1.1 Imvelaphi yoPhando
Ngokukhula ngokukhawuleza kwesayensi netekhnoloji,izakhono zobukrelekreleiyaqhubeka nokuphucuka, nto leyo eyenza ukwenziwa kwezinto ngobuchule kube yindlela exhaphakileyo kuphuhliso lwemizi-mveliso. Umzekelo, idatha ekhutshwe yiSebe lezoLwazi laseTshayina ibonisa ukuba ukwenziwa kwezinto ngobuchule ekhaya kufikelele ekukhuleni okumangalisayo kwe-11.6% ngo-2023—ubungqina bemizamo eqhubekayo yesizwe kunye nophuhliso lwetekhnoloji kweli candelo. Ngaphezu koko, inani lezinto ezintsha phakathi kwamashishini okuvelisa izinto ngobuchule liye landa kakhulu, ligubungela amacandelo afana nokuveliswa kwezixhobo eziphezulu, izixhobo eziphambili, kunye nobuchwepheshe bendalo, nto leyo ebonisa amandla oshishino kunye notshintsho olukhulu. Le ndlela ayitshintshanga nje kuphela iindlela zemveli zokuvelisa izinto kodwa ikwakhawulezise ukuphuculwa kwemizi-mveliso, iphucula ukusebenza kakuhle kunye nomgangatho. Ngokuya kusanda, imigca yemveliso ezenzekelayo kunye neerobhothi zoshishino zithatha indawo yomsebenzi wabantu.
Ngokuhambela phambili kweixesha lokuvelisa elikrelekrele, iimpawu zobuchwepheshe ezizenzekelayo nezikrelekrele kakhulu zeerobhothi zoshishino zihambelana ngokugqibeleleyo neemfuno ezikhulayo zeshishini lokuvelisa zokuchaneka okuphezulu, ukulula kokusebenza, kunye nokuguquguquka kwiinkqubo zemveliso. Oku kuphakamise ukubaluleka kwazo kwimveliso, okwenza zibe ngamandla abalulekileyo aqhuba utshintsho kunye nokuphuculwa kweshishini. Iirobhothi ezisebenzisanayo—izixhobo zoshishino ezikwaziyo ukufezekisa zombini intsebenziswano phakathi komatshini nomatshini kunye nerobhothi yomntu—zivele njengengqwalasela ephambili kuphando lweerobhothi ngenxa yokuziphatha kwazo okuzimeleyo kunye nobuchule bokusebenzisana, zibeka kwindawo yokudlala indima ephambili kwiirobhothi zoshishino zexesha elizayo. Kwiteknoloji yerobhothi esebenzisana, imilinganiselo yokusebenza kweemoto ze-servo—kuquka isantya sempendulo ye-torque, ukuchaneka kwe-torque, ukuchaneka kwe-positioning, ukusetyenziswa kwamandla, kunye nokuzinza kobushushu—zimisela ngokuthe ngqo ukusebenza kakuhle kwerobhothi, ukuzinza, kunye nokuchaneka. Njengesiseko samandla eerobhothi, ukusebenza kweenkqubo ze-servo kuchaphazela kakhulu ukuchaneka kwentshukumo kunye nokuthembeka. Okuphawulekayo kukuba, iimoto ze-servo ezidibeneyo zidlala indima ebalulekileyo ekufezekiseni ukuchaneka kwe-positioning. Imoto ye-servo edibeneyo egqwesileyo iqinisekisa indawo echanekileyo kunye nokushukuma okuzinzileyo ngexesha lemisebenzi enzima, ngaloo ndlela iphucula ukusebenza kakuhle kwaye inciphise iimpazamo.
