Collaborative robot and end-effector therefor

Abstract

The application relates to the technical field of mechanical hands, and discloses a collaborative robot and a terminal device thereof, which comprises a terminal adapter block and a terminal shell, the terminal shell is connected to one side of the terminal adapter block, a visual component and a light source component are arranged in the terminal shell, a communicating containing cavity is formed in the terminal shell, the containing cavity comprises a first containing cavity and a second containing cavity, and a control panel penetrating through the first containing cavity and the second containing cavity is arranged in the containing cavity. By integrating the control panel and other components in the terminal device, the integration and integration degree of the terminal device of the mechanical hand are greatly improved, a separate larger visual module does not need to be additionally installed, when the visual module is additionally installed, the internal wire harness of the mechanical hand, the wire harness of the mechanical hand connected with the electric control box and the internal electric control box do not need to be changed and modified, the flexible configuration of the mechanical hand body and the electric control box is realized, the parts are unified, the assembly method / process is unified, the production cost is reduced, and the product stability is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a collaborative robot and its end effector. Background Technology

[0002] Collaborative robots typically consist of a robotic arm body, an electrical control box, and connecting cables (for electrically connecting the control box and the robotic arm body). The robotic arm body (hereinafter referred to as the robotic arm) comprises multiple joint modules and one end effector. The end effector is used to mount external loads and tools, and the multiple joint modules and the end effector are electrically connected via wiring harnesses. Collaborative robots with vision systems can generally achieve vision functionality by installing a vision device externally to the end effector (external wiring method). Alternatively, the wiring harness can be internally connected to the vision device, reducing the clutter and interference in the on-site working environment caused by external wiring harnesses.

[0003] In some existing technologies, a vision control board is installed inside the vision end-effector housing. The vision control board is powered and provides control signals through the internal wiring harness of the robot. This solution requires an additional set of wiring harnesses to connect to the vision control board. In addition, the wiring harnesses between the joint modules inside the robot body result in a large number of internal wiring harnesses, more installation steps, and the possibility of mutual interference and other malfunctions due to the large number of wiring harnesses. Furthermore, since the vision control board is a separate component, adding it will make the vision device larger in size. When using loads and tools, the larger size of the vision device may affect the installation of the load / tools.

[0004] In other technologies, the vision control board is placed inside the electrical control box and connected to the camera of the end effector via wiring harnesses. This also requires additional wiring harnesses, increasing the internal wiring of the robot and making it prone to failure. Furthermore, placing the vision control board inside the electrical control box essentially makes the box dedicated to collaborative robots with vision systems, resulting in poor versatility. If this control box is used for other collaborative robots without vision systems, its functionality is redundant, increasing the cost of the equipment. This also hinders the flexible matching of the collaborative robot's electrical control box and the robot itself. Summary of the Invention

[0005] The purpose of this invention is to improve the integration and unification of collaborative robots and their end effectors, enabling flexible configuration of the robot body and control box, standardization of components and assembly methods / processes, thereby reducing production costs and improving product stability.

[0006] To achieve the above objectives, the present invention provides an end effector for a collaborative robot, comprising:

[0007] An end effector block, which is connected to the end of the robotic arm;

[0008] An end housing is connected to one side of the end adapter block, and a vision component and a light source component are disposed inside the end housing;

[0009] The end-cap shell has a connected receiving cavity, which includes a first receiving cavity and a second receiving cavity. The end-cap adapter block is disposed in the first receiving cavity. The light source assembly is disposed in the first receiving cavity. The vision assembly is disposed in the second receiving cavity. A control board is disposed in the receiving cavity, penetrating the first receiving cavity and the second receiving cavity. The control board includes an integrated robotic arm end-cap control board and a vision control board. The robotic arm end-cap control board is electrically connected to the robotic arm, and the vision control board is electrically connected to the vision assembly.

[0010] Compared with existing technologies, the end effect device of this invention for a collaborative robot has the following advantages: The end effect device is divided into an end-effector block and an end-effector housing, which are interconnected. The end-effector block mainly connects to the robot arm, while the end-effector housing forms a cavity for accommodating the control board. The cavity also integrates a light source assembly for illumination and a vision assembly for recording and capturing images. The control board includes an integrated robot arm end-effector control board and a vision control board, allowing the end effect device, light source assembly, and vision assembly to be directly controlled by a single control board, reducing the need for external wiring harnesses. By integrating components such as the control board into the end effect device, this application significantly improves the integration and overall integration of the robot arm end effect device. It eliminates the need for a separate, large vision module. When adding a vision module, no other modifications are required to the internal wiring harness of the robot arm, the wiring harness connecting the robot arm to the electrical control box, or the internal components of the electrical control box. This achieves flexible configuration of the robot arm body and the electrical control box, standardization of parts, and standardization of assembly methods / processes, reducing production costs and improving product stability.

