Tail end clamping device for collaborative robot

Abstract

The utility model provides a tail end clamping device for a collaborative robot, and relates to the technical field of collaborative robot equipment. Comprising a supporting bottom plate, a first positioning bolt is installed at the top of the supporting bottom plate, the supporting bottom plate, tail end clamping plates and an auxiliary clamping mechanism are arranged, a pneumatic claw air cylinder operates to drive the two tail end clamping plates to conduct primary clamping treatment on a positioning seat, two tail end positioning pins are used for conducting secondary clamping treatment on the positioning seat, and therefore the positioning seat can be conveniently clamped. According to the auxiliary clamping mechanism, the tail end of the whole collaborative robot is clamped, the stability of equipment during operation is improved, the supporting bottom plate and the mounting position are positioned through the first positioning bolts, the stability of the equipment during follow-up operation is improved, the auxiliary clamping mechanism is integrally mounted through cooperation of the multiple bolts, dismounting treatment during overhauling is facilitated, and the working efficiency is improved. And therefore, double positioning is conducted on the tail end of the collaborative robot, maintenance and disassembly are convenient while the installation stability is improved, and the precision during follow-up operation is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robot equipment technology, and in particular to an end effector for collaborative robots. Background Technology

[0002] Currently, most welding robots on the market are traditional industrial robots. To adapt to different applications, the mechanical interface on the robot's end axis is usually a connecting flange to attach different tools or end effectors. Welding robots are industrial robots with welding torches attached to the end axis connecting flange to allow welding to be performed. To meet the needs of specific applications, collaborative robots have emerged. Collaborative robots are smaller and lighter, making them easier to install and deploy, requiring less space, and readily usable, thus enabling welding operations even in small spaces.

[0003] In practical applications, existing technologies require collaborative robots for installation. However, end-effector installation suffers from a limited range of clamping methods, which affects the stability of clamping, leads to errors in the accuracy of device operation, impacts normal use, and causes numerous inconveniences.

[0004] Therefore, this utility model provides an end effector for collaborative robots. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies and provide an end effector for collaborative robots.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an end effector for collaborative robots, comprising a support base plate.

[0007] The top of the support base plate is equipped with a first positioning bolt, and the output end of the first positioning bolt is fixedly connected to a first push rod. Two symmetrically distributed first push rods are installed on the top of the first push rods, and an end clamping plate is installed on the top of each of the two first push rods.

[0008] A positioning seat is installed between the two end gripping plates. A connecting suction cup is installed on the top of the positioning seat. A collaborative robot is installed on the top of the connecting suction cup. The collaborative robot includes a first connecting shaft. A first robotic arm is installed on the top of the first connecting shaft. A first drive motor is installed on the top of the first robotic arm. A second robotic arm is fixedly connected to the output end of the first drive motor. A support base is installed at one end of the second robotic arm. An infrared sensor and a vision sensor are installed on the top of the support base. An auxiliary gripping mechanism is installed at the bottom of the support base. The auxiliary gripping mechanism is used for normal gripping of items.

[0009] Both of the aforementioned end gripping plates are equipped with end positioning pins extending into the positioning seat. The pneumatic gripper cylinder drives the two end gripping plates to perform a first clamping process on the positioning seat, and the two end positioning pins perform a second clamping process on the positioning seat. By clamping the end of the entire collaborative robot, the stability of the equipment during operation is improved.

[0010] An auxiliary positioning mechanism is installed on the top of the support base plate. The auxiliary positioning mechanism is located on one side of the pneumatic gripper cylinder. The internal threads of the support base plate are connected to symmetrically distributed first positioning bolts. The first positioning bolts are used to position the support base plate relative to the installation position, which improves the stability of the equipment during subsequent operation. The auxiliary positioning mechanism is used to assist in the positioning of the positioning seat.

