Vim li cas Humidoid robots qhib lub hiav txwv xiav tshiab rau cov ntawv thov lub cev muaj zog
Tso lus
Lub hauv paus rau phau ntawv
HUMIDOID Robots, raws li cov neeg sawv cev zoo tshaj plaws ntawm General-kev txawj ntse, "ntawm qhov kev txawj ntse ntawm kev txhim kho kev txawj ntse ntawm Ai thiab lub ntiaj teb tiag tiag nrog "Embodied kev txawj ntse," maj mam hloov zuj zus mus rau hauv lub davhlau ya nyob twg rau lwm tiam kev txawj ntse tom ntej. Hauv cov haujlwm hlau, Ai cov qauv loj tau siv cov haujlwm tseem ceeb hauv kev txiav txim siab thiab kev txiav txim siab ua tiav rau cov kauj ruam ua haujlwm rau cov neeg hlau. Ntxiv mus, qhov sib ntxiv ntawm MULTI kev sib ntxiv ntau dua txhim kho qhov tseeb thiab kev txiav txim siab txhawb rau kev sib cav sib ceg rau kev nce qib rau kev nce qib.
Lub cev muaj zog yog ib qho ntawm cov tseem ceeb ntawm HUMHAL Robots, nrog lub peev xwm zoo rau kev siv lub cev muaj zog
Txoj kev loj hlob sai ntawm kev lag luam kev lag luam kev lag luam relies ntawm kev nrhav hauv cov thev naus laus zis sib xyaw thiab cov khoom siv. Hauv Humidoid Robots, Reducer, servo system, thiab maub los yog suav tias yog peb lub Cheebtsam tseem ceeb, ua ke nrog rau ntau tshaj 70% ntawm tag nrho tus nqi. Tsis tas li ntawd, raws li ib tug tseem ceeb tivthaiv, tus nqi ntawm lub cev muaj zog tsis tuaj yeem raug saib dhau. Hauv cov neeg hlau neeg sib tw xws li Optimus zoo, lub cev muaj zog tus nqi nyiaj rau kwv yees li 25% ntawm tag nrho cov nqi sib xyaw.
Xav tias lub tsheb thauj khoom thoob ntiaj teb yuav ncav cuag 5 lab chav nyob hauv lub xyoo tom ntej, tsis muaj kev sib cav sib ceg ntxiv (tsis muaj kev ua lag luam hlau) yuav pom kev ua lag luam loj thaum lub sijhawm no. Raws li ntawm chav tsev nqi, kev ua lag luam nce rau cov neeg ua lag luam muaj sia tuaj yeem ncav cuag cov motenSeless yuav tsum tau tshaj li 78 billion RMB. Ua ke, ob qho no yuav ua qhov chaw ua lag luam loj ntawm 428 billion RMB.
HUALIID ROOTS DRIVER Lub cev hloov pauv lub cev, cov moteless ua cov dej hiav txwv xiav tshiab
Tsis zoo li cov neeg hlau robots siv hauv cov chaw ua haujlwm ua haujlwm, cov neeg hlau neeg sib txawv feem ntau ua haujlwm rau tib neeg lub neej teeb meem. Cov neeg hlau no tsis xav tau tsuas yog kev nkag siab, kev txiav txim siab, thiab tseem yuav tsum tau ua rau sim tib neeg cov qauv los cuam tshuam nrog ib puag ncig thiab cov neeg siv nyob rau hauv ib puag ncig cov kev. Yog li ntawd, cov motors, raws li cov Cheebtsam tseem ceeb ntawm cov leeg ua ke, cuam tshuam rau cov neeg hlau qhov yooj, qhov tseeb, yog qhov ruaj khov.
Ntawm ntau cov kev tsav thev naus laus zis, hluav taws xob lub cev muaj zog tsav cov khoom tseem ceeb tshaj tsav tsheb hydraulic dua hydraulic. Lub cev muaj zog hluav taws xob tsav cov txiaj ntsig los ntawm cov lus tsa suab kev tswj hwm ntawm cov lus tsa suab ntawm cov qauv suab los ntawm kev tswj hwm siab. Nyob rau tib lub sijhawm, tus nqi hluav taws xob lub cev muaj zog tsav tshuab yog qis dua piv rau cov tshuab hydraulic, nrog tsawg dua yuav tsum tau ua. Qhov kev coj ua zoo no ua rau hluav taws xob tsav tsheb ib qho ntawm cov kev xaiv ntawm kev sib cav sib ceg ntawm kev sib ntaus neeg hlau.