[0011] The end effector of the collaborative robot in this embodiment of the invention has an upper cover detachably covering one side of the second receiving cavity. The upper cover protrudes outward from the second receiving cavity and forms a wedge-shaped surface. A button assembly is provided on the wedge-shaped surface, and the button assembly is electrically connected to the control board.

[0012] The end effector of the collaborative robot according to an embodiment of the present invention includes a first accommodating cavity comprising a light source space, wherein the light source space is an annular space formed between the end adapter block and the end shell, and the light source assembly is disposed within the light source space, wherein the light source assembly comprises a light source plate and a plurality of lamp beads fixed to the light source plate.

[0013] The end effector of the collaborative robot in this embodiment of the invention further includes a light source protective plate covering the light source plate within the light source space, and a sealing ring is provided between the light source protective plate, the end effector housing, and the end effector adapter block.

[0014] The end effector of the collaborative robot in this embodiment of the invention includes a plurality of protrusions in the receiving cavity, a control plate abutting against the protrusions, a first screw hole in the protrusion facing the end adapter block, a plurality of second screw holes in the control plate corresponding to the first screw hole, and a first screw passing through the first screw hole and the second screw holes to fix the control plate to the end housing.

[0015] The end effector of the collaborative robot in this embodiment of the invention has a vision shell disposed on one side of the second receiving cavity, the second receiving cavity further includes a vision space located within the vision shell, and the vision component is disposed within the vision space.

[0016] The end effector of the collaborative robot in this embodiment of the invention has a flange with a slot in the middle inside the vision housing. The vision component includes a camera and a lens. The camera is fixed on the flange, and the lens extends out of the flange through an opening in the flange.

[0017] The end effector of the collaborative robot in this embodiment of the invention includes a vision component that further includes a vision light source shield fixed to the vision housing and a vision light source located on the vision light source shield. The vision light source and the inner side of the vision light source shield are provided with a shooting hole to allow the lens to pass through.

[0018] The end effector of the collaborative robot in this embodiment of the invention has a vision housing detachably fixed to the end effector housing. The end effector housing has a plurality of third screw holes on one side facing the vision housing. The vision housing has a plurality of fourth screw holes on one side facing the end effector housing, corresponding to the positions of the third screw holes. Second screws are inserted into the third screw holes and the fourth screw holes and fixed to the end effector housing by the vision housing.

[0019] The present invention also provides a collaborative robot, including a robotic arm, wherein the end of the robotic arm is provided with an end effector of the collaborative robot as described in any of the above embodiments.

[0020] Compared with the prior art, the end effect device of the collaborative robot according to the present invention has the following advantages: The collaborative robot includes a manipulator for operation, and an end effect device is provided at the end of the manipulator. The end effect device includes an end adapter block and an end shell that are connected to each other. The end adapter block is mainly connected to the manipulator, and the end shell forms a cavity for accommodating a control board. The cavity also integrates a light source component for lighting and a vision component for recording and shooting. The control board includes an integrated manipulator body end control board and a vision control board, so that the end effect device, light source component and vision component are directly controlled by a single control board, reducing the need for external wiring harnesses. By integrating components such as the control board into the end effect device, this application greatly improves the integration and integration of the manipulator end effect device. There is no need to add a separate and large vision module. When adding a vision module, no other changes or modifications are required to the internal wiring harness of the manipulator, the wiring harness connecting the manipulator to the electrical control box, and the internal parts of the electrical control box. This achieves flexible configuration of the manipulator body and electrical control box, uniformity of parts, uniformity of assembly methods / processes, reduction of production costs, and improvement of product stability.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] Figure 1 This is an external schematic diagram of the end effector of a collaborative robot according to an embodiment of the present invention;

[0023] Figure 2 This is a bottom schematic diagram of the end effector of the collaborative robot according to an embodiment of the present invention;

[0024] Figure 3 This is an internal schematic diagram of the end effector of a collaborative robot according to an embodiment of the present invention;

