1418 How Hard Is It to Save a Robot?

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Needless to say, the importance of the servo motor is mainly the input and output device of the whole robot.

The mechanical arm of your surgical robot must be stable and must reach the speed you want to achieve the best results.

And it depends on the skill of the servo motor assembled on your robot.

Generally speaking, in terms of servo motors, it is better to do it abroad, and the best ones are of course Japanese, especially Japanese Denso.

The robots they produce are specially supplied to companies like Toyota and Honda.

And there are many that are specially supplied to Mitsubishi's military industry department.

Mitsubishi's servo motors and Dawei Heavy Industry's servo motors are not bad at all in terms of quality, because the machine tools of these two are very strong.

Many military equipment in Japan are produced by these two factories, such as their warships, submarines, and mind...

However, the requirements of servo motors used on surgical robots are different from those used on ordinary industrial machine tools.

The servo motors used on industrial machine tools are different from those of surgical robots, so the settings are naturally different.

Because industrial machine tools often require high-speed cutting, they require a very large power of the servo motor, and also require a very powerful deceleration function.

But the servo motor required by the surgical robot is another matter entirely. The speed at which the surgical robot drives the mechanical arm does not require too fast.

And the only requirement is stability and precision, so this requires hard work on the control software and the shock filter and defibrillation system.

Therefore, the requirements for the servo motor are not particularly strong, as long as the power output is stable, the life is long, and there is no clutter.

To be honest, even with such a low requirement, the servo motors produced by domestic manufacturers are not reassuring.

Because in terms of output smoothness, we still have a gap with foreign products.

In fact, it’s not that we don’t understand the design concept, but when it comes to the gap, it’s still the most basic material.

The stator used inside the servo motor,

All of them are smelted with special rare earth materials, which ensures the stability, service life and precision of their motor output.

That's why other people's servo motors can achieve stable power output without jamming or sudden interruption of power output.

And our domestically produced servo motors... that's really hard to explain, but anyone who has been to a first-line factory or has conducted field inspections will know what's going on.

I can’t make too many complaints here, because if I talk too much, there is a risk of 404.

Therefore, for surgical robots, what is needed is not the top-level servo motor, as long as the ordinary-level servo motor can ensure that the power output is free from stagnation and stable.

For example, the Da Vinci surgical robot produced in the United States is currently the best on the market, with a total of more than 30 servo motors installed all over its body.

And their motors are all motors from Maxson, Switzerland.

It's not a high-end product, but it's a trustworthy brand, so it's convenient for Huang Haibin.

If he wants to get a Maxon motor, it is much easier than getting a Japanese Denso or a German Bosch motor.

After all, those two families have always been very wary of us...

After all, the attitude towards us in the world is quite special now, especially in western countries, in many sensitive areas, there will be many restrictions on our technology export.

Devices such as servo motors are relatively sensitive devices.

Because this kind of equipment, if it is used on machine tools, it will definitely make many people have to think about it.

But if you import this kind of relatively common servo motor, it looks like a civilian grade, and those who pick up the fault with a magnifying glass will have nothing to say.

Next, we will talk about the robotic arm of this surgical robot, and this is where this robot is most different from traditional robots.

In the past, traditional industrial robots mostly used ball screw bearings when controlling the mechanical arm.

The rolling four-cylinder bearing controls the forward and backward of the mechanical arm, and the precision of the forward and backward is also controlled by the ball screw bearing.

So it can be said that the rolling screw bearing is the soul of an industrial machine tool.

It is also where the precision of industrial machine tools lies.

Ball screw bearings have always been a pain point and weakness in our country.

Take industrial robots as an example. When the mechanical arm is processing parts, the accuracy of the parts must be controlled within a few tenths of a millimeter, all of which rely on the ball screw bearings.

Because it is he who controls the advancing depth, angle, and strength of the robotic arm determines the machining accuracy of the workpiece.

And this has greatly improved the requirements for the roller screw bearings that control the mechanical arm.