Ntawm lawv, cov neeg muaj lub txim txhaum cai, nrog lawv lub cev, ua kom muaj zog, tau ua cov khoom tseem ceeb hauv kev txhim kho neeg hlau kev ua haujlwm.Cov motors muaj lub zog tsis zoo thiab cov lus teb siab dua rau cov neeg hlau me me hauv kev tswj hwm cov kev tswj hwm ntau dua hauv kev tswj hwm ntau yam. Ib qho ntxiv, cov motenors muaj kev noj haus tsawg dua, pab cov neeg hlau kom tau lub neej ntev dua.
01. Cov neeg hlau sib tsoo tau sai sai, cov motors yog cov khoom tseem ceeb
1.1 Cov neeg sib tw ntawm tib neeg sib xyaw ua ke hauv lub neej txhua hnub, qhia txog lub zog thev naus laus zis
Cov neeg ua haujlwm ntawm tib neeg muaj maj mam dhau los ua txoj kev ntseeg tau zoo hauv tib neeg lub neej, muaj peev xwm pab nrog ntau txoj haujlwm nyuaj. Tsis zoo li cov neeg hlau tub rog, uas feem ntau ua haujlwm hauv ib puag ncig tas nrho, cov neeg hlau hanloid robots yog tsim los ua ke rau tib neeg txhua hnub ib puag ncig. Cov neeg hlau no tsis tsuas yog muaj peev xwm tseem ceeb xws li kev nkag siab, kev txiav txim siab, thiab kev coj ua zoo li tab sis kuj lees txais los ntawm tib neeg thiab tsim kom muaj kev paub zoo. Los ntawm kev yoog raws li cov chaw sib txawv, cov neeg hlau sib txawv ua kom muaj peev xwm tshaj tawm cov chaw zoo li hauv cov cheeb tsam, kev pabcuam, thiab kev noj qab haus huv.
Raws li nce cov cuab yeej ntse tshaj plaws Lawv txoj kev loj hlob yuav tsum tau dhau kev thev naus laus zis kev rau txim, suav nrog cov tshuab hluav taws xob, cov cuab yeej siv hluav taws xob, tswj cov tshuab, thiab kev txawj ntse. Nrog tib neeg zoo li cov tsos zoo, Bipedal taug kev lub peev xwm, thiab kev sib koom tes ntawm tib neeg tuaj yeem ua haujlwm ntawm tib neeg los ntawm tib neeg los ntawm cov lus lossis lub ntsej muag. Piv rau cov neeg hlau ib txwm muaj, cov neeg sib tw ntawm kev sib tw ntawm tib neeg kev sib raug zoo hauv tib neeg lub tshuab kev sib raug zoo, ib puag ncig kev yoog, thiab versatility.
1.2 Kev loj hlob ntawm HEADOID RoboT: los ntawm lub tswvyim rau kev lag luam
Lub tswv yim ntawm cov neeg hlau tau muaj nyob rau ib xyoo pua, thiab kev tshawb fawb ntawm kev txhim kho tib neeg los ntawm kev kuaj mob ntev ntawm cov theem ntawm kev lag luam thaum ntxov ntawm kev lag luam. Kev siv ntxov tshaj plaws ntawm Lo lus "neeg hlau" los ntawm Czech tus sau Karel čapec ua si rab (rossum Lub teeb ntau lawm ntawm kev siv tshuab hluav taws xob tau pib thaum xyoo 1960, nrog rau txhais caj npab "Robotic Incompation, uas qhib lub sijhawm ntawm cov lag luam neeg hlau.
Cov kev tshawb fawb thiab kev nthuav dav ntawm Housoid Robots pib hauv Nyij Pooj thiab maj nkag mus rau theem ntawm systematization thiab siab Dynamics:
Thaum Ntxov Tshawb Fawb Theem (ncig ntawm xyoo 1970): Xyoo 1973, WasoT} Lub teb chaws loj hlob rau JOANCE neeg hlau.
Tshuab siv thev naus laus zis (1980s -1990, Honda pib kev tshawb fawb li cas ntawm kev nkag mus rau theem thev naus laus zis.
