1.1 Isizinda Socwaningo
Ngokuthuthuka okusheshayo kwesayensi nobuchwepheshe,amakhono ahlakaniphileiyaqhubeka nokuthuthuka, okwenza ukukhiqiza ngobuhlakani kube yindlela evelele ekuthuthukisweni kwezimboni. Isibonelo, idatha ekhishwe yi-Ministry of Information Industry yaseShayina ikhombisa ukuthi ukukhiqiza ngobuhlakani kwasekhaya kufinyelele ukukhula okuphawulekayo okungu-11.6% ngo-2023—ubufakazi bemizamo eqhubekayo yesizwe kanye nokusungula izinto ezintsha kwezobuchwepheshe kulo mkhakha. Ngaphezu kwalokho, inani lezinto ezintsha phakathi kwamabhizinisi okukhiqiza ngobuhlakani likhuphuke kakhulu, lihlanganisa imikhakha efana nokukhiqiza imishini ephezulu, izinto ezithuthukisiwe, kanye nobuchwepheshe bezemvelo, okubonisa amandla emboni kanye noshintsho olukhulu. Lo mkhuba awuzange nje uguqule izindlela zokukhiqiza zobuciko zendabuko kodwa futhi usheshise ukuthuthukiswa kwezimboni, uthuthukisa kokubili ukusebenza kahle kanye nekhwalithi. Ngokwandayo, imigqa yokukhiqiza ezenzakalelayo kanye namarobhothi ezimboni athatha indawo yomsebenzi wabantu.
Ngokuthuthuka kwe-inkathi yokukhiqiza ehlakaniphile, izici zobuchwepheshe ezizenzakalelayo kakhulu nezihlakaniphile zamarobhothi ezimboni zihambisana kahle nezidingo ezikhulayo zomkhakha wokukhiqiza zokunemba okuphezulu, ukulula kokusebenza, kanye nokuguquguquka ezinqubweni zokukhiqiza. Lokhu kuphakamise ukubaluleka kwawo ekukhiqizeni, okwenza abe amandla abalulekile aqhuba ukuguqulwa nokuthuthukiswa kwezimboni. Amarobhothi abambisene—amadivayisi ezimboni akwazi ukufeza kokubili ukubambisana komshini nomshini kanye nerobhothi lomuntu—avele njengokugxila okubalulekile ocwaningweni lwamarobhothi ngenxa yokuziphatha kwawo okuzimela kanye namakhono okubambisana, ewabeka endaweni evelele kumarobhothi ezimboni esikhathi esizayo. Kubuchwepheshe bamarobhothi abambisene, izilinganiso zokusebenza kwe-servo motor—kufaka phakathi isivinini sokuphendula kwe-torque, ukunemba kwe-torque, ukunemba kokubeka, ukusetshenziswa kwamandla, kanye nokuqina kokushisa—kunquma ngqo ukusebenza kahle kokunyakaza kwerobhothi, ukuzinza, kanye nokunemba. Njengesizinda samandla samarobhothi, ukusebenza kwezinhlelo ze-servo kuthinta kakhulu ukunemba kokunyakaza kanye nokuthembeka. Okuphawulekayo ukuthi ama-servo motor ahlangene adlala indima ebalulekile ekufezeni ukunemba kokubeka. I-servo motor ehlangene enhle kakhulu iqinisekisa ukuma okuqondile kanye nokunyakaza okuzinzile ngesikhathi semisebenzi eyinkimbinkimbi, ngaleyo ndlela ithuthukisa ukusebenza kahle futhi inciphise amaphutha.
