Collaborative robot

Abstract

The utility model discloses a kind of collaborative robots, it is related to robot technical field, wherein, including air supply component, mechanical arm, clamp and control host, one end of mechanical arm is provided with male switch disc, male switch disc is built-in magnetic attraction alignment component, first gas path is formed in male switch disc, the end of male switch disc away from mechanical arm is formed with first mounting hole, first mounting hole is communicated with first gas path, clamp includes body and the female switch disc of setting in body, female switch disc includes the magnetic attraction cooperation component corresponding with magnetic attraction alignment component, female switch disc is formed with second gas path, the end of female switch disc away from body is formed with second mounting hole, second mounting hole is communicated with second gas path, second mounting hole is slidably provided with lug, lug can extend second mounting hole;First gas path and second gas path are communicated with air supply component, the other end of mechanical arm is set in control host, control host is respectively connected with air supply component and mechanical arm signal.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a collaborative robot. Background Technology

[0002] In the field of industrial and collaborative robot applications, end effectors are core components for enabling tasks such as material gripping and assembly.

[0003] However, the industry currently adopts a non-standard customized design mode for clamps, which need to be developed separately for specific work scenarios. Traditional clamps mostly use a fixed mechanical locking structure, which relies on screws or buckles for fixing. Not only is it time-consuming to switch clamps, but it is also incompatible with different functional modules.

[0004] Therefore, it is necessary to provide a new collaborative robot to solve the above-mentioned technical problems. Utility Model Content

[0005] The main purpose of this invention is to propose a collaborative robot that aims to improve the technical problem of long clamp replacement time in the prior art.

[0006] To achieve the above objectives, this utility model provides a collaborative robot, comprising: Air supply components; A robotic arm, one end of which is provided with a male switching disk, the male switching disk is provided with a magnetic alignment component, a first air passage is formed inside the male switching disk, a first mounting hole is formed at the end of the male switching disk away from the robotic arm, the first mounting hole is connected to the first air passage, and a protrusion is slidably provided in the first mounting hole, the protrusion being able to extend out of the first mounting hole; The clamp includes a body and a female switching disk disposed on the body. The female switching disk includes a magnetic attraction engagement component corresponding to the magnetic attraction alignment component. The female switching disk forms a second air passage. A second mounting hole is formed at one end of the female switching disk opposite to the body. The second mounting hole communicates with the second air passage. Both the first air passage and the second air passage are communicated with the air supply component. The control host is located at the other end of the robotic arm, and the control host is connected to the air supply component and the robotic arm via signals.

[0007] In one embodiment, there are multiple first mounting holes, which are distributed circumferentially. The number of second mounting holes is equal to the number of first mounting holes and they are arranged in a one-to-one correspondence. Each first mounting hole is slidably provided with the protrusion.

[0008] In one embodiment, the clamp further includes a tightening component, an adsorption component, and a clamping component, all of which are mounted on the body.

[0009] In one embodiment, the tightening component further includes a tightening shaft, a connecting plate, and a plurality of connecting rods. Both ends of the connecting rods are connected to the body and the connecting plate respectively by bolts. The connecting plate is provided with a bearing seat, and the tightening shaft is mounted on the bearing seat.

[0010] In one embodiment, the adsorption assembly includes a mounting frame and a plurality of adsorption components, which are spaced apart. Each adsorption component includes a vacuum suction cup and a fixing rod. The fixing rod is mounted on the mounting frame, and the vacuum suction cup is mounted on the bottom end of the fixing rod. The vacuum suction cup is in communication with the air supply component.

[0011] In one embodiment, the clamp further includes a pressure detector, which is mounted on the mounting bracket, connected to the air supply component, and signal-connected to the control host. The pressure detector is used to detect the air pressure input to the vacuum suction cup by the air supply component.

[0012] In one embodiment, the barometric pressure detector is equipped with a display screen for displaying the barometric pressure in real time.

[0013] In one embodiment, the clamping assembly includes a linear cylinder and a first clamping block. The sliding end of the linear cylinder is connected to a second clamping block. Both the first clamping block and the linear cylinder are mounted on the body. The first clamping block and the second clamping block are arranged opposite to each other. The linear cylinder is used to drive the second clamping block to move toward or away from the first clamping block.