[0025] Figure 4 This is a bottom schematic diagram of the end effector block of the end effector of the collaborative robot according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the interior of the end-effector housing of the collaborative robot according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the bottom of the end-effector housing of the collaborative robot according to an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the connecting cover plate of the end shell of the collaborative robot according to an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the control board of the end effector of the collaborative robot according to an embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram of the light source board of the end effector of the collaborative robot according to an embodiment of the present invention;

[0031] Figure 10 This is a bottom schematic diagram of the end effector of a collaborative robot according to another embodiment of the present invention;

[0032] Figure 11 This is a schematic diagram of the visual housing of the end effector of the collaborative robot according to an embodiment of the present invention;

[0033] In the diagram, 1. End adapter block; 11. Connecting hole; 12. First groove; 13. Adapter block screw hole; 2. End housing; 21. First receiving cavity; 211. Light source space; 212. Adapter block connecting boss; 213. Adapter block connecting screw hole; 22. Second receiving cavity; 221. Top cover connecting boss; 222. Top cover connecting screw hole; 23. Second groove; 24. First boss; 241. First screw hole; 25. Mounting hole; 26. Second boss; 27. Mounting plate; 28. Sealing cover plate; 9. Third screw hole; 3. Vision component; 31. Camera; 32. Lens; 33. Vision light source cover plate; 34. Vision light source; 4. Light source component; 41. Light source board; 42. Lamp bead; 43. Light source cover plate; 44. Sealing ring; 5. Control board; 51. Second screw hole; 6. Top cover; 61. Wedge-shaped surface; 62. Button assembly; 63. Top cover screw hole; 7. Connecting cover plate; 71. Cover plate boss; 8. Vision housing; 81. Vision space; 82. Flange; 821. Slot; 83. Fourth screw hole. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0036] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0037] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0038] like Figure 1 As shown, a preferred embodiment of the present invention provides an end effector for a collaborative robot, comprising an end adapter block 1 and an end housing 2. The end adapter block 1 is connected to the end of a robotic arm. The end of the end adapter block 1 facing away from the end housing 2 is provided with annularly arranged connection holes 11 for connecting to the robotic arm.

[0039] like Figures 1-3 As shown, the end housing 2 is connected to the side of the end adapter block 1 facing away from the robot. The end housing 2 is used to accommodate the vision component 3 and the light source component 4. A connected accommodating cavity is formed inside the end housing 2. The accommodating cavity includes a first accommodating cavity 21 and a second accommodating cavity 22. The end adapter block 1 is covered by the first accommodating cavity 21. The light source component 4 is disposed in the first accommodating cavity 21. The vision component 3 is disposed in the second accommodating cavity 22. A control board 5 is disposed inside the accommodating cavity, penetrating the first accommodating cavity 21 and the second accommodating cavity 22. The control board 5 includes an integrated robot body end control board and a vision control board. The robot body end control board is located in the first accommodating cavity 21 and is electrically connected to the robot. The vision control board is located in the second accommodating cavity 22 and is electrically connected to the vision component 3. The end effector, light source assembly 4, and vision assembly 3 are directly controlled by a single control board 5, reducing the need for external wiring harnesses. By integrating components such as the control board 5 into the end effector, this application significantly improves the integration and overall integration of the robot's end effector. There is no need to install a separate, large vision module. When adding a vision module, no other changes or modifications are required to the internal wiring harness of the robot, the wiring harness connecting the robot to the electrical control box, or the internal components of the electrical control box. This enables flexible configuration of the robot body and the electrical control box, standardization of parts, and standardization of assembly methods / processes, thereby reducing production costs and improving product stability.

[0040] like Figure 1As shown, in some embodiments of the present invention, a top cover 6 is detachably provided on one side of the second receiving cavity 22. The top cover 6 protrudes from the second receiving cavity 22 and forms a wedge-shaped surface 61. A button assembly 62 is provided on the wedge-shaped surface 61, and the button assembly 62 is electrically connected to the control board 5. It is understood that the button assembly 62 can be used to control the end effector or the light source assembly 4 or vision assembly 3 within the end effector, depending on the specific needs, and is not specifically limited here. The above arrangement causes a portion of the end effector housing 2 to protrude, and the button assembly 62 is provided on the protruding portion (i.e., the wedge-shaped surface 61). When using a collaborative robot (e.g., drag teaching), it is convenient for the hand to grasp the end effector housing 2, and it is more convenient for the finger to press the end effector button, thus improving the interactive experience of operation.

