A two-stage clamping self-adaptive clamp jaw

Abstract

The application provides a double-section clamping self-adaptive clamp jaw, and relates to the field of clamp jaws. The double-section clamping self-adaptive clamp jaw comprises a fixed frame, a sliding clamp block symmetrically and slidably connected inside the fixed frame, and an adjusting telescopic mechanism fixedly connected between the fixed frame and the sliding clamp block, and a plurality of groups of adjustable telescopic rods capable of being individually telescoped are arranged in the middle of the sliding clamp block. The double-section clamping self-adaptive clamp jaw can control the sliding clamp block to move towards each other through the telescopic mechanism, and make the contact heads extend out of the sliding clamp block during clamping. When the two sliding clamp blocks are relatively close, any contact head first contacts the workpiece, and the sliding clamp block stops moving towards each other. The telescopic rod works and extends outward, so that the contact head not in contact with the workpiece is pressed against the workpiece. After the workpiece is pressed by the plurality of contact heads, the telescopic mechanism controls the sliding clamp block to move towards each other again to complete clamping of the workpiece, thereby solving the problem of loose clamping of the workpiece in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of clamping jaws, in particular to a double-section clamping self-adaptive clamping jaw. BACKGROUND

[0002] The self-adaptive clamping jaw is a highly intelligent and flexible robot component, widely used in industrial automation, intelligent manufacturing and other fields. It can automatically adjust the clamping force and clamping position according to different object shapes, sizes and weights, so as to realize stable grabbing and operation of various workpieces.

[0003] The existing patent (CN218138133U) is a self-adaptive clamping jaw device, which comprises: a gas jaw; a clamping jaw assembly is arranged below the gas jaw and fixedly connected to the gas jaw, and clamps or releases the clamping piece under the drive of the gas jaw, the clamping jaw assembly is symmetrically arranged two clamping jaws, each clamping jaw comprises: a fixed rod body fixed on the gas jaw; a clamping body is arranged on the fixed rod body through an elastic body; wherein the clamping body self-adaptively adjusts the distance between the two clamping jaws in the clamping jaw assembly under the action of the elastic body, so as to clamp the special-shaped clamping piece.

[0004] The device can make the clamping jaw fit the special-shaped clamping piece when clamping the special-shaped clamping piece, and has a buffering effect, which avoids the wear of the special-shaped clamping piece, and the whole clamping process is firm and stable. A plurality of telescopic members are disclosed in the technical scheme for clamping, but the clamping force in the technical scheme is provided by the telescopic member, so that the clamping force provided is small, and it cannot be determined whether the clamping member is in contact with the workpiece. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a double-section clamping self-adaptive clamping jaw, which solves the problem of small clamping force and ineffective clamping of workpieces in the above background technology.

[0006] In order to achieve the above object, the present application is realized by the following technical scheme: A double-section clamping self-adaptive clamping jaw, comprising a fixed frame, a sliding clamping block symmetrically and slidably connected inside the fixed frame, the fixed frame and the sliding clamping block being fixedly connected through an adjusting and extending mechanism, a plurality of adjusting and extending rods capable of being individually extended and retracted being arranged at the middle part of the sliding clamping block, a touch head being fixedly installed at the end of the extending rods close to each other, the touch head comprising a shell, a fixed conductive sheet being fixedly installed inside the shell, a sliding plate being slidably connected inside the shell, a sliding conductive sheet being fixedly installed on the side of the sliding plate close to the fixed conductive sheet, the sliding plate and the fixed conductive sheet being fixedly connected through a return spring, a top head being fixedly installed at the end of the sliding plate away from the return spring, the top head extending to the outside of the shell, the extending rod comprising a sleeve, a sliding unit being slidably connected inside the sleeve, an extending rod being fixedly installed at one end of the sliding unit, the extending rod extending to the outside of the sleeve, the touch head being fixedly installed on the outer surface of the extending rod, a magnetic ring being fixedly installed at the end of the sliding unit away from the extending rod, an electromagnet being fixedly installed on the side of the sleeve close to the magnetic ring.

