1. Manuals
  2. Brands
  3. Agilebot Manuals
  4. Robotics
  5. GBT-P7A Series
  6. Product manual

Agilebot GBT-P7A Series Product Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Product Manual
Mechanical Manual for GBT-P7A Series Robots

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the GBT-P7A Series and is the answer not in the manual?

Questions and answers

Related Manuals for Agilebot GBT-P7A Series

Summary of Contents for Agilebot GBT-P7A Series

  • Page 1 Product Manual Mechanical Manual for GBT-P7A Series Robots...
  • Page 2 Product Manual Mechanical Manual for GBT-P7A Series Robots V1.2 Copyright, 2022 Agilebot Robotics Co., Ltd. All rights reserved!
  • Page 3 Mechanical Manual for GBT-P7A Series Robots The information in this Manual must not be considered as a commitment of Agilebot and may be changed without prior notice. Agilebot assumes no responsibility for errors (if any) in this Manual. Except as expressly specified in this Manual, nothing in this Manual shall be construed as any warranty or guarantee made by Agilebot for personal loss, property damage or specific applicability.
  • Page 4 Mechanical Manual for GBT-P7A Series Robots Revision Ver. Date Status V1.2 Nov. 10, 2023 Release Mechanical Manual for GBT-P7A Series Robots 4 / 55...

  • Page 5: Table Of Contents

    Mechanical Manual for GBT-P7A Series Robots Table of Contents Safety instructions ..........................6 Handling and mounting ......................12 1.1 Handling..........................12 1.2 Mounting ..........................15 Connection to controller ......................20 2.1 Connection to controller ..................... 20 Basic specification ........................21 3.1 Composition of robot ......................

  • Page 6: Safety Instructions

    Nobody is allowed to modify the industrial robot without authorization from Agilebot Robotics Co., Ltd. Agilebot Robotics Co., Ltd. shall assume no responsibility for any damage to the industrial robot or its components due to the use of any other components (software, tools, etc.) not provided by Agilebot.
  • Page 7 Mechanical Manual for GBT-P7A Series Robots Definition of user The operators are defined as follows: ➢ Operator Perform power-on/off operation on the robot. Start the robot program from the panel board. ➢ Robot Engineer Operate the robot. Perform teaching and programming debugging of the robot within the safety fence.
  • Page 8 Mechanical Manual for GBT-P7A Series Robots Definition of safety records This Manual includes safety warnings to ensure personal safety of the users and avoid any damage to the machine tool and describes them with "Danger" and "Warning" in the main text based on their importance in safety.
  • Page 9 Mechanical Manual for GBT-P7A Series Robots Steps for robot axis operation in emergency and abnormal situations In emergency and abnormal situations where a person is trapped or surrounded by the robot, it is required to immediately cut off the power supply to the robot controller, directly move the robot arm and change its posture to help the operator get out of danger.
  • Page 10 Mechanical Manual for GBT-P7A Series Robots Safety warning label Both the robot and the controller bear several safety and information labels, which contain important information related to the product. This information is very useful for all persons operating the robot system, e.g.
  • Page 11 Mechanical Manual for GBT-P7A Series Robots Sign Description Keep your hand away from moving parts, otherwise your hand or fingers may get stuck between the axis and the cover. The robots equipped with telescopic covers do not pose the risk of pinching hands or fingers.

  • Page 12: Handling And Mounting

    Mechanical Manual for GBT-P7A Series Robots Handling and mounting 1.1 Handling Unpack the robot before handling: Safety measures: gloves, work shoes and safety helmets Tools: claw hammer, crowbar During transportation and handling, ensure that the robot is fixed firmly and kept at the transportation posture, and that its end fixtures and peripheral devices are removed.
  • Page 13 Mechanical Manual for GBT-P7A Series Robots Caution Properly choose the pickup points when manually handling the robot. Unsuitable pickup points may easily result in finger pinching or other injuries as well as damage to the robot. When a forklift is used, the robot must be firmly fixed on the forklift and must not shake or move relative to the forklift during transportation.
  • Page 14 Mechanical Manual for GBT-P7A Series Robots The transport posture of GBT-P7A robot is shown in Fig. 1.2: Fig. 1.2 Transport Posture of GBT-P7A Robot Axis No. Angle/stroke 0° 20° -70° 0° -40° 0° Table 1.2 Axis Data at Transport Posture...