[0041] In some embodiments of the present invention, the upper cover 6 is provided with four upper cover screw holes 63, and the end housing 2 is also provided with four upper cover screw holes 63 corresponding to the positions of the upper cover screw holes 63 on the upper cover 6. The upper cover 6 is detachably fixed to the end housing 2 by screws passing through the upper cover screw holes 63. Specifically, the upper cover screw holes 63 of the upper cover 6 are provided on the wedge-shaped surface 61, and their opening angle also corresponds to the angle of the conical surface. The second receiving cavity 22 is provided with an upper cover connecting boss 221 corresponding to the upper cover screw holes 63. The upper cover connecting boss 221 is provided with upper cover connecting screw holes 222 that match the upper cover screw holes 63, and the number of upper cover connecting screw holes 222 corresponding to the number of upper cover screw holes 63 is also provided as four.

[0042] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, the first receiving cavity 21 includes a light source space 211, which is an annular space formed between the end adapter block 1 and the end housing 2. Specifically, an annular first groove 12 is formed on the end face of the end adapter block 1 facing the end housing 2, and an annular second groove 23 is formed on the end face of the end housing 2 facing the end adapter block 1. The second groove 23 and the first groove 12 are positioned correspondingly and matched in size. The first groove 12 and the second groove 23 together form the annular light source space 211. The light source assembly 4 is disposed in the light source space 211, such as... Figure 9 As shown, the light source assembly 4 includes an annular light source plate 41 and a plurality of lamp beads 42 fixed to the light source plate 41. The light source is used to provide illumination when the end device is working. The plurality of lamp beads 42 are evenly spaced on the light source plate 41 to make the emitted light more uniform.

[0043] In some embodiments of the present invention, a light source protective plate 43 covering the light source plate 41 is also provided in the light source space 211. The light source protective plate 43 is used to protect the lamp beads 42 on the light source plate 41 and prevent the lamp beads 42 from colliding with the end adapter block 1 or the end housing 2. The light source protective plate 43 is arranged in a ring shape corresponding to the light source plate 41. A sealing ring 44 is provided between the light source protective plate 43 and the end housing 2 and the end adapter block 1 to prevent external water powder or dust from entering the light source space 211 and damaging the lamp beads 42, thus ensuring the life of the light source assembly 4.

[0044] In some embodiments of the present invention, a plurality of adapter block connecting bosses 212 are provided in the first receiving cavity 21, and each adapter block connecting boss 212 is provided with an adapter block connecting screw hole 213. An adapter block screw hole 13 is also provided on the end face of the adapter block 1 facing the first receiving cavity 21. The size, number, and position of the adapter block screw holes 13 are matched with the adapter block connecting screw holes 213. The fixing between the end adapter block 1 and the end housing 2 is completed by screws inserted into the adapter block connecting screw holes 213 and the adapter block screw holes 213. The adapter block connecting screw holes 213 penetrate the end housing 2 to facilitate screw installation.

[0045] like Figure 5 As shown, in some embodiments of the present invention, multiple sets of first protrusions 24 are also provided in the receiving cavity, and the first protrusions 24 are evenly distributed in the first receiving cavity 21 and the second receiving cavity 22; the heights of the first protrusions 24 in the first receiving cavity 21 and the first protrusions 24 in the second receiving cavity 22 facing the end face of the control plate 5 are equal; the control plate 5 abuts against the first protrusions 24, that is, both ends of the control plate 5 abut against the first protrusions 24; the first protrusions 24 are provided with first screw holes 241 facing the end adapter block 1, and multiple second screw holes 51 are provided on the control plate 5 corresponding to the positions of the first screw holes 241. Screws are passed through the first screw holes 241 and the second screw holes 51 to fix the control plate 5 to the end housing 2. The multiple screws are tightened to securely fix the control plate 5 to the end housing 2, thereby improving the strength of the device.

[0046] In some embodiments of the present invention, the side wall of the end housing 2 is provided with a mounting hole 25 at the first receiving cavity 21. The mounting hole 25 is used for the passage of the wire harness. One end of the wire harness entering the first receiving cavity 21 is connected to the control board 5, and the other end extending out of the first receiving cavity 21 is connected to a plug, which is used by the control board 5 to supply power and transmit data to external devices.

