Technical Recommendation
Model：BRTIRUS0707A
Name ： The second generation six-axis
robot( 7kg 700mm)
( No further notice if the specification and appearance are
changed due to improvement and other reasons. Thank you
for your understanding
Introduction
1. Introduction of BRTIRUS0707A
BRTIRUS0707A six degree of freedom industrial robot is a
general-purpose robot. The robot has a compact shape and structure.
Each joint is equipped with a high-precision reducer. The high-speed
joint speed can carry out flexible operations in a narrow workspace, and
can carry out handling, grinding, assembly and other operations. It has a
flexible installation method.
2. Applications
(1) Material handling
(2) Assembly
(3) Grinding and polishing
(4) Cutting / deburring
3. Functions and features
A.General layout of robot
BRTIRUS0707A adopts six axis joint robot structure, and six
servo motors drive the rotation of six joint axes through reducer and
timing belt. It has six degrees of freedom, namely rotation (x), lower
arm (y), upper arm (z), wrist rotation (U), wrist swing (V) and wrist
rotation (W).
BRTIRUS0707A body joint is made of high-strength aluminum to
ensure the high strength, high speed, high precision and high stability of
the machine.
B. BRTIRUS0707A Features：
●adopt servo motor with harmonic reducer structure, with small
volume, large working range, fast speed and high precision.
●the handheld dialogue operator of the control system is simple and
easy to learn, which is very suitable for production.
●the robot body adopts partial internal wiring, which is safe and
environmentally friendly.
C. Control/Motion System
The robot motion controller and operating system are BORUNTE
control system, with complete functions and simple operation; Standard
RS-485 communication interface, USB socket and related software,
support extended 8-axis and offline teaching.
D. Reducer
The reducer used on the robot is a harmonic reducer.
The main features of harmonic reducer drive are:
1. The transmission speed ratio is large. The speed ratio range of single-
stage harmonic gear transmission is 50~320.
2. High bearing capacity and strong rigidity.
3. High transmission accuracy. The transmission error is only about 1/4
of that of ordinary cylindrical gear transmission. No backlash
engagement, small transmission clearance, suitable for reverse rotation.
4. High transmission efficiency and smooth movement. (up to 69% -
96%).
5. Simple structure, few parts and convenient installation.
6. Small size and light weight.
7. It can transmit movement to the confined space.
E. Servo motor
The servo motor adopts absolute value motor. Its main features
are:
1)Accuracy: realize the closed-loop control of position, speed and
torque; The problem of stepping motor out of step is overcome;
2)Speed: good high-speed performance, generally the rated speed can
reach 2000~3000 rpm;
3) Adaptability: it has strong overload resistance and can withstand
loads three times the rated torque. It is especially suitable for occasions
with instantaneous load fluctuations and quick start requirements;
4) Stable: stable operation at low speed, suitable for occasions with
high-speed response requirements;
5) Timeliness: the dynamic response time of motor acceleration and
deceleration is short, generally within tens of milliseconds;
6) Comfort: fever and noise are significantly reduced.
F. Working conditions
1) power source：220V±10% 50HZ±1%
2) temperature：0℃-40℃
3) best temperature：15℃-25℃
4) relative humidity：20-80%RH ( No condensation )
5) Mpa：0.5-0.7 Mpa
4.Main technical parameters
Items Contents Unit value
Maximum operating radius 700mm
Max Loading 7KG
Body parameters Repeat positioning accuracy ±0.03mm
IP code IP65
Weight About 55KG
J1 -174°~+174°
J2 -125°~+80°
J3 -60°~+175°
Motion range
J4 -180°~+180°
J5 -120°~+120°
J6 -360°~+360°
J1 220.8°/s
J2 270°/s
J3 375°/s
Max speed
J4 308°/s
J5 300°/s
J6 342°/s
J4 17.06N.m
Allowable load torque J5 17.06N.m
J6 8.53N.m
J4 0.42Kg.M2
Allowable load moment
J5 0.42Kg.M2
of inertia
J6 0.13Kg.M2
5.Vulnerable parts
Name Specifications Brand
1 Timing belt Tooth shape 5M ,66 tooth, wide 9mm BORUNTE
2 Timing belt Tooth shape 5M ,95 tooth, wide 9mm BORUNTE
3 Timing belt Tooth shape 3M ,145 tooth, wide 6mm BORUNTE
4 Timing belt Tooth shape 3M,100 tooth, wide 6mm BORUNTE
6.Robot random data
Name number Remark
1 Robot operation manual 1 BORUNTE SYSTEM
7、 Equipment maintenance
1. According to the service life of the reducer provided by the reducer
manufacturer. The design life of the harmonic reducer of each shaft is 15000h.
The harmonic reducer itself is designed to contain lubricating grease and does not
need oil change maintenance. When the service time is up, the whole reducer
should be replaced.
2. The harmonic reducer is a high-precision part, which has extreme stress.
Excessive push-pull and unreasonable collision will damage the internal structure
of the reducer, resulting in the reduction of the accuracy or abnormal noise of the
reducer. In serious cases, the flexible wheel of the reducer will be broken and the
reducer will be scrapped.
3. Remove the cover every six months to check the looseness of screws and cable
wear. Tighten the loose screws and grease the joint cables.
4. Remove the cover every six months to check the tightness of the belt. The belt
will slowly lengthen during long-term operation, tighten the belt and clean up the
worn debris of the belt.
5. See the maintenance manual for equipment maintenance.
