Industrial irobhothi. Robots emsebenzini. Machines-amarobhothi

Lezi amadivayisi manje ikakhulukazi ezifunwayo emnothweni. Industrial irobhothi, efanayo kancane emfuziselweni kwalo encwadini by "Rise of the Robots" Capek sika - akusho uthuthukise imibono izinguquko. Kunalokho, uye wasifeza ngokwethembeka, futhi ngokunemba okukhulu, njengoba main izinqubo ukukhiqizwa (umhlangano, Welding, imidwebo) nasizayo (loading athula, nenkanuko edlulele lomkhiqizo phakathi yokukhiqiza, ukudluliswa).

Ukusetshenziswa okunjalo imishini "smart" kunomthelela isixazululo ngempumelelo zezinkinga ezintathu ezinkulu zokukhiqiza:

• ukwandisa umkhiqizo;
• ngcono izimo zokusebenza abantu;
• nokwandisa ukusetshenziswa kwezinsiza ezingabasebenzi.

Industrial amarobhothi - brainchild of ukukhiqizwa emikhulu

Robots in ukwenziwa bakamalalahlengezela ukusakaza ekupheleni kwekhulu XX ngenxa nokwanda okuphawulekayo kwezinga lemikhiqizo yezimboni. ukukhiqizwa uchungechunge elikhulu kuholele isidingo umfutho kanye nekhwalithi lo msebenzi, ukusebenza eyeqa amathuba womuntu umgomo. Kunokuba usebenzise izinkulungwane eziningi izisebenzi ezinekhono ezitshalweni zanamuhla kwezobuchwepheshe usebenze eziningi ezenzakalelayo kakhulu ukukhiqiza imigqa ezisebenza kumodi discontinuous noma umjikelezo oqhubekayo.

Abaholi ekuthuthukiseni ubuchwepheshe ezinjalo, bememezela ukusetshenziswa asebenza ezimbonini kukhona Japan, USA, eJalimane, eSweden naseSwitzerland. amaqembu Into ezimbili ezinkulu nanulsu ekhiqizwa emazweni oshiwo ngenhla, asebenza ezimbonini zamanje. Amafomu zobulungu zinqunywa izindlela ezimbili bahluke ukuphathwa:

• ezandleni othomathikhi;
• amadivaysi, indoda elawulwa.

Kungani ukuzisebenzisa?

Mayelana isidingo ngokudala kubo waqala ukukhuluma ekuqaleni kwekhulu XX. Nokho, ngaleso sikhathi namanje zazingekho base-elementi lobuciko. Namuhla, okulandelayo okushiwo amarobhothi isikhathi umshini asetshenziswa iningi izimboni kunazo obusezingeni.

Ngeshwa, kabusha ukuhlonyiselwa ezifana imishini "ukhaliphile" izimboni wonke sebehlushwa utshalomali kusilela. Nakuba izinzuzo ukusetshenziswa yabo idlule ngokucacile kokuqala izindleko imali, ngoba zikuvumela ukukhuluma hhayi kuphela hhayi kangaka mayelana ezishintshayo, kodwa mayelana nezinguquko ezinkulu zokukhiqiza kanye nabasebenzi.

Ukusetshenziswa asebenza ezimbonini bazocula ngempumelelo indoda emuva-breaking ku kushuba ukunemba: ukulayisha / athula, emakhiyubhi, ukuhlunga, ua izingxenye; ezihambayo workpieces komunye irobhothi kwenye, futhi imikhiqizo siphelile - kuya ishede; indawo Welding futhi umphetho Welding; inhlangano yabantwana izingxenye mechanical ngogesi; ikhebula laying; cutting of workpieces ka nentaba eziyinkimbinkimbi.

I manipulator njengengxenye irobhothi zezimboni

Ezisebenza sifaka ezinjalo "smart" umshini we ACS reprogrammable (othomathikhi uhlelo lokulawula) kanye medium ukusebenza (uhlelo ukunyakaza kanye manipulator mechanical). Uma ACS ngokuvamile compact ngokwanele zibukeke kufihlwe futhi akaphuthumi ngqo iso, uketshezi ukusebenza has a ezifana umbono isici ukuthi irobhothi zezimboni livame ukubizwa kanje: ". Le manipulator irobhothi"

Ngu definition, le manipulator yidivayisi ofeza ukunyakaza esikhaleni evele ukusebenza futhi izinto zomsebenzi. Lezi zinsimbi aqukethe ezimbili izinhlobo link. Okokuqala ukuqinisekisa nokusimama ukunyakaza. Esesibili - displacement emincane. Okunjalo amayunithi ezivamile for ukuhamba kwayo esetshenziswa noma womoya noma wokubacindezela (elinamandla kakhulu) drive.