[0011] In a preferred embodiment, the auxiliary positioning mechanism includes an electric telescopic rod. An auxiliary connecting plate is installed on the top of the support base plate, located on one side of the pneumatic gripper cylinder. A fixed frame is installed on the top of the auxiliary connecting plate. The electric telescopic rod is rotatably connected inside the fixed frame. A second push rod is fixedly connected to the output end of the electric telescopic rod. A first positioning plate is installed at the top end of the second push rod. A positioning block is fixedly connected to the side of the first positioning plate near the end clamping plate. The first positioning plate and the positioning block assist in end positioning and clamping. Second positioning bolts extending into the support base plate are threadedly connected inside the auxiliary connecting plate and around the fixed frame. A limiting shaft that cooperates with the electric telescopic rod is installed on the outside of the fixed frame. The auxiliary connecting plate and the support base plate are reinforced by multiple second positioning bolts, achieving the overall installation effect of the auxiliary positioning mechanism. The angle of the electric telescopic rod inside the fixed frame can be manually adjusted until the first positioning plate and the positioning block reinforce the positioning seat, thereby improving the stability of end clamping.

[0012] The technical effect of adopting the above-mentioned further solution is that the end-positioning clamping process is assisted by the first positioning plate and the positioning block until the first positioning plate and the positioning block reinforce the positioning seat, thereby improving the stability of the end clamping.

[0013] In a preferred embodiment, the auxiliary clamping mechanism includes a mounting support plate. A connecting shaft is mounted on the bottom of the support base, and the mounting support plate is mounted on one bottom end of the connecting shaft. A second positioning plate is mounted on the top of the mounting support plate and on one side of the connecting shaft. Two symmetrically distributed second rotating plates are rotatably connected to the top of the second positioning plate. Two symmetrically distributed gear rotating plates are rotatably connected inside the second positioning plate. A connecting plate is mounted on one side of each gear rotating plate. A first rotating plate is rotatably connected to the top of each connecting plate. A third rotating plate is mounted on one side of each first rotating plate. The second rotating plates are connected to the corresponding... The two third rotating plates are rotatably connected, and clamping buffer pads are fixedly connected to the sides of the two third rotating plates that are close to each other. A second drive motor is installed at the bottom of the mounting support plate. The output end of the second drive motor is fixedly connected to one of the gear rotating plates. The two gear rotating plates are installed with equidistantly distributed teeth on the sides of the two gear rotating plates that are close to each other and inside the second positioning plate. Thus, under the operation of the second drive motor, the two gear rotating plates are driven to rotate, which drives the two second rotating plates at the top to rotate, thereby driving the two third rotating plates to rotate towards the middle, until the two clamping buffer pads are used to position the equipment and items that need to be clamped.

[0014] The technical effect of adopting the above-mentioned further solution is that the two second rotating plates at the top are driven to rotate, thereby causing the two third rotating plates to rotate towards the middle, until the equipment and items to be clamped are positioned by the two clamping buffer pads.

[0015] In a preferred embodiment, the second rotating plate is connected to the corresponding third rotating plate by the fourth positioning bolt, the second rotating plate is connected to the second positioning plate by the fifth positioning bolt, the first rotating plate is connected to the corresponding third rotating plate by the sixth positioning bolt, and the connecting plates are all connected to the corresponding first rotating plate by the third positioning bolt. The auxiliary clamping mechanism is installed as a whole by the cooperation of the above multiple bolts, which facilitates disassembly and maintenance.

[0016] The technical advantage of adopting the above-mentioned further solution is that the auxiliary clamping mechanism is installed as a whole by means of the above-mentioned multiple bolts, which facilitates disassembly and maintenance.

[0017] In a preferred embodiment, a wireless transceiver is fixedly connected to the outer side of the fixed frame. The wireless transceiver is located below the limiting shaft. A main control board is installed inside the wireless transceiver, and a control chip is installed on the outer side of the main control board. The pneumatic gripper cylinder, electric telescopic rod, wireless transceiver, first drive motor, infrared sensor, vision sensor, and second drive motor are all electrically connected to the control chip. The control chip is used to control the operation of the pneumatic gripper cylinder, electric telescopic rod, wireless transceiver, first drive motor, infrared sensor, vision sensor, and second drive motor, thereby realizing unified management of electrical equipment.

[0018] The technical effect of adopting the above-mentioned further solution is that the control chip is used to control the operation of the pneumatic gripper cylinder, electric telescopic rod, wireless signal transceiver, first drive motor, infrared sensor, vision sensor and second drive motor, realizing unified management of power equipment.

