1, ultra-small, powerful servo drive A drive is physically small enough to fit directly on the robot joint, ensuring that the robot is compact and compact. The servo drive is directly mounted on the robot joint, and the driver can be placed close enough to the encoder feedback to save the cable, reduce the interference effect, obtain relatively low EMI and RFI indicators, and greatly improve the system stability. Another feature that makes the drive easier to integrate into the joint is the inherent robustness of the drive, which can withstand the extremely high mechanical acceleration and deceleration in the joint. 2, double closed loop control algorithm The double closed loop control algorithm can improve the performance of the servo motor to an optimal state. Each axis in the system uses a double closed loop control algorithm to improve the positioning accuracy of the end position of the rear end of the reducer. The incremental encoder and Hall element are placed in front of the gearbox as speed loop feedback, and a 19-bit high resolution absolute encoder is used as load end position feedback. 3. Motion redundancy Kinematic redundancy is useful for manipulating several robots in a particular space because motion interference is easy to handle. Six degrees of freedom are the minimum number of degrees of freedom to complete spatial positioning, and more than six axes of robots, collectively referred to as redundant degrees of freedom robots. Compared to the traditional 6-joint robot, the 7-joint robot can extend the arm to a specific original with multiple angles. Redundant degrees of freedom robots have more advantages in obstacle avoidance, overcoming singularities, flexibility and fault tolerance, so industrial robots with redundant degrees of freedom will have more use in complex work environments. 4, torque sensor In a human-machine collaborative environment, these robots are arranged to perform high-speed, high-precision tasks. Using cameras, force sensors, and other sensing components, the robot can sense the presence of people and act accordingly to avoid harm to people. In some cases, the torque sensor is placed behind the motor gearbox to directly detect any rapid increase in external torque; at other times, the robot needs to output a certain amount of torque to lift the load and move the load from one position to another. . When the robot recognizes an abnormal torque increase value during the movement, such as a collision, it will automatically stop. 5, safety sensor In order for industrial robots to collaborate with people, first find a way to ensure the safety of workers. These sensors come in a variety of forms, from camera to laser, for one purpose, to tell the situation around the robot. The simplest example is the laser safety sensor on the elevator door. When the laser detects an obstacle, the door immediately stops closing and retracts to avoid a collision. This is almost the case with most safety sensors in the robotics industry. 6, part detection sensor In the part picking application, (assuming there is no vision system), you can't know if the robot gripper grabbed the part correctly. The part inspection application gives you feedback on the position of the gripper. For example, if the gripper misses a part, the system detects the error and repeats the operation once to ensure that the part is properly captured. 1200 puffs disposable vape pen are so convenient, portable, and small volume, you just need to take them 1200 puff disposable vape,1200 puffs vape kit,disposable vape 1200 puffs,1200 puffs vape stick,1200 puffs vape pen Ningbo Autrends International Trade Co.,Ltd. , https://www.mosvapor.com
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To have the above four characteristics, a cooperative robot must have the ability to sense, control, and limit torque. By perceiving externally small torque changes and reacting to avoid collisions, the collaborative process is easier and safer.