大象机器人大象奥创机械臂

深圳市大象机器人科技有限公司
地址：深圳市福田区华强北街道深南中路2070号电子科技大厦D座F403
邮箱：support@elephantrobotics.com
电话：+86(0755)-8696-8565 (工作日9:30-18:30）
网址：www.elephantrobotics.com

Shenzhen Elephant Robotics Technology Co., Ltd
Address: Room403, Black Ark Center, Electronics& Technology Building,Futian Dist, Shenzhen, China 518000
Email: support@elephantrobotics.com
Phone: +86(0755)-8696-8565 (working day 9:30-18:30）
Website: www.elephantrobotics.com

ultraArm P340
多功能智能码垛机械臂

Multifunctional Intelligent Palletizing Robot ArmWarning© 2022 Shenzhen Elephant Robotics Technology Co.Ltd警告在使用本产品之前，请阅读本手册中所有说明及警告提示。
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为避免火灾或电击危险，请勿将产品暴露在雨中或潮湿的地方。

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请勿将产品放在火中或靠近火处。

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请勿将本产品放置或使用在炎热潮湿的地方。

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请勿暴力拆卸本产品。

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请勿将产品暴露在过度的冲击下，如从高处跌落。

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不要将产品暴露在超过60℃(140℃F)的高温下。

开机必读本册为 ultraArm 奥创机械臂产品画册关于本产品的操作使用及二次开发，请先在大象机器人官网阅读并下载相关指导说明：x

1. Gitbook; 2. 用户手册；3. 开发引导手册下载链接：https://www.elephantrobotics.com/ultraarm-p340/cn- 01 -

ultraArm P340

零基础入门级-多功能智能码垛机械臂
ultraArm P340是一款超小型桌面机械臂，全身采用经典金属结构设计，本体占用面积只有A4
纸张的一半，灵活使用。搭载高性能步进电机，能够实现±0.1mm重复定位精度和高稳定性。
可进行写字画画，激光雕刻，可自由搭配滑轨、传送带、智能小车、视觉等配件，根据不同需
求完成不同实训项目，广泛应用到高等教育科研教学、职业应用教育等多个领域。

- 02 -- 03 -

视觉教育套装丰富的开发编程提供开源的AI算法，配套相关的教学应用场景，视觉抓取，滑轨识别，传可视化积木式编程工具myBlockly；Python 二次开发接口；开源的控制代码，深入学习机送带识别多种套装，静态视觉，动态视觉的一站式体验快速上手。

械臂控制。

OpenCVPython编程逆运动学

机器人控制原理视觉识别

末端执行器使用

高配置，性能强大
采用步进电机，实现准确控制，可以达到±0.1mm
的重复定位精度。满足7 X 24小时长时间工作，让长时间的科创研究不在受限。全身金属骨架，金属
光泽配合工业风格硬朗的外观。

- 04 -- 05 -兴趣DIY套装ultraArm P340 大象奥创机械臂 尺寸与工作范围图一键轨迹生成可视化软件，配有工作平台，笔夹，激光雕刻，温馨时刻在线制作，DIY制作
铭牌，手机壳，AI画图，跟随时尚潮流热点，享受创作快感。

