Merge pull request #53 from elephantrobotics/hjy-en

根据修改意见优化M5版本，并添加了配件的安装使用说明
elephantrobotics · Apr 8, 2024 · dab1868 · dab1868
2 parents e820acc + 642876d
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diff --git a/1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/1-AdaptiveGripper.md b/1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/1-AdaptiveGripper.md
@@ -18,7 +18,7 @@
 | service life lifetime         | 1 year                                          |
 | drive mode drive              | electric                                        |
 | Transmission modetransmission | gear+connecting rod                             |
-| size                          | 158x105x55mm                                      |
+| size                          | 158x105x55mm                                    |
 | weightweight                  | 350 grams                                       |
 | Fixed method fixed            | screw fixed                                     |
 | Use environment requirements  | Temperature and pressure                        |
@@ -45,27 +45,129 @@
 
 - long object
 
-Mall link: 
-
--   [Taobao](https://shop504055678.taobao.com)
--   [shopify](https://shop.elephantrobotics.com/)
+Mall link:
 
+- [Taobao](https://shop504055678.taobao.com)
+- [shopify](https://shop.elephantrobotics.com/)
 
 ## How to use
+
 1 Installing <br>
 
 <iframe width="560" height="315" src="https://www.youtube.com/embed/RPKjV0IuP5E" title="myCobot Pro Accessories | The new gripper for myCobot Pro 600" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
 
 If the video fails to load, please click the link below to view the video.
 [Installing Vidio](https://www.youtube.com/watch?v=RPKjV0IuP5E)
 
+**Installation and use**
+
+- Clamping jaws mounting：
+
+  - Structural installation：
+
+    1. Align the spacer with the hole at the end of the arm and tighten with the screws：
+       ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/安装1.png)
+
+    2. Align the screw holes in the jaws with the holes around the gasket and tighten with the fine screws.：
+       ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/安装2.png)
+
+  - electrical connection：
+    > Take care to do this with the robotic arm powered off.
+    1. Align the m8 cable with the connector of the robot arm, note that the connector has a notch and the connecting cable has a corresponding protrusion, confirm the direction and then insert it and tighten it:
+       ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/电气连接1.png)
+    2. Insert the jaw control connector, again paying attention to the orientation of the notch:
+       ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/电气连接2.png)
+
+<br>
+
+**myCobot Pro 320 Instructions for use**
+
+- Programming development (python)：
+
+  > Programming and development of the jaws using python:
+  > [python environment download](../../../7-ApplicationBasePython/7.1_download.md)
+
+  1. Create a new python file:  
+     Right click on the desired file path to create a new python file:  
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/python使用1.png)
+
+     > The file name can be changed as needed
+
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/python使用2.png)
+
+  2. Perform function programming:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/python使用3.png)
 
+     > The code is as follows:
 
-<!-- 2 Development with SDK  
--   [Blockly]()     
+     ```python
+     from pymycobot.mycobot import MyCobot
+     import time
+
+     # Initialise a MyCobot object
+     mc = MyCobot("COM3", 115200)
+
+     # Setting the jaws to 485 mode
+     mc.set_gripper_mode(0)
+     # Controls jaws open-close-open:
+     # Using the jaw status interface 0 is open, 1 is closed
+     mc.set_gripper_state(0, 80)
+     time.sleep(3)
+     mc.set_gripper_state(1, 80)
+     time.sleep(3)
+     mc.set_gripper_state(0, 80)
+     time.sleep(3)
+
+     # For more information on using the interface, see the python API.
+     ```
+
+  3. Save the file and close it, right-click on an empty space in the folder to open a command line terminal
+
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/python使用4.png)
+
+     Input:
+
+     ```bash
+     python gripper.py
+     ```
+
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/python使用5.png)
+
+     > You can see the jaws open-close-open
+
+- Programming Development (myblockly):
+
+  > Programming and development of the jaws using myblockly:
+  > [myblockly download](../../../5-BasicApplication/5.2-ApplicationUse/myblockly/320pi/2-install_uninstall.md)  
+  > Note that before developing with myblockly, you need to have run `mc.set_gripper_mode(0)` with a python program to set the jaws to 485 mode.
+
+  1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.  
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用1.png)
+  2. Modify the baud rate to 115200
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用2.png)
+  3. Find `Jaws` in the list on the left and select the `Set Jaw Value` module.
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用3.png)
+  4. The drag module is attached under the `initialise mycobot` module, modify the degree of spread and speed as required, here it is set to `70`.
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用4.png)
+  5. In `Time`, select `Sleep` module
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用5.png)
+  6. Set the time to `2 seconds` to allow time for the jaws to move.  
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用6.png)
+  7. Repeat the selection of the `Set Jaw Value` and `Sleep` modules to change the `Set Jaw Value` opening level to `0`.  
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用7.png)
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用8.png)
+  8. Find `Jaws` in the list on the left and select the `Set Jaw Value` module.
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用9.png)
+  9. Modify status to `open' and speed to `70'.
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用10.png)
+  10. Click on the green running icon in the upper right corner to see the jaws `open-close-open` in motion
+
+<!-- 2 Development with SDK
+-   [Blockly]()
 -   [Python]()
 -   [C++]() -->
 
