1. Isakhiwo nokusabalalisa amalunga
(1) Ukusatshalaliswa kwamalunga abantu
Njengoba irobhothi langaphambili likaTesla laqaphela ama-degree angama-28 enkululeko, elilingana ne-1/10 yomsebenzi womzimba womuntu.
Lawa madigri enkululeko angama-28 asakazwa kakhulu emzimbeni ongaphezulu nangaphansi. Umzimba ongaphezulu uhlanganisa amahlombe (amadigri angu-6 enkululeko), izindololwane (amadigri angu-4 enkululeko), izihlakala (amadigri enkululeko angu-2) nokhalo (amadigri enkululeko angu-2).
Umzimba ongezansi uhlanganisa amalunga e-medullary (2 degrees of freedom), amathanga (2 degrees of freedom), amadolo (2 degrees of freedom), amathole (2 degrees of freedom) kanye namaqakala (2 degrees of freedom).
(2) Uhlobo namandla amalunga
Lawa madigri enkululeko angama-28 angahlukaniswa abe amalunga ajikelezayo nalayini. Kunamajoyini ajikelezayo angu-14, ahlukaniswe izigaba ezintathu, ahlukaniswa ngokwamandla okujikeleza. Amandla ahlanganayo amancane kakhulu angama-20 Nm asetshenziswa engalweni: 110 azalwe angu-9 asetshenziswa okhalweni, kwimedula nasehlombe, njll.: 180 esetshenziswa okhalweni nasesinqeni. Kukhona futhi amalunga angu-14 aqondile, ahlukaniswa ngokwamandla. Amajoyinti amancane kunawo wonke anamandla ezinkabi ezingama-500 futhi asetshenziswa esihlakaleni; Kusetshenziswa izinkabi ezingu-3900 emlenzeni; kanye nezinkabi ezingu-8000 ezisetshenziswa ethangeni nasedolweni.
(3) Ukwakheka kwelunga
Isakhiwo samalungu sihlanganisa ama-motor, ama-reducers, izinzwa nama-bearings.
Amalunga ajikelezayo asetshenziswaizinjinikanye nezinciphisi ze-harmonic,
futhi izixazululo ezithuthukisiwe zingase zitholakale esikhathini esizayo.
Amalunga omugqa asebenzisa izinjini nebhola nomaizikulufo zebholanjengezinciphisi, kanye nezinzwa.
2. Ama-motors emajoyini amarobhothi e-humanoid
Amamotho asetshenziswa emajoyintini ikakhulukazi ama-servo motors kunama-frameless motors. Amamotho angenafreyimu anenzuzo yokunciphisa isisindo futhi asuse izingxenye ezengeziwe ukuze afinyelele i-torque enkulu. Isifaki khodi siwukhiye wokulawula iluphu evaliwe yenjini, futhi kusekhona igebe phakathi kwasekhaya nezangaphandle ekunembeni kwesishumeki. Izinzwa, izinzwa zamandla zidinga ukuzwa amandla ngokunembile ekugcineni, kuyilapho izinzwa zendawo zidinga ukuzwa ngokunembile indawo yerobhothi endaweni enezinhlangothi ezintathu.
3. Ukusetshenziswa kwe-reducer kumajoyinti amarobhothi e-humanoid
Njengoba eyedlule yayisetshenziswa ngokuyinhloko isinciphisi se-harmonic, esihlanganisa ukudlulisela phakathi kwesondo elithambile nesondo lensimbi. I-Harmonic reducer iyasebenza kodwa iyabiza. Ngokuzayo, kungase kube nomkhuba wokuthi ama-gearbox eplanethi athathe indawo yama-harmonic gearbox ngoba ama-gearbox eplanethi ashibhile, kodwa ukuncishiswa kuncane kakhulu. Ngokwesidingo sangempela, kungase kube nengxenye ye-gearbox yeplanethi eyamukelwayo.
Umncintiswano wamajoyinti amarobhothi e-humanoid ubandakanya ikakhulukazi izinciphisi, izinjini nezikulufu zebhola. Ngokuphathelene nama-bearings, umehluko phakathi kwamabhizinisi asekhaya nakwamanye amazwe ikakhulukazi ngokunemba kanye nesikhathi sokuphila. Mayelana nokunciphisa isivinini, isinciphisi sejubane leplanethi ishibhile kodwa siyancipha kancane, kuyilapho isikulufa sebhola kanyei-roller screwzilungele kakhulu amalunga eminwe. Mayelana namamotho, amabhizinisi asekhaya anezinga elithile lokuncintisana emkhakheni we-micro motor.
Isikhathi sokuthumela: May-19-2025
