CN115256449A

CN115256449A - Flexible clamping mechanism for robot tail end and robot

Info

Publication number: CN115256449A
Application number: CN202211026534.2A
Authority: CN
Inventors: 田连刚; 宋庭科; 安然
Original assignee: Feixi Technology Co ltd; Flexiv Robotics Ltd
Current assignee: Feixi Technology Co ltd; Flexiv Robotics Ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2022-11-01
Also published as: CN113442116B; CN113442116A

Abstract

The invention relates to a flexible clamping mechanism for the tail end of a robot and the robot, wherein the flexible clamping mechanism for the tail end of the robot comprises: a robot end adaptor; the clamping jaw cylinder is connected with the robot tail end adapter; the left clamping jaw assembly and the right clamping jaw assembly are arranged on the clamping jaw cylinder; the left clamping jaw assembly and the right clamping jaw assembly respectively comprise a clamping jaw fixing frame, a clamping jaw arm used for contacting and clamping an object to be clamped, and a flexible compensation mechanism used for connecting the clamping jaw fixing frame and the clamping jaw arm. When the flexible clamping mechanism moves the object to be clamped to the target position, the flexible compensation mechanism is used for flexibly compensating the clamping claw arm in at least one direction. The flexible clamping mechanism for the tail end of the robot can compensate positioning deviation of a tail end execution part of the robot caused by repeated positioning precision or error instructions, is suitable for scenes needing accurate positioning, and can reduce risks of damage of a machine tool spindle especially in the process of replacing a cutter by the robot.

Description

Flexible clamping mechanism for tail end of robot and robot

Technical Field

The invention relates to the technical field of automatic application equipment, in particular to a flexible clamping mechanism for a tail end of a robot and the robot.

Background

Along with the continuous improvement of intelligent automation technology, adopt the robot to replace the manpower in the machining field, can realize the high automation of machining, for example realize intelligent unmanned processing to get rid of the problem such as traditional machining trade human cost height and man-made processing error are big.

At present, in the machining process, the tool and the workpiece of the machine tool can be automatically replaced or supplemented by a robot, for example, the tool magazine of some machine tools cannot meet all procedures of workpiece machining, so the robot is required to supplement the tool for the machine tool from an external tool magazine. On the basis, if the position of the tool magazine of the machine tool and the workpiece processing table are not positioned on the same side of the machine tool, the supplement of the external tool needs to be transferred through a main shaft of the machine tool; that is, the robot is required to replace the supplementary tool onto the machine tool spindle first, and then the supplementary tool is clamped away from the machine tool spindle by the clamp of the machine tool magazine.

However, the machine tool spindle is used as a core component for ensuring the machining precision of the machine tool, and once the machine tool spindle is damaged, the machine tool is easily scrapped. However, due to the repetitive positioning accuracy of the robot itself, it is difficult to ensure that the positioning of the tool held by the robot can be absolutely accurate. Therefore, in this case, the robot replaces the tool on the machine tool spindle, and the risk of damage to the machine tool spindle is likely to occur.

Disclosure of Invention

Therefore, aiming at the problems of positioning deviation and the like caused by repeated positioning precision or wrong instructions of the robot end executive part, the flexible clamping mechanism for the robot end and the robot are provided, so that the risk of damage to a machine tool spindle can be effectively reduced in the process of replacing a tool by the robot.

A flexible clamping mechanism for a robotic tip, comprising: a robot end adaptor; the clamping jaw air cylinder is connected to the robot tail end adapter; the left clamping jaw assembly and the right clamping jaw assembly are arranged on the clamping jaw air cylinder and are arranged oppositely;

wherein, left jaw assembly with right jaw assembly all includes: the clamping jaw fixing frame is arranged on the clamping jaw air cylinder; the clamping jaw arm is used for contacting and clamping an object to be clamped;

the flexible compensation mechanism is connected with the clamping jaw fixing frame and the clamping jaw arm, and when the flexible clamping mechanism moves the object to be clamped to the target position, the flexible compensation mechanism is used for flexibly compensating the clamping jaw arm in at least one direction.