Don't think we can make bearings for giant electric windmills, but we really can't do this kind of small bearings.

And when it comes to this bearing, the gap between us and foreign countries is completely two-fold.

The first is machining accuracy.

You can see many videos of German bearings on the Internet. Their bearings can be used as long as they are assembled without lubricating oil.

And as long as you give him a force, he can even keep turning for a minute or so.

What does this mean? This shows that their machining accuracy is high, and the energy loss of the bearing itself is very small during the rotation process. On the other hand, it is their high level of grinding.

The surface of the workpiece is treated extremely smooth, so even without lubricating oil, the rotation resistance of other people's workpieces is extremely small.

Then you try to replace the domestic bearings.

Even if the bearings are of the same size and shape, with the same strength, other people's bearings can rotate for one minute, but our bearings can last for half a minute.

The first thing reflected here is the gap in processing accuracy. Even if we are only a few wires less than others' accuracy, the actual working effect of the workpiece will be much worse.

Then there is the material.

The balls used by others are all made of special alloy steel, which can work for a long time in a high temperature and high pressure environment without deformation.

You are looking at our balls, which are also called special alloy steel, but they are placed in the same working conditions.

German balls can work for ten years, as long as they are maintained regularly, they will not break and do not need to be replaced.

But our domestically produced balls are basically scrapped within half a year. They are either deformed or cracked, and even more ruthless, they are simply broken.

It is not an exaggeration to say that, anyone who has visited various factories on the ground will know that this is definitely not alarmist talk.

And if it is about high-end bearings, it can be said that foreign countries have always blocked us.

It is quite expensive to import such high-end bearings from Germany or Japan.

The most hateful thing is that even if you are rich, they may not necessarily sell it to you.

Fortunately, in terms of surgical robots, the designers in the United States cleverly avoided this problem.

In fact, this is mainly related to the characteristics of surgical robots.

Speaking of surgical robots, it may be difficult for us to imagine that this thing is actually a device born out of industrial robots.

The so-called industrial robots, in fact, the earliest industrial robots are machine tools.

Before the 1950s, the machine tools in the factory were all one-generation products, which were single-function products, such as lathes, milling machines, grinding machines and so on.

Later, at the end of the 1950s, the Americans assembled these machine tools with different performances together, so there was the first generation of the first generation of industrial machinery that integrated the five functions of turning, pinning, boring, milling, and grinding. machine tool.

Later, because of the advancement of electronic science, in the 1980s and 1990s, the Germans and Japanese carried forward this modern industrial machine tool and made it to the extreme.

At that time, this five-axis linkage machine tool had a beautiful name called modern machining center.

In fact, this is the first generation of industrial robots, but the shape is not the same as the robot with a head and manipulator in our cognition.

But he has all the functions that a robot should have.

For example, the fixtures and processing tools in his processing unit are actually the mechanical arms of the robots we know.

And their CNC panels are their brains.

After the first generation of machine tools, large European and American companies developed assembly line robots.

And this kind of assembly line robot is mainly used in the automobile industry, mainly for welding and other work on the body-in-white of the car.

And this generation of robots is more similar to the robots we know.

Although it also has no head, it has a mechanical arm that can fix the body and turn the body back and forth according to the angle set by the program.

The other mechanical arm holds a welding torch, which can continuously drill into the interior of the car body at various angles to complete welding on the car.

The control of these two generations of industrial robots is inseparable from ball screw bearings.

It can even be said that the machining accuracy of their work is controlled by servo motors and four-cylinder bearings.

Speaking of this surgical robot, although it was born out of an industrial robot, the original designer had a hard time whether to use the rolling four-cylinder bearing.

Because the working conditions of surgical robots are very different from those of industrial robots.

If ball screw bearings are installed on such a robot, the cost will be too high, and the volume of the equipment will be greatly increased.

And this violates the original intention of the designer, and the ball screw bearing has very high requirements for the working environment.

This is inconsistent with the design concept of surgical robots...