That is to say, when designing and manufacturing robots, users can directly connect and drive the robot arm without using complicated mechanical joints and power integration, thus eliminating the need to design, install, integrate and integrate a large number of scattered components. A series of complicated steps and processes such as testing, in particular, eliminate the need to spend a lot of man-hours for the use of frameless torque motors.
In terms of power configuration, since the motor driver is integrated inside each joint module, 48V DC power supply and CANopen control bus are used. Therefore, if the RGM joint module is used, it is no longer necessary to equip each joint axis of the robot with a separate servo drive. Only need to use the robot motion controller integrated with CANopen bus. This will save a lot of installation space for the electrical cabinet and make the equipment system more compact.
Look at the electrical connection, because the power and communication ports of multiple joint modules can be serially connected according to the chain topology. In addition, the RGM uses a hollow shaft frameless motor and a harmonic reducer, thus integrating the RGM joint. The robot arm of the module can be directly connected in series to the inside of the cavity of the robot arm, instead of hanging side by side on the surface of the arm like a conventional robot. This not only makes the appearance of the robot very simple, but more importantly, because there is no torsion bending of multiple parallel cables at the joint, which reduces the moving load of the robot during operation. At the same time, the smaller number of cables will also reduce the weight of the robot arm, which will help improve the efficiency of the robot.
The RGM uses 19-bit Biss feedback to achieve a repeatability of 0.001°. At the same time, the RGM has an encoder at the input end and the output end respectively. By comparing the position and speed feedback of the two encoders and referring to the output of the drive current and the motor torque, it can be judged that the joint of the module is subjected to external force. Size, feedback of this series of data information to the controller, it is convenient to achieve safe control of the robot without additional auxiliary sensors.
In this way, by integrating multiple discrete arm joint components in one integrated module, the RGM is actually a one-stop solution for robot joints. This integrated modular joint component will likely completely change the manufacturing process of industrial robots, because the integrated joint module of RGM will greatly simplify the power integration of robot joints compared to traditional robot manufacturing methods. And reduce the development and application threshold of industrial robots, allowing robot manufacturers to focus more on the development of their robot application scenarios, rather than entangled in complex power mechanical components.