Dynamic kev ua tau zoo li theem ({2000-2020): Hauv kev sib tw bipamics tso tawm, mus txog qhov kev txav mus los tshiab hauv txaus ntshai ib puag ncig.
Thaum Ntxov Industryization Theem ({2020- Tam sim no tam sim no:: Hauv 2022, Tesla Tshaj Tawm Kev Txawj Ntse Zoo thiab Tsav Drive Technology ntawm Tesla Ai Hnub. Lub 2023 version ntawm Optimus muaj peev xwm ntawm kev faib tawm cov khoom thiab ua kom haum, qhia tias cov neeg hlau uas muaj kev sib tw txav mus rau qhov kev thov siv.
Cov Milestones hauv Keeb Kwm Kev Loj Hlob
| 1920 | Tus sau Czech čapek ua ntej siv lo lus "neeg hlau" hauv nws sci-fi ua si rur, cim pib ntawm cov tswv yim niaj hnub ntawm cov neeg hlau. |
| 1939 | Elektro, shoascased ntawm New York ntiaj teb kev ncaj ncees, ua piv txwv thaum ub Humoid robots nrog lub suab teb thiab muaj peev xwm ua tau zoo. |
| 1941 | Cov Ntawv Qhia Txog Kev Tshawb Fawb Yisac Isaac Asimov qhia txog cov tswvyim ntawm "Robotics," qhia txog theoretical Foundation ntawm kev tshawb fawb Rober. |
| 1942 | Asimov tau npaj peb txoj kev cai ntawm Robotics hauv nws zaj dab neeg luv luv, tso cov hauv av rau kev coj ua neeg hlau. |
| 1951 | Kev txhim kho ntawm kev sib tw caj npab kom pua txoj kev rau cov neeg siv hluav taws xob yav tom ntej. |
| 1954 | American Tus Kws Txom Nyem OUTOL PATORTS Qhov "Unimate" Robotic Arm, cim lub inception ntawm kev muaj kev pab neeg hlau. |
| 1959 | George Devol sib koom tes nrog Joseph Engelberger los tsim kho "kev sib txawv," pib cov ntawv thov ntawm cov neeg hlau hauv cov teb. |
| 1961 | Kev tsis txaus siab tau teeb tsa nyob rau dav dav cov motors cov kab ntau lawm rau vuam thiab tuag casting, signaling kev ua lag luam ntawm cov neeg hlau. |
| 1962 | Thawj cov neeg lag luam muaj kev ua tau zoo hlau tau tsim, nrawm qhov kev loj hlob ntawm kev muaj tshuab automation. |
| 1968 | Shakey, lub ntiaj teb thawj lub koos pij tawj suav nrog lub zeem muag, tau qhia, muaj peev xwm ntawm kev ua lag luam muaj peev xwm thiab kev txiav txim siab. |
| 1969 | Thawj cov neeg hlau biPedal tau nruab nrog cua cushions thiab cov leeg leeg qhib cov lus qhia tshiab hauv Bionic neeg hlau kev tshawb fawb. |
| 1971 | Xib fwb Ichiro Kato tau tsim lub wap -3}, thawj peb-seem bipedal taug kev hlau. |
| 1973 | Thawj tus neeg hlau nrog tag nrho qhov ntev thiab kev ua haujlwm Bionic tau tsim. |
| 1975 | Lub tshuab ua haujlwm (programmable Universal |
| 1988 | Qhov kev pabcuam neeg hlau "pab cuam" tau tso tawm hauv tsev kho mob, paving txoj kev rau kev kho mob Robotics. |
| 1992 | Kev phais mob tsim tau cov "Da Vinci" kev phais neeg hlau, ua kom pom tseeb kev phais mob tsis txaus ntseeg qhov tseeb. |
| 1996 | Hasdas tau tsim P2 neeg hlau (nrog tus kheej ntsuas cov fipedal ua haujlwm) thiab p3 neeg hlau (nrog rau tag nrho cov tsiaj ntawv), tso lub hauv paus rau cov neeg hlau tib neeg roboid. |
