1. Kev tawg thiab muaj nuj nqis faib ntawm humanoid robots
1. Disassembly ntawm humanoid neeg hlau
Ntawm thawj Tesla AI Hnub thaum Lub Yim Hli 2021, Tesla tau tso tawm lub tswv yim kos duab ntawm nws thawj tus neeg hlau "Optimus". Lub humanoid neeg hlau yog 5 feet 8 nti siab, hnyav 125 phaus, thiab muaj 45 lb. nqa peev xwm thiab lub peev xwm deadlift ntawm 150 lbs., uas yuav raug tswj los ntawm ntse algorithms zoo ib yam li cov siv nyob rau hauv hluav taws xob tsheb. Ib tsab qauv yuav raug nthuav tawm thaum Lub Ob Hlis 2022, thiab lub cim tshiab ntawm yuav luag tiav tib neeg neeg hlau yuav raug nthuav tawm rau AI Hnub rau lub Cuaj Hlis 30, 2022. Nws yuav nthuav tawm ntawm World Artificial Intelligence Conference thaum Lub Xya Hli 2023.
Cov tiam tshiab ntawm Optimus tso tawm los ntawm Tesla muaj 28 pob qij txha (14 rotary actuators + 14 linear actuators) nyob rau hauv txhua yam ntawm lub cev, thiab 2 dexterous tes muaj tag nrho ntawm 12 pob qij txha (6 actuators * 2). Tesla's humanoid robots dexterous ob txhais tes yog tsim los ua rau tib neeg txhais tes thiab muaj peev xwm hloov tau. Cov qauv tes muaj tsib ntiv tes thiab ntau lub pob qij txha. Tus ntiv tes xoo siv dual lub cev muaj zog los tsav khoov thiab sab viav vias, thiab plaub ntiv tes muaj ib lub cev muaj zog. Nws muaj tag nrho ntawm 6 actuators, 11 degrees ntawm kev ywj pheej, kev thauj khoom ntawm 20 phaus, muaj peev xwm hloov mus rau lub kaum ntse ntse, muaj peev xwm siv cov cuab yeej, thiab muaj peev xwm los tuav cov khoom me me. Lub 28 actuators ntawm Tesla humanoid neeg hlau tau muab faib rau ntawm lub xub pwg nyom (6), lub luj tshib (2), dab teg (6), lub cev (2), lub duav (6), lub hauv caug (2 pcs), pob taws (4 pcs).
Tesla Optimus rotating kev sib koom ua ke: lub cev tsis muaj zog + kev sib haum xeeb reducer + torque sensor + txoj hauj lwm sensor + bearings (angular contact ball bearings + crossed cylindrical roller bearings) + encoder. Tesla ib txhij qhia nws cov khoom lag luam actuator, uas suav nrog peb lub tshuab hluav taws xob nrog lub zog sib txawv, raws li 20Nm / 110Nm / 180Nm. Kev faib tawm tag nrho lub cev: 6 ntawm lub xub pwg nyom, 2 ntawm dab teg, 4 ntawm lub duav, thiab 2 ntawm lub cev.
Tesla Optimus 'linear sib koom ua ke kev daws teeb meem: lub cev muaj zog tsis muaj lub cev muaj zog + planetary cov menyuam ntsia hlau + torque sensor + txoj hauj lwm sensor + bearing. Tesla ib txhij qhia nws cov khoom lag luam actuator, uas suav nrog peb cov kab hluav taws xob sib txawv nrog lub zog sib txawv, nrog lub zog ntawm 500N / 3900N / 8000N. Kev faib tawm tag nrho lub cev: 2 lub luj tshib, 4 lub dab teg, 2 lub duav, 2 lub hauv caug, thiab 4 pob taws.