"Isicwangciso seminyaka emihlanu se-14 soPhuhliso lweShishini leRobhothi" sigxininisa uphando oluqhubela phambili kwiijoyinti zerobhothi ezidibeneyo ezikrelekrele, apho ezo joyinti zifanelekile ngokukodwa kwiirobhothi ezisebenzisanayo. Ingcamango yabo yoyilo edibeneyo kakhulu ibandakanya ii-actuators ezingaphantsi, ii-sensors, kunye nabaqhubi ngqo kwijoyinti ngokwayo, iguqula ijoyinti nganye ibe yiyunithi yolawulo ezimeleyo. Ngokwenza ngcono ulwakhiwo lwangaphakathi kunye noyilo, uyilo lolawulo olusasaziweyo lunciphisa kakhulu inani leentambo phakathi kwamanqanaba ahlukeneyo enkqubo, ngaloo ndlela kunciphisa iindleko zokugcinwa kunye nokuphucula ukuthembeka ngokubanzi. Uyilo lwemodyuli lukwanceda ukutshintshwa kunye nokugcinwa okulula kwejoyinti, okunyusa kakhulu ukhuphiswano lwemarike lweerobhothi ezisebenzisanayo.
Iingcamango yeerobhothi ezisebenzisanayoYaqalwa ukwaziswa ngo-1996, ngefilosofi yayo yoyilo iguqula iirobhothi zemveli ngokuvumela ukusebenza okudibeneyo phakathi kweerobhothi nabantu kwimigca yemveliso. Le ndlela yokusebenzisana ayisebenzisi nje kuphela ukusebenza kakuhle kunye nokuchaneka kweerobhothi kodwa ikwadibanisa ubukrelekrele bomntu kunye nokuguquguquka, iphucula ukusebenza kakuhle kunye nokuhambahamba. Xa kuthelekiswa neerobhothi zemizi-mveliso eziqhelekileyo, iirobhothi ezisebenzisanayo zibonisa iimpawu ezahlukileyo, zizibeka njengeqela elibalulekileyo kwicandelo leerobhothi. Zombini izakhiwo zazo zomzimba kunye neenkqubo zolawulo ziye zaguqulwa kakhulu. Iirobhothi zemizi-mveliso zemveli—ezifana nolwakhiwo lweengalo zerobhothi eziboniswe kuMfanekiso 1—zisetyenziswa kakhulu ekufakeni iipalethi, ekuphatheni izinto, ekudibaniseni, nasekusikeni nge-laser. Ngelixa ezi robhothi zinobulukhuni obuphezulu, uzinzo lwesakhiwo, kunye namandla okuthwala umthwalo aqinileyo, zikwabonisa imida: ubungakanani obukhulu kunye nobunzima, ukungabi namandla okushukuma okukhulu, uyilo olukhulu olunokuguquguquka okuphantsi, kunye nokungakwazi ukwenza imisebenzi yokuhlanganisa ekhawulezayo kakhulu. Ukongeza, amandla azo amakhulu okushukuma kunye nokuhamba ngesantya esiphezulu kubeka umngcipheko omkhulu wokhuseleko kubasebenzi ngaphakathi kwendawo yabo yokusebenza, nto leyo ebangela ukuba kusebenze kwiindawo ezivaliweyo ezivaliweyo.
Umfanekiso 1 Iingalo zerobhothi zemveli zoshishino kunye neerobhothi ezisebenzisanayo
Iirobhothi ezisebenzisanayo zivumela ukusebenza ngaxeshanye nabantu kwiindawo ezabelwana ngazo kwaye ziququzelela ukusebenzisana okukufutshane kwiindawo ezisebenzisanayo. Xa kuthelekiswa neengalo zerobhothi zemveli, iirobhothi ezisebenzisanayo zihlala zithwala umthwalo ophezulu we-20 kg kwisiphumo sazo sokugqibela, kunye noluhlu lokusebenza olufana nolo lwengalo yomntu. Ulwakhiwo lwazo lulula kunolo lweengalo zerobhothi zemizi-mveliso eziqhelekileyo ezineendlela zokudlulisa ezintsonkothileyo, ngelixa zibonelela ngempendulo yamandla abuthathaka, ukuguquguquka okulula, kunye nobuchule bokuqonda obuqinileyo. Ezi mpawu zibavumela ukuba balungise amandla ngokuguquguqukayo ngexesha lokunxibelelana kwabantu, bethintela ngempumelelo umonakalo onobundlobongela. Ngenxa yoko, iirobhothi ezisebenzisanayo zinokusebenzisana ngokukhuselekileyo nabantu ukugqiba imisebenzi ngaphandle kokufuna imiqobo yokhuseleko yendabuko.