"Uhlelo Lweminyaka Emihlanu Lwe-14 Lokuthuthukiswa Kwemboni Yamarobhothi" lugcizelela ucwaningo oluthuthukisiwe ngamajoyinti erobhothi ahlanganisiwe ahlakaniphile, kanti lawo majoyinti afaneleka kakhulu kumarobhothi asebenzisanayo. Umqondo wabo wokuklama ohlanganiswe kakhulu uhlanganisa ama-actuator angaphansi, izinzwa, kanye nabashayeli ngqo ejoyintini ngokwalo, uguqula ijoyinti ngalinye libe yiyunithi yokulawula ezimele. Ngokwenza ngcono isakhiwo sangaphakathi kanye nokwakheka, ukwakheka kokulawula okusatshalaliswayo kunciphisa kakhulu inani lezintambo phakathi kwamazinga ahlukene esistimu, ngaleyo ndlela kunciphisa izindleko zokulungisa futhi kuthuthukise ukuthembeka okuphelele. Umklamo we-modular uphinde wenze kube lula ukufaka esikhundleni nokulungisa amajoyinti okulula, okuthuthukisa kakhulu ukuncintisana kwemakethe kwamarobhothi asebenzisanayo.
Iumqondo wamarobhothi asebenzisanayoYaqala ukwethulwa ngo-1996, ngefilosofi yayo yokuklama eguqula amarobhothi endabuko ngokuvumela ukusebenza okuhlelekile phakathi kwamarobhothi nabantu emigqeni yokukhiqiza. Le ndlela yokubambisana ayisebenzisi nje kuphela ukusebenza kahle nokunemba kwamarobhothi kodwa futhi ihlanganisa ubuhlakani bomuntu kanye nokuguquguquka, ithuthukisa ukusebenza kahle kanye nokugeleza. Uma kuqhathaniswa namarobhothi ezimboni avamile, amarobhothi asebenzisanayo abonisa izici ezihlukile, ezibeka njengesigaba esincane esibalulekile emkhakheni wamarobhothi. Zombili izakhiwo zawo zomzimba kanye nezinhlelo zokulawula ziye zaguqulwa kakhulu. Amarobhothi ezimboni endabuko—njengokucushwa kwengalo yamarobhothi okuboniswe kuMfanekiso 1—asetshenziswa kakhulu ekufakweni kwama-pallet, ekuphatheni izinto, ekushiseni, kanye nasekusikeni nge-laser. Ngenkathi lawa marobhothi enezici zokuqina okuphezulu, ukuzinza kwesakhiwo, kanye nomthamo oqinile wokuthwala umthwalo, aphinde aveze imikhawulo: usayizi omkhulu kanye nobunzima, ukungabi namandla okunyakaza okukhulu, imiklamo emikhulu enokuguquguquka okuncane, kanye nokungakwazi ukwenza imisebenzi yokuhlanganisa eshesha kakhulu. Ngaphezu kwalokho, umfutho wawo omkhulu we-inertial kanye nokunyakaza kwesivinini esikhulu kubeka izingozi ezinkulu zokuphepha kubasebenzi ngaphakathi kwendawo yabo yokusebenza, okudinga ukusebenza ngaphakathi kwezindawo ezivalekile ezivalekile.
Umfanekiso 1 Izingalo zerobhothi zezimboni zendabuko kanye namarobhothi asebenzisanayo
Amarobhothi asebenzisanayo avumela ukusebenza ngasikhathi sinye nabantu ezindaweni ezihlanganyelwe futhi alekelele ukusebenzisana okuseduze ngaphakathi kwezindawo ezihlanganyelwe. Uma kuqhathaniswa nezingalo zerobhothi zendabuko, amarobhothi asebenzisanayo ngokuvamile athwala umthwalo omkhulu ongu-20 kg ekugcineni kwawo, kanye nobubanzi bokusebenza obufana nobokufinyelela kwengalo yomuntu. Isakhiwo sawo silula kunesezingalo zerobhothi zezimboni ezivamile ezinezindlela zokudlulisa eziyinkimbinkimbi, kuyilapho enikeza impendulo yamandla abucayi, ukuguquguquka okulula, kanye namakhono okuqonda aqinile. Lezi zici ziwavumela ukuthi alungise amandla ngendlela eguquguqukayo ngesikhathi sokusebenzisana kwabantu, avimbele ngempumelelo umonakalo onobudlova. Ngenxa yalokho, amarobhothi asebenzisanayo angabambisana ngokuphephile nabantu ukuze baqedele imisebenzi ngaphandle kokudinga izithiyo zokuphepha zendabuko.