[0047] like Figure 7As shown, in some embodiments of the present invention, an arc-shaped upwardly protruding connecting cover plate 7 is further provided between the first receiving cavity 21 and the second receiving cavity 22. The bottom of the connecting cover plate 7 has a cover plate boss 71, and the end housing 2 is provided with a second boss 26 corresponding to the cover plate boss 71. The second boss 26 and the cover plate boss 71 are provided with screw holes to fix the connecting cover plate 7 to the middle of the end housing, so as to support the control plate 5 in the middle of the receiving cavity and improve the strength of the control plate 5.

[0048] like Figure 3 and Figure 6 As shown, in some embodiments of the present invention, the end housing 2 is provided with a vision housing 8 on one side of the second receiving cavity 22. At this time, the end face of the end housing 2 facing the vision housing 8 is provided with a mounting plate 27, and the interior of the mounting plate 27 is provided with a through groove. The second receiving cavity 22 also includes a vision space 81 located in the vision housing 8. The vision component 3 is disposed in the vision space 81. The vision component 3 is used to perform shooting operations during the operation of the robot arm. The vision component 3 has a separate assembly space and a supporting housing, which is beneficial to the installation and disassembly of the vision component 3.

[0049] like Figure 3 As shown, in some embodiments of the present invention, a flange 82 with a central opening is provided inside the vision housing 8. The flange 82 is horizontally arranged and parallel to the control plate 5. The interior of the flange 82 has a circular or square groove 821. Further, the vision component 3 includes a camera 31 and a lens 32. The camera 31 is fixed on the flange 82, and the lens 32 extends out of the flange 82 from the groove 821 inside the flange 82 to prevent the flange 82 from affecting or interfering with the extension and retraction of the lens 32.

[0050] In some embodiments of the present invention, the vision component 3 further includes a vision light source guard plate 33 fixed to the vision housing 8 and a vision light source 34 located on the vision light source guard plate 33. The vision light source guard plate 33 directly serves as the base plate of the vision housing 8, and its perimeter is fixedly disposed with the base plate. The vision light source 34 includes a vision light source plate and vision light source LEDs. The inner sides of the vision light source 34 and the vision light source guard plate 33 are provided with shooting holes to allow the lens 32 to pass through, preventing any impact or interference on the extension and retraction of the lens 32. The vision light source 34 provides light during the shooting process of the camera 31, making the captured image clearer.

[0051] like Figure 6 , Figure 10 and Figure 11As shown, in some embodiments of the present invention, the vision housing 8 is detachably fixed to the end housing 2. A plurality of third screw holes 29 are provided on the end face of the end housing 2 facing the vision housing 8, and the third screw holes 29 are evenly distributed. A plurality of fourth screw holes 83, corresponding to the positions of the third screw holes 29, are opened on the end face of the vision housing 8 facing the end housing 2. There are four fourth screw holes 83, evenly distributed at the four corners of the vision housing 8. Screws are inserted into the third screw holes 29 and the fourth screw holes 83 to fix the vision housing 8 to the end housing 2. The threaded fixing ensures a secure connection between the vision housing 8 and the end housing 2 and facilitates easy assembly and disassembly. Specifically, when vision functionality is required, the vision device is installed on the end housing 2; when the vision device is not required, a closed cover plate 28 is used instead of the mounting plate 27 to cover the reserved third screw holes 29 at the end.

[0052] A preferred embodiment of the present invention provides a collaborative robot, including a robotic arm, the end of which is provided with an end effector of any of the above embodiments of the collaborative robot. The collaborative robot includes a robotic arm for operation, with an end effector at the end of the robotic arm. The end effector includes an end adapter block 1 and an end housing 2 connected to each other. The end adapter block 1 is mainly connected to the robotic arm, and the end housing 2 forms a cavity for accommodating a control board 5. The cavity also integrates a light source assembly 4 for lighting and a vision assembly 3 for recording and capturing images. The control board 5 includes an integrated robotic arm end effector control board and a vision control board, allowing the end effector, light source assembly 4, and vision assembly 3 to be directly controlled by a single control board 5, reducing the need for external wiring harnesses. This application significantly improves the integration and overall integration of the robotic arm end effector by integrating components such as the control board 5 into the end effector. It eliminates the need for a separate, large vision module. When adding a vision module, no other changes or modifications are required to the internal wiring harness of the robotic arm, the wiring harness connecting the robotic arm to the electrical control box, or the internal components of the electrical control box. This achieves flexible configuration of the robotic arm and electrical control box, standardization of parts, and standardization of assembly methods / processes, reducing production costs and improving product stability.

