Mfundo yakale yoyendetsera kayendedwe ka katundu

Poyamba, mzere wa matabwa unayikidwa pansi pa mzere wa mbale zotsetsereka. Ma bedi amakono otsetsereka amagwiritsa ntchito mfundo yofanana yogwirira ntchito, koma nthawi zina mipira imagwiritsidwa ntchito m'malo mwa ma rollers. Chozungulira chosavuta kwambiri ndi shaft sleeve bearing, chomwe ndi bushing yokhazikika pakati pa gudumu ndi axle. Kapangidwe kameneka kanasinthidwa ndi ma rollers, omwe amagwiritsa ntchito ma cylindrical rollers ambiri kuti alowe m'malo mwa bushing yoyambirira, ndipo chinthu chilichonse chozungulira chinali ngati gudumu losiyana.

Chitsanzo choyambirira cha mpira wonyamula zida chinapezeka pa sitima yakale ya Aroma yomwe idamangidwa mu 40 BC ku Nyanja ya Naimi, Italy: mpira wonyamula zida unagwiritsidwa ntchito pothandizira tebulo lozungulira. Akuti Leonardo da Vinci anafotokoza mpira wonyamula zida pafupifupi 1500. Pakati pa zinthu zosiyanasiyana zosakhwima za mpira wonyamula zida, mfundo yofunika kwambiri ndi yakuti mipirayo idzagundana, zomwe zimapangitsa kuti mipirayo ikangane kwambiri. Koma izi zitha kupewedwa poika mipirayo m'makhola ang'onoang'ono. M'zaka za zana la 17, Galileo adafotokoza koyamba za mpira wonyamula zida wa "khola". Kumapeto kwa zaka za zana la 17, British C. wallow idapanga ndikupanga ma bearing a mpira, omwe adayikidwa pagalimoto yotumizira makalata kuti agwiritsidwe ntchito poyesa, ndipo British P Worth idapeza patent ya mpira wonyamula zida. Bearing yoyamba yogwira ntchito yokhala ndi khola idapangidwa ndi wopanga mawotchi John Harrison mu 1760 kuti apange wotchi ya H3. Kumapeto kwa zaka za zana la 18, HR hertz waku Germany adasindikiza pepala lonena za kupsinjika kwa ma bearing a mpira. Potengera zomwe Hertz adachita, Germany idapeza kuti r. Stribeck ndi kampani ya ku Sweden ya Palmgren ndi ena achita mayeso ambiri, omwe athandiza pakukula kwa chiphunzitso cha kapangidwe kake ndi kuwerengera moyo wotopa wa ma rolling bearings. Pambuyo pake, NP Petrov wa ku Russia adagwiritsa ntchito lamulo la Newton la viscosity kuti awerengere kugwedezeka kwa bearing. Patent yoyamba pa ball channel idapezedwa ndi Philip Vaughn wa ku camson mu 1794.

Mu 1883, Friedrich Fisher adapereka lingaliro logwiritsa ntchito makina opangira oyenera popera mipira yachitsulo yokhala ndi kukula kofanana komanso kuzungulira kolondola, zomwe zidakhazikitsa maziko a makampani opanga ma bearing. O Reynolds adapanga kusanthula kwa masamu kwa zomwe Thor adapeza ndikupeza Reynolds equation, yomwe idakhazikitsa maziko a chiphunzitso cha hydrodynamic lubrication.