Further, the flexibility compensation mechanism comprises a first flexibility compensation mechanism and a second flexibility compensation mechanism, the first flexibility compensation mechanism is connected with the clamping jaw fixing frame and the second flexibility compensation mechanism, and the second flexibility compensation mechanism is connected with the first flexibility compensation mechanism and the clamping jaw arm;

the first flexibility compensation mechanism is used for flexibility compensation on the clamping jaw arm in a first direction, and the second flexibility compensation mechanism is used for flexibility compensation on the clamping jaw arm in a second direction, wherein the first direction is perpendicular to the second direction.

Further, the first flexibility compensation mechanism includes a first rotating member and a first elastic member, the first elastic member is disposed between the first rotating member and the clamping jaw fixing frame, and the first elastic member is configured to be elastically deformed by an acting force of the first rotating member when the first rotating member rotates relative to the clamping jaw fixing frame.

Further, the first flexible compensation mechanism further comprises a first distance measuring sensor, the first distance measuring sensor is arranged on the clamping jaw fixing frame, the first distance measuring sensor is configured to sense the distance between the first rotating part and the clamping jaw fixing frame, and a brake early warning signal is output when the distance is increased to a target value.

Further, the first distance measuring sensor is positioned on one side, away from the first elastic piece, of the first rotating piece.

Further, the second flexibility compensation mechanism includes a second rotating member and a second elastic member, the second rotating member is perpendicular to the rotation axis of the first rotating member, the second elastic member is disposed between the first rotating member and the second rotating member, and the second elastic member is elastically deformed when the second rotating member rotates relative to the first rotating member.

Further, the second flexibility compensation mechanism further comprises a second distance measuring sensor, the second distance measuring sensor is arranged on the first rotating member, and the second distance measuring sensor is configured to sense the distance between the second rotating member and the first rotating member and output a brake early warning signal when the distance is increased to a target value.

Further, the second distance measuring sensor is positioned on one side of the second rotating member, which is far away from the second elastic member.

Further, the first distance measuring sensor and the second distance measuring sensor are contact type displacement sensors.

Further, a robot is provided, including the above flexible clamping mechanism for robot end, still include the arm, the arm is connected the flexible clamping mechanism for robot end.

The application provides a flexible fixture for terminal robot, the corresponding flexible compensation mechanism that sets up in its clamping jaw subassembly, at terminal executive part of robot, the removal in-process behind the gripper arm centre gripping cutter promptly, if the location that makes the gripper arm appear the deviation because of the repeated positioning accuracy of robot or wrong instruction, the cutter of gripper arm centre gripping probably contacts with the lathe main shaft, make the gripper arm receive the reaction force that the lathe main shaft applyed, utilize flexible compensation mechanism to carry out flexible compensation to the gripper arm in at least one orientation, can give the buffering to the contact of the cutter that the gripper arm held with the lathe main shaft, thereby carry out effective compensation because of the positioning deviation that repeated positioning accuracy or wrong instruction arouse to terminal executive part of robot.

In conclusion, the flexible clamping mechanism for the robot tail end can effectively compensate the positioning deviation of the robot tail end executing part caused by repeated positioning precision or error instructions, is also suitable for any scene needing accurate positioning, and can effectively reduce the risk of damage of a machine tool spindle particularly in the process of replacing a cutter by the robot, thereby improving the safety and reliability of automatic cutter replacement by the robot, further widening the application of the robot in the field of mechanical automatic processing, and being beneficial to improving the production efficiency of mechanical processing and reducing the production cost.

Drawings

In order to more clearly illustrate the technical solutions in some embodiments of the present application, the drawings needed to be used in the description of some embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art according to these drawings.

FIG. 1 is a perspective view of a flexible clamping mechanism for a robotic tip according to one embodiment of the present application;

FIG. 2 is a top view of a flexible clamping mechanism for a robotic tip according to one embodiment of the present application;

FIG. 3 is a cross-sectional view F-F of the flexible clamping mechanism for the robot tip shown in FIG. 2;

FIG. 4 is a side view of a flexible clamping mechanism for a robotic tip according to one embodiment of the present application;

fig. 5 is a J-J cross-sectional view of the flexible gripper mechanism for a robot tip shown in fig. 4.

