Hauv kev txhim kho cov neeg hlau, ib qho tseem ceeb thev naus laus zis yog qhov tseem ceeb: daim ntawv thov ntawm bearings hauv humanoid robot teb. Raws li ib feem tseem ceeb ntawm humanoid robots, bearings account rau kwv yees li 5.5% ntawm tus nqi ntawm cov khoom tseem ceeb. Ntau hom bearings ua si irreplaceable lub luag hauj lwm nyob rau hauv ntau yam ntawm cov neeg hlau.
Ⅰ Bearings hauv Reducers
Lub reducer yog lub hauv paus fais fab kis tau tus mob mechanism nyob rau hauv humanoid neeg hlau, piv rau tib neeg kev sib koom tes. Lub precision reducer yog ib qho khoom nruab nrab txuas nrog lub zog hluav taws xob thiab lub actuator. Nws txoj haujlwm yog los txo cov kev kub ceev ntawm lub servo lub cev muaj zog, ua kom lub zog qub ntawm lub servo lub cev muaj zog los ntawm cov iav txo qhov sib piv, thiab muab kev tuav ruaj khov thiab siab - qhov tseeb qhov chaw. Humanoid neeg hlau reducers feem ntau suav nrog kev sib haum xeeb reducers, RV reducers, thiab planetary reducers. Ntau hom reducers muaj qhov sib txawv rau cov bearings:
1. RV Reducer Bearings:
RV reducers, tseem hu ua rotary vector reducers, suav nrog pem hauv ntej -stage planetary iav reducer thiab rear-stage cycloidal pinwheel reducer. Txoj kev sib kis no yog kev txhim kho ntxiv raws li tus pin classic-pendulum planetary kis technology. Nws ua ke ntau qhov zoo, xws li qhov loj me me, lub teeb yuag, qhov sib kis dav dav, lub neej ua haujlwm ntev, ruaj khov precision txij nkawm, kev ua haujlwm siab, thiab kev sib kis tau zoo.
RV reducer siv peb hom bearings: nyias -walled angular contact pob bearing rau lub ntsiab bearing (tso tawm ncej), nyias -walled tapered roller bearing rau eccentric ncej positioning thiab lub ntsiab lub cev txhawb nqa, ib tug cylindrical roller (needle roller) rau cycloidal iav kev txhawb nqa, ib lub tawb sib sib zog nqus bearing 2} thiab cov phab ntsa nyias.
2. Harmonic Reducer Bearings
Cov pob qij txha teb ntawm cov neeg hlau feem ntau siv cov kev sib haum xeeb. Lawv cov tshuab tsim khoom yog ua raws li kev sib txuas lus sib haum xeeb. Lub harmonic reducer yog lub tshuab xa hluav taws xob uas muaj plaub yam tseem ceeb: lub tshuab hluav taws xob nthwv dej (cov kabmob hloov tau yooj yim), hla cov menyuam bearings (cov kabmob nruj), cov iav hloov tau nrog lub nplhaib sab nraud (lub log hloov tau), thiab lub zog khov (lub log tsis sib haum).
① Hla Cov Menyuam Bearings
Muaj ntau ntau cov kabmob hla cov menyuam kabmob rau kev sib haum xeeb reducers, muaj peev xwm tiv taus ntau- kev taw qhia kev thauj khoom, thiab muab siab precision thiab rigidity. Hla cov menyuam bearings tshwj xeeb tsim los rau kev sib haum xeeb reducers tuaj yeem muab faib ua ob pawg loj raws li lawv qhov kev thov ib puag ncig: cov uas muaj lub nplhaib sab nraud thiab cov uas muaj lub nplhaib sab hauv. Cov ntsiab lus dov ntawm cov kabmob no yog cov cylindrical rollers teem ntawm 90℃perpendicular lub kaum sab xis hauv V-zoo li txoj kev sib tw. Qhov kev tsim no tso cai rau cov kabmob ib txhij tiv thaiv kev thauj khoom los ntawm ntau cov lus qhia, suav nrog axial, radial, thiab overturning moments. Tsis tas li ntawd, cov bearings no muaj siab precision, siab rigidity, thiab zoo heev composite load- bearing muaj peev xwm, ua rau lawv ib tug indispensable tivthaiv ntawm harmonic reducers.