Amarobhothi asebenzisanayo ahlanganyela ekusebenzeni okuqondile kokuxhumana nabantu; ngakho-ke, ukuphepha kuyimfuneko ebalulekile ekubambisaneni kwabantu namarobhothi. Kubalulekile ukulawula ngokuqinile amandla okusebenza kanye ne-torque ejikelezayo ngenkathi kusetshenziswa izinyathelo zobuchwepheshe ezifana nokulawula kwamanje, ukulawula i-torque, izinzwa zokuxhumana, kanye nokutholwa kokushayisana ukuze kuvinjelwe ukulimala kwabasebenzi. Izinhlelo zokulawula ukushayela ezihlakaniphile zamarobhothi nazo zidinga ukwenziwa ngcono okwengeziwe kokuphathwa kokuphepha, okuvumela ukulawula okubushelelezi okuguquguqukayo ngokusebenzisa izibalo ezinamandla kanye nokumodela okusekelwe kubabukeli.
Esifundweni sakamuva, i-International Federation of Robotics (IFR) igcizelele ukuthi ukuthuthukiswa kwamarobhothi esikhathini esizayo kuzobonisa ngokuyinhloko ukuthambekela kokulula, ukusetshenziswa kalula, ukuguquguquka, kanye nokusebenzisana okuphephile. Amarobhothi ezimboni azoqhubeka nokufinyelela amazinga aphezulu okuzenzakalelayo kanye nobuhlakani; ukwakheka kwawo okulula ukukusebenzisa kuzonciphisa izithiyo zokusebenza, kuvumele amabhizinisi amaningi ukuthi asebenzise ubuchwepheshe bamarobhothi kalula ukuthuthukisa ukusebenza kahle kokukhiqiza. Okwamanje, imiklamo equkethe ukuguquguquka kanye namakhono okubambisana okuphephile izokwenza amarobhothi akwazi ukuzivumelanisa kangcono nezimo zokukhiqiza ezahlukahlukene neziyinkimbinkimbi, asize ukubambisana kwabantu namarobhothi futhi athuthukise intuthuko ehlakaniphile nephumelelayo yokukhiqiza kwezimboni.
Umfanekiso 2: Indawo yokusebenza yerobhothi elisebenzisanayo
1.2 Ukubaluleka Kocwaningo
Emakethe yamarobhothi asebenzisanayo njengamanje, amarobhothi anezinga eliyisikhombisa lenkululeko ayathandwa ngenxa yobubanzi bawo bokusebenza kanye nokuguquguquka. Lawa marobhothi anikeza amazinga aphindaphindayo enkululeko, anikeza amandla amakhulu okuzenzakalelayo kwezimboni kanye nokukhiqiza okuhlakaniphile. Izinga ngalinye lenkululeko litholakala ngejoyinti yamarobhothi, elisebenza njengesici esibalulekile ekunqumeni ukusebenza kwamarobhothi. Abakhiqizi abane abakhulu—i-FANUC, i-ABB, i-Yaskawa, kanye ne-KUKA—ngamunye usebenzisa izinhlelo zokudlulisa ezihlukile ezingalweni zawo zerobhothi zezimboni zendabuko; noma kunjalo, empeleni basebenzisa ama-servo motors ahlanganiswe namagiya e-bevel, amagiya e-spur, noma amabhande ahambisanayo ukuze adlulisele amandla emajoyintini ukuze ajikeleziswe. Lezi zindlela zokudlulisa zikhawulela usayizi wamajobhothi erobhothi. Ngenkathi ukufeza ukunemba okuphezulu kungenzeka, i-miniaturization isalokhu iyinselele. Njengoba kuboniswe kuMfanekiso 3, amarobhothi ezimboni zendabuko adinga amakhabethe okulawula angaphandle agcina ama-servo drive ezimoto, anezintambo eziningi ezixhumanisa imoto ngayinye nekhabhinethi, ngaleyo ndlela kukhawulelwe ukuthunyelwa okuguquguqukayo kwezinhlelo zokulawula.
