Compliance-sensing integrated rigid-flexible coupling clamping jaw based on flexible parallelogram mechanism

Abstract

The invention provides a compliance-perception integrated rigid-flexible coupling clamping jaw based on a flexible parallelogram mechanism, a clamping direction is arranged on the clamping jaw, and at least one flexible finger of a parallelogram structure is arranged on the clamping jaw. According to the compliance-perception integrated rigid-flexible coupling clamping jaw based on the flexible parallelogram mechanism, the elastic pieces adopted by the flexible fingers of the parallelogram structure have different deformation-load relations in different initial forms, and the initial forms of the elastic units can be designed according to the required rigidity characteristic; a wide design domain is provided to adapt to different operation requirements, in addition, the rigid-flexible coupling design that a rigid base, a flexible finger and an adaptive tail end fingertip mechanism are connected in series is adopted, and through a sensing module combined with a flexible finger unit, overall deformation of the clamping jaw and the sensing capacity of the contact force of a clamped object are achieved; on the basis, active control over the clamping jaw can be achieved.

Description

Technical Field

[0001] The invention relates to the field of robot technology, and in particular to a compliance-sensing integrated rigid-flexible coupling clamp based on a flexible parallelogram mechanism. Background Art

[0002] The robot end gripper is a key component in industrial applications. Due to its stable clamping mode and universal adaptability to various workpieces and tools, it has been widely used in robotic automated assembly tasks such as handling, picking and placing. However, the designs of typical commercial industrial grippers such as FESTO, ROBOTIQ and SCHUNK are all composed of rigid mechanisms and do not have compliance capabilities. Therefore, they are susceptible to collisions and damage caused by inevitable position and orientation errors during the execution of tasks.

[0003] Currently, the flexible grippers that have been widely studied and applied mostly introduce local flexible units such as springs and leaf springs into a rigid design framework, and most of them achieve passive compliance characteristics. The design of this type of flexible grippers connects local elastic units in series on the drive transmission link. The design domain is limited and it is difficult to achieve the compliance characteristics of complex load-deformation relationships. It is also difficult to perceive the deformation, so only passive compliance can be achieved, and active compliance control is difficult to achieve. Therefore, its application is limited in actual tasks.

[0004] Therefore, in order to solve the above problems, the present invention proposes a clamping jaw that can realize passive compliance characteristics, active compliance control and compact drive and structural arrangement during operation. Summary of the invention

[0005] In order to solve the above-mentioned shortcomings of the existing robot end grippers, and to solve the problems of general rigidity and the lack of passive compliance or limited design, poor deformation perception ability, lack of active compliance control, and redundant drive and structural design of the existing rigid-flexible coupling robot end grippers, the present invention provides a compliant-perception integrated rigid-flexible coupling gripper based on a flexible parallelogram mechanism.

[0006] According to one purpose of the present invention, the present invention provides a compliant-sensing integrated rigid-flexible coupling clamp based on a flexible parallelogram mechanism, wherein a clamping direction is provided on the clamp, and at least one flexible finger of a parallelogram structure is provided on the clamp, and any two adjacent sides in the parallelogram structure are connected by a rotating pair, and two pairs of parallel sides in the parallelogram structure correspond to elastic parts and rigid parts respectively, wherein the elastic parts are arranged at intervals in the clamping direction, and the elastic parts are arranged along the length direction of the flexible fingers, and a strain sensing unit is provided on the elastic parts, and the rigid parts at both ends of the length direction of the elastic fingers are respectively a proximal rigid part and a distal rigid part, and the distal rigid part is configured to be suitable for moving around the proximal rigid part in the clamping direction, and the flexible finger is driven by a driving part, and the driving part and the strain sensing unit are electrically connected.

[0007] Preferably, the elastic member has a variety of initial shapes and all have large deformation capabilities.

[0008] Preferably, the flexible finger includes two curved elastic members with completely identical initial shapes and two rigid members to form a parallelogram structure.

[0009] Preferably, the strain sensing unit is disposed on the surface or inside of the elastic member, and the strain sensing unit is arranged at one or more locations of the elastic member.

[0010] Preferably, it further comprises a rigid base, on which the driving member is mounted, both ends of the proximal rigid member are connected to the rigid base via a rotating pair, and the driving member drives the rotating pair between the proximal rigid member and the elastic member;

[0011] A fingertip mechanism is connected to one side of the flexible finger in the clamping direction, and the driving member can drive the fingertip mechanism to move in translation in the clamping direction through the flexible finger.