Iirobhothi ezisebenzisanayo zibandakanyeka kwimisebenzi ethe ngqo yokunxibelelana nabantu; ngoko ke, ukhuseleko luyimfuneko ebalulekileyo kwintsebenziswano phakathi kwabantu neerobhothi. Kubalulekile ukulawula ngokungqongqo amandla okusebenza kunye ne-torque ejikelezayo ngelixa kusetyenziswa amanyathelo obuchwephesha afana nolawulo lwangoku, ulawulo lwe-torque, izinzwa zoqhagamshelwano, kunye nokuchongwa kokungqubana ukuthintela ukwenzakala kwabasebenzi. Iinkqubo zolawulo lokuqhuba ezikrelekrele zeerobhothi nazo zifuna ukulungiswa ngakumbi kolawulo lokhuseleko, okuvumela ulawulo olugudileyo oluhambelanayo ngokusebenzisa izibalo ezinamandla kunye nemodeli esekelwe kubabukeli.
Kwisifundo sakutshanje, i-International Federation of Robotics (IFR) igxininise ukuba uphuhliso lwerobhothi kwixesha elizayo luya kubonisa ngokuyintloko iindlela zokulula, ukusebenziseka lula, ukuguquguquka, kunye nentsebenziswano ekhuselekileyo. Iirobhothi zoshishino ziya kufikelela kwinqanaba eliphezulu lokuzenzekelayo kunye nobukrelekrele; uyilo lwazo olusebenziseka lula luya kunciphisa imiqobo yokusebenza, luvumele amashishini amaninzi ukuba asebenzise ubuchwepheshe beerobhothi ngokulula ukuphucula ukusebenza kakuhle kwemveliso. Okwangoku, uyilo olubonisa ukuguquguquka kunye nobuchule bokusebenzisana ngokukhuselekileyo luya kuvumela iirobhothi ukuba zilungelelanise ngcono iimeko ezahlukeneyo nezidityanisiweyo zemveliso, ziququzelele intsebenziswano phakathi kwabantu kunye neerobhothi kwaye ziqhubele phambili uphuhliso olukrelekrele nolusebenzayo lwemveliso yezimboni.
Umfanekiso 2: Indawo yokusebenza yerobhothi esebenzisana nayo
1.2 Ukubaluleka koPhando
Kwimarike yangoku yeerobhothi ezisebenzisanayo, iirobhothi ezineedigri ezisixhenxe zenkululeko ziyathandwa ngenxa yoluhlu lwazo olubanzi lokusebenza kunye nokuguquguquka. Ezi robhothi zibonelela ngeedigri ezininzi zenkululeko, zibonelela ngamathuba amakhulu okusebenza ngokuzenzekelayo kwemizi-mveliso kunye nokuvelisa ngobuchule. Idigri nganye yenkululeko ifezekiswa ngejoyinti yerobhothi, esebenza njengento ebalulekileyo ekumiseleni ukusebenza kwerobhothi. Abavelisi abane abaphambili—iFANUC, i-ABB, iYaskawa, kunye ne-KUKA—nganye isebenzisa iinkqubo zokudlulisa ezahlukeneyo kwiingalo zayo zerobhothi zemizi-mveliso zemveli; nangona kunjalo, ngokuyintloko zisebenzisa ii-servo motors ezidityaniswe neegiya ze-bevel, iigiya ze-spur, okanye iibhanti ezihambelanayo ukuhambisa amandla kumalungu ukuze ajikeleziswe. Ezi ndlela zokudlulisa zinciphisa ubungakanani bamalungu erobhothi. Nangona ukufikelela ngokuchanekileyo okuphezulu kunokwenzeka, i-miniaturization isengumngeni. Njengoko kubonisiwe kuMfanekiso 3, iirobhothi zemizi-mveliso zemveli zifuna iikhabhathi zolawulo zangaphandle ezigcina ii-motor servo drives, kunye neentambo ezininzi ezidibanisa imoto nganye kwikhabhinethi, ngaloo ndlela zithintela ukuthunyelwa kweenkqubo zolawulo okuguquguqukayo.