[0007] Preferably, the extending rod comprises a fixed cylinder, a piston rod being slidably connected inside the fixed cylinder, the piston rod extending to the outside of the fixed cylinder, the touch head being fixedly installed on the end face of the piston rod, a top end conduit and a bottom end conduit for circulating hydraulic oil being connected at both ends of one side of the fixed cylinder, an electromagnetic control valve being arranged at the middle part of the top end conduit and the bottom end conduit, the touch head controlling the electromagnetic control valve, a circulating mechanism being fixedly installed on the outside of the sliding clamping block.

[0008] Preferably, the circulating mechanism comprises an oil storage tank, the oil storage tank being fixedly installed on the outside of the sliding clamping block, a circulating pump being connected and penetrating through the oil inlet end and the oil outlet end of the oil storage tank, a plurality of passages being connected and penetrating through one end of the circulating pump away from the oil storage tank, the plurality of passages being connected and penetrating through the top end conduit and the bottom end conduit through a reversing valve.

[0009] Preferably, the reversing valve comprises a valve shell, a plug hole connected with the plurality of passages and a plug hole connected with the top end conduit and the bottom end conduit being arranged at both ends of the valve shell, a valve core being slidably connected inside the valve shell, an electromagnetic push plate for pushing the valve core to move being arranged between the valve core and the valve shell, the valve core comprising a direct-current pipe directly penetrating through both sides, and a flow channel wrapped outside the direct-current pipe and cross-communicating, the flow channel and the direct-current pipe being alternately connected.

[0010] Preferably, the sliding clamping block is provided with a bearing groove at the end away from each other, a connecting plate being fixedly installed on the outer surface of the extending rod at both ends, the connecting plate and the extending rod sleeve being arranged inside the bearing groove, a stepped groove being arranged at the end of the sliding clamping block close to each other and communicating with the bearing groove, the sliding clamping block and the connecting plate being fixedly connected in the stepped groove through bolts, the sliding clamping block and the connecting plate being fixedly connected on the other side through a cover plate.

[0011] Preferably, the connecting plate is provided with a plurality of protrusions, and the top end conduit and the bottom end conduit are sleeved in one of the protrusions.

[0012] Preferably, the adjusting telescopic mechanism is one of an electric telescopic mechanism, a hydraulic telescopic mechanism, an electromagnetic telescopic mechanism or a pneumatic telescopic mechanism.

[0013] Preferably, the fixing frame is internally provided with a limiting guide rail, and the two sides of the sliding clamping block are provided with limiting grooves matched with the limiting guide rail.

[0014] Preferably, the liquid inlet end of the oil storage tank is located at the top, and the liquid outlet end of the oil storage tank is located at the lower side.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] 1. The double-section clamping self-adaptive clamp jaw can control the sliding clamping blocks to move towards each other through the telescopic mechanism, and make the contact heads extend out of the sliding clamping blocks during clamping, so that any contact head first contacts the workpiece when the two sliding clamping blocks are close to each other, and the sliding clamping blocks stop moving towards each other, at which time the telescopic rod works to extrude the contact head not in contact with the workpiece to touch the workpiece, and the telescopic mechanism controls the sliding clamping blocks to move towards each other again to complete clamping of the workpiece after the workpiece is extruded by multiple contact heads, thereby solving the problem of loose clamping of the workpiece in the prior art.

[0017] 2. When the telescopic rod of the double-section clamping self-adaptive clamp jaw is hydraulic, the hydraulic oil is supplied to the bottom end conduit through the circulating pump, the telescopic rod extends outwards when the circulating pump pumps oil outwards from the top end conduit, and the on-off of the corresponding pipeline is controlled through the electromagnetic control valve, so that the telescopic rod can extend to a specified length, and the telescopic rod can be retracted by reversing the connection with the circulating pump, thereby solving the problem that the workpiece will fall off in the clamping process in the prior art.