[0012] Preferably, a fingertip contact layer is provided on the outer side of the fingertip mechanism, and the fingertip contact layer is an adaptively deformable fingertip contact layer.

[0013] Preferably, the number of the flexible fingers is one or more. When the number of the flexible fingers is more than one, each of the flexible fingers uses the same rigid base, wherein each of the flexible fingers can use the elastic member and the fingertip mechanism in the same or different forms;

[0014] The clamp is also provided with one or more rigid fingers, and the rigid fingers are adapted to the flexible fingers.

[0015] Preferably, the movement of the flexible fingers is realized by a single-degree-of-freedom low pair, and each of the flexible fingers can be driven by a different low pair of driving members.

[0016] Preferably, a parallel layout of left and right fingers is adopted, wherein the number of the flexible fingers is two, the two flexible fingers are symmetrically arranged on the rigid base, and the driving member is configured to drive the two flexible fingers to move synchronously in a manner of approaching and moving away from each other through a transmission structure.

[0017] Preferably, the driving member is a linear driving member, the driving member is arranged between the two flexible fingers, an output end and a fixed end are arranged on the driving member, the fixed end is connected to the rigid base, and the output end is arranged toward a side away from the flexible finger;

[0018] The transmission structure includes a transverse transmission rod and a flexible component. One of the rotating pairs on the proximal rigid part of the flexible finger extends along the clamping direction toward the other flexible finger to form the transverse transmission rod. The ends of the transverse transmission rod corresponding to the two flexible fingers are connected through a flexible component. The flexible component is located directly below the driving member, and the output end of the driving member is connected to the middle part of the flexible component.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The elastic member used in the present invention has different deformation-load relationships under different initial forms. Based on the flexible parallelogram mechanism composed of the elastic member, the initial form of the elastic member can be designed according to the required stiffness characteristics, providing a wide design domain to adapt to different operation requirements;

[0021] 2. The parallelogram-shaped flexible finger disclosed in the present invention has a large flexible deformation capability by introducing an elastic member of any shape, and realizes the ability to sense its overall deformation and load by integrating a strain sensing unit, and has the overall compliance-sensing integrated function;

[0022] 3. The parallelogram-shaped flexible finger disclosed in the present invention increases the compliance and sensing capabilities while maintaining the stability of the structure and the compactness of the arrangement. The robot end gripper with the flexible finger has a simple structure and occupies a small volume, and is more suitable for industrial applications.

[0023] 4. The rigid-flexible coupling gripper disclosed in the present invention introduces flexible fingers into the motion link of the gripper design, and utilizes the disclosed flexible parallelogram mechanism to achieve the compliance and perception of the flexible fingers, thereby improving the overall passive compliance characteristics of the gripper, achieving active compliance control and deformation and load perception capabilities, and based on this, active control of the gripper can be achieved, thereby further improving the flexibility and applicability of the gripper in operational tasks such as industrial assembly.

[0024] The present invention is further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall three-dimensional schematic diagram of a compliant-sensing integrated rigid-flexible coupling clamp based on a flexible parallelogram mechanism according to the present invention;

[0026] Figure 2 This is a schematic diagram of the connection between the elastic member and the strain sensing unit in the compliant-sensing integrated rigid-flexible coupling clamp based on the flexible parallelogram mechanism described in the present invention;

[0027] Figure 3 A schematic diagram of a flexible finger of a compliant-sensing integrated rigid-flexible coupling gripper based on a flexible parallelogram mechanism according to the present invention;

[0028] Figure 4 A schematic diagram of the connection between the flexible fingers and fingertip mechanism of the compliant-sensing integrated rigid-flexible coupling gripper based on a flexible parallelogram mechanism described in the present invention;

[0029] Figure 5 It is a schematic diagram of the open state of the compliant-sensing integrated rigid-flexible coupling clamp based on the flexible parallelogram mechanism described in the present invention;

[0030] Figure 6 It is a schematic diagram of the closed state of a compliant-sensing integrated rigid-flexible coupling clamp based on a flexible parallelogram mechanism according to the present invention;

[0031] Figure 7 This is a schematic diagram of the workpiece clamping state of the compliant-sensing integrated rigid-flexible coupling clamp based on the flexible parallelogram mechanism described in the present invention. DETAILED DESCRIPTION