[0014] In one embodiment, the first clamping block has a first groove, and the second clamping block has a second groove, the first groove and the second groove being used to engage with the workpiece to be clamped.

[0015] In one embodiment, the clamp further includes two limiting blocks, which are respectively installed on both sides of the linear cylinder, and the limiting blocks extend out of the linear cylinder along a sliding direction perpendicular to the sliding end of the linear cylinder.

[0016] In the above scheme, the collaborative robot includes an air supply component, a robotic arm, a gripper, and a control host. One end of the robotic arm is provided with a male switching disk, which is equipped with a magnetic alignment component. A first air passage is formed within the male switching disk. A first mounting hole is formed at the end of the male switching disk opposite to the robotic arm, and the first mounting hole communicates with the first air passage. A protrusion is slidably disposed in the first mounting hole, and the protrusion can extend out of the first mounting hole. The gripper includes a body and a female switching disk disposed on the body. The female switching disk includes a magnetic engagement component corresponding to the magnetic alignment component. A second air passage is formed on the female switching disk. A second mounting hole is formed at the end of the female switching disk opposite to the body, and the second mounting hole communicates with the second air passage. Both the first air passage and the second air passage are connected to the air supply component. The other end of the robotic arm is disposed on the control host, and the control host is signal-connected to both the air supply component and the robotic arm. Specifically, one end of the robotic arm is first mounted on the control host. The male switching disk and the female switching disk of the gripper at the other end are precisely aligned using built-in magnetic alignment components and corresponding magnetic engagement components. Then, air is supplied to the first air path through the air supply component. This pushes the protrusion in the first mounting hole out of the first mounting hole and into the second mounting hole of the female switching disk, causing the protrusion to engage in the second mounting hole. Simultaneously, air is drawn from the second air path through the air supply component to further ensure that the protrusion is firmly engaged in the second mounting hole. The control host sends action commands to the robotic arm, causing the gripper to perform the corresponding operation. If the gripper needs to be changed... The control unit adjusts the air supply state, that is, the air supply component draws air from the first air path and supplies air to the second air path. This causes the protrusion to retract from the second mounting hole and retract into the first mounting hole. Then, the clamp is pulled out directly, causing the magnetic attraction to separate. The new clamp's female switching disc and male switching disc are then magnetically aligned. The above air supply steps are repeated until the protrusion engages with the second mounting hole. Compared with the structure of bolts or clips, this utility model achieves fast and accurate docking through magnetic alignment and fast locking through the air path driving the protrusion to engage with the second mounting hole. This allows for quick clamp replacement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of an embodiment of the collaborative robot provided by this utility model; Figure 2 A connection diagram of an embodiment of the robotic arm and control host provided by this utility model; Figure 3A partial structural schematic diagram of an embodiment of the robotic arm provided by this utility model; Figure 4 A schematic diagram of the structure of an embodiment of the clamp provided by this utility model from one perspective; Figure 5 A schematic diagram of the structure of another embodiment of the clamp provided by this utility model; Figure 6 This is a schematic diagram of another embodiment of the clamp provided by this utility model.

[0019] Explanation of icon numbers: 100. Collaborative robot; 1. Robotic arm; 2. Gripper; 3. Control host; 11. Male switching disk; 111. Magnetic alignment component; 112. First mounting hole; 113. Protrusion; 21. Body; 22. Female switching disk; 221. Magnetic mating component; 222. Second mounting hole; 23. Tightening component; 24. Adsorption assembly; 25. Clamping assembly; 231. Tightening shaft; 232. Connecting plate; 233. Connecting rod; 232a. Bearing seat; 241. Mounting frame; 242. Adsorption component; 242a. Vacuum suction cup; 242b. Fixing rod; 26. Air pressure detector; 261. Display screen; 251. Linear cylinder; 252. First clamping block; 251a. Second clamping block; 252a. First groove; 251b. Second groove; 27. Limiting block.

[0020] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] 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 scope of protection of the present utility model.

