{"id":5113,"date":"2023-05-23T15:46:26","date_gmt":"2023-05-23T08:46:26","guid":{"rendered":"https:\/\/robot3t.com\/?post_type=product&p=5113"},"modified":"2026-10-15T08:34:50","modified_gmt":"2026-10-15T01:34:50","slug":"vj-collaborative-robot-joint","status":"publish","type":"product","link":"https:\/\/robot3t.com\/en\/products\/vj-collaborative-robot-joint\/","title":{"rendered":"VJ-04: Extra Large Collaborative Robot Joint"},"content":{"rendered":"
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\u0110\u1ebfn 475 Nm<\/strong>M\u00f4-men \u0111\u1ec9nh<\/span><\/div>\n
\u00b10.0025\u00b0<\/strong>\u0110\u1ed9 l\u1eb7p l\u1ea1i<\/span><\/div>\n
3,3 kg<\/strong>Kh\u1ed1i l\u01b0\u1ee3ng<\/span><\/div>\n
EtherCAT<\/strong>\/ CANopen<\/span><\/div>\n<\/div>\n

VJ-04 l\u00e0 kh\u1edbp m\u1ea1nh nh\u1ea5t trong d\u00f2ng VJ: m\u1ed9t c\u01a1 c\u1ea5u ch\u1ea5p h\u00e0nh ho\u00e0n ch\u1ec9nh, l\u1eafp l\u00e0 ch\u1ea1y, t\u00edch h\u1ee3p \u0111\u1ed9ng c\u01a1 servo 750 W, h\u1ed9p s\u1ed1 harmonic, driver, encoder tuy\u1ec7t \u0111\u1ed1i 20 bit v\u00e0 phanh trong v\u1ecf nh\u1ecf g\u1ecdn \u0111\u01b0\u1eddng k\u00ednh 110 mm. C\u00f3 s\u1eb5n EtherCAT ho\u1eb7c CANopen, b\u1ea1n c\u00f3 th\u1ec3 n\u1ed1i nhi\u1ec1u kh\u1edbp \u0111\u1ec3 l\u00e0m c\u00e1nh tay c\u1ed9ng t\u00e1c, tr\u1ee5c c\u1ed5 tay hay c\u01a1 c\u1ea5u robot ri\u00eang m\u00e0 kh\u00f4ng ph\u1ea3i t\u1ef1 thi\u1ebft k\u1ebf \u0111\u1ed9ng c\u01a1, h\u1ed9p s\u1ed1 v\u00e0 driver. Kh\u1edbp VJ ch\u00ednh l\u00e0 module Robot3T d\u00f9ng tr\u00ean c\u00e1c c\u00e1nh tay VietCobot, \u0111\u01b0\u1ee3c thi\u1ebft k\u1ebf v\u00e0 s\u1ea3n xu\u1ea5t t\u1ea1i Vi\u1ec7t Nam.<\/p>\n\n\t\tNh\u1eadn b\u00e1o gi\u00e1<\/span>\n\t<\/a>\n \n\t\tG\u1ecdi +84 974 908 615<\/span>\n\t<\/a>\n\n

\u1ee8ng d\u1ee5ng ti\u00eau bi\u1ec3u<\/h3>\n
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  • C\u00e1nh tay robot c\u1ed9ng t\u00e1c:<\/strong> tr\u1ee5c \u0111\u1ebf v\u00e0 vai c\u1ee7a cobot t\u1ea3i l\u1edbn.<\/li>\n
  • Robot v\u00e0 m\u00e1y OEM theo y\u00eau c\u1ea7u:<\/strong> SCARA, c\u1ed5 tay gantry, \u0111\u1ea7u c\u00f4ng t\u00e1c xoay.<\/li>\n
  • Tr\u1ee5c xoay, b\u00e0n \u0111\u1ecbnh v\u1ecb:<\/strong> b\u00e0n chia \u0111\u1ed9 nh\u1ecf g\u1ecdn, gimbal camera v\u00e0 c\u1ea3m bi\u1ebfn.<\/li>\n
  • Robot di \u0111\u1ed9ng, robot d\u1ecbch v\u1ee5:<\/strong> tay m\u00e1y tr\u00ean AMR, \u0111\u1ea7u xoay pan-tilt.<\/li>\n
  • Nghi\u00ean c\u1ee9u, \u0111\u00e0o t\u1ea1o:<\/strong> t\u1ef1 l\u1eafp robot nhi\u1ec1u tr\u1ee5c t\u1eeb module ti\u00eau chu\u1ea9n.<\/li>\n<\/ul>\n