The robot tail end adapter comprises a base, a connecting piece and a connecting piece, wherein 1, the robot tail end adapter is provided with a connecting piece; 2. the clamping device comprises a flexible clamping assembly, a left clamping jaw assembly, a right clamping jaw assembly, a clamping jaw cylinder, a 201A clamping jaw fixing frame, a 202A first rotating piece, a 2011 first containing groove, a 2021 second containing groove, a 203A second rotating piece, a 204A flexible compensation mechanism, a 2041A first flexible compensation mechanism, a 2042A second flexible compensation mechanism, a 205A clamping jaw arm, a clamping jaw arm and a clamping jaw clamping mechanism, wherein the clamping jaw arm is connected with the clamping jaw fixing frame through a clamping head; 421. second elastic component, 422, second range finding sensor, 411, first elastic component, 412, first range finding sensor, 413, baffle.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "first", "second", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

Furthermore, the terms "second", "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "second" or "first" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, a second feature "on" or "under" a first feature may be directly in contact with the second feature or may be indirectly in contact with the first feature through intervening media. Also, a second feature "on," "above," and "over" a first feature may be directly or obliquely above the first feature, or simply indicate that the second feature is at a second elevation higher than the first feature. A second feature "under," "beneath," and "beneath" a first feature may be directly or obliquely under the first feature, or simply that the second feature is shorter in second height than the first feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "second," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.

Fig. 1 illustrates a perspective view of a flexible gripper mechanism for a robotic tip according to an embodiment of the present application, the flexible gripper mechanism comprising: the terminal adaptor of robot 1 and set up flexible centre gripping subassembly 2 on terminal adaptor of robot 1. The flexible clamping assembly 2 comprises: the clamping jaw air cylinder 21 is fixedly connected with the robot terminal adapter 1, the left clamping jaw assembly 20A and the right clamping jaw assembly 20B are arranged on the clamping jaw air cylinder 21, and the left clamping jaw assembly 20A and the right clamping jaw assembly 20B are arranged oppositely. The jaw cylinder 21 is used to drive the left jaw assembly 20A and the right jaw assembly 20B to move (e.g., open or close), so as to implement the gripping operation.

It will be appreciated that the robot end adaptor 1 is used to connect the robot end to the flexible gripping assembly 2 and that the structure of the robot end adaptor 1 should generally match the structural arrangement of the robot end. Optionally, the robot end adaptor 1 is a connection flange, but is not limited thereto. In addition, the robot end mentioned in the present invention also refers to the arm end of the robot, i.e. the end of the arm of the robot used for installing the clamping mechanism, such as the clamping arm.

Fig. 2 illustrates a top view, fig. 3 illustrates an F-F cross-sectional view, fig. 4 illustrates a side view, and fig. 5 illustrates a J-J cross-sectional view, of the flexible gripper mechanism for a robot tip, according to an embodiment of the present application, of the flexible gripper mechanism for a robot tip, according to the present application, according to the embodiment of the present application.

Referring to fig. 3 and 5, wherein the specific structures of the left jaw assembly 20A and the right jaw assembly 20B are the same, taking the left jaw assembly 20A as an example, the left jaw assembly 20A includes: a jaw mount 201A, a compliance compensation mechanism 204A, and a jaw arm 205A. The clamping jaw fixing frame 201A is arranged on the clamping jaw air cylinder 21, and the structure of the clamping jaw fixing frame 201A and the type and the structure of the clamping jaw air cylinder 21 can be selected and arranged according to actual requirements.

The gripper arm 205A is used for contacting and gripping an object to be gripped, the flexible compensation mechanism 204A connects the gripper holder 201A and the gripper arm 205A, and when the flexible gripping mechanism for the robot tip provided by the present application moves the object to be gripped to a target position, the flexible compensation mechanism 204A is used for flexibly compensating the gripper arm 205A in at least one direction. It should be noted that the flexibility compensation is equivalent to the rigidity, that is, the flexible compensation mechanism provides a buffer or a certain elastic deformation for the contact between the object to be clamped and the target position clamped by the clamping arm when the clamping arm moves, so as to prevent the object to be clamped from being damaged by the rigid contact such as collision in the moving process.