Umfanekiso 3 Irobhothi lezimboni lendabuko kanye nekhabhinethi yokulawula
Njengoba ukwakheka kwendabuko kwamalunga ezingalo zamarobhothi ezimboni kungasakwazi ukuhlangabezana nezidingo zamarobhothi asebenzisanayo, la malunga ashiye izindlela zokudlulisa ezivamile akhetha ifilosofi yokuklama entsha. Le ndlela igxile ekufinyeleleni izinhlelo ezilula, ezine-voltage ephansi, nezihlanganiswe kakhulu ngokuhlanganisa isilawuli, umshayeli we-servo, kanye ne-motor ngaphakathi kwejoyinti uqobo, kanye nokuxhumeka kukagesi okungaphansi nakho okusetshenziswa ngaphakathi. Inani elincane kakhulu lezindawo zokulawula ezivezwa ngaphandle, okwenza kube lula ukuxhuma kwangaphandle futhi kunciphise ubunzima bobunjiniyela. Umklamo onjalo ubizwa ngokuthi ijoyinti elihlanganisiwe.
Njengoba kunikezwe izidingo zamanje zentuthuko kanye nezitayela zamajoyinti erobhothi asebenzisanayo, ukuklama ijoyinti lerobhothi elisebenzisanayo elilula, eline-voltage ephansi, elihlanganiswe kakhulu, futhi elisebenza kahle kakhulu kubaluleke kakhulu. Ijoyinti elinjalo elihlanganisiwe lihlanganisa zonke izingxenye ezibalulekile ezidingekayo ekunyakazeni okuhlangene—kufaka phakathi ama-actuator, abalawuli, abashayeli, kanye nezinzwa—futhi lingasebenza ngokuzimela njengemojuli ezimele. Uma lixhunywe kumlawuli oyinhloko noma amanye amamojuli ngamabhasi alula wamandla nokulawula, lo mklamo ohlangene kakhulu kodwa ophansi wokuxhumanisa uthuthukisa kakhulu ukuguquguquka kwamarobhothi asebenzisanayo. Ngokusebenzisa le joyinti ehlanganisiwe yemojuli nokuyihlanganisa nezingalo zerobhothi ezinobukhulu obufanele kanye ne-end-effectors, amarobhothi asebenzisanayo alungiselelwe izidingo ezahlukahlukene angahlanganiswa kalula.
Umfanekiso 4 Umdwebo weskimu wejoyinti ye-modular
Ucwaningo ngamajoyinti ahlanganisiwe amarobhothi asebenzisanayo kanye nezinhlelo zawo zokulawula i-servo lubaluleke kakhulu ekuthuthukisweni kwamarobhothi asebenzisanayo. Ubuchwepheshe obuyinhloko balezi joyinti ezihlanganisiwe buqukethe izingxenye ezimbili ezibalulekile: ama-harmonic reducers kanye nezinhlelo zokulawula i-joint motor drive-control kanye nama-algorithms azo okulawula ahambisanayo. I-Zhixin Drive Technology (Shijiazhuang) Co., Ltd. igxile ocwaningweni lwayo ezinhlelweni zokulawula i-joint motor drive-contract yamarobhothi asebenzisanayo, yenza izifundo ezijulile mayelana ne-joint motor drive kanye nezindlela zokulawula. Le nkampani ithuthukisa uchungechunge lwemikhiqizo ye-robot joint motor ehlangene ehlakaniphe kakhulu evumela amakhono okulawula aguquguqukayo futhi anokwethenjelwa kumajoyinti amarobhothi asebenzisanayo, ngenkathi ifaka izici ezibalulekile njengokuzibona, ukwenza izinqumo ezihlakaniphile, ukwenza kahle, kanye nokulawula okunembile—ngaleyo ndlela ihlangabezana nezidingo zokuthuthukiswa kwemishini ehlakaniphile.
2 Isimo Socwaningo Lwamanje Ekhaya Nakwamanye Amazwe
Ngo-1956, isazi sesayensi yemvelo saseMelika uJoe Engelberger kanye nomsunguli uGeorge Devol basungula inkampani yamarobhothi ebizwa ngokuthi i-Unimation, eyathuthukisa ngempumelelo irobhothi lokuqala lezimboni emhlabeni—i-Unimate—ngo-1959.