[0022] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0024] To achieve the above objectives, please refer to Figures 1 to 4This utility model proposes a collaborative robot 100, including an air supply component, a robotic arm 1, a gripper 2, and a control host 3. One end of the robotic arm 1 is provided with a male switching disk 11, which is equipped with a magnetic alignment component 111. A first air passage is formed within the male switching disk 11. A first mounting hole 112 is formed at the end of the male switching disk 11 facing away from the robotic arm 1, and the first mounting hole 112 communicates with the first air passage. A protrusion 113 is slidably disposed in the first mounting hole 112, and the protrusion 113 can extend out of the first mounting hole 112. 2. The fixture 2 includes a body 21 and a female switching disk 22 disposed on the body 21. The female switching disk 22 includes a magnetic attraction engagement component 221 corresponding to the magnetic attraction alignment component 111. The female switching disk 22 forms a second air passage. A second mounting hole 222 is formed at one end of the female switching disk 22 away from the body 21. The second mounting hole 222 is connected to the second air passage. The first air passage and the second air passage are both connected to the air supply component. The other end of the robotic arm 1 is disposed on the control host 3. The control host 3 is connected to the air supply component and the robotic arm 1 by signals. Specifically, one end of the robotic arm 1 is first installed on the control host 3. The male switching disk 11 at the other end and the female switching disk 22 of the clamp 2 are precisely aligned through the built-in magnetic alignment component 111 and the corresponding magnetic engagement component 221. Then, air is supplied to the first air path through the air supply component, which pushes the protrusion 113 in the first mounting hole 112 out of the first mounting hole 112 and into the second mounting hole 222 of the female switching disk 22, so that the protrusion 113 is engaged in the second mounting hole 222. At the same time, the air supply component evacuates air from the second air path to further ensure that the protrusion 113 is firmly engaged in the second mounting hole 222. The control host 3 sends an action command to the robotic arm 1, so that the clamp 2 performs the corresponding operation. If the clamp needs to be replaced, the control host 3 adjusts the air supply state, that is, the air supply component draws air from the first air path and supplies air to the second air path. This will cause the protrusion 113 to retract from the second mounting hole 222 and retract into the first mounting hole 112. Then, the clamp 2 is pulled out directly, so that the magnetic attraction is separated. Then, the new clamp female switching disk 22 and male switching disk 11 are magnetically aligned. The above air supply steps are repeated so that the protrusion 113 is snapped into the second mounting hole 222. Compared with the structure of bolts or buckles, this embodiment achieves fast and accurate docking through magnetic alignment and fast locking through the air path driving the protrusion 113 to snap into the second mounting hole 222. This allows for quick clamp replacement.

[0025] The magnetic alignment component 111 built into the male switching plate 11 and the magnetic engagement component 221 of the female switching plate 22 are automatically and precisely aligned by magnetic attraction, ensuring that the first mounting hole 112 of the male switching plate 11 and the second mounting hole 222 of the female switching plate 22 are coaxial. During installation, the control host 3 sends a signal to the air supply component, which supplies air to the first air passage of the male switching plate 11, pushing the protrusion 113 in the first mounting hole 112 to extend and engage with the second mounting hole 222 of the female switching plate 22. A negative pressure is created by evacuating the second air path, further reinforcing the engagement between the protrusion 113 and the second mounting hole 222, thus achieving a stable lock on the male-female switching disc 22. When changing the clamp, the control host 3 adjusts the air path state of the air supply component, evacuates the first air path to retract the protrusion 113 into the first mounting hole 112, releasing the engagement, and simultaneously supplies air to the second air path to balance the pressure. The magnetic attraction between the magnetic alignment component 111 and the magnetic mating component 221 disappears, allowing for quick separation of the male-female switching disc 22 and completion of the clamp replacement. Magnetic alignment ensures docking accuracy, and air path drive enables the extension and retraction of the protrusion 113. Combined with the intelligent control of the air path state by the control host 3, tool-free switching can be completed in seconds, effectively solving the problems of long switching time and poor compatibility in traditional clamps.

