The manufacturing industry was moving towards the trend of short run production and personalized customization. That results in the challenge of the efficiency of task adjustment and the complexity of tasks for robots. Thus, this paper developed the intelligent manufacturing cell based on human-robot collaboration(HRC-IMC), combining the intelligence of cobot with that of human. And the intelligent manufacturing cell was composed with the modules of imitating learning, human-robot safety planning, task planning and visual inferring. Moreover, all modules were designed to provide a set of systematic and e ective method which can improve the efficiency of task planning and new task learning. The experimental results indicated that the the efficiency of task adjustment of HRC-IMC can be increased 42.8 % than that of Moveit. All in all, this study is of great significance for improving the efficiency of new task planning of cobots by digitizing the manipulation experience of human.