-----
+---
+
 [← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper)
- | [Next Page →](../1.4.1-Gripper/2-ElectricGripper.md)
+| [Next Page →](../1.4.1-Gripper/2-ElectricGripper.md)
diff --git a/1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/2-ElectricGripper.md b/1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/2-ElectricGripper.md
@@ -6,8 +6,6 @@
 
 <img src="../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/myCobot-Pro-EG1.jpg" alt="img-1" width="800" height=“auto” />
 
-
-
 ## Specifications:
 
 | **name**                     | **mycobot Pro Electric Gripper**     |
@@ -66,22 +64,67 @@
 
 ## Mall link
 
-Mall link: 
--   [Taobao](https://shop504055678.taobao.com)
--   [shopify](https://shop.elephantrobotics.com/)
+Mall link:
+
+- [Taobao](https://shop504055678.taobao.com)
+- [shopify](https://shop.elephantrobotics.com/)
 
 <!-- - [Shopify](https://shop-elephantrobotics-com.translate.goog/collections/mycobot-pro-600/products/electric-parallel-gripper?_x_tr_sl=auto&_x_tr_tl=zh-CNhttps://item.taobao.com/item.htm?spm=a1z10.5-c-s.0.0.6945364bve0QX4&id=667084571424) -->
 
 ## How to use
 
 1 Installing the gripper: <br>
-- For an electric gripper, insert it into the 485 interface on the top, as shown in the following figure:  <br>
-<img src="../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/myCobot-Pro-EG2.jpg" alt="img-2" width="480" height="auto" /> <br>
 
+- For an electric gripper, insert it into the 485 interface on the top, as shown in the following figure: <br>
+  <img src="../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/myCobot-Pro-EG2.jpg" alt="img-2" width="480" height="auto" /> <br>
+
+**Installation and use**
+
+- Check that the kit is complete: screws, hexagonal spanner, clamping jaws with connecting wires, clamping jaws with arm end fixing device
+  ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/物料.jpg)
+
+- Clamping jaws mounted:
+
+  - Structural installation:
+
+    1. Place the short screws into the holes in the fixture:
+       ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/安装1.jpg)
+
+    2. Align the screws with the four screw holes on the end of the robot arm and tighten:
+       ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/安装2.jpg)
+
+    3. Insert the motorised jaws into the fixture and tighten with fine screws on both sides, eight in total:
+       ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/安装3.jpg)
+
+  - Electrical Connections:
+
+    1. Plug the 485 cable into the robot arm control connector:
+       ![](../../../resourse/6-ApplicationBaseRoboFlow/6.5/6.6_2.png)<br>
+
+       ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/2-ElectricGripper/电气连接.jpg)
+       <br>
+
+**Instructions for use:**<br>
+
+```python
+from pymycobot.mycobot import MyCobot
+import time
+
+# Initialise a MyCobot object
+mc = MyCobot("COM3", 115200)
+
+# Can control the clamping jaws to open and strike - close and open:
+mc.set_eletric_gripper(0)
+time.sleep(3)
+mc.set_eletric_gripper(1)
+time.sleep(3)
+mc.set_eletric_gripper(0)
+time.sleep(3)
+```
 
-<!-- 2 Development with SDK  
--   [Blockly]()     
+<!-- 2 Development with SDK
+-   [Blockly]()
 -   [Python]()
 -   [C++]() -->
 
-[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper) | [Next Page →](../1.4.1-Gripper/3-PneumaticGripper.md)
+[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper) | [Next Page →](../1.4.1-Gripper/3-PneumaticGripper.md)
diff --git a/1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/3-PneumaticGripper.md b/1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/3-PneumaticGripper.md
@@ -47,12 +47,10 @@
 
