2. Unpacking, Handling, Installation and Commissioning Instructions

2.1. Unpacking Inspection

The humanoid robotic arm ART7-R7 has four configurations: Configuration 1 is a single arm, Configuration 2 is a single arm + controller, Configuration 3 is dual arms, and Configuration 4 is dual arms + controller + splitter. As shown in Figures 2-1, 2-2, 2-3, and 2-4. Upon delivery, please verify the contents against the packing list.

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Figure 2-1 Configuration 1 Single-arm

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Figure 2-2 Configuration 2 Single-arm and controller

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Figure 2-3 Configuration 3 Dual-arm

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Figure 2-4 Configuration 4 Dual arms, controller and branch

2.2. Repost

Note

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Name:Danger

Note:

  • Please install safety barriers around the robotic arm, and the barriers should be difficult to climb over or move. Otherwise, operators may enter the area while the robotic arm is in operation, resulting in personal injury and equipment damage.

  • Please clearly mark the operating area of the robotic arm.

Note

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Note:

  • The transportation of robotic arms using cranes, forklifts, and other handling equipment must be carried out by personnel holding valid operation qualification certificates or those authorized by the company. Otherwise, the robotic arms may fall during transportation, resulting in accidents.

  • After the robotic arm is installed, ensure that when the robotic arm is fully extended, its wrist tool or the tip of the workpiece does not come into contact with walls or safety barriers. Otherwise, this may result in personal injury or equipment damage.

  • The robotic arm must be securely fixed before powering on and starting it. Otherwise, there is a risk of the robotic arm tipping over, potentially causing personal injury and equipment damage.

  • Do not operate the robotic arm with missing or damaged components; otherwise, unexpected movements of the robotic arm may result in personal injury or equipment damage.

  • During handling, please avoid excessive vibration and impact. Otherwise, it will affect the performance of the robotic arm.

The total mass of the humanoid robotic arm ART7-R7 product (including packaging) is approximately 20⁓39kg, requiring multiple people to lift it together, and single-person operation is not recommended to avoid accidents. Before long-distance transportation, please adjust the robotic arm to the specified packing position, and pack it in a dedicated carton for transportation.

2.3. Installation and Fixing

2.3.1. Main Body Installation and Fixation

The base dimensions of the humanoid robotic arm ART7-R7 are as shown in Figure 2-5.

There are 4 mounting holes on the base of the robotic arm, and the recommended screw specifications for securing the robotic arm are shown in Table 2-1.

Table 2-1 Recommended Screw Specifications for Securing the Robotic Arm

Install

Screw Specifications

Socket head cap screwM6×30(RecommendedGB/T 3098.1 12.9Grade)

Dowel Pin Specifications

Ø5×20

Screw Tightening Torque

≥10N·m

Number of Screws

4
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Figure 2-5 Base Mounting Dimensions

2.3.2. Controller and Splitter

The external dimensions of the controller are 100mm×80mm×40mm, as shown in Figure 2-6. The external dimensions of the brancher are 101mm×81mm×22mm, as shown in Figure 2-7.

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Figure 2-6 Controller Outline Drawing

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Figure 2-7 Splitter Outline Drawing

2.4. Storage Location and Operating Environment

2.4.1. Storage Location

The humanoid robotic arm ART7-R7 should be stored in -20~60℃, in a condensation-free and frost-free environment.

2.4.2. Operating Environment

The installation site for the robotic arm must meet the following conditions:

  • When the robotic arm is operating, the ambient temperature should be within 0°C~45°C;

  • Low humidity, relatively dry(operating humidity90%RH，no condensation)；

  • will not be subjected to significant impact and vibration;

  • Keep away from dust, powder, metal powder, corrosive gases, flammable gases, oil mist, etc.;

  • Keep away from strong magnetic fields, keep away from electrical interference sources, etc.;

The ambient temperature conditions apply solely to the robotic arm. For use in locations that do not meet the above conditions, please consult our company.

2.5. Enable

Before product installation and use, customers must conduct a comprehensive safety assessment for specific application scenarios, focusing on residual risk factors, and perform corresponding safety configurations for the software and hardware in accordance with this manual. When starting the robotic arm for the first time, it is imperative to closely monitor its workspace to ensure there is no interference or obstruction.

Before using the robotic arm, please confirm that the zero pose of the robotic arm is consistent with the poses shown in Figure 2-8 and Figure 2-9. If the robotic arm has not moved to the illustrated position, please contact our company.

The robotic arm has already been zero-calibrated at the factory, so zero calibration is not required during daily operations. However, zero calibration is required after the following situations occur.

  • Replaced the joint actuator or robotic arm joint;

  • Reinstall the system or replace the controller;

  • After a violent collision.

The zero-point calibration positions for each axis of the robotic arm are shown in Figures 2-10 and 2-11.

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Figure 2-8 Left Arm Zero Pose, Right Arm Zero Pose

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Figure 2-9 left arm zero position calibration, right arm zero position calibration