Kev sib koom ua ke ntawm kev sib koom ua ke yog cov khoom siv kim tshaj plaws nyob rau hauv humanoid neeg hlau, suav txog kwv yees li 70% ntawm tag nrho cov nqi. Nws cov khoom tseem ceeb muaj xws li reducers, frameless torque motors, encoders, thiab tsav tsheb. Cov khoom no ua ke ua tus neeg hlau "actuators," txiav txim siab nws lub peev xwm txav thiab hloov tau yooj yim.
Tshwj xeeb, tus nqi feem ntau yog tsom rau hauv cov khoom tseem ceeb hauv qab no:
Integrated Joint Module: Cov kev sib koom ua ke sib koom ua ke sib koom ua ke servo tsav tsheb, controllers, encoders, frameless torque motors, thiab reducers rau hauv ib qho module, tsis tsuas yog txhim kho cov neeg hlau qhov yooj yim thiab precision tab sis kuj tseem ua kom yooj yim rau kev sib dhos. Ua piv txwv Unitree G1, nws cov nqi sib koom ua ke yog kwv yees li ntawm 27,500 yuan, suav txog 66% ntawm tag nrho cov nqi BOM (kwv yees li 41,600 yuan).
Reducer: Raws li cov tub ntxhais kis tau tus mob hauv kev sib koom ua ke, tus reducer suav txog kwv yees li 30% ntawm tus neeg hlau tus nqi tag nrho. Cov khoom tseem ceeb muaj xws li:
Harmonic reducers: Me me thiab siab precision, haum rau siab - dynamic scenarios.
Planetary reducers: Yooj yim hauv cov qauv, tus nqi qis, thiab siab hauv kev sib kis tau zoo (txog 97% -98%), dav siv hauv cov pob qij txha uas tsis muaj qhov yuav tsum tau ua.
Cov khoom siv hauv tsev, xws li Green Harmonic thiab Laifu Harmonic, tau hloov cov khoom xa tuaj, nrog cov nqi tsev kwv yees li 50% qis dua Harmonic Drive, txo cov nqi.
Frameless torque motors: Raws li lub zog siv hluav taws xob, lub cev tsis muaj zog lub cev muaj zog muaj lub zog loj thiab muaj peev xwm teb ceev ceev, qhov tseem ceeb kom ua tiav siab - txav txav txav (xws li parkour thiab backflips). Domestic Huichuan thev naus laus zis lub cev tsis muaj lub cev muaj zog yog tus nqi ntawm 900-1300 RMB, tsuas yog ib feem peb ntawm tus nqi ntawm Maxon cov khoom tuaj txawv teb chaws, txo cov nqi yuav khoom.
Sensor systems: suav nrog quab yuam / torque sensors, encoders, lub koob yees duab tob, LiDAR, thiab lwm yam, siv rau ib puag ncig kev nkag siab thiab kev tawm tswv yim. Piv txwv li:
Lub Unitree G1 tau nruab nrog DJI 3D LiDAR (kwv yees li 3840 RMB) thiab lub koob yees duab Intel qhov tob (kwv yees li 1869 RMB).
Tom qab kev tsim khoom hauv tsev ntawm rau - qhov ntev ntawm lub zog sensor, nws tus nqi tsuas yog ib qho -feem peb ntawm cov khoom lag luam tuaj txawv teb chaws, txo tus nqi ntawm qhov kev sib txuas.