2. Tus nqi faib ntawm qhov tseem ceeb ntawm humanoid robots
Xa mus rau Tesla Optimus, tus nqi ntawm humanoid neeg hlau feem ntau yog muab faib rau hauv FSD system, AI nti, actuator, thiab dexterous tes limb skeleton: FSD / AI nti: Tesla qhov kev sib tw tseem ceeb, tus nqi ntawm ib lub tshuab yog li 50,{ {1}} yuan, thiab tus nqi Accounting rau kwv yees li 26.5%; Rotary actuator: cov khoom sib dhos yuav muab los ntawm cov neeg thib peb, suav nrog cov khoom sib haum xeeb (lossis cov khoom sib haum xeeb zoo li cov reducers), tsis muaj lub cev muaj zog, lub zog torque, encoders, bearings thiab lwm qhov loj, tus nqi suav txog li 23%; linear actuator: cov khoom sib dhos yuav muab los ntawm tus neeg thib peb, suav nrog lub ntiaj teb cov menyuam ntsia hlau, lub cev tsis muaj zog lub cev muaj zog, torque sensor, encoder, bearing thiab lwm yam loj, tus nqi suav txog li 28%; dexterous tes: suav nrog coreless lub cev muaj zog, planetary gearbox, sensor, pob ntsia hlau, thiab lwm yam, suav txog kwv yees li 7% ntawm tus nqi; limb skeleton: mechanical structural parts, accounting rau kwv yees li 13% ntawm tus nqi. Ntawm cov khoom tsis sib dhos muab los ntawm cov neeg sab nrauv, lub cev tsis muaj zog lub cev muaj zog (14.84%), lub ntiaj teb cov menyuam screws (14.84%), kev sib haum xeeb reducers (7.42%), torque sensors (7.42%), encoders (4.45%), coreless motors ( 3.82%) suav rau feem ntau dua. 2. Kev soj ntsuam ntawm qhov txuas tseem ceeb ntawm humanoid robots
1. Reducer: Technical barriers siab, kev hloov hauv tsev yog nrawm
Robot reducers feem ntau muab faib ua ob pawg: RV reducers thiab harmonic reducers. Lub harmonic reducer muaj qhov zoo ntawm qhov loj ib-theem kis tau tus mob piv, me me, tsis tshua muaj huab hwm coj, thiab siab zog raug. Nws tuaj yeem ua haujlwm ib txwm nyob hauv qhov chaw kaw thiab nruab nrab hluav taws xob, thiab tsim nyog rau lub teeb-load precision deceleration teb, xws li humanoid robots, thiab lwm yam. Piv nrog rau kev sib haum xeeb reducers, RV reducers muaj qhov zoo ntawm qhov sib kis loj sib txawv, qhov tseeb ruaj khov, siab qaug zog, thiab lwm yam, nrog rau ntau dua rigidity thiab torque nqa peev xwm. Lawv tsuas yog haum rau hnyav-load qhov chaw xws li neeg hlau caj npab thiab lub hauv paus tshuab. .