Manipulator, wadala by Isifaniso onesandla womuntu ukusebenza izingxenye ifakwe gripper yempucuko. amadivaysi abahlukahlukene yalolu hlobo ngqo uthwebule ngokuvamile eyenziwa iminwe lokukhanda. Lapho ukusebenza esipara izinto zigcinwe ngu amaswidi lokukhanda.

Uma crane ezingamaKristu kwakudingeka zisebenzele ngesikhathi esifanayo ne eziningi uhlobo olufanayo workpieces, ekuthatheni owenziwa umklamo ekhethekile ebanzi.

Esikhundleni ingalo gripper zivame ifakwe mobile imishini Welding, spray ekhethekile zobuchwepheshe noma nje ukufakwa kokumqoka kuphela.

Njengoba irobhothi uhamba

amarobhothi okuzenzakalelayo ngokuvamile bazivumelanisa ezimbili izinhlobo ukunyakaza emkhathini (nakuba ezinye zazo zingabantu umile). It kuncike izimo ezithile ukukhiqizwa. Uma kudingekile ukuze kube nesiqiniseko ukunyakaza abushelelezi kwamanzi, it is ezalethwa le ujantshi omncane ohlangothini. Uma ufuna ukusebenza emazingeni ehlukene, sebenzisa "isitebhisi" uhlelo nge womoya ukuncela izinkomishi. Ukuhambisa robot kahle ngamakhasimende emkhathini, futhi izixhumanisi emincane. amadivaysi Contemporary kumadivayisi ezifana ukubeka bamunye, bona aqukethe inqubo amayunithi futhi sivumela ngokunemba high ezihambayo workpieces linesisindo 250 kwabangu-4000 kg.

design

Ukusetshenziswa emishinini ubhekwa izimboni isabalalise kwaholela ekutheni izikhulu zibonise Standardization ezithile emabhuloki ekwakha zabo eziyisisekelo. irobhothi yezimboni zanamuhla ezandleni ube nomklamo walo:

• luhlaka esetshenziswa ukukhweza detalezahvatyvayuschego kudivayisi (gripper), - uhlobo "isandla" empeleni wenza ukucutshungulwa;
• ukubambana umhlahlandlela (okokugcina inquma isikhundla "izandla" emkhathini);
• zedivayisi, okuholela, ukuguqulela bese bedlulisela amandla efomini torque phezu oluvala amasondo (ngenxa irobhothi kwako zezimboni ithola ukunyakaza);
• ukulawula nokuphatha uhlelo afeze izinhlelo zayo; ukwamukela izinhlelo ezintsha; ngokuhlaziya batshele abanye izinto ezishiwo izinzwa, futhi, ngokufanelekile, ulithumele kudivayisi ukuhlinzeka;
• ingxenye ukusebenza kohlelo ukuma, nesilinganiso izikhundla nokunyakaza zokukhwabanisa izimbazo.

Dawn ukudalwa asebenza ezimbonini

Emuva esikhathini esidlule yamuva futhi ukhumbule ndaba yaqala kanjani ukudalwa imishini ezimbonini othomathikhi. Amarobhothi uqala ukuvela e-US ngo-1962, futhi enziwa yizinkampani "Yunimeyshn Incorporated" futhi "Versatran". Nakuba, uma sikubeka ngokuqondile, ukuthi ngaphambi okwamanje i irobhothi ezimbonini "Yunimeyt" owenziwa unjiniyela waseMelika uJ Devol, lobunikazi SAU siqu, ehlelwe usebenzisa amakhadi ngesibhakela. Kwakuyisenzo esasibonisa lobuchwepheshe ukufohla imishini "smart" kusobala ngekhanda izixhumanisi umzila wakho futhi udlulise lo msebenzi ngaphansi kohlelo.

Leli robhothi lokuqala ezimbonini "Yunimeyt" kwaba ifakwe idivayisi ezimbili umunwe bamba phezu actuator kanye "isandla" kwi drive wokubacindezela ne degree ezinhlanu inkululeko. izici zayo avunyelwe ukuhambisa imininingwane 12 amakhilogramu ngokunemba kuze kube 1.25 mm.

