Robot Joint Module: It is a key component of the robot, equivalent to the joints of the human body. Its main function is to connect the various limbs of the robot (such as the various connecting rods of the robot arm) and realize relative motion. It can accurately control the movement of the robot in all directions, including rotation, flexion and extension, so that the robot can complete complex tasks such as grasping, handling, and assembly.
Working principle of Robot Joint Module
Motion control principle: When the robot control system issues a motion command (such as requiring the robot arm joint to rotate a certain angle or reach a certain speed), the controller of the joint module first parses the command. Then, according to the preset kinematic and dynamic models, the control parameters required by the motor (such as speed, torque, etc.) are calculated. Then, the controller sends a control signal to the motor driver to drive the motor to operate according to the calculated parameters. After the output of the motor is decelerated and torqued by the reducer, it drives the joint to rotate or other forms of movement. During the movement, the encoder continuously measures the actual position and speed of the joint and sends feedback information to the controller. According to the difference between the feedback information and the instruction requirements, the controller continuously adjusts the control signal of the motor to achieve precise motion control.
Force/torque control principle: When the joint module is equipped with a force sensor or torque sensor, the sensor will measure the external force or torque output of the joint in real time when the robot contacts or interacts with the external environment. These sensor signals are sent to the controller, which adjusts the output of the motor based on the force/torque feedback information and the preset control strategy (such as the compliance control strategy) so that the robot can respond appropriately according to the size and direction of the external force. For example, when the robot encounters resistance during an assembly task, the controller can automatically reduce the speed or torque of the motor based on the feedback from the force sensor to avoid damage to the assembly parts.
Yiyou Robotics Technology Co., Ltd.
Introduction: One of the leading companies in the domestic joint industry, it has been focusing on the research and development of integrated joint modules since its establishment in 2018. Its core team has more than 20 years of experience in robot research and development.
Product features: The PHT series of humanoid robot joints released in 2024, including four models: PHT14, PHT17, PHT20, and PHT25, are extremely thin, lightweight, leading, stable and strong. Compared with the old version, the weight is increased by 30%, the thickness is increased by 20%, and the peak torque and output speed are also advantageous. It adopts full hardware FOC technology,
EtherCat/CanOpen and dual absolute encoders, which are more durable, vibration-resistant and impact-resistant.
Application areas: Products cover humanoid machines The whole body joints that can be used by human upper limbs, waist and lower limbs involve multiple fields such as industrial control, bionic robots, human-machine collaborative robotic arms, sports rehabilitation medical equipment, etc.
Zhitong Technology
Introduction: The first domestic company to achieve mass production of "quasi-hyperbolic transmission joint modules".
Product features: Its quasi-hyperbolic transmission joint modules have undergone major innovations and improvements on the basis of traditional RV and harmonic reducers. Compared with RV reducers, it has lower costs and has obvious advantages in stiffness and running stability compared to harmonic reducers. The hollow design provides a larger hollow aperture, which has significant advantages in application scenarios that require high flexibility such as welding, grinding, and handling.
Application areas: Robot application areas such as welding and grinding.
Green Harmonic
Introduction: Domestic Harmonic As a leading reducer enterprise, it has jointly developed new products with Yiyou Robotics Technology Co., Ltd., a manufacturer of special joints for humanoid robots, to ensure the stability and flexibility of joint modules.
Lens Technology
Introduction: It ranks first in the revenue of listed companies of joint robots in the second quarter of 2024, with a total operating income of 13.368 billion yuan, and has strong market performance and technical strength in the field of robots.
Double Ring Transmission
Introduction: The total operating income in the second quarter of 2024 was 2.248 billion yuan, an increase of 18.64% year-on-year, and has certain advantages in the manufacturing of transmission components of robot joint modules.
Shandui Co., Ltd.
Introduction: The total operating income in the second quarter of 2024 was 3.439 billion yuan. As a well-known machinery manufacturing company, it has a strong market performance and technical strength in the field of robot joints. Modules and other related fields have certain technical accumulation and market share.
Soft Control Shares
Introduction: The total operating income in the second quarter of 2024 was 1.761 billion yuan. It has certain technical strength in robot-related control systems, software, etc., and provides support for the control and intelligent development of robot joint modules.
Asia Pacific Shares
Introduction: The total operating income in the second quarter of 2024 was 983 million yuan. It has a deep technical and market foundation in the field of automotive parts manufacturing, and its related technologies and experience also extend to robot joint modules and other fields.
Guomao Shares
Introduction: The total operating income in the second quarter of 2024 was 683 million yuan. It is a well-known manufacturer of transmission equipment such as reducers. Its reducer products are widely used in robot joint modules and other fields.
Hangzhou RoboCT Technology Development Co., Ltd.: provides Mecanum wheels, AGVs, and other products and solutions.
RoboCT, a technology-driven enterprise, takes technology innovation as the core driving force and is committed to exoskeleton robot technology, robot core components, and intelligent control technology. We, currently focus on the field of rehabilitation and elderly care, through the combination of human-computer interaction technology, artificial intelligence technology, data analysis, and cloud computing, providing intelligent products and solutions for medical and healthcare institutions and individual users.
Services and products of RoboCT cover core components and industrial applications, rehabilitation medical care, consumer healthcare, and innovative intelligent applications. RoboCT owns more than 300 independent intellectual property rights and over 30 awards at home and abroad. RoboCT motorized mecanum wheel, mecanum mobile robot, precision motion control, and robot core components serves over 30 countries worldwide.