[0018] 3. The double-section clamping self-adaptive clamp jaw, the reversing valve includes a valve shell, the two ends of the valve shell are respectively provided with a jack and a jack connected with the top end conduit and the bottom end conduit, the inside of the valve shell is slidably connected with a valve core, the valve core and the valve shell are provided with an electromagnetic push plate for moving the valve core, the valve core includes a direct current pipe directly penetrating through both sides, and a flow channel wrapped outside the direct current pipe and cross connected, the flow channel and the direct current pipe are alternately connected, the flow channel is wrapped on the outer surface of the direct current pipe and does not communicate with the direct current pipe, and the flow direction of the hydraulic oil can be conveniently switched through such a structure.

[0019] 4、The double-section clamping self-adapting clamping jaw, the end of the sliding clamping block away from each other is provided with a bearing groove, the outer surface of the telescopic rod is fixedly provided with a connecting plate at the front and rear ends, the connecting plate and the telescopic rod are sleeved in the bearing groove, the end of the sliding clamping block close to each other is provided with a stepped groove in communication with the bearing groove, the sliding clamping block and the connecting plate are fixedly connected in the stepped groove through bolts, the sliding clamping block and the connecting plate are fixedly connected on the other side through a cover plate, and the telescopic rod can be stably connected with the sliding clamping block through the arrangement, and meanwhile, the telescopic rod is located in the sliding clamping block and does not affect clamping. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic view of the application;

[0021] Figure 2 It is a telescopic rod schematic view in the first embodiment of the application;

[0022] Figure 3 It is a touch head connection schematic view;

[0023] Figure 4 It is a telescopic rod schematic view in the second embodiment of the application;

[0024] Figure 5 It is an oil storage tank connection schematic view;

[0025] Figure 6 It is a reversing valve connection schematic view;

[0026] Figure 7 It is a valve core half-section schematic view;

[0027] Figure 8 It is a sliding clamping block half-section schematic view;

[0028] Figure 9 It is a sliding clamping block connection schematic view.

[0029] In the figure: 1, fixed frame; 2, sliding clamping block; 3, telescopic mechanism; 4, telescopic rod; 5, touch head; 501, shell; 502, fixed conductive sheet; 503, sliding plate; 504, sliding conductive sheet; 505, return spring; 506, top head; 401, sleeve; 402, sliding unit; 403, extension rod; 404, magnetic ring; 405, electromagnet; 406, fixed cylinder; 407, piston rod; 408, top end conduit; 409, bottom end conduit; 410, electromagnetic control valve; 411, circulating mechanism; 412, oil storage tank; 413, circulating pump; 414, multi-way; 415, reversing valve; 416, valve shell; 417, jack; 418, valve core; 419, electromagnetic push plate; 420, direct current pipe; 421, flow channel; 6, bearing groove; 7, connecting plate; 8, stepped groove; 9, bolt; 10, cover plate; 11, limiting guide rail; 12, limiting groove. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work under the premise that the technical solutions are not changed, belong to the scope of protection of the present application.

[0031] It should be noted that all the directionality indications in the embodiments of the present application are only used to explain the relative position relationship, movement condition and the like between components in a certain posture, and if the certain posture is changed, the directionality indications are also changed accordingly.