[0019] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0020] By incorporating a support base plate, an auxiliary positioning mechanism, an end effector clamping plate, and an auxiliary clamping mechanism, during operation, the pneumatic gripper cylinder drives the two end effector clamping plates to perform a primary clamping process on the positioning seat, followed by a secondary clamping process using two end effector positioning pins. This clamping of the entire collaborative robot's end effector improves the stability of the equipment during operation. The first positioning bolt positions the support base plate relative to its installation location, further enhancing stability during subsequent operations. The auxiliary positioning mechanism assists in the positioning of the positioning seat, using a first positioning plate and positioning blocks to aid in end effector positioning and clamping. Multiple second positioning bolts reinforce the auxiliary connecting plate and the support base plate, achieving the goal of assisted positioning of the machine. The overall installation effect is achieved by manually adjusting the angle of the electric telescopic rod inside the fixed frame until the first positioning plate and positioning block reinforce the positioning seat, thereby improving the stability of the end-effector clamping. Under the operation of the second drive motor, the two gear rotating plates are driven to rotate, which in turn drives the two second rotating plates at the top to rotate, thereby driving the two third rotating plates to rotate towards the center until the equipment or items to be clamped are positioned through the two clamping buffer pads. The auxiliary clamping mechanism is installed as a whole by the cooperation of the above-mentioned multiple bolts, which facilitates disassembly and maintenance. This provides dual positioning for the end of the collaborative robot, improving installation stability and facilitating disassembly and maintenance, thus ensuring the accuracy of subsequent operations. Attached Figure Description

[0021] Figure 1 A schematic diagram of the overall structure of an end effector for a collaborative robot provided by this utility model. Figure 1 ;

[0022] Figure 2 A schematic diagram of the overall structure of an end effector for a collaborative robot provided by this utility model. Figure 2 ;

[0023] Figure 3 A schematic diagram of the overall structure of an end effector for a collaborative robot provided by this utility model. Figure 3 ;

[0024] Figure 4 An enlarged schematic diagram of an auxiliary positioning mechanism for an end-effector gripping device of a collaborative robot, provided by this utility model;

[0025] Figure 5 An enlarged schematic diagram of an auxiliary clamping mechanism for an end-effector gripping device for a collaborative robot, provided by this utility model.

[0026] Legend:

[0027] 1. Support base plate; 11. First positioning bolt; 12. Pneumatic gripper cylinder; 13. First push rod;

[0028] 2. Auxiliary positioning mechanism; 21. Auxiliary connecting plate; 22. Fixing frame; 23. Electric telescopic rod; 24. Second push rod; 25. First positioning plate; 26. Positioning block; 27. Second positioning bolt; 28. Limiting shaft; 29. ​​Wireless signal transceiver;

[0029] 3. End clamping plate; 31. End locating pin;

[0030] 4. First connecting shaft; 41. Connecting suction cup; 42. Positioning seat; 43. First robotic arm; 44. First drive motor; 45. Second robotic arm; 46. Support base; 47. Infrared sensor; 48. Vision sensor;

[0031] 5. Auxiliary clamping mechanism; 51. Mounting support plate; 52. Second positioning plate; 53. First rotating plate; 54. Second rotating plate; 55. Third rotating plate; 56. Clamping buffer pad; 57. Third positioning bolt; 58. Fourth positioning bolt; 59. Gear rotating plate; 591. Fifth positioning bolt; 592. Sixth positioning bolt; 593. Second drive motor. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] like Figures 1-5 As shown, this embodiment provides a technical solution: an end effector for a collaborative robot, including a support base plate 1, a first positioning bolt 11 mounted on the top of the support base plate 1, a first push rod 13 fixedly connected to the output end of the first positioning bolt 11, two symmetrically distributed first push rods 13 mounted on the top of the first push rods 13, and an end effector clamping plate 3 mounted on the top of each of the two first push rods 13; a positioning seat 42 is mounted between the two end effector clamping plates 3, a connecting suction cup 41 is mounted on the top of the positioning seat 42, a collaborative robot is mounted on the top of the connecting suction cup 41, the collaborative robot includes a first connecting shaft 4, a first robotic arm 43 is mounted on the top of the first connecting shaft 4, a first drive motor 44 is mounted on the top of the first robotic arm 43, a second robotic arm 45 is fixedly connected to the output end of the first drive motor 44, a support base 46 is mounted on one end of the second robotic arm 45, an infrared sensor 47 and a vision sensor 48 are mounted on the top of the support base 46, and an auxiliary clamping mechanism 5 is mounted on the bottom of the support base 46, the auxiliary clamping mechanism 5 being used for normal gripping of items;

