CN219445152U - Flexible driver and self-adaptive robot clamping jaw - Google Patents

Abstract

The utility model provides a flexible driver and a self-adaptive robot clamping jaw, wherein the flexible driver comprises an air bag of a shell; the shell comprises a rigid section and a flexible section which are all provided with a plurality of pieces, and the rigid section and the flexible section are mutually connected to form a frame structure; the air bag is arranged between the inner walls of the frame structure, and the rigidity of the shell is controlled by controlling the saturation of the air in the air bag. The self-adaptive robot clamping jaw comprises a rigid clamping jaw, a transmission device, a fixed plate and a flexible driver; the transmission device is arranged on the fixed plate; the rigid clamping jaw is provided with two parts which are connected with the transmission device at the same time; the transmission device drives the two rigid clamping jaws to clamp; the flexible driver is provided with two rigid clamping jaws which are arranged in one-to-one correspondence. This self-adaptation robot clamping jaw drives rigid clamping jaw through adopting transmission to through setting up flexible drive ware on rigid clamping jaw, with the realization to the clamping force adjustable of being gripped the thing, the different needs of snatching of intelligent adaptation guarantee centre gripping safe and reliable.

Description

Flexible driver and self-adaptive robot clamping jaw

Technical Field

The utility model relates to the technical field of clamping mechanical structures, in particular to a flexible driver and a self-adaptive clamping jaw.

Background

With the continuous development of robot technology and the expansion of fields, robots are increasingly applied to industries such as agriculture, service industry, biomedical industry and the like. Compared with the traditional rigid robot, the soft robot is made of soft materials, the soft body can change the shape of the soft robot at will to better adapt to the external environment, but because the research of the soft robot is imperfect, a plurality of problems still need to be solved, for example, in the real environment, the soft robot is not required to have flexibility in all cases, and the soft robot is required to have certain rigidity when being supported or clamped. Because the soft robot material is soft and flexible, the soft robot can not well maintain a fixed shape when grabbing objects with larger mass, and cannot be accurately controlled, and the load capacity is low, so that the improvement of the load capacity and rigidity of the soft robot is very important. The variable stiffness is an effective method for enabling the soft robot to have higher stiffness, and the soft robot can be freely converted in a high stiffness state and a soft state through the variable stiffness, so that the problem of poor loading capacity of the soft robot is solved.

Disclosure of Invention

The utility model provides a flexible driver, which comprises a shell and an air bag arranged in the shell; the shell comprises a rigid section and a flexible section, wherein the rigid section and the flexible section are respectively provided with a plurality of pieces, and the rigid section and the flexible section are mutually connected to form a frame structure; the air bags are arranged between the inner walls of the frame structure, and the rigidity of the shell is controlled by controlling the saturation of the air in the air bags.

Optionally, the number of the rigid segments is twice that of the flexible segments, the two rigid segments are connected with each other to form two rigid structures, and the two rigid structures are connected with each other through the flexible segments.

In addition to the above structure, the housing may be provided with: the rigid section is provided with two parts, the flexible section is provided with two parts, one part of the rigid section and one part of the flexible section are connected with each other to form a first connecting structure, the other part of the rigid section and the other part of the flexible section are connected with each other to form a second connecting structure, and the first connecting structure and the second connecting structure are connected with each other to form a frame structure.

In addition to the above structure, the housing may be provided with: four rigid sections and four flexible sections are arranged, and two adjacent rigid sections are connected through one flexible section.

The utility model also provides a self-adaptive robot clamping jaw which comprises a rigid clamping jaw, a transmission device, a fixed plate and the flexible driver;

the transmission device is arranged on the fixed plate; the two rigid clamping jaws are simultaneously connected with the transmission device; the transmission device drives the two rigid clamping jaws to approach or separate from each other so as to realize clamping or loosening; the flexible driver is provided with two rigid clamping jaws which are arranged in one-to-one correspondence, the two flexible drivers are respectively arranged on one ends of the two rigid clamping jaws, which are far away from the transmission device, and the two flexible drivers are respectively arranged on the end faces of the two rigid clamping jaws, which are close to each other.

Optionally, the transmission device comprises a driving structure, a worm and gear structure, a gear rack structure and a rope traction structure; the fixed end of the driving structure is arranged on the fixed plate, and the driving end of the driving structure is connected with the worm and gear structure; the gear rack structure comprises a connecting pin, a rack, a first gear and a second gear; one end of the connecting pin is fixedly connected with the rack, and the other end of the connecting pin extends along the height direction and is simultaneously connected with the two rigid clamping jaws; the first gear is meshed with the rack or the second gear; the worm and gear structure comprises a transmission shaft, a worm wheel and a worm; one end of the worm is connected with the driving end of the driving structure, the worm wheel and the worm are meshed with each other, the transmission shaft is arranged on the worm wheel, and the other end of the transmission shaft is connected with the gear rack structure; the rope traction structure comprises a reel, a steel wire rope and a pulley; the reel and the second gear are arranged on the first upright post, the pulley is connected with the fixed plate through the second upright post, and the steel wire rope sequentially winds the reel, the pulley and the connecting pin to form a rope traction structure.