[0032] The following description is used to fully explain the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0033] See also Figure 1-7 The present invention provides a technical solution: a compliant-sensing integrated rigid-flexible coupling clamp 900 based on a flexible parallelogram mechanism, wherein the clamp 900 is provided with a clamping direction, and the clamp 900 is provided with at least one flexible finger 1000 of a parallelogram structure, any two adjacent sides in the parallelogram structure are connected by a revolute pair, and two pairs of parallel sides in the parallelogram structure correspond to an elastic member 100 and a rigid member 300, respectively, wherein the elastic members 100 are arranged at intervals in the clamping direction, and the elastic members 100 are arranged along the length direction of the flexible finger 1000, and a strain sensing unit 200 is provided on the elastic member 100, and the rigid members 300 at both ends of the length direction of the elastic finger are respectively a proximal rigid member 301 and a distal rigid member 302, and the distal rigid member 302 is configured to be suitable for moving around the proximal rigid member 301 in the clamping direction, and the flexible finger 1000 is driven by a driving member 800, and the driving member 800 is electrically connected to the strain sensing unit 200.

[0034] By introducing the elastic member 100 into the flexible finger 1000, the fingertip can be deformed after being subjected to an external load, and by integrating the strain sensing unit 200 on the elastic member 100, the ability to sense the overall deformation and load of the fingertip is realized, and the overall member has a compliance-sensing integrated function. The strain sensing unit 200 is further connected to the driving member 800, thereby improving the overall passive compliance characteristics of the gripper 900, realizing active compliance control and deformation and load sensing capabilities, and based on this, active control of the gripper 900 can be realized, thereby further improving the flexibility and applicability of the gripper 900 in operational tasks such as industrial assembly.

[0035] The distal rigid part 302 serves as the fingertip. When the distal rigid part 302 moves under the external load, the parallelogram structure flexible finger 1000 maintains the stability of the structure and the compactness of the layout. The robot end gripper 900 with it as the flexible finger 1000 has a simple structure and occupies a small volume, and is more suitable for application in industrial scenarios.

[0036] By introducing the elastic member 100 into the flexible finger 1000 of the parallelogram structure and integrating the deformation-load relationship of the elastic member 100, a flexible unit design with passive compliance characteristics, active compliance control, and deformation and load perception is realized, and a rigid-flexible coupling gripper 900 is designed based on this module to improve the passive compliance characteristics, active compliance control and drive, and compactness of the structural design of the robot end gripper 900.

[0037] It should be noted that the loading conditions of the clamp 900 include not only clamping the object, but also performing operations after clamping the object. Therefore, the external load appears not only in the clamping direction, but also in the finger length direction. In the embodiment shown in the accompanying drawings, the elastic member 100 adopts a wavy design to adapt to external loads in multiple directions. The deformation caused by loads in these directions can be obtained through strain sensing and calculation models.

[0038] The elastic member 100 is a plate-shaped elastic member 100, the rigid member 300 is a rod-shaped rigid member 300, the four sides of the parallelogram structure are the elastic member 100, the rigid member 300, the elastic member 100 and the rigid member 300 in sequence, and the flexible finger 1000 includes two elastic members 100 with completely identical initial shapes and two rigid members 300 to form a parallelogram structure. The elastic member 100 has an initial shape of a straight line or a curve under zero load and has a large deformation capability, and its structural form includes but is not limited to a plate, a rod or a special-shaped member, and the materials used include but are not limited to spring steel, carbon fiber, glass fiber, etc.

[0039] Furthermore, the strain sensing unit 200 is a strain sensor, and the strain sensing unit 200 is disposed on the surface or inside of the elastic member 100. The strain sensing unit 200 is arranged at one or more locations of the elastic member 100, and its structure includes but is not limited to a quarter bridge, a half bridge, a full bridge, etc. In one embodiment, the elastic member 100 has a structure such as Figure 2 As shown, a strain sensing unit 200 is arranged on the surface of the elastic member 100. When the elastic member 100 is subjected to an external load, the elastic member 100 will be deformed due to the structural flexibility, and the strain sensing unit 200 arranged on the surface will be deformed by tension and compression, thereby causing a change in resistance. The voltage change is obtained through a sampling circuit, which corresponds to the local curvature of the elastic member 100. Combining the multi-point curvature and the deformation model of the elastic member 100, the overall deformation of the elastic member 100 itself and the perception of the external load are realized.

[0040] Furthermore, the elastic member 100 in the flexible finger 1000 is a replaceable elastic member 100, and the elastic member 100 has a variety of initial shapes and has a large deformation capacity. Figure 1 The elastic member 100 shown is introduced into a parallelogram structure, and the connection method between the elastic member 100 and the rigid member 300 is bolt compression. The elastic member 100 and the rigid member 300 are connected by a rotating bearing 400, and the resulting flexible parallelogram mechanism will be deformed as a whole when subjected to an external load, and the reconstruction of the overall deformation of the flexible parallelogram mechanism and the perception of the external load are achieved through the perception of the strain sensing unit 200.