Umfanekiso 3 Irobhothi yemveli yemizi-mveliso kunye nekhabhinethi yokulawula
Ngenxa yokuba ulungelelwaniso lwendabuko lweengalo zerobhothi zoshishino alusenakuhlangabezana neemfuno zeerobhothi ezisebenzisanayo, ezi joints ziye zayeka iindlela zokudlulisa eziqhelekileyo zakhetha ifilosofi yoyilo olutsha. Le ndlela igxile ekufezekiseni iinkqubo ezilula, ezine-voltage ephantsi, kunye neenkqubo ezidibeneyo kakhulu ngokuhlanganisa isilawuli, umqhubi we-servo, kunye ne-motor ngaphakathi kwejoint ngokwayo, kunye noqhagamshelo lombane olungaphantsi nalo olusetyenziswa ngaphakathi. Inani elincinci kuphela lee-interfaces zolawulo ezivezwa ngaphandle, okwenza kube lula ukufakelwa kwentambo yangaphandle kunye nokunciphisa ubunzima bobunjineli. Uyilo olunjalo lubizwa ngokuba yijoint edibeneyo.
Ngenxa yeemfuno zophuhliso lwangoku kunye neendlela ezisetyenziswayo kwiijoyinti zerobhothi ezisebenzisanayo, ukuyila ijoyinti yerobhothi edibeneyo ekhaphukhaphu, ene-voltage ephantsi, edibeneyo kakhulu, nesebenza kakuhle kakhulu kubaluleke kakhulu. Ijoyinti edibeneyo enjalo ibandakanya zonke izinto ezibalulekileyo ezifunekayo kwintshukumo edibeneyo—kuquka ii-actuators, abalawuli, abaqhubi, kunye nee-sensors—kwaye inokusebenza ngokuzimeleyo njengemodyuli ezimeleyo. Xa iqhagamshelwe kumlawuli oyintloko okanye ezinye iimodyuli ngokusebenzisa iibhasi zamandla kunye nolawulo ezilula, olu yilo ludibeneyo kakhulu kodwa oluphantsi lokudibanisa luphucula kakhulu ukuguquguquka kweerobhothi ezisebenzisanayo. Ngokusebenzisa le joyinti edibeneyo yemodyuli kunye nokuyidibanisa neengalo zerobhothi ezinobukhulu obufanelekileyo kunye neziphumo zokugqibela, iirobhothi ezisebenzisanayo ezilungiselelwe iimfuno ezahlukeneyo zinokuhlanganiswa ngokulula.
Umfanekiso 4 Umzobo wesicwangciso sejoyinti yemodyuli
Uphando malunga namalungu adibeneyo kwiirobhothi ezisebenzisanayo kunye neenkqubo zazo zolawulo lwe-servo lubaluleke kakhulu ekuphuculeni iirobhothi ezisebenzisanayo. Ubuchwepheshe obuphambili bale malungu adibeneyo buquka izinto ezimbini ezibalulekileyo: ii-harmonic reducers kunye neenkqubo zolawulo lweemoto ezidibeneyo kunye nee-algorithms zazo zolawulo ezihambelanayo. I-Zhixin Drive Technology (Shijiazhuang) Co., Ltd. igxile kuphando lwayo kwiinkqubo zolawulo lweemoto ezidibeneyo zeerobhothi ezisebenzisanayo, iqhuba izifundo ezinzulu malunga nokuqhuba kweemoto ezidibeneyo kunye neendlela zokulawula. Le nkampani iphuhlisa uthotho lweemveliso zeemoto ezidibeneyo zerobhothi ezikrelekrele kakhulu ezivumela amandla olawulo aguquguqukayo nanokuthenjwa kwiirobhothi ezisebenzisanayo, ngelixa ibandakanya iimpawu ezibalulekileyo ezifana nokuziqonda, ukwenza izigqibo ngobuchule, ukusebenza ngobuchule, kunye nolawulo oluchanekileyo—ngaloo ndlela ihlangabezana neemfuno zophuhliso lwezixhobo ezikrelekrele.
2 Imeko yoPhando lwangoku ngaphakathi nangaphandle
Ngo-1956, isazinzulu sefiziksi saseMelika uJoe Engelberger kunye nomqambi uGeorge Devol baseka inkampani yerobhothi ebizwa ngokuba yi-Unimation, eyaphuhlisa ngempumelelo irobhothi yokuqala yezemveliso ehlabathini—i-Unimate—ngo-1959.