② Flexible Bearings Saj zawg zog bearings tshwj xeeb tsim rau kev sib haum xeeb reducers txawv ntawm cov kabmob ib txwm muaj. Lawv nyias nyias-cov pob bearings nrog lub nplhaib sab nraud, ua rau lawv yooj yim rau radial deformation. Txawm hais tias lawv cov phab ntsa nyias nyias, lawv tseem hloov tau yooj yim thiab siv siab - cov ntaub ntawv zoo kom ua haujlwm ruaj khov. Cov kabmob hloov tau yooj yim rau cov khoom sib haum xeeb no muaj kev ntxhov siab zoo heev -cov kabmob muaj peev xwm. Lawv tiv taus kev sib hloov khoov thiab lub zog torque, tswj kom muaj kev hloov pauv hauv lawv cov kev cuam tshuam nrog cov cams txawm tias lawv cov phab ntsa nyias nyias. Ob lub nplhaib sab hauv thiab sab nrauv, nrog rau cov ntsiab lus dov, yog ua los ntawm siab - zoo siab - carbon chromium bearing steel thiab tau nruab nrog ib qho tseem ceeb nylon retainer, ua kom ruaj khov thiab ua haujlwm tau zoo ntawm cov kabmob nyob rau hauv cov khoom siv hluav taws xob sib haum xeeb ntawm kev sib haum xeeb reducer.
Harmonic reducers feem ntau siv ib tug hla cov menyuam bearing thiab ib tug saj zawg zog bearing.
3. Planetary Iav Reducer
Lub planetary iav reducer yog cov qauv iav kis tau zoo tshaj plaws. Lub planetary iav kis tau tus mob mechanism feem ntau muaj cov planetary iav, lub ntiaj teb cov cab kuj, thiab lub hnub iav. Nyob rau hauv ib tug precision planetary reducer, ib tug prime mover xws li ib tug servo motor feem ntau tsav lub hnub iav tig. Lub meshing ntawm lub hnub iav nrog lub planetary iav tsav lub planetary iav tig. Nyob rau tib lub sijhawm, vim hais tias sab nraud ntawm lub ntiaj teb iav meshes nrog lub nplhaib iav ntawm sab hauv phab ntsa ntawm lub reducer vaj tse, lub planetary iav, uas tau tsav los ntawm lawv tus kheej kev sib hloov, yuav dov rau ntawm lub nplhaib iav nyob rau hauv tib txoj kev raws li lub hnub iav kev sib hloov, ua ib tug "revolutionary" suab nyob ib ncig ntawm lub hnub iav. Qhov sib txawv ntawm tus naj npawb ntawm cov hniav ntawm lub hnub iav thiab lub nplhaib iav ua tiav lub hom phiaj txo qhov ceev.
Lub planetary reducer hloov lub siab -kev sib hloov ceev ntawm lub cev muaj zog mus rau hauv qis- nrawm, siab- lub zog tso zis, haum rau cov kev xav tau ntawm kev sib kis tsis yog- siab- qhov tseeb ntawm cov neeg hlau, xws li cov ceg qis (xws li, lub duav thiab lub hauv caug pob qij txha). Los ntawm kev tsav lub planetary gears tig thiab tig los ntawm lub hnub iav, lub zog yog qhov kawg tso tawm los ntawm lub ntiaj teb cov cab kuj. Nws nta cov qauv yooj yim, tus nqi qis, thiab siab load-cov kabmob muaj peev xwm.
Noj Tesla Optimus Gen-2 neeg hlau ua piv txwv, nws cov planetary reducer siv qhov sib sib zog nqus groove pob bearings thiab koob rau cov menyuam bearings. Sib sib zog nqus groove pob bearings yog siv los tiv thaiv me me radial thiab axial loads, thaum rab koob rau cov menyuam bearings yog siv los tiv thaiv lub loj radial loads generated los ntawm lub planetary zog thaum lawv tig ntawm high speeds.
II. Lwm cov kabmob hauv Humanoid Robots
1. Linear Actuators: Plaub -Point Contact Bearings
Plaub- taw tes rau cov bearings siv cov pob bearings qhov twg cov pob steel ntawm lub pob bearing tiv tauj lub nplhaib sab hauv thiab sab nraud ntawm plaub lub ntsiab lus, ua tiav ob - taw tes rau lub xeev. Qhov no tso cai rau lawv tiv thaiv bidirectional axial loads thiab ib feem ntawm radial loads. Lub nplhaib puab sab hauv tsim kom haum ntau lub npas, nce load-cov kabmob muaj peev xwm; cov qauv sib cais ua kom yooj yim rau kev teeb tsa thiab tsim nyog rau qhov chaw - txwv kev sib koom ua ke. Lub kaum sab xis yog feem ntau 35℃los yog 45 degree, nrog me me axial clearance, yog li muab kev kub ceev txwv thiab nruj.