[0041] Furthermore, the flexible finger 1000 is connected to an elastic fingertip mechanism 500 on one side in the clamping direction. When in use, the flexible finger 1000 drives the end fingertip mechanism 500 to move, wherein the end fingertip mechanism 500 adaptively deforms after contacting the clamped object, and transmits the deformation to the flexible finger 1000. Furthermore, an adaptive silicone coating is attached to the surface of the fingertip mechanism 500, and the material of the fingertip contact layer 600 on the fingertip mechanism 500 includes but is not limited to flexible deformable materials such as silicone. Furthermore, the fingertip mechanism 500 can maintain a constant posture during the movement of the flexible finger 1000, thereby ensuring consistent deformation when clamping an object through multiple fingertip mechanisms 500, and further making the force on the flexible finger 1000 uniform. Optionally, a power component that drives the fingertip mechanism 500 to maintain a horizontal state can be arranged between the fingertip mechanism 500 and the flexible finger 1000, and the power component can adjust the posture of the fingertip mechanism 500 in real time according to the change of the position of the flexible finger 1000.

[0042] Furthermore, the movement of the flexible fingers 1000 is realized by a single-degree-of-freedom low pair, and each of the flexible fingers 1000 can be driven by a different low pair of driving members 800.

[0043] The compliant-sensing integrated rigid-flexible coupling clamp 900 based on the flexible parallelogram mechanism also includes a rigid base 901, on which the driving member 800 is mounted, and both ends of the proximal rigid member 301 are connected to the rigid base 901 through a rotating pair, and the driving member 800 drives the rotating pair between the proximal rigid member 301 and the elastic member 100. Preferably, the proximal rigid member 301 and the rigid base 901 and the proximal rigid member 301 and the elastic member 100 share a common rotating pair.

[0044] Furthermore, the number of the flexible fingers 1000 is one or more. When the number of the flexible fingers 1000 is more than one, each of the flexible fingers 1000 uses the same rigid base 901, wherein each of the flexible fingers 1000 can use the elastic member 100 and the fingertip mechanism 500 of the same or different forms;

[0045] The clamping jaw 900 is also provided with one or more rigid fingers, and the rigid fingers are adapted to the flexible fingers 1000 .

[0046] In one embodiment, the compliant-sensing integrated rigid-flexible coupling gripper 900 based on the flexible parallelogram mechanism adopts a parallel layout of left and right double fingers, wherein a single flexible finger 1000 is as follows: Figure 4As shown, a flexible finger 1000 with a flexible parallelogram structure, the specific structure of the flexible finger 1000 is a rigid base 901-flexible finger 1000-adaptive fingertip arranged in series. More specifically, the number of the flexible fingers 1000 is two, the fingertip mechanism 500 is arranged at the connection between the distal rigid member 302 and the elastic member 100, and the fingertip mechanism 500 is arranged on the opposite side of the flexible finger 1000, and the elastic member 100 is detachably connected with a distal connecting member and a proximal connecting member at both ends of the length direction of the flexible finger 1000 through fasteners, and the distal connecting member and the proximal connecting member are arranged along the length direction of the flexible finger 1000, and the end of the distal connecting member facing away from the elastic member 100 is connected to the distal rigid member 302 through a rotating bearing 400, and the end of the proximal connecting member facing away from the elastic member 100 is connected to the proximal rigid member 301 through a rotating bearing 400, and the proximal connecting member, the elastic member 100, the distal connecting member and the fingertip mechanism 500 are arranged in sequence in the length direction of the flexible finger. In other embodiments, the compliant-sensing integrated rigid-flexible coupling clamp 900 based on the flexible parallelogram mechanism may adopt a three-finger circular arrangement, etc.

[0047] Furthermore, the driving member 800 is implemented in the form of an electric cylinder or a motor-screw combination that produces a single-degree-of-freedom low-pair form.

[0048] For further information, see Figure 1 as well as Figure 5-7 As shown, the two flexible fingers 1000 in the compliant-sensing integrated rigid-flexible coupling clamp 900 based on the flexible parallelogram mechanism are symmetrically arranged on the rigid base 901, and the driving member 800 is configured to drive the two flexible fingers 1000 to move synchronously in a manner of approaching and moving away from each other through the transmission structure 700, providing better transmission characteristics and realizing the compactness of the overall clamp 900 structure.