[0032] In the present application, unless otherwise explicitly specified and limited, the terms “connection”, “fixation” and the like should be understood in a broad sense, for example, “fixation” can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In addition, the description such as “first”, “second” and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art, and when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0034] Embodiment one, as Figures 1-3As shown in figures 5-9, a double-section clamping self-adaptive clamp jaw comprises a fixed frame 1, a sliding clamp block 2 symmetrically and slidingly connected inside the fixed frame 1, the fixed frame 1 and the sliding clamp block 2 are fixedly connected through an adjusting telescopic mechanism 3, a plurality of groups of adjustable telescopic rods 4 capable of being individually telescoped are arranged at the middle part of the sliding clamp block 2, a touch head 5 is fixedly installed at the end of the telescopic rods 4 close to each other, the touch head 5 comprises a shell 501, a fixed conductive sheet 502 is fixedly installed inside the shell 501, a sliding plate 503 is slidingly connected inside the shell 501, a sliding conductive sheet 504 is fixedly installed on the side of the sliding plate 503 close to the fixed conductive sheet 502, the sliding plate 503 and the fixed conductive sheet 502 are fixedly connected through a return spring 505, a top head 506 is fixedly installed at the end of the sliding plate 503 away from the return spring 505, the top head 506 extends to the outside of the shell 501, the telescopic rod 4 comprises a sleeve 401, a sliding unit 402 is slidingly connected inside the sleeve 401, an extension rod 403 is fixedly installed at one end of the sliding unit 402, the extension rod 403 extends to the outside of the sleeve 401, the touch head 5 is fixedly installed on the outer surface of the extension rod 403, a magnetic ring 404 is fixedly installed at the end of the sliding unit 402 away from the extension rod 403, and an electromagnet 405 is fixedly installed on the side of the sleeve 401 close to the magnetic ring 404. In the technical scheme, the energization time and the energization current of the electromagnet 405 are controlled by the electromagnetic control unit, so that the extension length of the extension rod 403 can be controlled, and the response speed is fast.

[0035] The circulating mechanism 411 comprises an oil storage tank 412 fixedly installed on the outside of the sliding clamp block 2, a circulating pump 413 connected and penetrating through the oil inlet end and the oil outlet end of the oil storage tank 412, a plurality of passages 414 connected and penetrating through the circulating pump 413 at the end away from the oil storage tank 412, and the plurality of passages 414 are connected and penetrate through the circulating pump 413 between the top end conduit 408 and the bottom end conduit 409 for pumping out and recycling hydraulic oil.

[0036] The reversing valve 415 comprises a valve shell 416, plug holes 417 connected with the plurality of passages 414 and plug holes 417 connected with the top end conduit 408 and the bottom end conduit 409 are arranged at both ends of the valve shell 416, a valve core 418 is slidingly connected inside the valve shell 416, an electromagnetic push plate 419 for moving the valve core 418 is arranged between the valve core 418 and the valve shell 416, the valve core 418 comprises a straight-through pipe 420 directly penetrating through both sides, and a flow channel 421 cross-communicating and wrapping outside the straight-through pipe 420, the flow channel 421 and the straight-through pipe 420 are alternately connected, the flow channel 421 wraps the outer surface of the straight-through pipe 420 and does not communicate with the straight-through pipe 420, and through such arrangement, the hydraulic oil flow direction can be conveniently switched.

[0037] The sliding clamping blocks 2 are provided with bearing grooves 6 at the ends away from each other, the outer surfaces of the telescopic rods 4 are fixedly provided with connecting plates 7, the connecting plates 7 and the telescopic rods 4 are sleeved in the bearing grooves 6, the ends of the sliding clamping blocks 2 close to each other are provided with stepped grooves 8 in communication with the bearing grooves 6, the sliding clamping blocks 2 and the connecting plates 7 are fixedly connected in the stepped grooves 8 through bolts 9, and the sliding clamping blocks 2 and the connecting plates 7 are fixedly connected on the other side through cover plates 10. Through the above arrangement, the telescopic rods 4 can be stably connected with the sliding clamping blocks 2, and meanwhile, the telescopic rods 4 located in the sliding clamping blocks 2 do not affect clamping.

[0038] The connecting plates 7 are provided with a plurality of protrusions, and the top end conduit 408 and the bottom end conduit 409 are sleeved in one of the protrusions. Through the above arrangement, the top end conduit 408 and the bottom end conduit 409 can be fixed.