[0034] In this solution, both end gripping plates 3 are equipped with end positioning pins 31 extending into the positioning seat 42. The pneumatic gripper cylinder 12 drives the two end gripping plates 3 to perform a first clamping process on the positioning seat 42, and the two end positioning pins 31 perform a second clamping process on the positioning seat 42. By clamping the end of the entire collaborative robot, the stability of the equipment during operation is improved.

[0035] In this scheme, an auxiliary positioning mechanism 2 is installed on the top of the support base plate 1. The auxiliary positioning mechanism 2 is located on one side of the pneumatic gripper cylinder 12. The internal threads of the support base plate 1 are connected to symmetrically distributed first positioning bolts 11. The support base plate 1 is positioned relative to the installation position by the first positioning bolts 11, which improves the stability of the equipment during subsequent operations. The auxiliary positioning mechanism 2 is used to perform auxiliary positioning on the positioning seat 42.

[0036] Going further, such as Figures 1-4 As shown: In this solution, the auxiliary positioning mechanism 2 includes an electric telescopic rod 23. An auxiliary connecting plate 21 is installed on the top of the support base plate 1. The auxiliary connecting plate 21 is located on one side of the pneumatic gripper cylinder 12. A fixed frame 22 is installed on the top of the auxiliary connecting plate 21. The electric telescopic rod 23 is rotatably connected inside the fixed frame 22. A second push rod 24 is fixedly connected to the output end of the electric telescopic rod 23. A first positioning plate 25 is installed on one end of the top of the second push rod 24. A positioning block 26 is fixedly connected to the side of the first positioning plate 25 near the end clamping plate 3. The end positioning and clamping process is assisted by the first positioning plate 25 and the positioning block 26.

[0037] In this design, the auxiliary connecting plate 21 is threaded with second positioning bolts 27 extending into the support base plate 1, and the fixed frame 22 is located around the perimeter. The fixed frame 22 is equipped with a limiting shaft 28 that cooperates with the electric telescopic rod 23 for limiting. The auxiliary connecting plate 21 and the support base plate 1 are reinforced by multiple second positioning bolts 27 to achieve the overall installation effect of the auxiliary positioning mechanism 2. The angle of the electric telescopic rod 23 inside the fixed frame 22 can be manually adjusted until the first positioning plate 25 and the positioning block 26 reinforce the positioning seat 42, thereby improving the stability of the end clamping.

[0038] Going further, such as Figure 5 As shown: In this scheme, the auxiliary clamping mechanism 5 includes a mounting support plate 51. A connecting shaft is installed at the bottom of the support base 46. The mounting support plate 51 is installed at one end of the bottom of the connecting shaft. A second positioning plate 52 is installed on the top of the mounting support plate 51 and on one side of the connecting shaft. Two symmetrically distributed second rotating plates 54 are rotatably connected to the top of the second positioning plate 52. Two symmetrically distributed gear rotating plates 59 are rotatably connected inside the second positioning plate 52. A connecting plate is installed on one side of each gear rotating plate 59. A first rotating plate 53 is rotatably connected to the top of each connecting plate. A third rotating plate 55 is installed on one side of each first rotating plate 53. The second rotating plates 54 are rotatably connected to the corresponding third rotating plates 55. A clamping buffer pad 56 is fixedly connected to the side of the two third rotating plates 55 that are close to each other.

[0039] In this design, a second drive motor 593 is installed at the bottom of the mounting support plate 51. The output end of the second drive motor 593 is fixedly connected to one of the gear rotating plates 59. The two gear rotating plates 59 are installed with equidistant teeth on the side close to each other and inside the second positioning plate 52. Thus, under the operation of the second drive motor 593, the two gear rotating plates 59 are driven to rotate, which drives the two second rotating plates 54 at the top to rotate, thereby driving the two third rotating plates 55 to rotate towards the center, until the two clamping buffer pads 56 are used to position the equipment and items to be clamped.