Enye irobhothi manipulator "Versatran" adalwe inkampani efanayo, abasindwayo futhi behliswe 1200 izitini ngehora kule kuhhonela. Kuye ngempumelelo esikhundleni umsebenzi abantu yingozi imvelo yabo impilo nge lokushisa eliphezulu. Umqondo indalo yayo iye waphumelela kakhulu, kanye nomklamo - ngakho okunokwethenjelwa ukuthi imishini ngazinye sha futhi bayaqhubeka besebenza esikhathini sethu. Futhi Lokhu kwenzeka naphezu kokuba ukuthi isabelo sabo lidlule amakhulu ezinkulungwane amahora.

Qaphela ukuthi amalungiselelo of isizukulwane sokuqala asebenza ezimbonini ukubaluleka Kusolwa 75% no-25% Mechanics electronics. Yokulungiswa zinsizakuphila kudinga isikhathi kanye imbangela Ukuphumula. Ukuze ukuguqulwa ukusebenzisa operation yabo entsha kuhilela ukwenana uhlelo lokulawula.

I lesibili isizukulwane imishini kunendawo enkulu engahlolwa amarobhothi

kamuva kwacaca ukuthi: naphezu kwazo zonke izinzuzo izimoto isizukulwane lokuqala ayengaphelele ... Isizukulwane sesibili Kusolwa ukulawula okuhle ka asebenza ezimbonini - oluhambelana. Amadivayisi bokuqala edingekayo lula kuyo basebenza. Izimo yokugcina ngokuvamile etshengiswa eqolo ezengeziwe. Yaba ethathwa njengomongo wokuthuthukisa Umkhiqizo omningi.

A esigabeni esisha intuthuko libhekene ukuthuthukiswa izinzwa eziningi. Ngosizo lwabo izinga irobhothi zokwazi ngokuthi "sensitization". Waqala ukuthola ulwazi mayelana imvelo kanye, ngaphakathi accordance nga it, ukukhetha inkambo engcono yokwenza izinto. Ngokwesibonelo, nemakhono labawatfolile ukuba babambe iqhaza kuwo futhi ukuhambahamba ne ukukhubazeka kwakhe. Lezo senzeka sibonga microprocessor sicubungula ulwazi wathola, okuyinto ngemva kwalokho wabe usufakwa eziguquguqukayo lokulawula izinhlelo, eqondiswa amarobhothi real.

Izinhlobo fixed yokukhiqiza imisebenzi (Welding, imidwebo, inhlangano, izinhlobo ezahlukene yenqubo yokugaya) futhi kuncike lithathelwe. Okusho ukuthi, uma wenza ngamunye wabo okuqalwe multi-okufana ukuthuthukisa ikhwalithi kwanoma yiluphi uhlobo imisebenzi ngenhla.

ezandleni kwezezimboni kwenzeka isikakhulukazi software. isilawuli Hardware imisebenzi ukukhonza zezimboni mini-computer PC / 104 noma MicroPC. Qaphela ukuthi ukulawula oluhambelana kusekelwe isofthiwe multivariate. Futhi isinqumo ukukhetha uhlobo hlelo umsebenzi ezamukelwe ngu irobhothi ngesisekelo ulwazi mayelana imvelo, echazwe imitshina.

Isici nobuntu nomsebenzi we isizukulwane robot yesibili efakwe ukutholakala lwangaphambili yokusebenza izindlela, ngalinye elikwazi icushiwe lapho amagugu ethile etholakala imvelo yangaphandle.

Isizukulwane sesithathu amarobhothi

imishini esizukulwane sesithathu, amarobhothi bayakwazi ngokuzimela ukukhiqiza wesenzo kuncike umsebenzi futhi izimo imvelo. Abazi "ukukopela amashidi", ie. E. Painted izenzo kwezobuchwepheshe embodiments ezithile, imvelo bangaphandle. Sinenkosi ikhono ukwakha siqu algorithm yakho kahle umsebenzi walo, futhi ngokushesha nekuwusebentisa practice. electronics izindleko irobhothi onjalo izimboni eliphakeme ngokuphindwe kayishumi kunalokho zayo lokukhanda.

Leli robhothi zakamuva, ethwele imininingwane isango ngokusebenzisa izinzwa, "uyazi" Wenza kahle kangakanani. Ngaphezu kwalokho, uma ulawulwa ngokwayo engalibaleki amandla (amandla impendulo) kuncike fragility izinto ezibonakalayo. Mhlawumbe yilesi sizathu esenza isizukulwane esisha zezimboni amarobhothi kudivayisi ngokuthi ezihlakaniphile.