 - Custom fingertips can expand more items
 
-
-
 ## Mall link
 
--   [Taobao](https://shop504055678.taobao.com)
--   [shopify](https://shop.elephantrobotics.com/)
+- [Taobao](https://shop504055678.taobao.com)
+- [shopify](https://shop.elephantrobotics.com/)
 
 <!-- - [Shopify](https://shop-elephantrobotics-com.translate.goog/collections/mycobot-pro-600/products/air-parallel-grippers-air-compressor?_x_tr_sl=auto&_x_tr_tl=zh-CN) -->
 
@@ -64,9 +62,114 @@
 
 <img src="../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/PneumaticGripper3.jpg" alt="img-2" width="400" height="auto" /> <br>
 
-<!-- 2 Development with SDK  
--   [Blockly]()     
+**Installation and use**
+
+- It needs to be used with an air compressor:
+  ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/空压机.png)
+
+  1. Insert the black plug into the row of plugs;
+
+  2. Insert the matching red hose into the connector on the machine:  
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/空压机安装1.png)
+  3. The red button is the on/off switch, pulling it outwards turns it on, pressing it back turns the machine off:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/空压机按钮.png)
+
+- Clamping jaws mounted:
+
+  1. Connect the other end of the red hose from the air compressor to the solenoid valve connection:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/结构安装1.png)
+  2. The other end of the solenoid valve will be unscrewed another port for the activation of the jaws to control the opening and closing of the use:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/结构安装2.png)
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/结构安装3.png)
+  3. Use the two matching clear hoses with one end connected to the two ports of the solenoid valve:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/结构安装4.png)
+  4. The other end of the transparent hose is connected to the two connections of the clamping jaws:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/结构安装5.png)
+  5. Secure the jaws to the end of the arm with the matching screws:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/结构安装6.png)
+
+- Electrical Connections:
+
+  1. Connect the black wire to the GND of the robot arm base, and the red wire to any one of OUT1~OUT6, and change the pin number of the subsequent programme according to the selected interface, here we use OUT1:
+     ![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/电气连接1.png)
+
+- Software-driven testing:
+
+  > To test if the jaws are available after installation, use myBlockly.
+  > [myblockly 下载](../../../5-ProgramingApplication-myblockly-uiflow-mind/5.1-myblockly/5.1.1-myBlocklyFirstUse.md#myblockly下载安装)
+
+  1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证0.png)
+  2. Modify the baud rate to 115200:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证1.png)
+  3. Find `Base` in the list on the left and select the `Set Pin Out` module:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证2.png)
+  4. Set `pin number` to `1` and `output` to `0`:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证3.png)
+  5. Find `Time` and select the `Sleep` module:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证4.png)
+  6. Set the time as desired, here it is set to `2s`:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证5.png)
+  7. Repeat the above steps for the final setup as follows:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证6.png)
+  8. Click on the green run button in the top right corner to see the jaws close-open once.
+
+- Programming Development:
+
+  > Programming the jaws using python
+  > [python environment download](../../../7-ApplicationBasePython/7.1_download.md)
+
+  1. Create a new python file:  
+     Right click on the desired file path to create a new python file:  
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/python使用1.png)
+
+     > The file name can be changed as needed
+
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/python使用2.png)
+
+  2. Perform function programming:
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/python使用3.png)
+
+     > The code is as follows:
+
+     ```python
+     from pymycobot.mycobot import MyCobot
+     import time
+
+     # Initialise a MyCobot object
+     mc = MyCobot("COM3", 115200)
+
+     # Controls jaws closed-open:
+     # Using the jaw status interface 0 is open, 1 is closed
+     mc.set_basic_output(1, 0)
+     time.sleep(1)
+     mc.set_basic_output(2, 1)
+     time.sleep(1)
+     mc.set_basic_output(1, 1)
+     time.sleep(1)
+     mc.set_basic_output(2, 0)
+     time.sleep(1)
+
+     # For more information on using the interface, see the python API.
+     ```
+
+  3. Save the file and close it, right-click on an empty space in the folder to open a command line terminal
+
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/python使用4.png)
+
+     Input:
+
+     ```bash
+     python AirGripper.py
+     ```
+
+     ![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/python使用5.png)
+
+     > Clamping jaws can be seen closed-open
+
+<!-- 2 Development with SDK
+-   [Blockly]()
 -   [Python]()
 -   [C++]() -->
 
-[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper) | [Next Page →](../1.4.1-Gripper/4-FlexibleGripper.md)
+[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper) | [Next Page →](../1.4.1-Gripper/4-FlexibleGripper.md)