With continued reference to fig. 3, the compliance compensation mechanism 204A is comprised of a first compliance compensation mechanism 2041A and a second compliance compensation mechanism 2042A. The first flexibility compensation mechanism 2041A is connected to the clamping jaw fixing frame 201A and the second flexibility compensation mechanism 2042A, and the first flexibility compensation mechanism 2041A is used for performing flexibility compensation on the clamping jaw arm 205A in a first direction C-C, specifically, in fig. 3, the first direction C-C may be a vertical direction.

The first flexible compensation mechanism 2041A includes a first rotating member 202A, a first elastic member 411 and a first distance measuring sensor 412, the first elastic member 411 is disposed between the first rotating member 202A and the clamping jaw fixing frame 201A, the first rotating member 202A is rotatably connected with the clamping jaw fixing frame 201A, the first rotating member 202A can rotate along a first direction C-C, and the first elastic member 411 elastically deforms when the first rotating member 202A rotates relative to the clamping jaw fixing frame 201A. The first distance measuring sensor 412 is disposed on the clamping jaw fixing frame 201A, and the first distance measuring sensor 412 senses a distance between the first rotating member 202A and the clamping jaw fixing frame 201A, and outputs a brake early warning signal when the distance increases to a target value.

With continued reference to fig. 5, the second compliance compensation mechanism 2042A connects the first compliance compensation mechanism 2041A and the jaw arm 205A, and the second compliance compensation mechanism 2042A includes a second rotating member 203A, a second elastic member 421 and a second distance measuring sensor 422. The second flexibility compensation mechanism 2042A is used for flexibility compensation of the gripper arm 205A in a second direction D-D, wherein the first direction is perpendicular to the second direction, and in fig. 5 in particular, the second direction D-D can be selected as a horizontal direction.

The second elastic member 421 is disposed between the first rotating member 202A and the second rotating member 203A, the second rotating member 203A is rotatably connected to the first rotating member 202A, the second rotating member 203A can rotate along the second direction D-D, and the second elastic member 421 is elastically deformed when the second rotating member 203A rotates relative to the first rotating member 202A. The second distance measuring sensor 422 is disposed on the first rotating member 202A, and the second distance measuring sensor 422 senses a distance between the second rotating member 203A and the first rotating member 202A, and outputs a braking warning signal when the distance increases to a target value.

Alternatively, the first elastic member 411 and the second elastic member 421 are springs. Here, the specific shape, size, elastic modulus, and other parameters of the elasticity can be reasonably designed according to actual requirements, and this is not limited in the embodiments of the present application.

The first rotating member 202A and the second rotating member 203A described above are used to distinguish the rotating directions of the two members, and the rotating axes of the first rotating member 202A and the second rotating member 203A are perpendicular to each other. In one embodiment of the present application, the first rotating member 202A is disposed in a vertical direction, the second rotating member 203A is disposed in a horizontal direction, and correspondingly, the first flexible compensation mechanism 2041A is disposed in a vertical direction, and the second flexible compensation mechanism 2042A is disposed in a horizontal direction.

The rotatable connection may be implemented in various manners, for example, by a pin shaft, or by a bearing, so as to achieve relative rotation of the corresponding connection parts, which is not limited in this application.

Further, as shown in fig. 3, the first rotating member 202A is provided with a first receiving groove 2011, and the second rotating member 203A is located in the first receiving groove 2011 and is rotatably connected to the first rotating member 202A by a pin or the like. An end of the second rotating member 203A away from the jaw arm 205A is spaced apart from the first rotating member 202A, and one side of the end is in contact with the first rotating member 202A through the second elastic member 421, and the other side is in contact with the second distance measuring sensor 422.

In one embodiment, the first distance measuring sensor 412 is located on a side of the corresponding first rotating member 202A facing away from the first elastic member 411. Optionally, the first distance measuring sensor 412 is a contact type displacement sensor, but not limited thereto, and any other displacement sensor capable of detecting the distance change between the first rotating member and the clamping jaw fixing frame is also allowable.