Njengoba wazi, "ingqondo" kwale divayisi uhlelo lwayo lokulawula. I ethembisayo kungumnikelo, kwenziwe ngokuvumelana nezindlela intelligence yokufakelwa.

Intelligence ababuza imishini amaphakheji izicelo, ehlelwe logic abalawuli, ukumbumbuluzwa amathuluzi. Ngo womshini Amarobhothi asezimbonini networked ukunikeza ezingeni efanele yokusebenza kohlelo "indoda - umshini". Ukubikezela ukusebenza kwalezi amadivayisi esikhathini esizayo futhi amathuluzi athuthukile sibonga lwenteke isofthiwe sekulingisa elikuvumela ukuba ukhethe okukhethwa best for action kanye ukucushwa kwe uxhumano kunethiwekhi.

izinkampani ehamba phambili emhlabeni ekukhiqizeni amarobhothi

Namuhla, ukusetshenziswa asebenza ezimbonini kusekelwa yizinkampani ehola, kuhlanganise isi-Japanese (Fanuc, Kawasaki, Motoman, OTC Daihen, Panasonic), American (KC Amarobhothi, Triton Ukukhiqiza, Kaman Corporation), isiJalimane (Kuka).

Yini lezi zinkampani zaziwa emhlabeni? I Fanuc yefa - esheshayo kuze kube manje, i-delta irobhothi M-1iA (imishini enjalo ezisetshenziswa asemaphaketheni), onamandla kunayo amarobhothi izinombolo ze-serial - M-2000iA, elaziwa emhlabeni jikelele welders kunendawo enkulu engahlolwa amarobhothi ArcMate.

ufuna lokungekho ngephansi ngoba asebenza ezimbonini yokukhiqiza, esikhishwe Kuka. Lezi imishini enze ngobuciko German machining, Welding, inhlangano, emabhokisini palletizing, kulayishwa.

Futhi uhlelo umxhwele inkampani Japanese-American Motoman (Yaskawa), ezisebenza American emakethe: amamodeli 175 asebenza ezimbonini, kanye nezixazululo ezingaphezu kwezingu-40 ehlangene. Industrial amarobhothi elisetshenziswa yokukhiqiza e-United States, iningi lawo zenziwa ngokuqondile lokhu nenkampani okuholela umkhakha yayo.

Iningi nezinye izinkampani emelelwa kithi hlala niche yabo ngokusungula ibanga ewumngcingo zomculo ezikhethekile. Ngokwesibonelo, Daihen futhi Panasonic Welding amarobhothi ukukhiqiza.

Izindlela ukuhlela ukukhiqizwa okuzenzakalelayo

Uma sikhuluma inhlangano enkulu ekwakhekeni ezenzakalelayo, kanzima umugqa isimiso waqalwa ekuqaleni. Nokho, kuyinto ngesivinini sezingeni eliphezulu lomjikelezo ukukhiqizwa has ethile abalulekile - Ukuphumula ngenxa yokuhluleka. Ubuchwepheshe eziphendukayo zasungulwa esikhundleni. Lapho inhlangano iqhubekela kumbuthano zokukhiqiza kanye workpiece, futhi emgqeni ngokwayo ezenzakalelayo (kunendawo enkulu engahlolwa amarobhothi). Machines kulesi simo kungaba umsebenzi ofana nowawo futhi eziyimbangela yezinkinga ezizuzwa ngenkathi cishe iqedwe. Nokho, kulesi simo ijubane kulahleka. An ekahle okufana ekuhlelweni inqubo - hybrid okungenhla ezimbili. Ibizwa ngokuthi rotary-elihambayo.

Industrial irobhothi njengoba ingxenye production nezimo ezenzakalelayo

amadivaysi Modern "smart" reconfigured ngokushesha, ithele kakhulu futhi usebenze ngokuzimela wokusebenza nge ukukhiqizwa yayo, ukucubungula izinto futhi izikhala. Kuye ukusetshenziswa ethize, bakwazi ukusebenzisana ohlelweni eyodwa, futhi obuhlukahlukene emsebenzini wakhe, isb. E. Ukukhetha okuvela eliningi elimisiwe izinhlelo oyifunayo.

Industrial irobhothi liyisici abamelwe ukukhiqizwa nezimo ezenzakalelayo (izifinyezo ejwayelekile - GAP). Eminyakeni yamuva, futhi kuhlanganisa:

• uhlelo, okuyinto abasizwa design;
• isilawuli eziyinkimbinkimbi okuzenzakalelayo ukukhiqizwa imishini kwezobuchwepheshe;
• Industrial irobhothi ezandleni;
• egijima ngokuzenzakalelayo izimoto ukukhiqizwa;
• kudivayisi enifeza ukulayisha / athula nokubekwa;
• ukulawula inqubo ukukhiqizwa;
• ukuphathwa zokukhiqiza ngokuzenzakalela.