Cov teeb meem ntawm harmonic reducers feem ntau yog nyob rau hauv cov hniav tsim, cov ntaub ntawv, cov khoom siv, technology thiab sib xws. Cov teeb meem tshwj xeeb muaj xws li: Hniav cov qauv tsim: Txij li lub hauv paus ntsiab lus ntawm kev sib kis ntawm cov kev sib haum xeeb yog kev sib txuas ntawm ob lub zog, thiab cov flexspline tsis tu ncua deforming, qhov siab, qhov dav, cov duab thiab lwm yam qauv ntawm lub zog muaj kev cuam tshuam ntau dua ntawm cov khoom siv. deceleration kev ua tau zoo. Kev npam. Khoom siv: Lub flexspline tsis tu ncua deforms thiab xa torque, uas ua rau muaj teeb meem loj rau qhov sib xws, thauj khoom, raug, thiab qaug zog lub neej ntawm cov khoom. Ordinary hlau thiab alloys yog qhov nyuaj kom ua tau raws li qhov yuav tsum tau ua. Cov cuab yeej ua haujlwm: Lub flexspline yog nyias nyias, nrog lub thickness ntawm txog 100 μm. Cov txheej txheem ua thiab txiav yog siab. High-precision CNC grinders thiab iav hobbing tshuab yuav tsum tau tuaj txawv teb chaws, thiab Japanese high-precision tshuab cuab yeej muaj kev txwv rau kuv lub teb chaws. Kev siv thev naus laus zis: Kev ua tiav thiab txiav cov flex splines yog qhov xav tau heev, thiab qee cov txheej txheem tseem cia siab rau cov kev paub dhau los ntawm cov neeg ua haujlwm. Consistency: Nyob rau hauv loj-scale ntau lawm, nws yog ib qho nyuaj heev los txo tus nqi thiab tswj cov khoom sib xws. Piv nrog rau kev sib haum xeeb reducers, RV reducers muaj cov qauv ntau dua thiab muaj cov kev cai nruj dua rau kev ua kom raug thiab thev naus laus zis. Cov teeb meem kev kawm tshwj xeeb yog: Kev ua haujlwm raug: Cov qauv yog txoj haujlwm nyuaj. Hauv kev ua haujlwm tiag tiag, RV reducer yuav tsum tau rov ua dua thiab ua kom raug qhov chaw, uas yog sib npaug rau kev pib txuas ntxiv thiab nres kom muaj qhov tseeb yam tsis muaj kev cuam tshuam. Yog tias qhov tseeb tsawg, nws yuav ua rau hnav thiab tsim kua muag ntawm cov khoom. Kev siv thev naus laus zis: Kev sib raug zoo ntawm ntau yam txheej txheem, suav nrog kev kho hniav ntawm cov hniav kub, kev ua kom raug, ib feem symmetry, pab pawg siv tshuab, thiab kev sib dhos raug. Kev sib dhos zaum kawg ntawm cov txheej txheem no yuav ua rau hnav thiab lub neej ntawm cov khoom. Consistency: Raws li precision Cheebtsam, nws tsis yog ib qho nyuaj rau ib qho khoom ua tau zoo, tab sis nws yog ib qho kev sib tw loj rau cov khoom lag luam loj loj kom tau raws li cov qauv kev ua tau zoo.
Lub ntshuam monopoly ntawm reducers xav tias yuav tawg, thiab kev hloov pauv hauv tsev tau pib. Lub ntiaj teb no neeg hlau reducer kev lag luam yog heev concentrated, nrog Japanese manufacturers tuav feem ntau ntawm kev ua lag luam. Xyoo 2021, Nabtesco tuav 53% ntawm Tuam Tshoj RV reducer kev lag luam, thiab Hamon Naco tuav 35.5% ntawm Tuam Tshoj cov khoom lag luam sib koom ua lag luam. Txawm li cas los xij, Tuam Tshoj tam sim no tau suav tias qhov kev ua tiav hauv cov thev naus laus zis tseem ceeb ntawm cov neeg hlau yog qhov tseem ceeb, thiab cov tuam txhab tsim khoom hauv tsev tau kov yeej qee qhov teeb meem hauv cov khoom tseem ceeb xws li reducers, controllers, thiab servo systems. Lub ntim export ntawm Tuam Tshoj tus RV reducers tau qhia tag nrho cov kev nce siab, thaum lub ntim ntim feem ntau pom qhov kev poob qis. Qhov sib txawv ntawm localization ntawm RV reducers tau tshwm sim. Nyob rau hauv xyoo tsis ntev los no, domestic harmonic manufacturers tau maj nkag mus rau hauv cov khoom saw ntawm downstream cov neeg muas zaub, thiab kev lag luam feem ntawm Suav hom tau nce xyoo los ntawm lub xyoo. Chav tsev tus nqi ntawm cov khoom siv hluav taws xob tuaj txawv teb chaws, xws li cov khoom lag luam ntawm Nyiv Lub Tuam Txhab Hamonoko, feem ntau yog nruab nrab ntawm 3, 000 thiab 4, 000 yuan. Chav tsev tus nqi ntawm domestic precision reducers yog 30% mus rau 50% ntawm tus nqi, uas muaj tus nqi kom zoo dua.
