1. Mapangidwe ndi kugawa kwa ziwalo
(1) Kugawira mafupa a anthu
Popeza loboti yakale ya Tesla idazindikira madigiri 28 a ufulu, womwe ndi wofanana ndi 1/10 ya ntchito ya thupi la munthu.
Madigiri 28 awa a ufulu amagawidwa makamaka kumtunda ndi kumunsi kwa thupi. Kumtunda kumaphatikizapo mapewa (madigiri 6 a ufulu), zigongono (madigiri 4 a ufulu), manja (2 madigiri a ufulu) ndi m'chiuno (2 madigiri a ufulu).
Kumunsi kwa thupi kumaphatikizapo ziwalo za medullary (2 madigiri a ufulu), ntchafu (2 madigiri a ufulu), mawondo (2 mu madigiri a ufulu), ng'ombe (2 madigiri a ufulu) ndi akakolo (2 madigiri a ufulu).
(2) Mtundu ndi mphamvu zolumikizirana
Madigiri 28 awa a ufulu amatha kugawidwa m'magulu ozungulira komanso ozungulira. Pali zolumikizira zozungulira 14, zomwe zimagawidwa m'magulu atatu, osiyanitsidwa molingana ndi mphamvu yozungulira. Mphamvu yolumikizirana yaying'ono kwambiri ndi 20 Nm yomwe imagwiritsidwa ntchito pamanja: 110 yobadwa 9 yomwe imagwiritsidwa ntchito m'chiuno, medula ndi phewa, ndi zina zotero: 180 yogwiritsidwa ntchito m'chiuno ndi m'chiuno. Palinso zolumikizira 14 zofananira, zosiyanitsidwa molingana ndi mphamvu. Zolumikizira zazing'ono kwambiri zimakhala ndi mphamvu ya ng'ombe 500 ndipo zimagwiritsidwa ntchito pamkono; ng'ombe 3900 zimagwiritsidwa ntchito pamyendo; ndipo ng'ombe 8000 zimagwiritsidwa ntchito pantchafu ndi bondo.
(3) Mapangidwe a olowa
Mapangidwe a ziwalozo akuphatikizapo ma motors, reducers, sensors ndi bearings.
Zolumikizana zozungulira zimagwiritsa ntchitomagalimotondi ma harmonic reducers,
ndi mayankho okhathamiritsa kwambiri atha kupezeka mtsogolo.
Zolumikizira zolumikizana zimagwiritsa ntchito ma motors ndi mpira kapenazomangira mpiramonga zochepetsera, pamodzi ndi masensa.
2. Ma motors mu maloboti a humanoid
Ma motors omwe amagwiritsidwa ntchito pamalumikizidwewo ndi ma servo motors osati ma motors opanda frame. Ma motors opanda maziko ali ndi mwayi wochepetsera kulemera ndikuchotsa magawo owonjezera kuti akwaniritse torque yayikulu. Encoder ndiye fungulo la kuwongolera kotseka kwa mota, ndipo pakadali kusiyana pakati pa zoweta ndi zakunja pakulondola kwa encoder. Zomverera, mphamvu masensa ayenera molondola kuzindikira mphamvu kumapeto, pamene udindo masensa ayenera molondola malo loboti mu danga atatu azithunzi.
3. Kugwiritsa ntchito zochepetsera m'maloboti a humanoid
Popeza yapitayi makamaka ankagwiritsa ntchito harmonic reducer, wopangidwa ndi kufala pakati pa gudumu lofewa ndi gudumu zitsulo. Harmonic reducer ndi yothandiza koma yokwera mtengo. M'tsogolomu, pakhoza kukhala chizolowezi cha ma gearbox a mapulaneti kuti alowe m'malo mwa ma gearbox a harmonic chifukwa ma gearbox a mapulaneti ndi otsika mtengo, koma kuchepetsako ndikochepa. Malinga ndi kufunika kwenikweni, pakhoza kukhala mbali ya pulaneti gearbox anatengera.
Mpikisano wa maloboti a humanoid makamaka umakhudza zochepetsera, ma mota ndi zomangira za mpira. Pankhani ya mayendedwe, kusiyana pakati pa mabizinesi apakhomo ndi akunja kumakhala kolondola komanso nthawi yamoyo. Pankhani yochepetsera liwiro, chochepetsera liwiro la mapulaneti ndichotsika mtengo koma chocheperako, pomwe mpira wononga ndiwodzigudubuzandizoyenera kwambiri zolumikizira zala. Pankhani ya ma motors, mabizinesi apakhomo ali ndi mpikisano wina pagawo la micro motor.
Nthawi yotumiza: May-19-2025