IGeneral Motors yaqala ukuthumela iirobhothi kwimveliso yemizi-mveliso kwiziko layo laseNew Jersey ngo-1961. Ngo-1969, iJapan yazisa iirobhothi ezivela kwi-Unimation, kamva yanikezela ilayisenisi yobuchwepheshe bayo kwiKawasaki Heavy Industries kunye neKUKAI Corporation ese-UK kwimisebenzi yokuvelisa iirobhothi eJapan nase-UK, ngokwahlukeneyo. Ngokuhambela phambili kweshishini leemoto laseJapan, inani elikhulayo leerobhothi lithathe indawo yomsebenzi wabantu kwimveliso, libonisa ngokupheleleyo ixabiso lazo elisebenzayo. Ngenxa yoko, iJapan ibeke ugxininiso olukhulayo kuphuhliso lweerobhothi zoshishino. Ukuqala ngeKawasaki Heavy Industries njengovulindlela ekusetyenzisweni kwetekhnoloji yeerobhothi, kulandele ukuvela kweenkampani zerobhothi ezidumileyo kwihlabathi liphela ezifana neFANUC kunye neYaskawa, iJapan ibe yenye yezizwe ezilawula ubuchwepheshe beerobhothi obuphambili kwihlabathi liphela.
Ngo-1973, inkampani yaseJamani i-KUKA yatshintsha irobhothi i-Unimate ukuze yenze irobhothi yokuqala ene-degree ezintandathu zenkululeko, i-Famulus, esebenza ngenjini yombane. Ngo-1974, i-ASEA (eyandulela i-ABB), inkampani yombane yaseSweden, yaphuhlisa irobhothi yokuqala yombane ngokupheleleyo ehlabathini, i-IRB 6, elawulwa yi-microprocessor, nto leyo eyaphucula kakhulu ubukrelekrele berobhothi. Ngo-1978, i-Unimation Company ese-US yasebenzisa kakhulu irobhothi yayo yemizi-mveliso ye-PUMA kwimigca yendibano yeGeneral Motors, ibonisa ngakumbi ukusebenza kunye nexabiso leerobhothi zoshishino kwaye iphawula ukukhula ngokupheleleyo kwetekhnoloji yeerobhothi zoshishino, ngaloo ndlela ibeka isiseko esiqinileyo sokuqhubela phambili kwetekhnoloji okulandelayo.
Kwiminyaka engaphezu kwamashumi amane yophuhliso lweerobhothi zoshishino, uphuhliso lwezobuchwepheshe luye lwaqhubeka. Nangona kunjalo, ngenxa yokhuseleko, iirobhothi zihlala zixhonywe kwiindawo ezithile zokusebenza kwaye zahlulwe zii-guardrails, nto leyo ethintela ukuba zisebenze kunye nabantu kwindawo enye. Olu lungiselelo lwendabuko luthintela intsebenziswano phakathi kweerobhothi zabantu, nto leyo eyenza kube nzima ukufezekisa imisebenzi yentsebenziswano esebenzayo ngokwenene. Nangona kwenziwe imizamo emininzi kunye nophando, ukufezekisa intsebenziswano ekhuselekileyo phakathi kweerobhothi zabantu kusengumngeni omkhulu kwicandelo leerobhothi zoshishino.
Kwakungekho de kwaba ngu-2005 apho iprojekthi enkulu exhaswa yi-EU yazisa ingcamango yeerobhothi ezisebenzisanayo. Eli phulo lahlanganisa iinkampani eziphambili zerobhothi zoshishino ezifana ne-ABB, i-KUKA, i-Reis, i-Comau, kunye ne-Gudel ukuze baphuhlise kunye irobhothi efikelelekayo, encinci, neguquguqukayo eyenzelwe ngokukodwa amashishini amancinci naphakathi, ijolise ekunciphiseni ukuxhomekeka ekunikezelweni kwabasebenzi ngaphandle. Le projekthi igxininise ngokucacileyo amandla entsebenziswano phakathi kwabantu neerobhothi, ibeka isiseko esiqinileyo sengcamango yeerobhothi ezisebenzisanayo.