Optionally, a spring is further connected to the steel wire rope, and the spring adjusts the tension of the steel wire rope.

Optionally, the self-adaptive robot clamping jaw further comprises an air cylinder, and the driving end of the air cylinder is connected with the fixing plate.

Optionally, the cylinder comprises a cylinder body, a sealing ring, a cavity, a piston rod, a rodless cavity and a rod cavity; the piston rod is arranged to comprise a first sealing section and a second sealing section which are connected with each other, the first sealing section and the second sealing section are connected with each other to form a T-shaped structure, and the first sealing section is arranged in the cylinder body and is connected with the inner wall of the cylinder body through the sealing structure so as to divide the cylinder body into a rodless cavity and a rod cavity which are not communicated with each other; the second sealing section is arranged in the rod cavity and is connected with the inner wall of the cylinder body through a sealing ring.

Optionally, a second pressure sensor is further installed on the inner wall of the rod cavity, and a first pressure sensor is further installed on the inner wall of the rodless cavity.

Compared with the prior art, the utility model has the following beneficial effects:

(1) According to the flexible driver provided by the utility model, the shell (namely the clamping contact part) is of a flexible structure, the air bag is arranged in the shell, and the clamping force of the flexible driver on the clamped object is controlled by adjusting the air pressure in the air bag, so that the adjustable clamping force of the flexible driver is realized.

(2) The utility model also provides a self-adaptive robot clamping jaw comprising the flexible driver, the rigid clamping jaw is driven by adopting the transmission device, and the flexible driver is arranged on the rigid clamping jaw, so that the clamping force on the clamped object can be adjusted, different grabbing requirements can be intelligently met, and the clamping safety and reliability can be ensured.

(3) According to the self-adaptive robot clamping jaw comprising the flexible driver, the worm and gear structure is arranged in the transmission device of the self-adaptive robot clamping jaw, so that clamping is not loosened based on the characteristic of reverse self-locking of the worm and gear structure, and accidents such as power failure and the like can still be kept stable.

In addition to the objects, features and advantages described above, the present utility model has other objects, features and advantages. The present utility model will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

FIG. 1 is an isometric view of a flexible drive in accordance with an embodiment of the utility model;

FIG. 2 is a schematic illustration of a first structural axis of the housing of FIG. 1;

FIG. 3 is a schematic illustration of a second construction of the housing of FIG. 1;

FIG. 4 is a schematic illustration of a third construction of the enclosure of FIG. 1;

FIG. 5 is a schematic top view of an adaptive jaw according to an embodiment of the present utility model;

FIG. 6 is a schematic front view of FIG. 5;

FIG. 7 is a schematic illustration of the transmission of FIG. 5 and a mounting plate after interconnection;

fig. 8 is a schematic cross-sectional view of the cylinder of fig. 5.

Wherein:

1. 1.1 parts of flexible driver, 1.2 parts of air bag, 1.2 parts of shell, 1.2.1 parts of first rigid section, 1.2.2 parts of first flexible section, 1.2.3 parts of second rigid section, 1.2.4 parts of second flexible section, 1.2.5 parts of third rigid section, 1.2.6 parts of third flexible section;

2. a rigid jaw;

3. 3.1 parts of transmission device, 3.2 parts of worm, 3.3 parts of worm wheel, 3.4 parts of transmission shaft, 3.5 parts of first gear, 3.6 parts of rack component, 3.7 parts of second gear, 3.8 parts of first upright post, 3.9 parts of second upright post, 3.10 parts of reel, 3.11 parts of steel wire rope, 3.12 parts of pulley, 3.13 parts of spring;

4. a motor;

5. a fixing plate;

6. the device comprises a cylinder, 6.1, a sealing ring, 6.2, a cavity, 6.3, a piston rod, 6.4, a rodless cavity, 6.5, a rod cavity, 6.6, a first pressure sensor, 6.7 and a second pressure sensor;

7. an air pump.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be noted that the drawings of the present utility model are in simplified form and are not precisely scaled, so as to facilitate the clear and convenient explanation of the implementation of the present utility model; the utility model is not limited to the specific numbers mentioned in the examples of the drawings; the directions and positional relationships indicated by the terms "rear", "left", "right", "upper", "lower", "top", "bottom", "middle", etc. in the present utility model are all based on the directions and positional relationships shown in the drawings of the present utility model, and do not indicate or imply that the device or component to be referred to must have a specific direction, nor should it be construed as limiting the present utility model.

This embodiment:

referring to fig. 1 and 2, the present utility model provides a flexible driver 1, which includes a housing 1.2 and an airbag 1.1 disposed in the housing 1.2;

the shell 1.2 comprises a rigid section and a flexible section, wherein the rigid section and the flexible section are respectively provided with a plurality of pieces, and the rigid section and the flexible section are mutually connected to form a frame structure;

the air bag 1.1 is arranged between the inner walls of the frame structure, and the rigidity of the shell 1.2 is controlled by controlling the saturation of the air in the air bag 1.1. Here, preference is given to: the housing 1.2 is preferably provided in a triangular frame structure.