In another embodiment, the first flexibility compensation mechanism 2041A further comprises a first elastic member 411, a baffle 413, a first distance measuring sensor 412 and a first rotating member 202A. The first elastic member 411 is provided between the corresponding first rotating member 202A and the jaw holder 201A, and is set to be elastically deformed when the first rotating member 202A rotates with respect to the jaw holder 201A. The baffle 413 is disposed on the clamping jaw fixing frame 201A and located on a side of the first rotating member 202A away from the first elastic member 411. For example, the baffle 413 is mounted on the outer side of the left jaw holder 201A away from the right jaw holder 201B by a fixing member such as a screw. In this way, after the first elastic element 411 and the first rotating element 202A are sequentially mounted on the left clamping jaw fixing frame 201A, the baffle 413 is mounted on the left clamping jaw fixing frame 201A, so that the assembly process of the flexible clamping mechanism is simplified.

The first distance measuring sensor 412 is disposed on the baffle 413, and configured to sense a distance between the first rotating member 202A and the baffle 413, and output a brake warning signal when the distance increases to a target value.

Here, the baffle 413 is fixedly connected to the jaw holder 201A, and the distance between the first rotating member 202A and the baffle 413, which is sensed by the first distance measuring sensor 412, changes, that is, the distance between the first rotating member 202A and the jaw holder 201A changes.

As shown in fig. 5, the clamping jaw fixing frame 201A is provided with a second receiving groove 2021, and the first rotating element 202A is located in the second receiving groove 2021 and is rotatably connected to the clamping jaw fixing frame 201A by a pin. An end of the first rotating member 202A, which is far away from the jaw arm 205A, is spaced from the jaw fixing frame 201A, and one side of the end is in contact with the jaw fixing frame 201A through the first elastic member 411, and the other side is in contact with the first distance measuring sensor 412 installed on the baffle 413.

In one embodiment, the second distance measuring sensor 422 is located on a side of the corresponding second rotating member 203A facing away from the second elastic member 421. Optionally, the second distance measuring sensor 422 is a contact displacement sensor. However, the present invention is not limited to this, and any other displacement sensor capable of detecting a change in the distance between the second rotating member and the first rotating member is also permissible.

Thus, when the clamping jaw arm 205A clamps the tool to move to the corresponding area of the machine tool spindle, if the tool holder of the tool is not concentric with the machine tool spindle due to the influence of the repeated positioning accuracy of the robot, so that the tool holder of the tool is in contact with the inner wall of a certain side of the tool holder mounting hole in the machine tool spindle, the machine tool spindle applies a reaction force to the tool holder, and then the reaction force is transmitted to the clamping jaw arm 205A, at this time, the first rotating member 202A and the second rotating member 203A rotate according to the force transmitted by the clamping jaw arm 205A, and therefore the first flexible compensation mechanism 2041A and the second flexible compensation mechanism 2042A respond.

Specifically, one side of the end of the second rotating member 203A, which is far from the gripper arm 205A, compresses the second elastic member 421, so that the other side of the end is out of contact with the second distance measuring sensor 422. When the distance from the end of the second rotating member 203A, which is out of contact with the second distance measuring sensor 422, to the second distance measuring sensor 422 is still within the detectable distance of the second distance measuring sensor 422, the tool held by the gripper arm 205A can continue to approach the spindle of the machine tool, so as to effectively compensate for the positioning deviation caused by the repeated positioning accuracy of the robot by using the elastic deformation of the second elastic member 421. When the distance from the end of the second rotating member 203A, which is separated from the contact of the second distance measuring sensor 422, to the second distance measuring sensor 422 exceeds the detectable distance of the second distance measuring sensor 422, the second distance measuring sensor 422 outputs a braking early warning signal, and transmits the system early warning signal to the control system of the robot, so that the robot timely controls the gripper arm 205A to stop moving according to the braking early warning signal.

