大象协作机械臂320-树莓派版

深圳市大象机器人科技有限公司

myCobot 320 Pi

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F505
邮箱： support@elephantrobotics.com
电话：＋86(0755)-8696-8565（工作日9:30-18:30)
网址：www.elephantrobotics.com

六轴协作机器人
6-Axis Collaborative RobotShenzhen Elephant Robotics Technology Co., Ltd
Address: Room 505, 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© 2022 Shenzhen Elephant Robotics Technology Co.Ltd

WarningBefore using myCobot 320 Pi, please read all instructions and cautionary markings in this manual
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.
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 45 °C .

Attention
Regarding the operation and secondary development of myCobot 320 Pi, please read anddownload Gitbook before using it.
Official Website：https://www.elephantrobotics.com/en/support-320-pi-en/- 01 -Model: myCobot-320-Pi

6-Axis Collaborative Robot
myCobot 320 Pi is a product belonging to the "myCobot 320 series". It uses a Raspberry Pi
microprocessor and embedded RoboFlow visual programming software. It is a machine "assistant"developed by Elephant Robotics for makers and researchers.
The myCobot 320 Pi has a weight of 3.3kg, a load of 1kg, and a working radius of 350mm. The
volume is relatively small but powerful. It is easy to operate, can work in collaboration with people,and work safely. It has three advantages: ease of use, safety and economy, and it is a cost-effective
choice.

myCobot 320 Pi
Highly Cost-Effective

Embedded Raspberry Pi ecology, unlimited development possibilities● Raspberry Pi 4B, 1.5GHz 4-core microprocessor, running on Debian/Ubuntu

Raspberry Piplatform.
• Support 4 USB, 2 HDMI, standardized GPIO interface, TF card pluggable.

Easy to operate, open source and easy to use● Drag to teach, users can quickly get started.

• Support development systems such as ROS/moveIt and RoboFlow operating
software independently developed by Elephant Robotics.
- 02 -- 03 -High configuration, powerful performance

myCobot 320 - Design Prototype - Elephant Robot®C Series Robot● The use of brushless DC servos can achieve a repeat positioning accuracy ofThe design prototype of myCobot 320 is from All-in-one Robot launched by Elephant Robot in China
in 2018. As the first integrated collaborative robot in China, it has won the 2019 CAIMRS Industrial
Robot Innovation Award and 2019 High-tech Robot Annual "Innovation Technology Award", and has
been also sold to more than 30 countries at home and abroad, receiving unanimous praise andrecognition from the factories of the world's top 500 enterprises.

±0.5mm.
• The base and the end are equipped with installation interfaces, which aresuitable for the development of various peripheral products and equipment.

Economical and applicable, super cost-effective● The standard 8-hour work system can replace repetitive and standard work.
● Cost effective for reducing costs and increasing efficiency for scientificresearch that requires high performance and low cost.

Integrated design, safe collaborative operation● The exquisite structural design makes it possible to make full use of thespace and perfectly blend into the actual environment.
• Equipped with the anti-collision detection function based on the accurate
dynamic model, so that it can work safely with people.

Unique industrial design● Integrated design, the overall structure is compact, and the net weight is3kg.
• Modular design, few spare parts, low maintenance cost, quick disassembly
and replacement.
- 04 -- 05 -myCobot 320 Pi - Size and Working Range Diagram

Parameter
Robot arm Parameter

88.78 65.50120.00

95.00

350mm

Electric parameter

Model

myCobot 320-Pi 2022

SOCBroadcom BCM2711

Degree of Freedom

6CPU64-bit 1.5GHz quad-core

Payload1kg

Bluetooth/wirelessYes

Working range

350mm

USB

USB3.0 x2; USB2.0 x2

Repeatability±0.5mmHDMI port

microHDMI x2

Weight3.3kg

IO PortINT x6; OUT x6

Power Input

24V，120W

Emergency Stop Button

Yes

Working Temp.