    V\u00ec sao ch\u1ecdn VJ-04<\/h3>\n
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    • Kh\u1edbp t\u00edch h\u1ee3p tr\u1ecdn b\u1ed9<\/strong> \u2013 \u0111\u1ed9ng c\u01a1, h\u1ed9p s\u1ed1 harmonic, driver, encoder v\u00e0 phanh trong m\u1ed9t v\u1ecf; ch\u1ec9 c\u1ea7n c\u1ea5p ngu\u1ed3n v\u00e0 n\u1ed1i bus.<\/li>\n
    • Ch\u00ednh x\u00e1c<\/strong> \u2013 encoder tuy\u1ec7t \u0111\u1ed1i 20 bit, \u0111\u1ed9 l\u1eb7p l\u1ea1i \u00b10.0025\u00b0.<\/li>\n
    • An to\u00e0n khi l\u00e0m vi\u1ec7c c\u00f9ng ng\u01b0\u1eddi<\/strong> \u2013 ph\u00e1t hi\u1ec7n va ch\u1ea1m, b\u1ea3o v\u1ec7 l\u1ed7i v\u00e0 t\u1ef1 ch\u1ea9n \u0111o\u00e1n h\u01b0 h\u1ecfng kh\u1edbp.<\/li>\n
    • D\u1ec5 t\u00edch h\u1ee3p<\/strong> \u2013 EtherCAT (100 Mbps) ho\u1eb7c CANopen, ch\u1ebf \u0111\u1ed9 m\u00f4-men\/t\u1ed1c \u0111\u1ed9\/v\u1ecb tr\u00ed, l\u1ed7 r\u1ed7ng \u0111i d\u00e2y.<\/li>\n
    • D\u1ec5 m\u1edf r\u1ed9ng<\/strong> \u2013 c\u00f9ng giao di\u1ec7n t\u1eeb VJ-01 (100 W) \u0111\u1ebfn VJ-04 (750 W), m\u1ed9t thi\u1ebft k\u1ebf d\u00f9ng cho m\u1ecdi tr\u1ee5c c\u1ee7a c\u00e1nh tay.<\/li>\n<\/ul>\n

      Th\u00f4ng s\u1ed1 k\u1ef9 thu\u1eadt<\/h3>\n
      \n\n\n\n\n\n\n\n\n\n\n
      Model<\/td>\nVJ-04<\/td>\n<\/tr>\n
      T\u1ec9 s\u1ed1 h\u1ed9p s\u1ed1 harmonic<\/td>\n50 \/ 80 \/ 100 \/ 120<\/td>\n<\/tr>\n
      T\u1ed1c \u0111\u1ed9 \u0111\u1ea7u ra t\u1ed1i \u0111a<\/td>\n60 \/ 37,5 \/ 30 \/ 25 v\u00f2ng\/ph\u00fat<\/td>\n<\/tr>\n
      M\u00f4-men \u0111\u1ecbnh m\u1ee9c<\/td>\n70,4 \/ 112,6 \/ 140,8 \/ 169 Nm<\/td>\n<\/tr>\n
      M\u00f4-men \u0111\u1ec9nh<\/td>\n198 \/ 316,8 \/ 396 \/ 475,2 Nm<\/td>\n<\/tr>\n
      C\u00f4ng su\u1ea5t \u0111\u1ed9ng c\u01a1<\/td>\n750 W<\/td>\n<\/tr>\n
      \u0110i\u1ec7n \u00e1p<\/td>\n48 V DC (\u00b110%)<\/td>\n<\/tr>\n
      D\u00f2ng \u0111\u1ecbnh m\u1ee9c \/ \u0111\u1ec9nh<\/td>\n17 A \/ 48 A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n\n\n\n\n\n\n\n
      Encoder<\/td>\nTuy\u1ec7t \u0111\u1ed1i 20 bit<\/td>\n<\/tr>\n
      \u0110\u1ed9 l\u1eb7p l\u1ea1i<\/td>\n\u00b10.0025\u00b0<\/td>\n<\/tr>\n
      Truy\u1ec1n th\u00f4ng<\/td>\nEtherCAT \/ CANopen<\/td>\n<\/tr>\n
      K\u00edch th\u01b0\u1edbc (\u0110K \u00d7 d\u00e0i)<\/td>\n110 \u00d7 128 mm<\/td>\n<\/tr>\n
      L\u1ed7 xuy\u00ean t\u00e2m<\/td>\n\u00d816 mm<\/td>\n<\/tr>\n
      Kh\u1ed1i l\u01b0\u1ee3ng<\/td>\n3,3 kg<\/td>\n<\/tr>\n
      Phanh<\/td>\nPhanh ma s\u00e1t gi\u1ea3m ch\u1ea5n<\/td>\n<\/tr>\n
      C\u1ea5p b\u1ea3o v\u1ec7<\/td>\nIP54<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      T\u1ed1c \u0111\u1ed9 v\u00e0 m\u00f4-men ghi theo th\u1ee9 t\u1ef1 t\u1ec9 s\u1ed1 50 \/ 80 \/ 100 \/ 120.<\/p>\n