[0026] Please see Figure 3 and Figure 4 In one embodiment, there are multiple first mounting holes 112 arranged in a circular pattern. The number of second mounting holes 222 is equal to the number of first mounting holes 112, and they are arranged in a one-to-one correspondence. Each first mounting hole 112 has a protrusion 113 slidably disposed therein. The circumferentially distributed multi-point snap-fit ​​structure makes the connection of the male and female switching discs 22 more uniformly stressed, significantly improving the structural stability and anti-torsion capability of the connection between the fixture and the robotic arm 1, and adapting to torque requirements in various scenarios such as tightening and handling. Secondly, the circumferential distribution design, in conjunction with the magnetic alignment mechanism, further ensures the coaxiality and accuracy during docking, reducing alignment deviation. Furthermore, the pneumatic drive of all protrusions 113 extends or retracts synchronously, achieving stable locking at multiple points while maintaining the high efficiency of tool-free switching within seconds. Finally, this structure supports the cross-scenario universality of the fixture 2, conforms to the standardization and common design goals, effectively solves the defects of unstable connection and low switching efficiency of traditional fixtures, and helps to significantly reduce the abnormal recovery time of the production line.

[0027] Please see Figure 1 as well as Figures 4 to 6In one embodiment, the clamp 2 further includes a tightening component 23, an adsorption component 24, and a clamping component 25, all of which are mounted on the body 21. By integrating the tightening component 23, the adsorption component 24, and the clamping component 25 onto the same body 21, the clamp 2 significantly improves the functional reusability and scenario adaptability of the clamp. A single clamp can simultaneously perform multiple operational functions such as tightening, adsorption, and clamping, enabling multi-step continuous operations without frequent clamp replacements, such as component adsorption and pickup, bolt tightening and fixing, and assembly clamping and handling. This effectively solves the shortcomings of traditional clamps, which have single functions and require separate equipment for different operations. The integration of multiple functional components into the same body 21 results in a compact structure and stable connection, reducing additional connection links and the risk of failure.

[0028] Please see Figure 6 In one embodiment, the tightening component 23 further includes a tightening shaft 231, a connecting plate 232 and a plurality of connecting rods 233. Both ends of the connecting rods 233 are connected to the body 21 and the connecting plate 232 respectively by bolts. The connecting plate 232 is provided with a bearing seat 232a, and the tightening shaft 231 is installed on the bearing seat 232a. First, one end of each of the multiple connecting rods 233 is fixed to the body 21 of the fixture 2 with bolts. Then, the other end of each connecting rod 233 is connected to the connecting plate 232 with bolts. Next, a bearing seat 232a is installed on the connecting plate 232. Finally, the tightening shaft 231 is assembled into the bearing seat 232a to complete the installation of the tightening component 23. The bolted connection structure of the multiple connecting rods 233 makes the connection between the tightening component 23 and the body 21 stable and the force is even, which is suitable for the torque requirements of the tightening operation. The setting of the bearing seat 232a ensures that the tightening shaft 231 has high rotational accuracy and smooth operation, which improves the accuracy and reliability of the tightening operation. At the same time, the bolted connection method facilitates the maintenance, adjustment or replacement of the tightening component 23. Combined with the standardized interface and integrated design of the fixture 2, it further enhances the robot's operation capabilities in multiple scenarios such as assembly, which meets the standardization and commonality goals and helps to improve the equipment reuse rate and production line operation efficiency.

[0029] Please see Figures 4 to 6In one embodiment, the adsorption assembly 24 includes a mounting frame 241 and a plurality of adsorption components 242, which are spaced apart. Each adsorption component 242 includes a vacuum suction cup 242a and a fixing rod 242b. The fixing rod 242b is mounted on the mounting frame 241, and the vacuum suction cup 242a is mounted on the bottom end of the fixing rod 242b. The vacuum suction cup 242a is connected to the air supply component. First, the fixing rods 242b of multiple adsorption components 242 are installed sequentially on the mounting frame 241 according to the required intervals. Then, the vacuum suction cups 242a are fixed to the bottom ends of each fixing rod 242b. Finally, each vacuum suction cup 242a is connected to the air passage of the air supply component to complete the assembly of the adsorption assembly 24. The multiple adsorption components 242 arranged at intervals can flexibly adapt to workpieces of different sizes and shapes, improving the compatibility of adsorption operations. The vacuum suction cups 242a are connected to the air supply component, which can stably provide adjustable adsorption force, ensuring the reliability and safety of workpiece handling or sorting. The structural design of the mounting frame 241 makes the adsorption assembly 24 stable as a whole, with uniform force, avoiding deformation of the workpiece due to uneven adsorption.