[0040] In this scheme, the second rotating plate 54 is connected to the corresponding third rotating plate 55 by the fourth positioning bolt 58, the second rotating plate 54 is connected to the second positioning plate 52 by the fifth positioning bolt 591, the first rotating plate 53 is connected to the corresponding third rotating plate 55 by the sixth positioning bolt 592, and the connecting plates are all connected to the corresponding first rotating plate 53 by the third positioning bolt 57. The auxiliary clamping mechanism 5 is installed as a whole by the cooperation of the above multiple bolts, which facilitates disassembly and maintenance.

[0041] Going further, such as Figures 1-5As shown, in this scheme, a wireless transceiver 29 is fixedly connected to the outside of the fixed frame 22. The wireless transceiver 29 is located below the limiting shaft 28. The main control board is installed inside the wireless transceiver 29, and a control chip is installed on the outside of the main control board. The pneumatic gripper cylinder 12, the electric telescopic rod 23, the wireless transceiver 29, the first drive motor 44, the infrared sensor 47, the vision sensor 48, and the second drive motor 593 are all electrically connected to the control chip. The control chip is used to control the operation of the pneumatic gripper cylinder 12, the electric telescopic rod 23, the wireless transceiver 29, the first drive motor 44, the infrared sensor 47, the vision sensor 48, and the second drive motor 593, thereby realizing unified management of electrical equipment.

[0042] Working principle:

[0043] like Figures 1-5 As shown:

[0044] By setting up a support base plate 1, an auxiliary positioning mechanism 2, an end clamping plate 3, and an auxiliary clamping mechanism 5, during use, the pneumatic gripper cylinder 12 drives the two end clamping plates 3 to perform a first clamping process on the positioning seat 42, and the two end positioning pins 31 perform a second clamping process on the positioning seat 42. By clamping the end of the entire collaborative robot, the stability of the equipment during operation is improved.

[0045] The first positioning bolt 11 is used to position the support base plate 1 to the installation position, which improves the stability of the equipment during subsequent operation. The auxiliary positioning mechanism 2 is used to assist in the positioning of the positioning seat 42, and the first positioning plate 25 and the positioning block 26 are used to assist in the end positioning and clamping.

[0046] The auxiliary connecting plate 21 and the support base plate 1 are reinforced by multiple second positioning bolts 27 to achieve the overall installation effect of the auxiliary positioning mechanism 2. The electric telescopic rod 23 can be manually moved to adjust the angle inside the fixed frame 22 until the first positioning plate 25 and the positioning block 26 reinforce the positioning seat 42, thereby improving the stability of the end clamping.

[0047] Under the operation of the second drive motor 593, the two gear rotating plates 59 are driven to rotate, which in turn drives the two second rotating plates 54 at the top to rotate, thereby driving the two third rotating plates 55 to rotate towards the center, until the two clamping buffer pads 56 are used to position the equipment and items to be clamped.

[0048] The control chip is used to control the operation of the pneumatic gripper cylinder 12, electric telescopic rod 23, wireless signal transceiver 29, first drive motor 44, infrared sensor 47, vision sensor 48 and second drive motor 593, realizing unified management of power equipment.

[0049] The pneumatic gripper cylinder 12 in this solution is a double-claw pneumatic gripper cylinder, which typically has two symmetrical grippers that are connected to the end gripper plate 3 respectively to assist in the subsequent gripping and installation of the collaborative robot. During gripping, the two grippers will move simultaneously. The double-claw design makes it more stable and provides stronger gripping force.

[0050] The auxiliary clamping mechanism 5 is installed by means of multiple bolts, which facilitates disassembly and maintenance. This provides dual positioning for the end effector of the collaborative robot, improves installation stability, and facilitates disassembly and maintenance, thereby ensuring accuracy during subsequent operations.

[0051] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the present utility model.