[0049] In this embodiment, the driving member 800 is a driving electric cylinder, and the driving member 800 is disposed between the two flexible fingers 1000. The driving member 800 is provided with an output end and a fixed end, and the fixed end is connected to the rigid base 901, and the output end is disposed toward a side away from the flexible finger 1000;

[0050] The transmission structure 700 includes a transverse transmission rod 701 and a flexible component 702. One of the rotation pairs on the proximal rigid member 301 in the flexible finger 1000 extends along the clamping direction toward the other flexible finger 1000 to form the transverse transmission rod 701. The ends of the transverse transmission rod 701 corresponding to the two flexible fingers 1000 are connected through a flexible component 702. The flexible component 702 is located directly below the driving member 800, and the output end of the driving member 800 is connected to the middle of the flexible component 702. Optionally, the flexible component 702 is a flexible rope or a multi-link structure that is movably connected in the clamping direction, wherein the multi-link structure is shown in FIG. Figure 5-7 .

[0051] In short, the driving electric cylinder is reversed in the center of the clamp 900 and connected to the transmission mechanism. The driving transmission causes the push rod to move, which drives the rotating pair to rotate, thereby realizing the movement of the flexible finger 1000. Similarly, after the clamp 900 clamps the object, the two flexible fingers 1000 will be deformed due to the structural flexibility. According to the sensed data and model, the overall deformation of the clamp 900, the force and torque applied to the clamped object, and the force and torque applied by the external load on the clamp and the clamped object as a whole can be solved.

[0052] The driving member 800 drives the flexible finger 1000 to move within the range of motion, and the corresponding closed and open states of the rigid-flexible coupled clamping jaw 900 are as follows: Figure 5 and Figure 6 As shown, Figure 7 The figure shows a schematic diagram of the clamping jaw 900 clamping a workpiece, and the workpiece is not limited to the T-shaped piece shown in the figure. The two flexible fingers 1000 have the ability to automatically center when clamping an object, and within the entire range of motion, the clamping jaw 900 can adaptively grasp workpieces of different widths, which reflects that the disclosed rigid-flexible coupling clamping jaw 900 has stronger applicability and better performance in the field of industrial assembly operations.

[0053] Such a design can realize synchronous reverse control of two fingers, wherein the form of linear motion generated by the driving member 800 can also be directly realized by a linear drive form such as a motor plus a trapezoidal screw, a cylinder, a hydraulic cylinder, etc. In addition, when in use, the driving member 800 drives the proximal rigid member 301 to move through the transmission mechanism, and is converted into a rotational motion through the rotating bearing 400 to drive the flexible finger 1000 to move as a whole. Due to the constraint of the parallelogram, the flexible finger 1000 can drive the fingertip mechanism 500 to move in the clamping direction. An adaptive silicone coating is attached to the surface of the fingertip member, and its material is soft. When the fingertip contacts the clamped object, the fingertip member can adaptively wrap the clamped object, and due to the structural flexibility, it will cause the deformation of the elastic member 100 in the flexible parallelogram mechanism. According to the strain sensor and the perception model arranged on the surface of the elastic member 100, the overall deformation of the flexible finger 1000 can be reconstructed and the multi-dimensional force and torque applied to the clamped object and the external clamping as a whole can be perceived.

[0054] The above structure and layout design can be easily extended to the multi-finger situation, and the layout of the transmission mechanism can also be expanded accordingly.

[0055] Furthermore, the sampling circuit of the strain sensor may be arranged on the surface of the rigid base 901 in the clamp 900 .

[0056] In summary, the deformation and load of the compliant-sensing integrated rigid-flexible coupling clamp 900 based on the flexible parallelogram mechanism can be fully controlled, that is, when passively complying with the external load, the overall deformation of the clamp 900 and the contact force on the clamped object can be solved in real time through the strain-load sensing algorithm of the elastic part 100, and the deformation and load can be fully actively controlled by the driving part 800.

[0057] The rigid-flexible coupling gripper designed with flexible units has its own inherent compliance characteristics when facing motion errors or position deviations of workpieces and tools driven by industrial robotic arms. It can complete the required clamping operations without damaging its own structure and the clamped object, which can greatly improve the task success rate and work efficiency.