[0030] Please see Figures 4 to 6 In one embodiment, the fixture 2 further includes a pressure detector 26, which is mounted on the mounting bracket 241 and connected to the air delivery component. The pressure detector 26 is also connected to the control host 3 via a signal connection. The pressure detector 26 is used to detect the air pressure input to the vacuum suction cup 242a by the air delivery component. First, the pressure detector 26 is fixedly mounted on the mounting bracket 241 of the adsorption assembly 24. Then, its air port is connected to the corresponding pipeline of the air delivery component. Finally, a data connection is established between the pressure detector 26 and the control host 3 via a signal cable, completing the assembly of the pressure detection module. The pressure detector 26 can monitor the air pressure input to the vacuum suction cup 242a by the air delivery component in real time and feed the data back to the control host 3. It automatically adjusts the air pressure in conjunction with the pressure control valve of the air delivery component to ensure that the adsorption force is stable and adaptable to the needs of different workpieces, avoiding workpiece detachment due to insufficient air pressure or workpiece deformation due to excessive air pressure, thereby improving the safety and reliability of the adsorption operation.

[0031] Please see Figures 4 to 6 In one embodiment, the air pressure detector 26 is equipped with a display screen 261, which is used to display the air pressure in real time. The addition of the display screen 261 allows the operator to intuitively view the input air pressure value of the vacuum suction cup 242a in real time, and quickly confirm the adsorption status without relying on the background system, improving the convenience of on-site operations; it can also detect abnormal air pressure in a timely manner and automatically adjust through the pressure control valve to avoid the risk of workpiece falling off or deforming, thereby enhancing the safety and reliability of the adsorption operation.

[0032] Please see Figures 4 to 6In one embodiment, the clamping assembly 25 includes a linear cylinder 251 and a first clamping block 252. The sliding end of the linear cylinder 251 is connected to a second clamping block 251a. Both the first clamping block 252 and the linear cylinder 251 are mounted on the body 21. The first clamping block 252 and the second clamping block 251a are arranged opposite to each other. The linear cylinder 251 is used to drive the second clamping block 251a to move toward or away from the first clamping block 252. First, the first clamping block 252 is fixedly installed at a designated position on the body 21 of the fixture 2. Then, the linear cylinder 251 is installed on the body 21 and its sliding end is aligned with the first clamping block 252. Next, the second clamping block 251a is connected to the sliding end of the linear cylinder 251 to complete the mechanical assembly. Finally, the linear cylinder 251 is connected to the pressure control valve of the air supply component to achieve pneumatic control. The air supply component adjusts the air pressure to drive the sliding end of the linear cylinder 251 to move the second clamping block 251a closer to the first clamping block 252 to clamp the workpiece, or to move away from the workpiece to release it. This, combined with the robot's motion trajectory, enables sorting, handling, and other operations. The stable drive of the linear cylinder 251 makes the clamping force precise and controllable, adapting to the needs of workpieces of different sizes.

[0033] Please see Figures 4 to 6 In one embodiment, the first clamping block 252 has a first groove 252a, and the second clamping block 251a has a second groove 251b. The first groove 252a and the second groove 251b are respectively used to engage with the workpiece to be clamped. The robotic arm carrying assembly moves to the position of the workpiece to be clamped, aligning the workpiece between the first groove 252a of the first clamping block 252 and the second groove 251b of the second clamping block 251a. The linear cylinder 251 drives the second clamping block 251a to move towards the first clamping block 252, using the engagement of the two grooves with the workpiece to achieve a stable clamping. Subsequently, the robot performs handling, sorting, and other operations according to a preset trajectory. After the operation is completed, the linear cylinder 251 drives the second clamping block 251a to open again, releasing the workpiece and resetting it. The engagement design of the first and second grooves 251b greatly improves the stability of workpiece clamping and effectively prevents regular-shaped workpieces from slipping or shifting during handling.