When the first rotating member 202A rotates, one side of the end portion thereof away from the jaw arm 205A compresses the first elastic member 411, so that the other side of the end portion is out of contact with the first distance measuring sensor 412. When the distance from the end of the first rotating member 202A, which is out of contact with the first distance measuring sensor 412, to the first distance measuring sensor 412 or the baffle 413 is still within the detectable distance of the first distance measuring sensor 412, the tool held by the gripper arm 205A can continue to approach the spindle of the machine tool, so as to effectively compensate for the positioning deviation caused by the repeated positioning accuracy of the robot by using the elastic deformation of the first elastic member 411. When the distance from the end of the first rotating member 202A, which is out of contact with the first distance measuring sensor 412, to the first distance measuring sensor 412 or the baffle 413 exceeds the detectable distance of the first distance measuring sensor 412, the first distance measuring sensor 412 outputs a braking early warning signal, and transmits the braking early warning signal to a control system of the robot, so that the robot timely controls the gripper arm 205A to stop moving according to the braking early warning signal. Therefore, the tool clamped by the clamping jaw arm can be effectively prevented from further contacting with the machine tool spindle, the machine tool spindle is prevented from being damaged, and the safety of automatic operation of the robot is ensured.

Further, the application provides a robot, include above a flexible fixture for the robot is terminal, still include the arm, the arm is connected and is used for the terminal flexible fixture of robot. The technical effect of the robot provided by the application is similar to that of the flexible clamping mechanism for the tail end of the robot provided by the application, and therefore the description is omitted.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A flexible gripper mechanism for a robotic tip, comprising: a robot end adaptor; the clamping jaw air cylinder is connected to the robot tail end adapter; the left clamping jaw assembly and the right clamping jaw assembly are arranged on the clamping jaw cylinder and are arranged oppositely;

wherein, left jaw assembly with right jaw assembly all includes:

the clamping jaw fixing frame is arranged on the clamping jaw air cylinder;

the clamping jaw arm is used for contacting and clamping an object to be clamped;

2. The flexible clamping mechanism for a robotic tip of claim 1, wherein said flexibility compensation mechanism comprises a first flexibility compensation mechanism and a second flexibility compensation mechanism, said first flexibility compensation mechanism connecting said jaw mount and said second flexibility compensation mechanism, said second flexibility compensation mechanism connecting said first flexibility compensation mechanism and said jaw arm;

the first flexibility compensation mechanism is used for flexibility compensation on the clamping claw arm in a first direction, and the second flexibility compensation mechanism is used for flexibility compensation on the clamping claw arm in a second direction, wherein the first direction is perpendicular to the second direction.

3. A flexible clamping mechanism for a robot tip as claimed in claim 2, wherein the first flexibility compensation mechanism comprises a first rotating member and a first resilient member, the first resilient member being disposed between the first rotating member and the jaw mount, the first resilient member being configured to be resiliently deformed by the force of the first rotating member as the first rotating member rotates relative to the jaw mount.

4. The flexible clamping mechanism for a robot tip of claim 3, wherein the first flexible compensation mechanism further comprises a first ranging sensor disposed on the jaw mount, the first ranging sensor configured to sense a distance between the first rotating member and the jaw mount and output a brake warning signal if the distance increases to a target value.

5. A flexible clamping mechanism for a robot tip according to claim 4, wherein the first ranging sensor is located on a side of the first rotation element facing away from the first resilient element.

6. A flexible clamping mechanism for a robot tip according to claim 3, wherein the second flexibility compensation mechanism comprises a second rotation member perpendicular to the rotation axis of the first rotation member and a second elastic member disposed between the first rotation member and the second rotation member, the second elastic member being elastically deformed when the second rotation member rotates relative to the first rotation member.

7. The flexible clamping mechanism for a robot tip according to claim 6, wherein the second flexibility compensation mechanism further comprises a second ranging sensor disposed on the first rotation member, the second ranging sensor configured to sense a distance between the second rotation member and the first rotation member and output a brake warning signal if the distance increases to a target value.

8. A flexible gripping mechanism for a robot tip according to claim 7, characterised in that the second distance measuring sensor is located on the side of the second rotation element facing away from the second resilient element.

9. The flexible gripping mechanism for a robot tip according to claim 7, wherein the first and second ranging sensors are contact displacement sensors.

10. A robot comprising the flexible gripping mechanism for a robot tip according to any one of claims 1-9, further comprising a robotic arm connected to the flexible gripping mechanism for a robot tip.