[0053] The working process of this invention is as follows: The end effector is divided into an end adapter block 1 and an end housing 2 that are connected to each other. The end adapter block 1 is mainly connected to the robot arm. The end housing 2 forms a cavity for accommodating the control board 5. The cavity also integrates a light source assembly 4 for lighting and a vision assembly 3 for recording and shooting. The control board 5 includes an integrated robot arm end effector control board and a vision control board, so that the end effector, light source assembly 4 and vision assembly 3 are directly controlled by a single control board 5, reducing the need for external wiring harnesses. A vision housing 8 is provided on one side of the second accommodating cavity 22 of the end housing 2. The vision housing 8 is detachably fixed to the end housing 2.

[0054] In summary, the embodiments of the present invention provide a collaborative robot and its end effector, which reduces the need for external wiring harnesses, greatly improves the integration and unification of the robot's end effector, eliminates the need for a separate, large vision module, and requires no other changes or modifications to the internal wiring harnesses of the robot, the wiring harness connecting the robot to the control box, or the internal components of the control box when adding the vision module. This enables flexible configuration of the robot body and control box, standardization of components, and standardization of assembly methods / processes, thereby reducing production costs and improving product stability.

[0055] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An end effector for a collaborative robot, characterized in that, include: An end effector block, which is connected to the end of the robotic arm; An end housing is connected to one side of the end adapter block, and a vision component and a light source component are disposed inside the end housing; The end-cap shell has a connected receiving cavity, which includes a first receiving cavity and a second receiving cavity. The end-cap adapter block is disposed in the first receiving cavity. The light source assembly is disposed in the first receiving cavity. The vision assembly is disposed in the second receiving cavity. A control board is disposed in the receiving cavity, penetrating the first receiving cavity and the second receiving cavity. The control board includes an integrated robotic arm end-cap control board and a vision control board. The robotic arm end-cap control board is electrically connected to the robotic arm, and the vision control board is electrically connected to the vision assembly.

2. The end effector of the collaborative robot according to claim 1, characterized in that: A top cover is detachably provided on one side of the second receiving cavity. The top cover protrudes outward from the second receiving cavity and forms a wedge-shaped surface. A button assembly is provided on the wedge-shaped surface, and the button assembly is electrically connected to the control board.

3. The end effector of the collaborative robot according to claim 1, characterized in that: The first accommodating cavity includes a light source space, which is an annular space formed between the end adapter block and the end housing. The light source assembly is disposed in the light source space, and the light source assembly includes a light source plate and a plurality of lamp beads fixed to the light source plate.

4. The end effector of the collaborative robot according to claim 3, characterized in that: The light source space is also provided with a light source protective plate covering the light source plate, and a sealing ring is provided between the light source protective plate and the end shell and the end adapter block.

5. The end effector of the collaborative robot according to claim 1, characterized in that: The cavity is also provided with a number of protrusions, the control plate abuts against the protrusions, the protrusions are provided with a first screw hole facing the end adapter block, the control plate is provided with a number of second screw holes corresponding to the first screw hole, and screws are passed through the first screw hole and the second screw hole to fix the control plate to the end housing.

6. The end effector of the collaborative robot according to claim 1, characterized in that: The end housing has a vision housing on one side of the second receiving cavity, and the second receiving cavity also includes a vision space located within the vision housing, and the vision component is disposed within the vision space.

7. The end effector of the collaborative robot according to claim 6, characterized in that: The vision housing has a flange with a slot in the middle. The vision component includes a camera and a lens. The camera is fixed on the flange, and the lens extends out of the flange through an opening in the flange.

8. The end effector of the collaborative robot according to claim 7, characterized in that: The vision component also includes a vision light source shield fixed to the vision housing and a vision light source located on the vision light source shield. The vision light source and the inner side of the vision light source shield are provided with a shooting hole to allow the lens to pass through.

9. The end effector of the collaborative robot according to claim 6, characterized in that: The vision housing is detachably fixed to the end housing. The end housing has a plurality of third screw holes on one side facing the vision housing. The vision housing has a plurality of fourth screw holes on one side facing the end housing, corresponding to the positions of the third screw holes. Second screws are inserted into the third screw holes and the fourth screw holes to fix the vision housing to the end housing.

10. A collaborative robot, characterized in that: It includes a robotic arm, the end of which is provided with an end effector of the collaborative robot according to any one of claims 1-9.

Images