| 1999 | Kauslim Kauslim qhia thawj kev lom zem rau neeg hlau "Robobuilder," thaum lub ntiaj teb no tus ntses robotic tau tsim tiav. |
| 2002 | Hasdas tau qhia "Asimo," ib qho kev ntseeg siab rau tib neeg nrog kev txawj ntse sib cuam tshuam. |
| 2005 | Kauslim Kauslim tau tsim tawm dab tsi tau thov kom yog lub ntiaj teb cov neeg ntse tshaj plaws hauv ntiaj teb neeg hlau, txhim kho ib puag ncig kev hloov kho rau cov neeg hlau. |
| 2006 | Microsoft tso tawm cov kev txhim kho teeb tsa lub tshuab hluav taws xob rau cov neeg hlau, ua kom yooj yim rau kev txhim kho ntawm cov software loj. |
| 2014 | Softbank unveiled "kua txob," muaj peev xwm lees paub kev xav thiab cuam tshuam nrog cov neeg siv. |
| 2016 | Boston Dynamics xa tawm "Atlas," ib tug neeg hlau neeg hlau muaj peev xwm ua yeeb yam nyuaj ua haujlwm xws li khiav thiab dhia. |
| 2017 | Toyota qhia txog T-HR3 neeg hlau, ua kom cov chaw taws teeb tswj thiab cov lus teb. |
| 2020 | Agility Robotics Unveiled Lub Bipedal Robot "cov lej," luv nqi ntawm $ 250, {}}, rau logistics thiab xa cov ntawv thov. |
| 2021 | Ntawm Ai hnub, Tesla tshaj tawm nws Humanoid Robot txoj haujlwm "Optimus," tsom rau automate kev ua haujlwm yav tom ntej. |
| 2022 | Xiaomi qhia nws thawj cov neeg hlau tag nrho nrog Bionic cov haujlwm, thaum nce qib hauv Ai qauv txhim kho cov neeg muaj peev xwm sib cuam tshuam. |
| 2023 | Cov neeg hlau muaj nce zuj zus nyob rau ntau haiv neeg, suav nrog kev tsim kho ntse, tsis muaj kev xaiv tsis tau, thiab tshuaj hauv tsev, thiab cov qauv kev ua haujlwm. |
| 2024 | Txoj kev ua lag luam thoob ntiaj teb txuas ntxiv mus nthuav dav, tsav tsheb hauv kev lag luam xws li kev kho mob, kev ua liaj ua teb, thiab kev nyab xeeb. |
1.3 sib sib zog nqus ntawm humoid robots thiab lub cev muaj zog thev naus laus zis
Nrig txuas ntxiv kev hloov pauv ntawm Humidoid Robots yog inseparable los ntawm kev txhawb nqa ntawm lub cev muaj zog thev naus laus zis. Raws li cov tseem ceeb ntawm cov neeg hlau sib koom ua ke tsav, cov motors tsis yog tsuas yog txiav txim siab cov neeg hlau cov lus tau ua tau zoo tab sis kuj cuam tshuam rau nws cov khoom siv thiab tsis siv tau. Nrog lawv cov kev ntsuas siab, kev siv hluav taws xob qis, thiab kev ntseeg tau, lub cev muaj zog siv zog siv hluav taws xob ntau tshaj plaws rau HUMIDOID Robots. Meanwhile, cov neeg muaj lub cev tsis sib haum, nrog kev ua kom zoo nkauj, muaj kev ua haujlwm siab, yog muab kev txhim kho kev loj hlob ntawm kev loj hlob ntawm Humanoid Robots.
Nyob rau hauv lub neej yav tom ntej, nrog txuas ntxiv txuas ntxiv hauv thev naus laus zis, kev siv dav dav hauv ntau lub neej, txhaj rau kev loj hlob hauv ntiaj teb thiab kev sib raug zoo. Qhov no ua rau lub lag luam kev ua lag luam, tshwj xeeb yog kev ua lag luam muaj peev xwm ua lag luam, qhov tshiab thiab muaj txiaj ntsig zoo heev.