Iirobhothi zokuqala ezisebenzisanayo zaziziinguqu kunye nokusetyenziswa kweerobhothi zemveli zoshishino, ngaphandle kokutshintsha ngokusisiseko ifilosofi yazo yoyilo okanye iindlela zokusebenza. Ukusukela oko yasekwa ngo-2005, i-Universal Robots izinikele ekuphuhliseni iirobhothi ezisebenzisanayo ezikwaziyo ukusebenza ngokukhuselekileyo kunye nabasebenzi babantu. Ngo-2009, inkampani yaqalisa i-UR5—irobhothi yokuqala esebenzisanayo ehlabathini—ephawula ukuqala kweli xesha. Emva koko, iRethink yazisa iBaxter enengalo ezimbini kunye nerobhothi entsha yengalo enye iSawyer, yamisa kancinci kancinci iirobhothi ezisebenzisanayo njengoqeqesho olwaziwayo nolwamkelweyo ngaphakathi kweerobhothi zoshishino. Olu phuculo lubonelele ngengqiqo entsha kunye nemiyalelo ye-automation yezoshishino yexesha elizayo kunye nophuhliso olukrelekrele.
Umfanekiso 5: irobhothi ye-UR5 kunye nerobhothi yeSawyer Baxter
Inkampani yeRobhothi iSiasun, enxulumene neShenyang Institute of Automation yeChinese Academy of Sciences, yaqala ukubonisa irobhothi esebenzisana eguquguqukayo enemiqolo esixhenxe emele inqanaba lobuchwepheshe obuphambili baseTshayina kwi-Industrial Expo ngoNovemba ka-2015. Ukususela ngoko, iimodeli ezininzi zerobhothi ezisebenzisanayo zasekhaya ezifana neLuoshi kunye ne-Aobo ziye zaqatshelwa kancinci kancinci.
Ngokuphathelele amalunga erobhothi, umahluko ophambili phakathi kwamalungu erobhothi asebenzisanayo kunye nalawo eerobhothi zemveli ezisebenza nzima kwimizi-mveliso usekubeni “ziguquguquka.” Oku kuguquguquka kubonakaliswa bubulukhuni obuphantsi boomatshini, ukuncipha kwe-inertia, kunye nokukwazi ukuva i-torque. Okwangoku, ukuguquguquka kwamalungu asetyenziswa kwiingalo zerobhothi ezisebenzisanayo ngokuyintloko kuvela kulawulo oluchanekileyo lwendawo kunye nolawulo lwe-torque.
Umfanekiso 6 Ulwakhiwo oluqhelekileyo lwejoyinti edibeneyo kwiirobhothi ezisebenzisanayo
Isishwankathelo sophando lwangoku sityhila ukuba uphuhliso lwerobhothi lwaseTshayina lwaqala emva kwexesha kunamazwe afana ne-United States neJapan. Uphando ngeerobhothi ezisebenzisanayo lusasele emva kakhulu kwiimveliso zamazwe ngamazwe ezikhoyo, kunye nemiqobo ephambili ekwii-harmonic reducers kunye neenkqubo zokulawula ii-motor drive ezidibeneyo. Iirobhothi ezisebenzisanayo zasekhaya okwangoku zinendawo enkulu yokuphucula amandla okulawula adibeneyo, ngakumbi ngokubhekiselele ekuchanekeni kolawulo kunye nolawulo olukrelekrele. Ngaphezu koko, iindlela zophando lweerobhothi zehlabathi zibonisa ukuba ukhuseleko, ukuguquguquka, kunye nobukrelekrele ziimpawu eziphambili zokuqhubela phambili kwetekhnoloji. Iijobhothi ziyaguquka ziye kwiinkqubo zokulawula ii-drive ezidibeneyo kakhulu kunye nobukrelekrele obukhulu. Nangona iijobhothi ezisebenzisanayo zitshintshe ukusuka kulawulo oluphakathi lwendabuko ukuya kwizakhiwo zolawulo lwee-drive ezisasaziweyo, okwangoku zenza kuphela izenzo eziqhutywa yimoto, zingenazo izakhono zokuqonda ezizimeleyo, ukwenza izigqibo ezikrelekrele, kunye nokusebenza ngobuchule - okubangela amanqanaba aphantsi obukrelekrele. Kusekho amandla amakhulu okwandisa imfuno yeenkqubo zeerobhothi ezikrelekrele.
Ixesha leposi: Meyi-22-2026