  • Page 15: Mounting

    Mechanical Manual for GBT-P7A Series Robots 1.2 Mounting Requirements for mounting ground When mounting on the ground, the payload requirements for the reference base coordinate system are shown in Table 1.3, and the direction is shown in Fig. 1.3. For other mounting forms, please consult Agilebot.
  • Page 16 Mechanical Manual for GBT-P7A Series Robots Mounting the robot to the floor or base (see Fig. 1.4) Nuts fixing the robot to the base or bottom plate Fig. 1.4 Nuts Fixing Robot to Base or Bottom Plate Parts required for mounting the robot:...
  • Page 17 Mechanical Manual for GBT-P7A Series Robots The mounting dimensions are shown in Fig. 1.5. Completely Completely through through Completely through Completely through Fig. 1.5 Mounting Dimensions of GBT-P7A Robot Mounting requirements: ≤0.5mm Permissible flatness Requirements ≤0.5° for mounting Allowable inclination angle...
  • Page 18 Mechanical Manual for GBT-P7A Series Robots Warning Those designing or manufacturing the robot system with this product must read this Manual to understand basic precautions before work. Otherwise, it is very dangerous and may result in serious injury or significant damage.
  • Page 19 Mechanical Manual for GBT-P7A Series Robots Warning Make sure to connect the power cable to an electrical component that can be quickly disconnected. Never connect it directly to the main power supply of the factory or share the same electrical protector with other equipment at the first connection point.

  • Page 20: Connection To Controller

    Mechanical Manual for GBT-P7A Series Robots Connection to controller 2.1 Connection to controller The connecting cables between the robot and the controller include power cables and signal cables. Please connect each cable to the connector on the back of the mounting base.

  • Page 21: Basic Specification

    Mechanical Manual for GBT-P7A Series Robots Basic specification 3.1 Composition of robot The mechanical system of the robot refers to the mechanical body, which is composed of a base, a swivel, a lower arm, an elbow joint seat, an upper arm, a wrist and a pipeline package. Totally, 6 servo motors can drive the movement of 6 axes to achieve different forms of motion.
  • Page 22 Mechanical Manual for GBT-P7A Series Robots Caution The weight of this robot only refers to its body weight and excludes the weight of the controller. When operated at a low temperature, the robot may give an alarm at beginning due to high resistance of the gearbox.

  • Page 23: Diagram For Overall Dimensions And Action Range

    The workspace shown in this figure is the maximum space that can be theoretically reached. It may vary depending on the mounting method during actual operation. In practical application, please consider the impact of mounting method on the workspace. Fig. 3.4 Overall Dimensions of GBT-P7A Series Series GBT-P7A-700 (IP65) 96.5...
  • Page 24 Mechanical Manual for GBT-P7A Series Robots Fig. 3.5 Operating Space of GBT-P7A Series Series GBT-P7A-700 (IP65) 1056 1284 GBT-P7A-700 (IP67) 1056 1284 GBT-P7A-900 1236 1611 Mechanical Manual for GBT-P7A Series Robots 24 / 55...

  • Page 25: Origin Position And Rom

    The following figure presents the position of the mechanical brake. Do not modify the mechanical brake, etc. Otherwise, the robot may not stop normally. Hard limit of Axis 1 Fig. 3.6 Enlarged View of Hard Limits of GBT-P7A Series Mechanical Manual for GBT-P7A Series Robots 25 / 55...

  • Page 26: Wrist Payload Conditions

    Mechanical Manual for GBT-P7A Series Robots 3.4 Wrist payload conditions The payload of GBT-P7A robot must comply with the payload curve diagram. It is important to carefully confirm the mass and inertia of the payload before operation. Overload may lead to excessive operation of the motor, the gearbox and relevant structures.

  • Page 27: Mount The Device Onto The Robot

    Mechanical Manual for GBT-P7A Series Robots Mount the device onto the robot 4.1 Mount the end-effector to the front end of the wrist The following figure shows the mounting surface of the end-effector at the front end of the wrist. Select the lengths of the bolts and positioning pins after sufficiently considering the depths of the screw hole and pin hole.

  • Page 28: Mounting Surface

    Mechanical Manual for GBT-P7A Series Robots Parts required for mounting of end-effector Name Number [NOTE] Hexagon socket screw M4 (GB/T 70.1-2008 (IP65) [NOTE] Hexagon socket screw M5 (GB/T 70.1-2008 (IP67) Spring washer M4 (IP65) Spring washer M5 (IP67) [NOTE] Flat washer M4 (GB/T 70.1-2008...