0-45°

Communication

USB

Teach pendant/
Keyboard/Mouse

Optional

173.90ground- 06 -5+16-165

135.00Software Parameter
System Version

Ubuntu 18.04

ROS/Python

Built-in

Blockly Visual
Programming

Built-inCamera

Available for any camera

ModelBus RTU

Ethernet- 07 -myStudioControl Board Pin Map

myStudio is a one-stop platform for robots
myStudio integrates myCobot’s software and various materials.
The main functions of myStudio are: 1) Update the firmware; 2) Provide video tutorials on how to use
the robot; 3) Provide maintenance and repair information (such as video tutorials, Q&A, etc.).
Please download the latest version of myStudio to use.
The download link is as follows:
Officail website: https://www.elephantrobotics.com/en/support-320-pi-en/
Github: https://github.com/elephantrobotics/MyStudio/- 08 -- 09 -

Burn Table

myCobot 320 Accessory

Development environments that
support the secondary developmentof myCobot 320 are: myBlockly, ROS,
python, etc.

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

Type-CPC

ATOM

Development
Environment

Pico Firmware

Atom Firmware

Default Program

picoMain

atomMain

Myblockly

picoMain

atomMain

Industrial Programming
SoftwarepicoMain

atomMain

PythonpicoMain

atomMain

ROS Development

picoMain

atomMain

BlueToothpicoMain

atomMain

RoboFlow- 10 -

1

Electric parallel gripper

2

Air parallel gripper

3

Adptive gripper

4

Vacuum suction cups

1

2

3

4

- 11 -

myCobot-320-Pi

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。
●

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。

●

请勿将产品放在火中或靠近火处。

●

请勿将本产品放置或使用在炎热潮湿的地方。

●

请勿暴力拆卸本产品。

●

请勿将产品暴露在过度的冲击下，如从高处跌落。

●

不要将产品暴露在超过45℃的高温下。

myCobot 320 Pi
科研 超高性价比
Raspberry Pi

树莓派版开机必读本册为myCobot 320-树莓派版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Gitbook相关指导说明.
下载链接：https://www.elephantrobotics.com/mycobot-320-pi-cn/- 12 --13 -六轴协作机器人

高配置，性能强大

myCobot 320 Pi是隶属“myCobot 320系列”产品，采用树莓派微处理器，内嵌myBlockly可视化编程软
件、Python开发环境、ROS开发环境，是大象机器人面向创客及科研人员开发的机器“助手”。

● 采用无刷直流舵机，可以达到±0.5mm的重复定位精度。
● 底座及末端带有安装接口，适用于各种周边产品设备开发。

myCobot 320 Pi本体重量3.3kg，负载1kg，工作半径350mm，体积相对小巧但功能强大， 操作简单、能与人协同、安全工作。作为大象机器人首款万元级机械臂，具有易用性、安全性和经济性三大优
势，是高性价比之选。

经济适用，超高性价比● 标准8小时工作制，能够替代重复性、标准性的工作。
● 万元级机械臂，有效为需要高性能＆低成本的科研降本增效。

内嵌树莓派生态，开发无限可能● 树莓派4B，1.5GHz 4核微处理器，运行Debian/Ubuntu平台。
● 支持4路USB，2路HDMI，标准化GPIO接口、TF卡可插拔。

一体化设计，安全协同作业● 精巧结构设计使其能够充分利用生产空间，完美融入生产环境。
● 兼备基于精确动力学模型的防碰撞检测功能使其能与人安全协同作业。

操作方便，开源易用独特工业设计● 拖动示教，用户可迅速上手操作。
● 支持ROS/moveIt等开发系统及大象机器人自主研发的roboflow操作系统。

- 14 -● 一体化设计，整体机身结构紧凑，净重3kg。
● 模块化设计，备件少、维护成本低，可快速拆卸更换。

- 15 -

myCobot 320设计原型-大象机器人C系列all-in-one机器人

尺寸与工作范围图

myCobot 320系列的设计原型为大象机器人2018年推出的国内首款 all-in-one 一体式协作机器人。作为
88.78 65.50

国内首款一体式协作机器人，它曾获得2019CAIMRS工业机器人创新奖，2019高工机器人年度“创新技术95.00奖”，远销海内外30多个国家并备受数家来自世界500强名企的一致认可与好评。