      T\u00ednh n\u0103ng \u0111i\u1ec1u khi\u1ec3n t\u00edch h\u1ee3p<\/h3>\n
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      • \u0110i\u1ec1u khi\u1ec3n \u0111\u1ecbnh h\u01b0\u1edbng t\u1eeb tr\u01b0\u1eddng (FOC) 3 pha<\/li>\n
      • Encoder tuy\u1ec7t \u0111\u1ed1i 20 bit t\u1ea1i \u0111\u1ed9ng c\u01a1<\/li>\n
      • L\u1ea5y m\u1eabu d\u00f2ng \u0111i\u1ec7n \u0111\u1ed9 ph\u00e2n gi\u1ea3i cao<\/li>\n
      • Thu\u1eadt to\u00e1n suy gi\u1ea3m t\u1eeb th\u00f4ng (t\u0103ng t\u1ed1c \u0111\u1ed9)<\/li>\n
      • \u0110i\u1ec1u khi\u1ec3n b\u00f9 tr\u01b0\u1edbc (feed-forward)<\/li>\n
      • SVPWM d\u1ea1ng c\u0103n gi\u1eefa, t\u1ea7n s\u1ed1 PWM \u0111i\u1ec1u ch\u1ec9nh \u0111\u01b0\u1ee3c<\/li>\n
      • Ch\u1ebf \u0111\u1ed9 \u0111i\u1ec1u khi\u1ec3n m\u00f4-men, t\u1ed1c \u0111\u1ed9, v\u1ecb tr\u00ed<\/li>\n
      • H\u00e3m b\u1eb1ng ng\u1eafn m\u1ea1ch pha \u0111\u1ed9ng c\u01a1<\/li>\n
      • Tinh ch\u1ec9nh PID theo th\u1eddi gian th\u1ef1c<\/li>\n
      • B\u1ea3o v\u1ec7: qu\u00e1 d\u00f2ng, qu\u00e1 \u00e1p, qu\u00e1 nhi\u1ec7t, l\u1ed7i ph\u1ea3n h\u1ed3i t\u1ed1c \u0111\u1ed9<\/li>\n
      • EtherCAT slave t\u1ed1c \u0111\u1ed9 cao (100 Mbps song c\u00f4ng)<\/li>\n
      • L\u1ec7nh debug qua c\u1ed5ng UART<\/li>\n
      • Ph\u00e1t hi\u1ec7n va ch\u1ea1m t\u1ea1i kh\u1edbp<\/li>\n
      • T\u1ef1 ch\u1ea9n \u0111o\u00e1n h\u01b0 h\u1ecfng kh\u1edbp<\/li>\n<\/ul>\n

        So s\u00e1nh d\u00f2ng VJ<\/h3>\n
        \n\n\n\n\n\n\n\n\n\n\n\n
        Model<\/th>\nVJ-01<\/th>\nVJ-02<\/th>\nVJ-03<\/th>\nVJ-04<\/th>\n<\/tr>\n<\/thead>\n
        C\u00f4ng su\u1ea5t \u0111\u1ed9ng c\u01a1<\/td>\n100 W<\/td>\n200 W<\/td>\n400 W<\/td>\n750 W<\/td>\n<\/tr>\n
        T\u1ec9 s\u1ed1 truy\u1ec1n<\/td>\n50 \/ 80 \/ 100<\/td>\n50 \/ 80 \/ 100<\/td>\n50 \/ 80 \/ 100<\/td>\n50 \/ 80 \/ 100 \/ 120<\/td>\n<\/tr>\n
        M\u00f4-men \u0111\u1ecbnh m\u1ee9c (Nm)<\/td>\n22,8 \u2013 45,6<\/td>\n37,6 \u2013 90,24<\/td>\n58 \u2013 116<\/td>\n70,4 \u2013 169<\/td>\n<\/tr>\n
        M\u00f4-men \u0111\u1ec9nh (Nm)<\/td>\n65,2 \u2013 130,4<\/td>\n107,2 \u2013 257,3<\/td>\n164 \u2013 328<\/td>\n198 \u2013 475,2<\/td>\n<\/tr>\n
        D\u00f2ng \u0111\u1ecbnh m\u1ee9c \/ \u0111\u1ec9nh (A)<\/td>\n3,5 \/ 15<\/td>\n6,5 \/ 19<\/td>\n10,5 \/ 29<\/td>\n17 \/ 48<\/td>\n<\/tr>\n
        \u0110K \u00d7 d\u00e0i \u00d7 l\u1ed7 (mm)<\/td>\n75 \u00d7 101 \u00d7 10<\/td>\n95 \u00d7 106 \u00d7 12<\/td>\n105 \u00d7 108 \u00d7 14<\/td>\n110 \u00d7 128 \u00d7 16<\/td>\n<\/tr>\n
        Kh\u1ed1i l\u01b0\u1ee3ng<\/td>\n1,0 kg<\/td>\n1,4 kg<\/td>\n2,5 kg<\/td>\n3,3 kg<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

        T\u1ea5t c\u1ea3 model: 48 V DC, encoder tuy\u1ec7t \u0111\u1ed1i 20 bit, \u0111\u1ed9 l\u1eb7p l\u1ea1i \u00b10.0025\u00b0, EtherCAT \/ CANopen, phanh ma s\u00e1t gi\u1ea3m ch\u1ea5n, IP54.<\/p>\n

        Video th\u1ef1c t\u1ebf<\/h3>\n
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