  • Page 29: About Payload Setting

    Mechanical Manual for GBT-P7A Series Robots 4.3 About payload setting Caution Before operation, it is important to correctly set the payload for the robot. Do not operate under payloads inconsistent with the set payload or under overload conditions. The weight of the payloads, including cables connecting surrounding devices, cannot exceed the transportable weight of the robot.
  • Page 30 Mechanical Manual for GBT-P7A Series Robots System Button Fig. 2 Basic Settings Fig. 3 Mechanical Manual for GBT-P7A Series Robots 30 / 55...
  • Page 31 Mechanical Manual for GBT-P7A Series Robots Payload Setting Fig. 4 Payload Setting Screen Fig. 5 Mechanical Manual for GBT-P7A Series Robots 31 / 55...

  • Page 32: Cabling And Piping To End-Effector

    Mechanical Manual for GBT-P7A Series Robots Cabling and piping to end-effector Warning ⚫ Do not add cables or hoses inside the robot mechanism. ⚫ When mounting cables outside the robot mechanism, take care not to obstruct the motion of the robot.

  • Page 33: Air Pipe And Ee Interface

    Mechanical Manual for GBT-P7A Series Robots 5.1 Air pipe and EE interface The following figure indicates the positions of air pressure supply and EE interface on the robot, which can be used as the expansion air circuit and expansion signal. The EE signal has been directly connected to the controller and properly defined.

  • Page 34: Maintenance And Repair

    Mechanical Manual for GBT-P7A Series Robots Maintenance and repair It is possible to maintain the performance of the robot in a stable state through maintenance and repair. Warning The cumulative operating time of the GBT robot is assumed to be 3000h in a year. If the annual operating time is longer than 3000h, it is necessary to shorten the maintenance cycle according to the operating time.

  • Page 35: Maintenance And Repair Contents

    Mechanical Manual for GBT-P7A Series Robots 6.1 Maintenance and repair contents Daily maintenance Before daily maintenance, please read this chapter carefully to fully understand safe maintenance methods. Only those who have passed robot system training of our company and the distributors are allowed to maintain the robot system.
  • Page 36 Mechanical Manual for GBT-P7A Series Robots Caution ⚫ Please use alcohol, liquid gasket and adhesive carefully according to respective operating specifications, instructions and the following descriptions. Improper use of alcohol, liquid gasket or adhesive may lead to fire or safety issues.
  • Page 37 Mechanical Manual for GBT-P7A Series Robots Regular maintenance · repair Carry out maintenance and repair for the items below according to the shorter term of the specified period or cumulative operating time. (Please refer to Appendix A for detailed documents) Maintenance ·...

  • Page 38: Repair

    Mechanical Manual for GBT-P7A Series Robots 6.2 Repair Battery replacement (1-year regular maintenance period for specified built-in battery) The position data of the robot axes is saved through a backup battery. The built -in battery (if used) should be replaced regularly every year. In addition, the backup battery should be replaced as well when the voltage-drop alarm is displayed.
  • Page 39 Mechanical Manual for GBT-P7A Series Robots Encoder battery Screws on base cover Encoder manage ment board Fig. 6.1 Fixing of Internal Battery The replacement steps for new version of the mechanical body (with battery chamber) are as follows: Remove the screws on the battery chamber cover as shown in Fig. 6.2 and pull the encoder out of the battery chamber cover;...
  • Page 40 Warning 1. It is required to notify the technician of Agilebot in advance before replacement of timing belts. Replacement can only be performed with written permission from Agilebot. Otherwise, we will assume no responsibility for any loss or downtime caused by this.
  • Page 41 Mechanical Manual for GBT-P7A Series Robots Screws on motor mounting plate of Axis 4 Fig. 6.3 Screw Positions on Motor Mounting Plate of Axis 4 Timing belt Replace timing belts on Axis 5 and Axis 6. Screws on motor mounting plate of Axis 5 Fig.
  • Page 42 Mechanical Manual for GBT-P7A Series Robots screws. Confirm that all bolts are tightened. Fix the cover again, power on and run it to check for any abnormalities. Reset the robot to zero. Ensure that all safety requirements are satisfied during the first operation after recovery.