1.4 Neeg Hlau Cov Qauv: Kev tsom xam ntawm cov khoom tseem ceeb
Tus qauv tseem ceeb ntawm Humidoid robots tuaj yeem faib ua peb qho keebkwm tseem ceeb: Actuaters, thiab cov contrors. Cov khoom siv loj xws li cov motors loj, txo qis, thiab sensors txiav txim siab rau cov neeg hlau kev ua yeeb yam. Hauv qab no yog cov ncauj lus kom ntxaws ntawm cov khoom sib xyaw no:
1.4.1 lub cev muaj zog
Lub cev muaj zog yog qhov tseem ceeb ntawm kev siv neeg hlau kev tua, suav nrog servo motors, stepper motors, boriles motors, thiab spherical motors, thiab spherical motors, thiab spherical motors, thiab spherical motors, thiab spherical motors, ntawm lwm tus. Ntawm lawv, lub cev muaj zog yog suav tias yog qhov zoo tshaj plaws rau tib neeg neeg hlau pob qij txha sib koom ua ke nrog qis nrawm, siab rau lawv lub peev xwm los muab cov zog siab ntawm nruab nrab thiab qis nrawm. Txawm li cas los xij, lawv cov kev tshawb fawb thiab kev tsim txom ntau dua yog qhov tseem ceeb, kom ua raws li cov neeg lim dej thev naus laus zis.
1.4.2 Reducer
Harmonic reducers are widely recognized for their compact structure, high transmission ratio, and superior precision, making them a common choice for robot joint components. Txawm li cas los xij, lawv cov kav dej ruaj khov thiab lub neej tseem muaj chaw rau kev txhim kho.
1.4.3 sensor
Sensors ua lub luag haujlwm tseem ceeb hauv cov neeg hlau, tshwj xeeb tshaj yog cov sense sensors, uas yog qhov tseem ceeb ntawm kev tsim qauv. Cov sensors, ua ke nrog cov motors thiab redcers thiab reducers, ua cov sib koom ua ke thiab muab cov lus tsa suab ncaj ncees thiab yuam kev.
1.4.4 sauv lim ceg tawv
Cov ceg tawv sab saud feem ntau siv pob ntsia hlau tsim, uas hloov cov reciprocating suab ntawm cov lus tsa suab ntawm cov ntsia hlau. Piv rau siv lossis saw hlau drives, pob screws muaj tsawg dua los txhuam, kev ua haujlwm qis dua thiab cov nqi txij nkawm, thiab siab dua.
1.4.5 qis ceg tawv tsav txoj kev
Lub Ntiaj Teb Cov Menyuam Yias Ntaus Nrig, paub txog kev cuam tshuam sab nraud thiab lub neej tseem ceeb, tau dhau los ua kev xaiv qis qis, tshwj xeeb yog tsim nyog rau kev tuav txoj kev xav tau.
1.4.6 sib koom tes
Tes pob qij txha sib koom ua ke siv cov motorsy. Cov motors no muaj cov qauv yooj yim, lub teeb yuag, thiab yog cov khoom siv tsav zoo tagnrho rau cov ntiv tes txav, ua kom tswj tau finer.
In addition, the bearing choices for linear and rotary joints include angular contact bearings, crossed roller bearings, and deep groove ball bearings. Cov khoom sib xyaw ua ke no ua kom cov neeg hlau lub teeb, meej heev, thiab kev ntseeg tau.
1.5 Lub Cev Muaj Zog Tsav thiab Neeg Hlau Txawj Ntse
Cov zoo tshaj plaws ntawm lub cev muaj zog tsav
Piv rau cov tsav tsheb hydraulic, lub cev muaj zog ua kom pom kev zoo tshaj plaws hauv kev tswj hwm. Piv txwv li, Tesla tus neeg hlau neeg feem ntau tau txais kev pab lub cev muaj zog, nrog nws cov lus ntuas kev ntse tswj hwm deb tshaj li qub. Cov qauv siv no tsis yog tsuas yog tso cai rau cov lus tsa suab ntawm kev coj ua kom meej meej tab sis kuj ua rau cov nqi tsawg, ua rau nws haum rau cov ntawv thov loj.
Kev xav tau kev ua tau zoo rau Servo Motors
Raws li cov tub ntxhais ntawm cov neeg hlau actuatorators, servo motors yuav tsum ua kom tau raws li cov kev ua tau zoo hauv qab no:
- Kev qhia meej: servo motors yuav tsum pib thiab nres sai kom hloov kho kom haum rau cov chaw muaj txiaj ntsig zoo.
- High pib torque-rau-inertia piv: servo motors yuav tsum muab cov laj thawj pib thaum tswj hwm qis dua kev sib hloov inertia.
- Cov yam ntxwv kev tswj hwm tsis tu ncua thiab linear qhov ceev yuav tau kho kom haum tsis tu ncua nrog kev hloov pauv ntawm lub teeb liab tswj kom ntseeg tau tias ua tiav.
