ramangwana kuchanyanya kuratidza mafambiro ekureruka, nyore kushandisa, kuchinjika, uye kushandira pamwe kwakachengeteka. Marobhoti emaindasitiri achaenderera mberi nekuwana mazinga epamusoro ekushandisa otomatiki uye hungwaru; dhizaini yavo iri nyore kushandisa ichaderedza zvipingamupinyi zvekushanda, zvichibvumira makambani akawanda kushandisa tekinoroji yemarobhoti zviri nyore kusimudzira kugona kwekugadzira. Panguva iyi, magadzirirwo ane kuchinjika uye kugona kushandira pamwe kwakachengeteka achabvumira marobhoti kuti ajairane zviri nani nenzvimbo dzakasiyana-siyana uye dzakaoma dzekugadzira, zvichibatsira kushandira pamwe kwemarobhoti nevanhu uye zvichisimudzira kukura kwehunyanzvi uye kwakanaka kwekugadzirwa kwemaindasitiri.

Mufananidzo 2: Nzvimbo yekushandira yerobhoti yekushandira pamwe chete

1.2 Kukosha kweKutsvagurudza

Mumusika wekushanda pamwe chete kwemarobhoti, marobhoti ane rusununguko rwemadhigiri manomwe anodiwa nekuda kwekushanda kwawo kwakakura uye kuchinjika. Marobhoti aya anopa rusununguko rwakawanda, zvichipa mukana wakakura wekugadzira otomatiki mumaindasitiri uye kugadzira zvinhu neunyanzvi. Dhigirii rega rega rerusununguko rinowanikwa kuburikidza nerobhoti, iro rinoshanda sechinhu chakakosha pakusarudza mashandiro emarobhoti. Vagadziri vana vakuru—FANUC, ABB, Yaskawa, uye KUKA—mumwe nemumwe anoshandisa masisitimu akasiyana ekutumira mumaoko avo echinyakare emarobhoti emaindasitiri; zvisinei, vanoshandisa mamota eservo akabatana nemagiya ebevel, magiya espur, kana mabhande esynchronous kutumira simba kumajoini kuti atenderedzwe. Nzira idzi dzekutumira dzinoganhurira saizi yemajobhoti. Kunyange zvazvo kuwana kunyatsoita basa kwakawanda kuchikwanisika, miniaturization ichiri dambudziko. Sezvakaratidzwa muMufananidzo 3, marobhoti echinyakare emaindasitiri anoda makabati ekudzora ekunze ane madhiraivha emota, newaya dzakawanda dzinobatanidza mota yega yega kukabati, nokudaro zvichideredza kushandiswa kwemasisitimu ekudzora kunochinjika.

Mufananidzo 3 Robhoti remaindasitiri echinyakare uye kabhineti yekudzora

Zvichienderana nekuti marongerwo echinyakare emaoko erobhoti emuindasitiri haachakwanise kusangana nezvinodiwa nemarobhoti anoshanda pamwe chete, marobhoti aya akasiya nzira dzechinyakare dzekutumira zvinhu vachisarudza pfungwa itsva yekugadzira. Nzira iyi inotarisa pakuwana masisitimu akareruka, ane voltage shoma, uye akabatanidzwa zvakanyanya nekubatanidza controller, servo driver, uye mota mukati mejoini pachayo, nekubatanidza magetsi ari pasi payo kuchiitwawo mukati. Nhamba shoma chete ye control interfaces ndiyo inoonekwa kunze, zvichiita kuti waya dzekunze dzireruke uye kuderedza kuoma kweinjiniya. Dhizaini yakadaro inonzi jointi yakabatana.

Zvichienderana nezvinodiwa pari zvino uye mafambiro aripo mukubatana kwemarobhoti, kugadzira kubatana kwemarobhoti kwakareruka, kusina magetsi akawanda, kwakabatana zvakanyanya, uye kunoshanda zvakanyanya kwakakosha zvikuru. Kubatanidzwa kwakadaro kunosanganisira zvinhu zvese zvakakosha zvinodiwa pakufamba kwemarobhoti—kusanganisira ma actuator, ma controllers, madhiraivha, uye masensa—uye kunogona kushanda kwakazvimirira se module yakazvimirira. Kana yakabatana ne controller huru kana mamwe ma module kuburikidza nemabhazi emagetsi nekutonga ari nyore, dhizaini iyi yakabatana zvikuru asi isina kubatana kwakaderera inovandudza zvakanyanya kukura kwemarobhoti ekubatana. Nekushandisa iyi modular joint yakabatana uye kuibatanidza nemaoko erobhoti akakura zvakakodzera uye ekupedzisira, marobhoti ekubatana akagadzirirwa zvinodiwa zvakasiyana anogona kuunganidzwa zviri nyore.