I-General Motors yaqala ukuthumela amarobhothi ekukhiqizweni kwezimboni esikhungweni sayo saseNew Jersey ngo-1961. Ngo-1969, iJapane yethula amarobhothi avela e-Unimation, kamuva yanikeza ubuchwepheshe bayo ilayisense ku-Kawasaki Heavy Industries kanye ne-KUKAI Corporation ese-UK ukuze ikhiqize amarobhothi eJapane nase-UK ngokulandelana. Ngokuthuthuka kwemboni yezimoto yaseJapan, inani elikhulayo lamarobhothi lithathe indawo yomsebenzi wabantu ekukhiqizeni, okubonisa ngokugcwele ukubaluleka kwawo okusebenzayo. Ngenxa yalokho, iJapane ibeke ukugcizelela okukhula ekuthuthukisweni kwamarobhothi ezimbonini. Kusukela nge-Kawasaki Heavy Industries njengephayona ekwamukelweni kobuchwepheshe bamarobhothi, kulandelwa ukuvela kwezinkampani zamarobhothi ezidumile emhlabeni wonke njenge-FANUC ne-Yaskawa, iJapane isibe ngelinye lamazwe anekhono lobuchwepheshe bamarobhothi obusezingeni eliphezulu emhlabeni jikelele.
Ngo-1973, inkampani yaseJalimane i-KUKA yashintsha irobhothi i-Unimate ukuze idale irobhothi lokuqala elinezinga eziyisithupha lenkululeko, i-Famulus, elisebenza ngenjini kagesi. Ngo-1974, i-ASEA (eyandulela i-ABB), inkampani kagesi ejwayelekile yaseSweden, yathuthukisa irobhothi lokuqala elisebenza ngogesi ngokugcwele emhlabeni, i-IRB 6, elilawulwa yi-microprocessor, yathuthukisa kakhulu ubuhlakani berobhothi. Ngo-1978, i-Unimation Company ese-US yasebenzisa kakhulu irobhothi layo lezimboni le-PUMA emigqeni yokuhlangana ye-General Motors, ikhombisa ukusebenza kahle kanye nenani lamarobhothi ezimboni futhi iphawula ukuvuthwa okugcwele kobuchwepheshe berobhothi yezimboni, ngaleyo ndlela ibeka isisekelo esiqinile sentuthuko yezobuchwepheshe eyalandela.
Eminyakeni engaphezu kwamashumi amane yokuthuthukiswa kwamarobhothi ezimboni, intuthuko yezobuchwepheshe ibilokhu iqhubeka. Kodwa-ke, ngenxa yokucabangela ukuphepha, amarobhothi avame ukufakwa ezindaweni ezithile zokusebenza futhi ahlukaniswe ngezivikelo, okuwavimbela ukuthi asebenze eduze nabantu endaweni efanayo. Lokhu kulungiselelwa kwendabuko kunciphisa ukubambisana kwamarobhothi abantu, okwenza kube nzima ukufeza imisebenzi yokubambisana esebenza kahle ngempela. Naphezu kwemizamo eminingi nokuhlola, ukufeza ukubambisana okuphephile kwabantu namarobhothi kuseyinselele enkulu emkhakheni wamarobhothi ezimboni.
Kwaze kwaba ngo-2005 lapho iphrojekthi enkulu exhaswe yi-EU yethula khona umqondo wamarobhothi asebenzisanayo. Lesi sinyathelo sahlanganisa izinkampani eziphambili zerobhothi zezimboni ezifana ne-ABB, i-KUKA, i-Reis, i-Comau, ne-Gudel ukuze kuthuthukiswe ngokubambisana irobhothi elingabizi, elincane, neliguquguqukayo elenzelwe ngqo amabhizinisi amancane naphakathi nendawo, elihlose ukunciphisa ukuthembela ekunikezelweni kwemisebenzi ngaphandle. Le phrojekthi yaqokomisa ngokusobala amandla okubambisana kwabantu namarobhothi, yabeka isisekelo esiqinile somqondo wamarobhothi asebenzisanayo.