2. Lead ntsia hlau: Cov txheej txheem txheej txheem yog siab heev, thiab muaj ntau chav rau kev hloov pauv hauv tsev.
Cov ntsia hlau yog ib yam khoom zoo tshaj plaws rau kev hloov cov lus tsa suab rau hauv cov lus tsa suab, lossis hloov cov kab lus tawm mus rau hauv cov lus tsa suab. Cov khoom siv ntsia hlau feem ntau suav nrog cov zawv zawg zawv zawg, pob screws, planetary roller screws, thiab lwm yam. Pob ntsia hlau yog cov khoom siv feem ntau siv hauv kev lag luam precision machinery. Nws cov qauv tseem ceeb suav nrog peb ntu: pob ntsia hlau, pob txiv ntoo thiab pob. Lub hauv paus ntsiab lus kis tau tus mob yog los hloov cov kev sib hloov mus rau hauv cov lus tsa suab thiab hloov zawv zawg kev sib txhuam rau hauv kev sib txhuam. Thaum cov ntsia hlau tig txheeb ze rau cov txiv ntseej, lub ntsej muag tig ntawm cov ntsia hlau thawb cov txiv ntoo kom txav mus rau axially los ntawm kev sib tw ntawm cov khoom, tig cov kev sib hloov mus rau hauv cov lus tsa suab; qhov dov ntawm cov khoom ua rau cov zawv zawg kev sib txhuam ntawm cov ntsia hlau thiab cov txiv ntoo hloov mus rau hauv cov zawv zawg kev sib txhuam ntawm cov khoom, cov ntsia hlau, thiab cov txiv ntoo. Cov kev sib txhuam dov ntawm lawv hloov zawv zawg mus rau hauv dov, zoo heev txhim kho kev sib kis. Planetary roller screws yog ib tug high-precision ceg ntawm lub cim tshiab ntawm threaded screws, nrog muaj zog kev ua tau zoo thiab dav daim ntawv thov prospects. Lub ntiaj teb cov menyuam ntsia hlau tsim cov kab sib cuag dov kev sib txhuam los ntawm meshing rollers, uas ua rau kom muaj kev sib cuag ntawm qhov chaw thiab kev ntxhov siab thaum lub sij hawm ntsia hlau xa mus. Piv nrog rau yav dhau los pob screws siv rau precision kis tau tus mob, qhov kis tau tus mob efficiency tsis ho poob. Nyob rau tib lub sijhawm, nws muaj cov yam ntxwv ntawm kev kub ceev, siab load, siab tawv, siab ntau ntawm cov hlau lead, me me, qis suab nrov, thiab yooj yim txij nkawm thiab disassembly. Nws tau siv nyob rau hauv lub ntiaj teb no high-precision teb xws li aerospace, riam phom thiab khoom siv, thiab nuclear zog. Nws kuj tseem muaj cov kev xav tau dav dav hauv cov xwm txheej pej xeem xws li cov cuab yeej siv tshuab, tsheb ABS tshuab, thiab kev lag luam petrochemical.