  • Page 43: Zero Calibration Method

    Mechanical Manual for GBT-P7A Series Robots Zero calibration method 7.1 Summary Zero calibration is an operation associating the angle of each robot joint with the pulse count. The zero calibration operation is to obtain the pulse count corresponding to the zero position.

  • Page 44: General Calibration Method

    Mechanical Manual for GBT-P7A Series Robots 7.2 General calibration method Select one or several axes and record their current readings as new zero data in the parameter file of the robot's Flash. The recording objects include main axis and additional axes of the robot (if any). It is possible to calibrate a single axis.
  • Page 45 Mechanical Manual for GBT-P7A Series Robots Fig. 7.2 Zero-point Status Screen Select “General Encoder Calibration” method in the upper left corner of the screen. Fig. 7.3 Selection of Calibration Method Click the box on the left of each axis number to select all axes to be calibrated as shown in 7.4; you could also select one single axis to be calibrated as shown in Fig.
  • Page 46 Mechanical Manual for GBT-P7A Series Robots Fig. 7.4 Selection of multiple axes Fig. 7.5 Selection of one single axis After selecting the axis to be calibrated, click "Calibrate ". If the "Calibration success" message pops up, the zero-point status of the calibrated axis may change to "To be Saved", as shown in Fig.

  • Page 47: Zero Encoded Data Direct Write

    Mechanical Manual for GBT-P7A Series Robots 7.6. Fig. 7.6 Status Changes to “To be Saved” Click “Save” to complete the calibration. 7.3 Zero encoded data direct write As for the direct writing of zero calibration data, the zero calibration data can be directly entered into the system variables.
  • Page 48 Mechanical Manual for GBT-P7A Series Robots Fig. 7.7 Zero-encoded Data Direct Write Interface Mechanical Manual for GBT-P7A Series Robots 48 / 55...

  • Page 49: Confirmation Of Zero Calibration Results

    Mechanical Manual for GBT-P7A Series Robots Confirmation of zero calibration results Confirm whether the zero calibration is carried out normally: Usually, it is required to determine whether the zero calibration has been completed normally and check whether the current position display is consistent with the actual position of the robot by the following method.

  • Page 50: Resolution Of Common Faults

    Mechanical Manual for GBT-P7A Series Robots Resolution of common faults A fault in the mechanism is sometimes caused by multiple different causes together. So, it is often difficult to thoroughly investigate them. In addition, incorrect measures (if taken) may actually lead to further deterioration of the fault.
  • Page 51 Mechanical Manual for GBT-P7A Series Robots The parameters imported The imported parameters into controller have Re-import correct don’t match the model of changed, causing motor parameters the robot overheating. For each axis, confirm whether the bolts in the following positions loose.
  • Page 52 Mechanical Manual for GBT-P7A Series Robots devices cause offsetting of relative positions. [Variable] It may be because the Position offset occurs after robot's origin is lost due to the variable is changed. rewriting of zero calibration data. Mechanical Manual for GBT-P7A Series Robots...

  • Page 53: Appendice

    Mechanical Manual for GBT-P7A Series Robots Appendice A. Regular Maintenance Sheet Robot Maintenance Schedule Category Inspection items Interval Contents Wipe away dirt and clear Inspection Clean the body 3 months away accumulated splashes, dust, chips, etc. Tighten all exposed bolts on...

  • Page 54: List Of Bolt Strengths And Tightening Torques

    Mechanical Manual for GBT-P7A Series Robots B. List of Bolt Strengths and Tightening Torques Please use the following strengths for bolts: Bolts below M22 (inclusive): tensile strength higher than 1200N/mm² Bolts above M24 (inclusive): tensile strength higher than 1000N/mm² Hexagonal head bolts, stainless steel bolts, special shaped bolts (flat head bolts, countersunk bolts, etc.): tensile strength higher than 400N/mm²...
  • Page 55 Mechanical Manual for GBT-P7A Series Robots Contact us Agilebot Robotics Co., Ltd. (Shanghai Headquarters): Floor 8, Tower 6, Zhongjian Jinxiu Plaza, No. 50, Lane 308, Xumin Road, Qingpu District, Shanghai Agilebot Operation and Technical Service Center: Building 1, No. 338 Jiuye Road, Qingpu District, Shanghai Service hotline: +86-21-5986 0805 Website: www.sh-agilebot.com...

This manual is also suitable for:

Gbt-p7a-700Gbt-p7a-900

Table of Contents