[0034] Please see Figures 4 to 6In one embodiment, the clamp 2 further includes two limiting blocks 27, which are respectively installed on both sides of the linear cylinder 251, and the limiting blocks 27 extend out of the linear cylinder 251 along a sliding direction perpendicular to the sliding end of the linear cylinder 251. When the robotic arm carrying the assembly moves to the position to clamp the workpiece, the limiting blocks 27 on both sides first contact the edge of the workpiece perpendicular to the clamping direction, performing preliminary positioning and guidance of the workpiece to ensure that the workpiece is accurately aligned with the groove area of ​​the first clamping block 252 and the second clamping block 251a. Subsequently, the linear cylinder 251 drives the second clamping block 251a to move towards the first clamping block 252, using the groove to securely clamp the workpiece. The robot performs handling, sorting, and other operations according to a preset trajectory. After the operation is completed, the linear cylinder 251 drives the second clamping block 251a to open, releasing the workpiece and resetting it. The setting of the limiting blocks 27 on both sides effectively improves the positioning accuracy when clamping the workpiece, preventing the clamping blocks from failing to accurately clamp the workpiece due to positional deviation, and also avoiding direct collision between the workpiece and the linear cylinder 251, which could cause damage.

[0035] The above are merely exemplary embodiments of this utility model and do not limit the scope of protection of this utility model. Any equivalent structural transformations made based on the technical concept of this utility model and the contents of this utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of this utility model.

Claims

1. A collaborative robot, characterized in that, include: Air supply components; A robotic arm, one end of which is provided with a male switching disk, the male switching disk is provided with a magnetic alignment component, a first air passage is formed inside the male switching disk, a first mounting hole is formed at the end of the male switching disk away from the robotic arm, the first mounting hole is connected to the first air passage, and a protrusion is slidably provided in the first mounting hole, the protrusion being able to extend out of the first mounting hole; The clamp includes a body and a female switching disk disposed on the body. The female switching disk includes a magnetic attraction engagement component corresponding to the magnetic attraction alignment component. The female switching disk forms a second air passage. A second mounting hole is formed at one end of the female switching disk opposite to the body. The second mounting hole communicates with the second air passage. Both the first air passage and the second air passage are communicated with the air supply component. The control host is located at the other end of the robotic arm, and the control host is connected to the air supply component and the robotic arm via signals.

2. The collaborative robot as described in claim 1, characterized in that, The number of first mounting holes is multiple, and the multiple first mounting holes are distributed in a circle. The number of second mounting holes is equal to the number of first mounting holes, and they are set in a one-to-one correspondence. Each first mounting hole is slidably provided with the protrusion.

3. The collaborative robot as described in claim 1, characterized in that, The clamp also includes a tightening component, an adsorption component, and a clamping component, all of which are mounted on the main body.

4. The collaborative robot as described in claim 3, characterized in that, The tightening component also includes a tightening shaft, a connecting plate, and multiple connecting rods. Both ends of the connecting rods are connected to the main body and the connecting plate respectively by bolts. The connecting plate is provided with a bearing seat, and the tightening shaft is installed on the bearing seat.

5. The collaborative robot as described in claim 3, characterized in that, The adsorption assembly includes a mounting frame and multiple adsorption components, which are spaced apart. Each adsorption component includes a vacuum suction cup and a fixing rod. The fixing rod is mounted on the mounting frame, and the vacuum suction cup is mounted on the bottom end of the fixing rod. The vacuum suction cup is connected to the air supply component.

6. The collaborative robot as described in claim 5, characterized in that, The fixture also includes a pressure detector, which is mounted on the mounting bracket, connected to the air supply component, and signal-connected to the control host. The pressure detector is used to detect the air pressure input to the vacuum suction cup by the air supply component.

7. The collaborative robot as described in claim 6, characterized in that, The air pressure detector is equipped with a display screen, which is used to display the air pressure in real time.

8. The collaborative robot as described in claim 3, characterized in that, The clamping assembly includes a linear cylinder and a first clamping block. The sliding end of the linear cylinder is connected to a second clamping block. Both the first clamping block and the linear cylinder are mounted on the body. The first clamping block and the second clamping block are arranged opposite to each other. The linear cylinder is used to drive the second clamping block to move toward or away from the first clamping block.

9. The collaborative robot as described in claim 8, characterized in that, The first clamping block has a first groove, and the second clamping block has a second groove. The first groove and the second groove are respectively used to engage with the workpiece to be clamped.

10. The collaborative robot as described in claim 9, characterized in that, The fixture also includes two limiting blocks, which are respectively installed on both sides of the linear cylinder, and the limiting blocks extend out of the linear cylinder in a sliding direction perpendicular to the sliding end of the linear cylinder.

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