[0058] Parallelogram mechanisms are often used as transmission mechanisms in gripper design because of their stability and ease of compact layout. The flexible parallelogram mechanism that introduces an elastic structure provides compliance characteristics while maintaining the stability and symmetry of the mechanism, so it can be easily used in gripper design to achieve a compact structural layout. In addition, since the elastic structure itself will deform during the compliance process, the perception of the deformation can realize the reconstruction of the overall deformation of the elastic unit and the prediction of the load, thereby providing rich motion and force information, which is conducive to the design, perception and active control of complex load-deformation relationships, and greatly expands the application scenarios of industrial grippers.

[0059] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable technicians in this field to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made according to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. A compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism, wherein the clamp (900) is provided with a clamping direction, characterized in that: The clamping jaw (900) is provided with at least one flexible finger (1000) of a parallelogram structure, any two adjacent sides of the parallelogram structure are connected by a revolving pair, two pairs of parallel sides of the parallelogram structure correspond to elastic members (100) and rigid members (300) respectively, wherein the elastic members (100) are arranged at intervals in the clamping direction, the elastic members (100) are arranged along the length direction of the flexible finger (1000), a strain sensing unit (200) is arranged on the elastic member (100), the rigid members (300) at the two ends of the length direction of the flexible finger are respectively a proximal rigid member (301) and a distal rigid member (302), the distal rigid member (302) is arranged to be movable around the proximal rigid member (301) in the clamping direction, the flexible finger (1000) is driven by a driving member (800), and the driving member (800) and the strain sensing unit (200) are electrically connected.

2. A compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 1, characterized in that: The elastic member (100) has a variety of initial forms and all have large deformation capabilities.

3. A compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 1, characterized in that: The flexible finger (1000) comprises two curved elastic members (100) with completely identical initial shapes and two rigid members (300) forming a parallelogram structure.

4. The compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 1, characterized in that: The strain sensing unit (200) is disposed on the surface or inside of the elastic member (100), and the strain sensing unit (200) is arranged at one or more locations of the elastic member (100).

5. The compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 1, characterized in that: It also includes a rigid base (901), on which the driving member (800) is mounted, and both ends of the proximal rigid member (301) are connected to the rigid base (901) via a rotating pair, and the driving member (800) drives the rotating pair between the proximal rigid member (301) and the elastic member (100); The flexible finger (1000) is connected to a fingertip mechanism (500) on one side in the clamping direction, and the driving member (800) can drive the fingertip mechanism (500) to move in translation in the clamping direction through the flexible finger (1000).

6. A compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 5, characterized in that: A fingertip contact layer (600) is arranged on the outer side of the fingertip mechanism (500), and the fingertip contact layer (600) is an adaptively deformable fingertip contact layer (600).

7. A compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 5, characterized in that: The number of the flexible fingers (1000) is one or more. When the number of the flexible fingers (1000) is more than one, each of the flexible fingers (1000) uses the same rigid base (901), wherein each of the flexible fingers (1000) can use the elastic member (100) and the fingertip mechanism (500) of the same or different forms; The clamp (900) is also provided with one or more rigid fingers, and the rigid fingers are adapted to the flexible fingers (1000).

8. The compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 1, characterized in that: The movement of the flexible fingers (1000) is achieved by a single-degree-of-freedom low pair, and each of the flexible fingers (1000) can be driven by a different low pair driving member (800).

9. The compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 5, characterized in that: A parallel layout of left and right double fingers is adopted, wherein the number of the flexible fingers (1000) is two, and the two flexible fingers (1000) are symmetrically arranged on the rigid base (901), and the driving member (800) is configured to drive the two flexible fingers (1000) to move synchronously in a manner of approaching and moving away from each other through a transmission structure (700).

10. A compliant-sensing integrated rigid-flexible coupling clamp (900) based on a flexible parallelogram mechanism according to claim 9, characterized in that: The driving member (800) is a linear driving type driving member (800), the driving member (800) is arranged between the two flexible fingers (1000), the driving member (800) is provided with an output end and a fixed end, the fixed end is connected to the rigid base (901), and the output end is arranged toward a side away from the flexible finger (1000); The transmission structure (700) comprises a transverse transmission rod (701) and a flexible component (702); one of the rotating pairs on the proximal rigid member (301) in the flexible finger (1000) extends along the clamping direction toward the other flexible finger (1000) to form the transverse transmission rod (701); the ends of the transverse transmission rod (701) corresponding to the two flexible fingers (1000) are connected via a flexible component (702); the flexible component (702) is located directly below the driving member (800); and the output end of the driving member (800) is connected to the middle of the flexible component (702).

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