Funda kabanzi mayelana ngokoqobo amarobhothi

izicelo ezimbonini angempela amarobhothi eziphambili. Izinhlobo ezahlukene, futhi zinikeza ukusebenza high osendaweni izindawo ebalulekile umkhakha. Ikakhulukazi, ingxenye enkulu emnothweni yesimanje German ukweleta amandla ayo elikhulayo isicelo sabo. Ngayiphi imikhakha abasebenza kulezi "abasebenzi yensimbi '? Ngo ngensimbi tisebenta cishe zonke izinqubo: Ukusakaza, Welding, ekwakheni, ukuqinisekisa izinga eliphezulu izinga.

Isakaza njengo kwelinye igatsha elinezinto eziningana izimo ezimbi kakhulu umsebenzi womuntu (okusho okushisa aphakeme nokungcoliswa) ngokuyinhloko robotized. Machines kusukela Kuka ukukhwezwa ngisho Foundries.

Imboni yokudla futhi etholakele imishini Kuka ngezinhloso zokukhiqiza. "Amarobhothi Ukudla" (isithombe okusesihlokweni esithi), ingxenye enkulu esikhundleni nabantu ezindaweni izimo ezikhethekile. Machines ezivamile izimboni ukuthi unikeze microclimate heats igumbi lokushisa esingeqile 30 degrees Celsius. amarobhothi insimbi engagqwali lolungenamaphutsa iphathwa inyama obandakanyekile ekukhiqizeni imikhiqizo yobisi, kanye, yebo, embondelene futhi zahlanganiswa imikhiqizo ngokufanele.

Kunzima ukugcizelela ukunikezwa kwamadivayisi anjalo embonini yezimoto. Ngokusho kochwepheshe, imishini enamandla kunazo zonke futhi ekhiqizayo kuze kube yimanje yiwona "robots" ye "Kukov". Izithombe zamadivaysi anjalo awenza yonke imishini yomhlangano wemoto iyamangalisa. Sekuyisikhathi sokukhuluma ngokukhiqiza okuzenzakalelayo.

Ukusetshenziselwa kwamaplastiki, ukukhiqizwa kwepulasitiki, ukwakhiwa kwezingxenye eziyinkimbinkimbi kakhulu ezivela ezintweni ezihlukahlukene, ukuqinisekisa ukuthi ama-robot akhiqizwa endaweni engcolile ngempela eyingozi empilweni yabantu.

Enye indawo ebalulekile yokusetshenziswa kweyunithi "ye-Kukovsky" iyinqubo yokwenza izinkuni. Ngaphezu kwalokho, amadivaysi ahlongozwayo ahlinzeka kokubili ukukhishwa kwemithetho ngayinye, nokusungulwa kokukhiqizwa okukhulu kuzo zonke izigaba - kusuka ekucubunguleni okuyisisekelo nokubhekwa ekugayeni, ukugaya, ukugaya.

Uhlu lwamanani

Ngesikhathi samanje ezimakethe zaseRussia namazwe e-CIS, ama-robot akhiqizwa izinkampani zikaKuka kanye neFanuc ziyadingeka. Amanani abo avela ku-25 000 kuya ku-800 000 rub. Ukuphunyuka okunjalo okuhlaba umxhwele kuchazwa ngokuba khona kwamamodeli ahlukahlukene: ukukhanya okujwayelekile (5-15 kg), okhethekile (ukuxazulula imisebenzi ekhethekile), okukhethekile (ukusebenza endaweni engavumelani nayo), amandla okuphakamisa okunzima (kufika ku-4000 amathani).

Iziphetho

Kumele kuqaphele ukuthi amandla okusebenzisa i-robot yezimboni ayisetshenziswanga ngokugcwele. Ngesikhathi esifanayo, ngenxa yemizamo yongcweti, ubuchwepheshe bwanamuhla buvumela ukusebenzisa imibono eningi kakhulu.

Isidingo sokwandisa umkhiqizo wezomnotho wezwe nokwandisa isabelo somsebenzi womuntu ohlakaniphile sikhuthaza kakhulu ukuthuthukiswa kwezinhlobo ezintsha ezintsha nokuguqulwa kwamarobhothi ezimboni.