- Kev Tsim Kho Kev Tsim Tshuaj: Servo Motors yuav tsum yog qhov me me thiab lub teeb yuag kom haum rau hauv cov neeg hlau cov txheej txheem sib txuas.
- Durability thiab Tshaj Lij Tshaj Tawm Muaj Peev Xwm: Servo Motors yuav tsum tiv thaiv tau mus rau tom qab thiab nrawm / decelteration ua haujlwm, thiab ua rau muaj ntau zaug tus ntsuas ntsuas rau luv luv.
Cov yam ntxwv rau servo no ua rau lub founderics nyob hauv lub tshav pob, tso lub hauv paus rau kev txawj ntse ntau dua thiab ruaj khov hauv cov neeg hlau.
Taw qhia rau cov yam ntxwv ntawm kev tsav tsheb nrog cov khoom sib txawv
| Ntaus | Lub hauv paus rau phau ntawv | Nta | Qhov Zoo | Tsis zoo |
| Khoom Siv Hluav Taws Xob | Cov Hluav Taws Xob Hluav Taws Xob suav nrog DC (kho tam sim no) servos, ac (stepper motors, thiab lwm yam uas lawv yog feem ntau siv cov Actuatators feem ntau yog siv. Ntxiv rau qhov xav tau kev ua haujlwm du, servos feem ntau yuav tsum muaj kev ua tau zoo sib xws, haum rau kev siv nquag siv, thiab lwm yam. | Siv tau cov khoom lag luam kev lag luam, cov kev taw qhia ntawm lub zog sib kis yog qhov qub, nrog DC cov sib txawv: xyuam xim rau kev siv voltage thiab lub hwj chim. | Easy to operate: easy programming: can achieve positioning servo control: fast response, easy to connect with computers (CPU): small size, large power, no pollution. | Instantaneous lub zog hluav taws xob yog loj: ntau dhau qhov sib txawv: ib zaug dab tsi, tuaj yeem ua rau muaj kev kub hnyiab: loj heev cuam tshuam los ntawm cov suab nrov sab nraud. |
| Pneumatic Hom | Pneumatic actuatators, sib nrug los ntawm kev siv huab cua compressed raws li kev ua haujlwm nruab nrab, tsis txawv ntawm cov neeg ua haujlwm hydraulic. Kev tsav tsheb pneumatic tuaj yeem muab kev tsav dav hlau loj, mob stroke, thiab nrawm nrawm, nws tsis tuaj yeem siv rau cov cua, nws tsis tuaj yeem siv rau cov cua, yuav tsum tau siv nyob rau hauv cov cua, nws yuav tsum tau siv qhov kev ua kom siab. | Roj siab los siab 5 ~ 7xmpa; yuav tsum muaj cov ua haujlwm txawj ntse. | Hom pa nkev, tus nqi tsawg: Tsis muaj tus pas dej tsis muaj pa, tsis muaj kab mob ib puag ncig: cov lus teb ceev, kev ua haujlwm yooj yim. | Lub zog me me, loj loj, nyuaj rau cov miniaturize; Cov lus tsa suab tsis ruaj khov, nyuaj rau kev hloov pauv mus deb; nrov; nyuaj rau servo. |
| Hydraulic Hom Hom | Cov kev ua haujlwm rau cov neeg ua kom zoo nkauj hydraulic feem ntau suav nrog ua cov thooj voos kheej kheej, cov thooj voos kheej kheej, thiab lwm yam, ntawm uas cov thooj voos kheej kheej, thiab lwm yam yog feem ntau. Raws li tib cov zis hluav taws xob, cov khoom siv hydraulic muaj cov yam ntxwv ntawm lub teeb yuag thiab qhov hloov tau zoo. | Ua kua siab los siab 20 ~ 80xmpa; yuav tsum muaj cov ua haujlwm txawj ntse. | Cov zis loj heev, nrawm nrawm, du suab, tuaj yeem ua tiav txoj haujlwm servo tswj; Yooj yim mus txuas nrog khoos phis tawj (CPU). | Cov khoom siv yog qhov nyuaj rau cov me me; Cov kua dej hauv siab thiab cov roj kom siab kom nruj; nquag to to feakage, ua rau ib puag ncig pa paug. |
Mus nyeem ntxiv: Lub plawv ntawm cov neeg hlau - lub txiav txim siab ntawm lub cev muaj zog hauv qhov ntsuas - Tshooj 2