Plaub-cov ntsiab lus tiv tauj cov kabmob feem ntau yog siv hauv cov pob qij txha thiab cov kab hluav taws xob, ua ke nrog cov menyuam hla cov kabmob kom ua tiav siab - cov lus tsa suab.
2. Tus kheej-lubricating Joint Bearings: Tus kheej-lubricating bearings ua tau qis- kev sib txhuam los ntawm cov ntaub ntawv bimetallic composite los yog cov roj lubricants, nrog kev sib txhuam coefficient tsawg li 0.08, thaum tseem muaj kev hnav tsis kam (kev pab lub neej ntev tshaj 10,000 teev). Hauv humanoid robots, lawv tsuas yog siv nyob rau hauv kev sib koom ua ke modules, featuring txij nkawm-kev ua haujlwm pub dawb, muaj peev xwm thauj khoom siab, thiab lub neej ntev, ua tau raws li qhov yuav tsum tau muaj ntawm siab - zaus txav thiab micron- qib precision. Piv txwv li, Changsheng Bearing tus kheej -lubricating zawv zawg bearings tau siv rau kev sib koom ua ke ntawm Unitree Robotics 'humanoid robots, ua tiav qhov kev nkag mus ntawm ntau dua 80%, ua rau lawv tus neeg muag khoom tshwj xeeb.
Lwm daim ntawv thov ntawm tus kheej -lubricating bearings hauv robots:
Cov iav reducer teeb: Sib piv siab - qhov yuav tsum tau muaj kev sib kis tau zoo thiab ua kom muaj kev ruaj ntseg.
Kev sib txuas sib txuas: Cov kabmob hnyav thiab siab - ua haujlwm ceev, txo kev siv zog.
Screw drive systems: Kho kom haum rau micron - theem kev ua haujlwm siab, txhim kho tag nrho qhov yooj yim.
Summary : Nyob rau hauv thev naus laus zis pyramid ntawm humanoid robots, bearings, tab sis me me, yog ib qho tseem ceeb ntawm cov tub ntxhais uas txuas rau sab sauv thiab qis. Nws tsis yog ib qho kev sib txuas ntawm lub cev nkaus xwb, tab sis kuj yog ib qho kev ua tau zoo, nws qhov tseem ceeb tshwm sim nyob rau hauv peb yam: **Lub hauv paus ntawm cov lus tsa suab precision:** High-precision, siab-rigidity bearings xyuas kom meej smoothness, raug, thiab stability ntawm txhua tus neeg hlau txav. Los ntawm micro-kev tswj hwm ntawm cov txhais tes dexterous mus rau lub zog txhawb nqa ntawm ceg pob qij txha, txawm tias qhov yuam kev feeb hauv cov bearings tau nthuav dav, ncaj qha txiav txim siab tus neeg hlau qhov kev ua haujlwm tag nrho.
**Kev lees paub ntawm kev thauj khoom-cov kabmob muaj peev xwm thiab lub neej ntev:** Humanoid robots yuav tsum tau tiv taus ntau yam- qhov ntev ntawm qhov hnyav hauv ib puag ncig dynamic. Tshwj xeeb nyias-walled angular contact pob bearings, hla cov menyuam bearings, thiab lwm yam qauv tsim muaj kev tiv thaiv zoo tshaj -tipping muaj peev xwm thiab qaug zog, ua lub hauv paus pob zeb ntawm tus neeg hlau lub sijhawm ntev -, kev ua haujlwm ruaj khov.
**Qhov tseem ceeb rau kev siv hluav taws xob thiab kev sib koom ua ke:** Tsawg- kev sib txhuam bearings txo lub zog poob, txhim kho kev siv hluav taws xob, thiab ua kom tsis muaj zog ntxiv rau cov neeg hlau. Ib txhij, qhov tshwm sim ntawm compact bearings (xws li plaub-point contact ball bearings) txuag qhov chaw muaj txiaj ntsig hauv kev tsim cov neeg hlau sib koom ua ke, ua kom muaj kev sib koom ua ke ntau dua.