171140mm

034

R=

130
270.3

229.3

-150J1：- 07 -70°

- 06 -+1°

J1：110.3电气接口介绍

产品参数
电源适配器

50-60Hz

名称

奥创机械臂

型号

ultraArm P340

自由度

3DOF / 4DOF

有效负载650g

吸泵接口

工作半径340mm烧录开关重复定位精度±0.1mm

TCP末端速度100 mm/s

重量2.9kg

安装方式

桌面水平安装使用寿命

5000小时，支持7X24小时动力模块高性能步进电机

输入电源

12V 5AJ1 -150° ~ +170°关节范围激光雕刻接口底座接口

自适应夹爪接口Elephant Luban，
编程方式

Python，ROS2

J2 -20° ~ 90°
J3 -5° ~ 75°

工作温度0°~45°

噪音

60 dB

工作环境湿度

5%-80%

最大末端速度100mm/s- 08 -标签名

信号名功能备注

Burn按键开关烧录功能打开/关闭烧录功能打开时，串口连接会重启开发板，Laser

PWM GND 12V

激光雕刻接口PWM 控制激光雕刻功率大小Gripper

DATA 8.4V GND

夹爪接口DATA 控制夹爪/舵机数据Switch

OUT1 OUT2 5V GND

吸泵接口5V-OUT-PIN 输出：控制电磁阀和吸泵开关图形化编程myBlockly，- 09 -如不需要重启请关闭烧录功能ultraArm P340 奥创机械臂Warning
BEFORE USING MYPALLETIZER READ ALL INSTRUCTIONS AND CAUTIONARY MARKINGS IN THISMANUAL
1. Do not expose the product to rain or moisture to reduce fire or shock hazard.
2. Do not place the product in or near fire.
3. Do not leave the product in a car in hot or humid weather.
4. Do not disassemble, crush or pierce the product.

快换吸泵快换自适应夹爪

快换激光雕刻头

5. Do not expose the product to excessive shock such as dropping from a high place.
6. Do not expose the product to high temperatures above 60 °C (140 °F).

Attention

快换舵机

快换笔夹

快换乐高转接法兰Regarding the operation and secondary development of ultraarm-p340, please read anddownload the related files before using it.
1、Gitbook 2、User Manual 3、Development Manual

大象机器人面向机械臂扩展应用，打造“ultra-系列”产品线。相关配件的上新，请关注官方淘宝店铺。
店铺名称：大象机器人

Official Website：https://www.elephantrobotics.com/en/ultraarm-p340-en/- 10 -- 11 -

ultraArm P340

For Robot Starters - multifunctional desktop robot arm
ultraArm is a small desktop robotic arm. It is designed with classic metal structure andoccupies only an area of A5 paper. It is equipped with high-performance stepper motor, and it
owns ±0.1mm repeated positioning accuracy and high stability. UltraArm can achieve theprecise writing and drawing, laser engraving, and can be freely matched with multiple accessories such as slide rail, conveyor belt, myAGV and cameras. It can complete different practicaltraining projects according to different needs, and is widely used in many fields such as highereducation, scientific research, vocational application education, etc.

- 13 -

Vision education kit

Multiple programming environments supporting

These kits compose of open source AI algorithm, support related teaching application scenarios, identifying and sorting objects, on slide rail or conveyor belt. There
are a variety of sets with static vision or dynamic vision in a one-stop platform tohelp users get started quickly.

Drag-and-drop programming visualization software: myBlockly;Provides the interface forPython developing;Provides open-source code to help users deeply learn robotics.

OpenCVPython

Inverse kinematics

Principles ofRobot Control

Visual recognition End-eﬀector use

Hardcore configuration
It is equipped with stepper motor, and it
owns ±0.1mm repeated positioning
accuracy;It supports 24/7 highly intensive
operation;It is compact and though withclassic metal structure.

- 14 -- 15 -DIY kit
This is a one-click track generation in visualization software with operation plate, pen clip,
laser engraving head. Users will enjoy warm moments of online production, nameplate andphone case DIY production, AI drawing.

ultraArm P340 Size and working space

171140mm

034

R=

130
270.3

229.3

-150
J1：

- 17 -°- 16 -70+1°

J1：

110.3

Introduction of interfaces

Parameter
Adapters

100-240VAC 50-60Hz

Name

ultraArm P340

Degree of freedom

3DOF / 4DOF

Payload

650g

Working radius

340mm

Suction pump interface

Repeatability±0.1mmBurning switch

Weight2.9kg

Working lifespan5000h，
support7X24h

Power inputInterfaces

Adaptive gripper interface

TCP terminal100 mm/s

Installation mode

Desktop level

Power module

High performance stepper motor
Elephant Luban，

12V 5AJ1 -150° ~ +170°

Available angleof joints

Laser engraving interface

Programming mode Graphical programming myBlockly，Python，ROS2

J2 -20° ~ 90°
J3 -5° ~ 75°

Temperature

0°~45°

Noise

60 dB

Ambient humidity

5%-80%

Working speed

100mm/s

Title

Sign-Name

Function

RemarkBurn

Key Switch

Burning function
is on/off

When the burning function is turned on, the serial
port connection will restart the development board.
If you do not need to restart, please turn off theburning function