Amarobhothi okuqala asebenzisanayo ayeyizinguquko kanye nokusetshenziswa kwamarobhothi endabuko ezimboni, ngaphandle kokushintsha ngokuyisisekelo ifilosofi yawo yokuklama noma izindlela zokusebenza. Selokhu yasungulwa ngo-2005, i-Universal Robots ibilokhu izinikele ekuthuthukiseni amarobhothi asebenzisanayo akwazi ukusebenza ngokuphephile kanye nabasebenzi abangabantu. Ngo-2009, inkampani yethula i-UR5—irobhothi lokuqala elisebenzisanayo emhlabeni—okwaphawula ukuqala kwalesi sikhathi. Ngemva kwalokho, i-Rethink yethula i-Baxter enengalo ezimbili kanye nerobhothi elisha lengalo eyodwa i-Sawyer, kancane kancane yasungula amarobhothi asebenzisanayo njengesifundo esaziwayo nesamukelekayo ngaphakathi kwamarobhothi ezimboni. Lokhu kuthuthuka kunikeze ukuqonda okusha kanye neziqondiso zokwenza izinto ngokuzenzakalela kwezimboni esikhathini esizayo kanye nentuthuko ehlakaniphile.
Umfanekiso 5: irobhothi le-UR5 kanye nerobhothi le-Sawyer Baxter
I-Siasun Robot Company, esebenzisana ne-Shenyang Institute of Automation ye-Chinese Academy of Sciences, yaqala ukubonisa irobhothi elisebenzisanayo eliguquguqukayo elinama-axis ayisikhombisa elimelela izinga lobuchwepheshe obuthuthukisiwe baseShayina e-Industrial Expo ngoNovemba 2015. Kusukela ngaleso sikhathi, amamodeli amaningi amarobhothi asebenzisanayo asekhaya afana ne-Luoshi ne-Aobo athole ukuqashelwa kancane kancane.
Ngokuphathelene namajoyinti erobhothi, umehluko oyinhloko phakathi kwamajoyinti erobhothi asebenzisanayo nalawo amarobhothi endabuko asebenza kanzima asezimbonini “ekuguquguqukeni kwawo.” Lokhu kuguquguquka kubonakala ngokuqina okuphansi kwemishini, ukuncipha kokungakwazi ukusebenza kahle, kanye nekhono lokuzwa i-torque. Njengamanje, ukuguquguquka kwamalunga okusetshenziswa ezingalweni zerobhothi ezisebenzisanayo ngokuyinhloko kuvela ekulawuleni indawo okunembile kanye nokulawula i-torque.
Umfanekiso 6 Isakhiwo esijwayelekile sejoyinti elihlanganisiwe kumarobhothi asebenzisanayo
Ukubuka konke kocwaningo lwamanje kwembula ukuthi intuthuko yamarobhothi aseShayina yaqala kamuva kunamazwe afana ne-United States neJapan. Ucwaningo ngamarobhothi asebenzisanayo lusasele emuva kakhulu emikhiqizweni yamazwe akhona, kanye nezingqinamba ezibalulekile ezitholakala kuma-harmonic reducers kanye nezinhlelo zokulawula ama-motor drive ahlangene. Amarobhothi asebenzisanayo asekhaya njengamanje anendawo enkulu yokuthuthukisa amakhono okulawula ahlangene, ikakhulukazi maqondana nokunemba kokulawula kanye nokulawula okuhlakaniphile. Ngaphezu kwalokho, izitayela zocwaningo lwamarobhothi emhlabeni jikelele zibonisa ukuthi ukuphepha, ukuguquguquka, kanye nobuhlakani yizici ezivelele zentuthuko yezobuchwepheshe. Ama-robot joints aguqukela ezinhlelweni zokulawula ama-drive ezihlanganisiwe kakhulu kanye nobuhlakani obukhulu. Nakuba ama-robot joints asebenzisanayo eshintshe kusukela ekulawuleni okujwayelekile okuphakathi kuya ekwakhiweni kokulawula ama-drive-control okusatshalaliswa, okwamanje enza izenzo eziqhutshwa yi-motor kuphela, engenawo amakhono okuqonda okuzimele, ukwenza izinqumo ezihlakaniphile, kanye nokwenza kahle - okuholela emazingeni aphansi obuhlakani. Kusekhona amathuba amakhulu okwandisa isidingo sezinhlelo zamarobhothi ahlakaniphile.
Isikhathi sokuthunyelwe: Meyi-22-2026