Claims

1. An end effector for a collaborative robot, comprising a support base plate (1), characterized in that, The top of the support base plate (1) is equipped with a first positioning bolt (11), and the output end of the first positioning bolt (11) is fixedly connected to a first push rod (13). The top of the first push rod (13) is equipped with two symmetrically distributed first push rods (13), and the top of the two first push rods (13) is equipped with an end clamping plate (3). A positioning seat (42) is installed between the two end clamping plates (3). A connecting suction cup (41) is installed on the top of the positioning seat (42). A collaborative robot is installed on the top of the connecting suction cup (41). The collaborative robot includes a first connecting shaft (4). A first robotic arm (43) is installed on the top of the first connecting shaft (4). A first drive motor (44) is installed on the top of the first robotic arm (43). The output end of the first drive motor (44) is fixedly connected to the second robotic arm (45). One end of the second robotic arm (45) is equipped with a support base (46). The top of the support base (46) is equipped with an infrared sensor (47) and a vision sensor (48). The bottom of the support base (46) is equipped with an auxiliary clamping mechanism (5). Both of the end clamping plates (3) are fitted with end positioning pins (31) extending into the positioning seat (42) on their outer sides; An auxiliary positioning mechanism (2) is installed on the top of the support base plate (1), and the support base plate (1) is internally threaded with symmetrically distributed first positioning bolts (11).

2. The end effector for a collaborative robot according to claim 1, characterized in that: The auxiliary positioning mechanism (2) includes an electric telescopic rod (23), and an auxiliary connecting plate (21) is installed on the top of the support base plate (1). The auxiliary connecting plate (21) is located on one side of the pneumatic gripper cylinder (12), and a fixing frame (22) is installed on the top of the auxiliary connecting plate (21).

3. The end effector for a collaborative robot according to claim 2, characterized in that: An electric telescopic rod (23) is rotatably connected inside the fixed frame (22). A second push rod (24) is fixedly connected to the output end of the electric telescopic rod (23). A first positioning plate (25) is installed at one top end of the second push rod (24). A positioning block (26) is fixedly connected to the side of the first positioning plate (25) near the end clamping plate (3).

4. The end effector for a collaborative robot according to claim 3, characterized in that: The auxiliary connecting plate (21) is threaded with second positioning bolts (27) extending into the support base plate (1) on the inside and around the fixed frame (22). The fixed frame (22) is equipped with a limiting shaft (28) that cooperates with the electric telescopic rod (23) for limiting.

5. The end effector for a collaborative robot according to claim 4, characterized in that: The auxiliary clamping mechanism (5) includes a mounting support plate (51). A connecting shaft is installed at the bottom of the support base (46). The mounting support plate (51) is installed at one bottom end of the connecting shaft. A second positioning plate (52) is installed on the top of the mounting support plate (51) and on one side of the connecting shaft. Two symmetrically distributed second rotating plates (54) are rotatably connected to the top of the second positioning plate (52). Two symmetrically distributed gear rotating plates (59) are rotatably connected inside the second positioning plate (52).

6. The end effector for a collaborative robot according to claim 5, characterized in that: A connecting plate is installed on one side of each gear rotating plate (59), and a first rotating plate (53) is rotatably connected to the top of each connecting plate. A third rotating plate (55) is installed on one side of each first rotating plate (53), and the second rotating plate (54) is rotatably connected to the corresponding third rotating plate (55). A clamping buffer pad (56) is fixedly connected to the side of each of the two third rotating plates (55) that are close to each other.

7. The end effector for a collaborative robot according to claim 6, characterized in that: The bottom of the mounting support plate (51) is equipped with a second drive motor (593). The output end of the second drive motor (593) is fixedly connected to one of the gear rotating plates (59). The two gear rotating plates (59) are located on the side that is close to each other and inside the second positioning plate (52) with equidistantly distributed teeth.

8. The end effector for a collaborative robot according to claim 6, characterized in that: The second rotating plate (54) is connected to the corresponding third rotating plate (55) by the fourth positioning bolt (58), the second rotating plate (54) is connected to the second positioning plate (52) by the fifth positioning bolt (591), the first rotating plate (53) is connected to the corresponding third rotating plate (55) by the sixth positioning bolt (592), and all the connecting plates are connected to the corresponding first rotating plate (53) by the third positioning bolt (57).

9. The end effector for a collaborative robot according to claim 8, characterized in that: A wireless transceiver (29) is fixedly connected to the outside of the fixed frame (22). The wireless transceiver (29) is located below the limiting shaft (28). A main control board is installed inside the wireless transceiver (29), and a control chip is installed on the outside of the main control board.

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