Laser

PWM GND 12V

Laser engraving
interface

PWM controls laser engraving power

Gripper

DATA 8.4V GND

Gripper interface

DATA control claw/servo data

OUT1 OUT2 5V GND

Suction pumpinterface

5V-OUT-PIN output: control solenoid valve
and suction pump switch

Switch- 18 -- 19 -

ultraArm P340 Accessory产品保修卡
用户信息（必填）：
购买人订单号地址联系电话
物流签收日期产品问题描述（必填）：如需退换货，请事先联系客服确认退回相关信息。待客服确认后，填写此卡并将这一页随同产品一起寄回。
Suction pump

Adaptive gripper

Laser engraving head

注：我司在法律允许范围内保留对本产品保修卡解释和修改的权利。
●产品自签收起7日内未拆封可无理由退换，因产品退换所产生的费用及其他风险需由客户承担。

●

用户如需产品保修服务需提供相应的购买单据及产品保修卡作为保修凭证。

●

凡属于正常使用下由于产品本身质量问题引起的硬件故障，保修期内大象机器人给予免费维修。

●

保修起始日期为产品购买日或物流签收日。

●

维修更换的配件归大象机器人所有，必要时会收取适当的成本费用。

以下为详细的配件保修服务说明(如需以下产品售后服务，请事先联系客服沟通并确认相关信息)
保修政策

Servo

Pen holder

Lego connectors

Elephant Robotics are targeted at robotic collaboration applications, making “ultra-series”
product line. For new information about the accessories, Follow us on Shopify and Twitter.
Shopify: https://shop.elephantrobotics.com/
Twitter: @cobotMy- 20 -

≤1年

大象机器人提供一次免费的新部件，运费由客户承担。

>1年

用户需付费维修。

WARRANTY CARD

特别说明: 在交付产品的保修期内，本公司仅对正常使用机器人时发生的故障进行免费修理。
但在以下情况下， 将对客户收取修理费用(即使在保修期内):(1) 因不同于手册内容的错误使用以及使用不当而导致的损坏或故障(2) 客户未经授权进行拆卸导致的故障

Customer Information (Required)：
Purchaser

Order No.

(3) 属于外壳等部件自然的消耗，磨损及老化

Address(4) 因调整不当或未经授权进行修理而导致的损坏

Product problem description(Required)：(5) 因地震、洪水等自然灾害导致的损坏

Phone
Logistics Receipt Date

因此，请严格遵照本手册及相关手册的指示对机器人进行操作。
If you need to apply for warranty service, please contact our customer service to confirm the detailed information. After confirmation, please fill in the card and send it back together with the product and the attachedinvoice. Note: Our company reserves the right to explain and modify the warranty card of this product within
the scope of the law.

Return service is limited to goods not opened within 7 days after the receipt date of logistics of theproducts. The freight or other risks incurred in return shall be borne by the customer.
● Customers should provide the purchasing invoice and warranty card as the warranty certification when awarranty is being asked.
● Elephant Robotics will be responsible for the hardware faults of products caused by the normal using
during the warranty period.
● The warranty period starts from the date of purchase or the receipt date of the logistics.
● The faulty parts from the products will be owned by Elephant Robotics, and the appropriate cost will
be charged if necessary.
●If you need to apply for warranty service, please contact our customer service first to confirm the detailed
information.

Warranty policy≤1 year

Elephant Robotics offers free new components once, customs shall bear the freight.

>1 yearCustomers need to buy it themselves.

During the warranty period of the delivered product, the company only repairs the malfunctions that occur during
normal use of the robot for free. However, in the following cases, the customer will be charged for repairs (evenduring the warranty period):● Damage or malfunction caused by incorrect use and improper use different from the contents of the manual.
● Failure caused by unauthorized disassembly by the customer.
● Damage caused by improper adjustment or unauthorized repairs.
● Damage caused by natural disasters such as earthquakes and floods.
Therefore, please strictly follow the instructions in this manual and related manual to operate the robot.