Mufananidzo 4. Dhayagiramu yemufananidzo wejoini yemodular

Tsvagiridzo pamusoro pemajoini akabatanidzwa emarobhoti anoshanda pamwe chete uye masisitimu avo ekudzora servo inokosha zvikuru pakusimudzira marobhoti anoshanda pamwe chete. Matekinoroji makuru emajoini aya akabatanidzwa ane zvikamu zviviri zvakakosha: zvinoderedza majoini uye masisitimu ekudzora majoini pamwe chete nemaalgorithms avo ekudzora anoenderana. Zhixin Drive Technology (Shijiazhuang) Co., Ltd. inotarisa kutsvagisa kwayo pamasisitimu ekudzora majoini emarobhoti anoshanda pamwe chete, ichiita zvidzidzo zvakadzama pamajoini ekufambisa majoini uye masisitimu ekudzora. Kambani iyi iri kugadzira zvigadzirwa zvemajobhoti akabatanidzwa zvine hungwaru zvikuru zvinogonesa kugona kudzora kwakasimba uye kwakavimbika kwemajobhoti anoshanda pamwe chete, uku ichisanganisira zvinhu zvakakosha zvakaita sekuzviona wega, kuita sarudzo zvine hungwaru, kuita neunyanzvi, uye kutonga kwakarurama—zvichizadzisa zvinodiwa zvekugadzirwa kwemidziyo yakangwara.

2 Mamiriro Ekutsvaga Pari Zvino Munyika Nekunze

Muna 1956, nyanzvi yefizikisi yekuAmerica Joe Engelberger nemugadziri George Devol vakatanga kambani yemarobhoti yainzi Unimation, iyo yakabudirira kugadzira robhoti rekutanga remaindasitiri pasi rose—Unimate—muna 1959.

General Motors yakatanga kushandisa marobhoti mukugadzira maindasitiri paNew Jersey facility yayo muna 1961. Muna 1969, Japan yakaunza marobhoti kubva kuUnimation, gare gare ikapa marezenisi ehunyanzvi hwayo kuKawasaki Heavy Industries neKUKAI Corporation iri kuUK ekugadzira marobhoti muJapan neUK, zvichiteerana. Nekufambira mberi kweindasitiri yemotokari muJapan, huwandu huri kuramba huchiwedzera hwemarobhoti hwakatsiva basa revanhu mukugadzira, zvichiratidza zvizere kukosha kwawo. Nekuda kweizvozvo, Japan yave kusimbisa zvakanyanya kuvandudzwa kwemarobhoti emaindasitiri. Kutanga neKawasaki Heavy Industries senzira yekutanga mukushandiswa kwetekinoroji yemarobhoti, zvichiteverwa nekubuda kwemakambani erobhoti ane mukurumbira pasi rose akadai seFANUC neYaskawa, Japan yave imwe yenyika dziri kugona tekinoroji dzerobhoti dzepamusoro pasi rose.

Muna 1973, kambani yeGerman KUKA yakachinja robhoti reUnimate kuti rigadzire robhoti rekutanga rine madhigiri matanhatu erusununguko, Famulus, rinofambiswa nemota yemagetsi. Muna 1974, ASEA (yakatangira ABB), kambani yemagetsi yekuSweden, yakagadzira robhoti rekutanga remagetsi pasi rose, IRB 6, rinodzorwa ne microprocessor, zvichiwedzera zvikuru hungwaru hwerobhoti. Muna 1978, Unimation Company iri kuUS yakaisa robhoti rayo remaindasitiri rePUMA pamitsetse yeGeneral Motors, zvichiratidza kushanda uye kukosha kwemarobhoti emaindasitiri uye zvichiratidza kukura kwakazara kwetekinoroji yemarobhoti emaindasitiri, nokudaro ichiisa hwaro hwakasimba hwekufambira mberi kwetekinoroji kwakazotevera.

Mumakore anopfuura makumi mana ekuvandudzwa kwemarobhoti emaindasitiri, kufambira mberi kwetekinoroji kwave kuchienderera mberi. Zvisinei, nekuda kwekufunga nezvekuchengetedza, marobhoti anowanzo sungirirwa panzvimbo dzakasiyana dzebasa uye anoparadzaniswa nemirairi, zvichiadzivirira kushanda pamwe chete nevanhu munzvimbo imwe chete. Iyi nzira yechinyakare inoganhurira kushanda pamwe chete kwevanhu nemarobhoti, zvichiita kuti zviome kuwana mashandiro ekushandira pamwe chete anobudirira. Pasinei nekuedza kwakawanda uye kutsvaga, kuwana kushanda pamwe chete kwakachengeteka kwevanhu nemarobhoti kuchiri dambudziko guru mumunda wemarobhoti emaindasitiri.