[0039] The adjusting telescopic mechanism 3 is one of an electric telescopic mechanism, a hydraulic telescopic mechanism, an electromagnetic telescopic mechanism or a pneumatic telescopic mechanism. Through the above arrangement, the adjusting telescopic mechanism 3 can drive the sliding clamping blocks 2 to close to each other.

[0040] The fixed frame 1 is internally provided with a limiting guide rail 11, and the two sides of the sliding clamping blocks 2 are provided with limiting grooves 12 matched with the limiting guide rail 11. Through the above arrangement, the stability of the sliding of the sliding clamping blocks 2 can be ensured.

[0041] The liquid inlet end of the oil storage tank 412 is located at the upper side, and the liquid outlet end of the oil storage tank 412 is located at the lower side of the other side. Through the above arrangement, the entering and discharging of the hydraulic oil can be facilitated.

[0042] In the second embodiment, the telescopic rod 4 can also be replaced by a fixed cylinder 406, the inside of the fixed cylinder 406 is slidably connected with a piston rod 407, the piston rod 407 extends to the outside of the fixed cylinder 406, a touch head 5 is fixedly installed on the end face of the piston rod 407, the fixed cylinder 406 is connected with a top end conduit 408 and a bottom end conduit 409 for circulating hydraulic oil at the two ends of one side, the middle parts of the top end conduit 408 and the bottom end conduit 409 are provided with electromagnetic control valves 410, the touch head 5 controls the electromagnetic control valves 410, and a circulating mechanism 411 is fixedly installed on the outside of the sliding clamping blocks 2. Through the above hydraulic control, sufficient clamping force can be maintained, and even if the external power source is temporarily disabled, the clamped workpiece will not fall off.

[0043] In use, the sliding clamping blocks 2 can be controlled to move towards each other by the telescopic mechanism 3, and the contact heads 5 can be extended out of the sliding clamping blocks 2 during clamping. When the two sliding clamping blocks 2 are close to each other, any one of the contact heads 5 first contacts the workpiece, and the sliding clamping blocks 2 stop moving towards each other. At this time, the telescopic rod 4 works, and the contact head 5 not in contact with the workpiece is pressed against the workpiece by extending outwards. After the workpiece is pressed by the plurality of contact heads 5, the telescopic mechanism 3 controls the sliding clamping blocks 2 to move towards each other again to complete clamping of the workpiece, thereby solving the problem of poor clamping of the workpiece in the prior art.

[0044] When the telescopic rod 4 is hydraulic, the telescopic rod 4 extends outwards by supplying hydraulic oil to the bottom end conduit 409 through the circulating pump 413, and the telescopic rod 4 retracts by connecting the circulating pump 413 in reverse, thereby solving the problem that the workpiece will fall off during clamping in the prior art.

[0045] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0046] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the scope of protection required by the present application.

[0047] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A dual-segment clamping adaptive gripper, comprising a fixed frame (1), wherein a sliding clamping block (2) is slidably and symmetrically connected inside the fixed frame (1), and the fixed frame (1) and the sliding clamping block (2) are fixedly connected by an adjusting telescopic mechanism (3), characterized in that: The sliding clamp (2) is provided with multiple sets of individually extendable telescopic rods (4) in the middle, and a contact head (5) is fixedly installed at one end of the telescopic rods (4) that are close to each other. The contact head (5) includes a housing (501), a fixed conductive sheet (502) is fixedly installed inside the housing (501), a sliding plate (503) is slidably connected inside the housing (501), a sliding conductive sheet (504) is fixedly installed on the side of the sliding plate (503) close to the fixed conductive sheet (502), the sliding plate (503) and the fixed conductive sheet (502) are fixedly connected by a return spring (505), a top head (506) is fixedly installed on the end of the sliding plate (503) away from the return spring (505), and the top head (506) extends to the outside of the housing (501); The telescopic rod (4) includes a sleeve (401), a sliding unit (402) is slidably connected inside the sleeve (401), an extension rod (403) is fixedly installed at one end of the sliding unit (402), the extension rod (403) extends to the outside of the sleeve (401), a contact head (5) is fixedly installed on the outer surface of the extension rod (403), a magnetic ring (404) is fixedly installed at the end of the sliding unit (402) away from the extension rod (403), and an electromagnet (405) is fixedly installed on the side of the sleeve (401) close to the magnetic ring (404).