173.90

地面- 16 -- 17 -0+17-170135.00120.00有效半径：350mm

电气接口示意图

产品参数
机械臂参数

电子参数型号

myCobot 320-Pi 2022

SOCBroadcom BCM2711

自由度6CPU64位 1.5GHz四核

有效负载

1kg

蓝牙/无线

有

工作半径

350mm

USB

USB3.0 x2; USB2.0 x2

重复定位精度±0.5mm

HDMI 接口microHDMI x2

重量3.3kgIO 接口输入 x6；输出x6

电源输入24V，120W

急停开关

有

工作温度

0-50°

示教器或键盘鼠标

可选

通信

USB

软件平台系统版本

Ubuntu 18.04

ROS/Python

内嵌

Blockly 图形化编程内嵌搭载摄像头选配任意摄像头ModelBus RTU

Ethernet- 18 -- 19 -

myStudio

固件烧录
可支持myCobot 320 Pi进行二次开发的开发环境有：myBlockly 、RoboFlow、Type-C

ROS、python等PC开发使用环境

Pico所需固件

默认程序Default Program

PicoMain

atomMain

Myblockly

PicoMain

atomMain工业级可视化编程软件

PicoMain

atomMainAPI 开发软件接口PythonPicoMain

atomMain

ROS Development
ROS 开发

PicoMain

atomMain

RoboFlow

myStudio是一个一站式的机器人的使用平台。
myStudio整合了myCobot & myCobot 320的软件资源及各类资料，主要功能为：1）下载更新固件；2）查看机器人使用视频教程；3）维护和维修方面的信息（如视频教程、Q&A等）
请下载最新版的myStudio进行使用软件下载链接如下：
1、官网：https://www.elephantrobotics.com/support/
2、Github：https://github.com/elephantrobotics/MyStudio/- 20 -ATOM- 21 -Atom所需固件

myCobot 320 产品配件

产品保修卡

大象机器人面向机械臂扩展应用，打造“myCobot - 系列”产品线。

用户信息（必填）：

相关配件的上新，请关注官方淘宝店铺。店铺名称：大象机器人购买人订单号地址1电动夹爪2 气动夹爪21联系电话物流签收日期产品问题描述（必填）：3 自适应夹爪如需退换货，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。

4 模块化吸泵

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。

34●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)

舵机- 22 -

保修期限

保修服务

≤1个月

我司免费提供一个新舵机并承担寄送运费(仅一次)1-3个月

我司免费提供一个新舵机，由客户自行承担运费(仅一次)≥3个月

客户需自己重新购买WARRANTY CARD

电子件
保修期限

保修服务

≤3个月

由用户拆卸后寄回，我司免费更换并承担往返运费(仅一次)3-6个月

由用户拆卸后寄回并承担往返运费，我司免费更换(仅一次)Purchaser≥6个月客户需自己重新购买Address

结构件，含外壳部分
保修期限

保修服务

≤1年

我司免费提供新的零件，由客户自行承担运费(仅一次)≥1年

客户需自己重新购买特别说明: 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(3) 属于外壳等部件自然的消耗，磨损及老化(4) 因调整不当或未经授权进行修理而导致的损坏(5) 因地震、洪水等自然灾害导致的损坏
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。

Customer Information (Required)：
Order No.

Phone
Logistics Receipt Date

Product problem description(Required)：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 theattached invoice. Note: Our company reserves the right to explain and modify the warranty card of thisproduct 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.

Sever motor
Warranty Period

Warranty Services≤1 months

Elephant Robotics offers a free new servo motor and bear the freigh.

1-3 months

Elephant Robotics offers a free new servo motor, customs shall bear the freight.

≥3 months

Customers need to buy it themselves.

Electrical Parts≤3 months

Customers need to send it back after disassembly, Elephant Robotics shall senda new one for free and bear the freight out and home.

3-6 months

Customers need to send it back after disassembly and bear the freight out and home,
Elephant Robotics shall send a new one for free.

≥6 months

Customers need to buy it themselves.

Structure Parts, including Shell Parts≤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(even during 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.