Zvakatozosvika muna 2005 apo chirongwa chikuru chakatsigirwa neEU chakaunza pfungwa yemarobhoti anoshanda pamwe chete. Chirongwa ichi chakabatanidza makambani makuru ekugadzira marobhoti emumaindasitiri akadai seABB, KUKA, Reis, Comau, naGudel kuti vagadzire pamwe chete robhoti rinodhura, diki, uye rinochinjika rakagadzirirwa mabhizinesi madiki nepakati, nechinangwa chekuderedza kuvimba nekupa mabasa kune vamwe. Chirongwa ichi chakaratidza pachena mukana wekushandira pamwe chete nemarobhoti nevanhu, zvichiisa hwaro hwakasimba hwepfungwa yemarobhoti anoshanda pamwe chete.

Marobhoti ekutanga ekushandira pamwe chete ainyanya kugadziriswa uye kushandiswa kwemarobhoti echinyakare emuindasitiri, pasina kuchinja zvakanyanya magadzirirwo awo kana nzira dzekushanda. Kubva payakavambwa muna 2005, Universal Robots yakazvipira kugadzira marobhoti ekushandira pamwe chete anokwanisa kushanda zvakachengeteka pamwe chete nevashandi vevanhu. Muna 2009, kambani iyi yakatanga UR5—robhoti rekutanga rekushandira pamwe chete pasi rose—zvichiratidza kutanga kwenguva ino. Zvadaro, Rethink yakaunza Baxter ine maoko maviri nerobhoti idzva reSawyer rine ruoko rumwe chete, zvishoma nezvishoma ichigadzira marobhoti ekushandira pamwe senzira inozivikanwa uye inogamuchirwa mukati memarobhoti emuindasitiri. Kufambira mberi uku kwakapa nzwisiso itsva nemirairo yekushandiswa kwemaindasitiri mune ramangwana uye kukura kwakangwara.

Mufananidzo 5: robhoti reUR5 nerobhoti reSawyer Baxter

Kambani yeSiasun Robot, yakabatana neShenyang Institute of Automation yeChinese Academy of Sciences, yakatanga kuratidza robhoti rekushandira pamwe rine mativi manomwe rinomiririra hunyanzvi hwepamusoro hweChina paIndustrial Expo muna Mbudzi 2015. Kubva ipapo, marobhoti akawanda ekushandira pamwe emuno akadai saLuoshi naAobo akaonekwa zvishoma nezvishoma.

Nezvemajoini erobhoti, musiyano mukuru pakati pemajoini erobhoti anoshanda pamwe chete neemarobhoti ekare emuindasitiri ari mu "kuchinjika" kwawo. Kuchinjika uku kunoratidzwa kuburikidza nekuomarara kwemuchina, kudzikira kwekusagadzikana, uye kugona kunzwa torque. Parizvino, kuchinjika kwejobhoti kunoshandiswa mumaoko erobhoti anoshanda pamwe chete kunonyanya kubva pakudzora nzvimbo chaiyo uye kudzora torque.

Mufananidzo 6 Maumbirwo akajairika ejoini rakabatanidzwa mumarobhoti anoshanda pamwe chete

Ongororo yeongororo yazvino inoratidza kuti kuvandudzwa kwemarobhoti muChina kwakatanga mushure menyika dzakadai seUnited States neJapan. Tsvagiridzo yemarobhoti anoshanda pamwe chete ichiri kumashure zvakanyanya nezvigadzirwa zvepasi rose zviripo, nezvinetso zvikuru zviri muzvidzikisi zveharmonic uye masisitimu ekudzora majoini emota. Marobhoti anoshanda pamwe chete emuno parizvino ane mukana wakakura wekuvandudza kugona kwekutonga pamwe chete, kunyanya maererano nekunyatsorongeka kwekudzora uye kutonga kwakangwara. Uyezve, maitiro ekutsvagisa marobhoti epasi rose anoratidza kuti kuchengetedzeka, kuchinjika, uye hungwaru zvinhu zvikuru zvekufambira mberi kwetekinoroji. Majobhoti ari kushanduka kuenda kumasisitimu ekudzora madhiraivha akabatanidzwa zvakanyanya uye hungwaru hwakakura. Kunyangwe majobhoti anoshanda pamwe chete akachinja kubva pakudzora kwetsika kuenda kumagadzirirwo ekudzora madhiraivha akapararira, parizvino anoita zviito zvinotungamirwa nemota chete, asina hunhu mukuona kwega, kuita sarudzo kwakangwara, uye kuita neunyanzvi - zvichikonzera huwandu hushoma hwehungwaru. Pachine mukana wakakura wekuwedzera kudiwa kwemasisitimu erobhoti akangwara.