Pob ntsia hlau: Lub pob ntsia hlau tau tsim nyob rau xyoo 1874. Nyob rau xyoo 1930, General Motors ntawm Tebchaws Meskas tau siv cov pob ntsia hlau rau hauv lub tsheb kauj vab. Nyob rau xyoo 1940, pob ntsia hlau khub tau siv thawj zaug ntawm CNC tshuab cuab yeej. , thiab tau dhau los ua cov khoom noj zoo tshaj plaws rau CNC tshuab cuab yeej; nrog rau kev txhim kho cov cuab yeej siv tshuab thiab cov cuab yeej siv automation, kev tshawb fawb thiab tsim cov pob ntsia hlau khub tau nce qib. Nyob rau xyoo 1950, ntau lub pob ntsia hlau manufacturers pib tshwm nyob rau hauv industrially tsim lub teb chaws, xws li British ROTAX, Nyiv NSK, thiab lwm yam. Txoj kev loj hlob ntawm pob ntsia hlau khub rau CNC tshuab cuab yeej nyob rau hauv peb lub teb chaws pib nyob rau hauv 1950s. Xyoo 1964, kuv lub teb chaws tsim thiab tsim thawj txheej pob ntsia hlau ua ke ntawm nws tus kheej. Txij li thaum lub teb chaws tau tsim cov haujlwm ntsig txog xyoo 2009, cov tuam txhab hauv tsev xws li Hanjiang Machine Tool thiab Shandong Bote Seiko thiab lwm tus tau ua tiav ntau yam txiaj ntsig zoo, tab sis tam sim no, kuv lub teb chaws tseem muaj chaw rau kev txhim kho cov khoom lag luam zoo piv nrog lub ntiaj teb cov tuam txhab qib siab. . Hauv kev lag luam hauv tsev, lub lag luam nruab nrab-rau-siab-siab pob ntsia hlau feem ntau yog nyob hauv German thiab Japanese tuam txhab, xws li THK, Cov tuam txhab thoob ntiaj teb xws li NSK thiab Rexroth tuaj yeem tuav 90% ntawm cov khoom lag luam hauv kev lag luam siab. , thaum cov tuam txhab suav hauv av loj yog cov tseem ceeb hauv kev lag luam nruab nrab, suav txog li 30% ntawm kev ua lag luam. Qhov laj thawj tseem ceeb yog vim li cas peb lub teb chaws cov lag luam me me, pib lig, thiab tsis tuaj yeem ncav cuag qib siab ntawm cov khoom zoo.
Planetary roller ntsia hlau: Xyoo 1942, Swedish Carl Bruno Strandgren thawj zaug thov rau patent rau lub recirculating planetary roller ntsia hlau. Nyob rau hauv 1954, nws tau thov rau patent rau tus qauv thiab rov qab planetary roller ntsia hlau. Xyoo 1986, William J. Roantree tau tsim lub ntiaj teb sib txawv ntawm cov menyuam ntsia hlau, thiab tom qab ntawd Oliver Saari tau tsim lub nplhaib bearing planetary cov menyuam ntsia hlau. Xyoo 1970, Switzerland's Rollvis Company tau pib tsim lub ntiaj teb cov menyuam screws. Sweden's SKF kuj tau tsim planetary roller screws. Moog hauv Tebchaws Meskas, Ortlieb hauv Tebchaws Yelemees thiab Power Jacks hauv tebchaws United Kingdom txhua tus muaj lawv tus kheej cov menyuam loj hlob ntawm lub ntiaj teb. Cov khoom; Exlar ntawm Tebchaws Meskas thiab Rexroth ntawm Lub Tebchaws Yelemees ob leeg siv lub ntiaj teb cov menyuam ntsia hlau hauv lawv cov khoom siv hluav taws xob. Xyoo 2022, Nyiv thiab European cov tuam txhab ntsia hlau yuav suav txog ntau npaum li 90% ntawm Suav lag luam. Raws li cov ntaub ntawv los ntawm Guanyan Report Network, plaub lub tuam txhab saum toj kawg nkaus hauv kuv lub teb chaws lub ntiaj teb cov menyuam ntsia hlau ua lag luam hauv xyoo 2022 yog Rollvis (Switzerland), GSA (Switzerland), Ewellix (Sweden) thiab Rexroth (Lub Tebchaws Yelemees), nrog kev lag luam sib koom ntawm 27% , 26%, 13%, 12%. Vim tias Tuam Tshoj cov lag luam pib lig hauv kev lag luam no, lawv lub zog sib tw lag luam deb dhau ntawm cov lag luam hauv cov teb chaws tsim kev lag luam txawv teb chaws.