2. The dual-segment clamping adaptive gripper according to claim 1, characterized in that: The telescopic rod (4) can also be replaced by a fixed cylinder (406), in which a piston rod (407) is slidably connected, and the piston rod (407) extends to the outside of the fixed cylinder (406). A contact head (5) is fixedly installed on the end face of the piston rod (407). A top conduit (408) and a bottom conduit (409) for circulating hydraulic oil are respectively connected to both ends of one side of the fixed cylinder (406). A solenoid control valve (410) is provided in the middle of both the top conduit (408) and the bottom conduit (409). The contact head (5) controls the solenoid control valve (410). A circulation mechanism (411) is fixedly installed on the outside of the sliding clamp (2).

3. The dual-segment clamping adaptive gripper according to claim 2, characterized in that: The circulation mechanism (411) includes an oil storage tank (412), which is fixedly installed on the outside of the sliding clamp (2). The oil inlet and outlet of the oil storage tank (412) are respectively connected to and pass through a circulation pump (413). The end of the circulation pump (413) away from the oil storage tank (412) is connected to and passes through a multi-port (414). The multi-port (414) is connected to and passes through the top conduit (408) and the bottom conduit (409) through a reversing valve (415).

4. The dual-segment clamping adaptive gripper according to claim 3, characterized in that: The reversing valve (415) includes a valve body (416). Both ends of the valve body (416) are respectively provided with a socket (417) for connecting to a multi-port (414) and a socket (417) for connecting to a top conduit (408) and a bottom conduit (409). A valve core (418) is slidably connected inside the valve body (416). An electromagnetic push plate (419) for pushing the valve core (418) to move is provided between the valve core (418) and the valve body (416). The valve core (418) includes a direct current pipe (420) that directly passes through both sides, and a flow channel (421) that crosses and connects to the outside of the direct current pipe (420). The flow channel (421) and the direct current pipe (420) are alternately connected.

5. A dual-segment clamping adaptive gripper according to any one of claims 1-4, characterized in that: The sliding clamps (2) have a bearing groove (6) at one end that is far apart from each other. The telescopic rod (4) has a connecting plate (7) fixedly installed at both ends of its outer surface. The connecting plate (7) and the telescopic rod (4) are sleeved inside the bearing groove (6). The sliding clamps (2) have a stepped groove (8) that communicates with the bearing groove (6) at one end that is close to each other. The sliding clamps (2) and the connecting plate (7) are fixedly connected in the stepped groove (8) by bolts (9). The sliding clamps (2) and the connecting plate (7) are fixedly connected on the other side by a cover plate (10).

6. The dual-segment clamping adaptive gripper according to claim 5, characterized in that: The connecting plate (7) is provided with multiple protrusions, and the top conduit (408) and the bottom conduit (409) are sleeved inside one of the protrusions.

7. A dual-segment clamping adaptive gripper according to claim 6, characterized in that: The adjusting telescopic mechanism (3) is one of an electric telescopic mechanism, a hydraulic telescopic mechanism, an electromagnetic telescopic mechanism, or a pneumatic telescopic mechanism.

8. The dual-segment clamping adaptive gripper according to claim 1, characterized in that: The fixed frame (1) is provided with a limit guide rail (11) inside, and the sliding clamp (2) is provided with limit grooves (12) on both sides that are adapted to the limit guide rail (11).

9. A dual-segment clamping adaptive gripper according to claim 3, characterized in that: The inlet end of the oil storage tank (412) is located at the top, and the outlet end of the oil storage tank (412) is located at the bottom on the other side.

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