Optionally, the number of the rigid segments 1.2.5 is twice that of the flexible segments 1.2.6, that is, one flexible segment 1.2.6 is arranged between two adjacent rigid segments 1.2.5 so as to be telescopic between the two adjacent rigid segments 1.2.5. Here, preference is given to: the rigid section 1.2.5 is preferably provided with four pieces, the flexible section 1.2.6 is preferably provided with two pieces, the two rigid sections 1.2.5 are mutually connected to form a lambda-shaped structure, and two ends of the two lambda-shaped structures are respectively connected with each other through the flexible section 1.2.6 to form a triangular frame structure.

In addition, referring to fig. 3, the housing 1.2 may further include a first rigid section 1.2.1, a first flexible section 1.2.2, a second rigid section 1.2.3, and a second flexible section 1.2.4, where the first rigid section 1.2.1, the first flexible section 1.2.2, the second rigid section 1.2.3, and the second flexible section 1.2.4 are sequentially connected to each other, and the first rigid section 1.2.1 and the first flexible section 1.2.2 are connected to each other to form a first Λ -shaped structure, and the second rigid section 1.2.3 and the second flexible section 1.2.4 are connected to each other to form a second Λ -shaped structure; the first Λ -shaped structure and the second Λ -shaped structure are connected to each other to form a telescoping triangular frame structure.

In addition, as shown in fig. 4, the housing 1.2 may also be provided to include four third rigid segments 1.2.5 'and four third flexible segments 1.2.6'; two adjacent third rigid segments 1.2.5 'are connected by a third flexible segment 1.2.6' to form a triangular frame structure interconnected by two Λ -shaped structures.

Referring to fig. 5, the utility model also provides an adaptive robot jaw comprising a flexible driver 1, a rigid jaw 2, a transmission 3 and a fixed plate 5;

the transmission device 3 is arranged on the fixed plate 5;

the two rigid clamping jaws 2 are preferably provided with two pieces, the two rigid clamping jaws 2 are connected with the transmission device 3, and the two rigid clamping jaws 2 are driven by the transmission device 3 to approach or separate from each other so as to realize clamping or loosening;

the flexible driver 1 is provided with two rigid clamping jaws 2 which are arranged in one-to-one correspondence, the two flexible drivers 1 are respectively arranged at one ends of the two rigid clamping jaws 2 far away from the transmission device 3, and the two flexible drivers 1 are respectively arranged on the end faces of the two rigid clamping jaws 2 close to each other and are used for being in contact connection with the clamped object so as to clamp the clamped object.

Optionally, a sliding slot is further provided on the rigid clamping jaw 2, and the rigid clamping jaw 2 is slidably connected with the transmission device 3 through the sliding slot, so as to adjust the clamping force of the rigid clamping jaw 2.

Optionally, the adaptive robot jaw further comprises an air pump 7 for delivering air to the air-bag 1.1, said air pump 7 being mounted on the fixed plate 5.

Optionally, the self-adaptive robot clamping jaw further comprises an air cylinder 6, and the driving end of the air cylinder 6 is connected with the fixed plate 5 and used for driving the self-adaptive robot clamping jaw to displace, so that the self-adaptive robot clamping jaw is installed at a distance between the rigid clamping jaw 2 and the clamped object in an external structure.

Optionally, the self-adaptive robot clamping jaw further comprises a third pressure sensor, wherein the third pressure sensor is preferably provided with two pieces which are arranged in one-to-one correspondence with the flexible driver 1, and the two pieces of third pressure sensors detect the clamping pressure of the flexible driver 1 to the clamped object.

Referring to fig. 6 and 7, the transmission device 3 comprises a stepping motor 3.1, a worm and gear structure, a gear rack structure and a rope traction structure;

the fixed end of the stepping motor 3.1 is arranged on the fixed plate 5, and the driving end of the stepping motor 3.1 is connected with one end of the worm 3.2;

the worm and gear structure comprises a transmission shaft 3.4, a worm wheel 3.3 and a worm 3.2; one end of the worm 3.2 is connected with the driving end of the driving structure, the worm wheel 3.3 is meshed with the worm 3.2, the transmission shaft 3.4 is arranged on the worm wheel 3.3, and the other end of the transmission shaft is connected with the gear rack structure;

the gear rack structure comprises a rack assembly 3.6, a first gear 3.5, a second gear 3.7 and a linear motor; the rack assembly 3.6 comprises a connecting pin and a rack, one end of the connecting pin is fixedly connected with the rack, and the other end of the connecting pin extends along the height direction and is simultaneously connected with the two rigid clamping jaws 2; the fixed end of the linear motor is connected with the fixed plate 5, and the driving end of the linear motor is connected with the first gear 3.5 and is used for driving the first gear 3.5 to displace along the height direction;

the rope traction structure comprises a reel 3.10, a steel wire rope 3.11, a pulley 3.12 and a spring 3.13; reel 3.10 and second gear 3.7 install in first stand 3.8, pulley 3.12 links to each other with fixed plate 5 through second stand 3.9, wire rope 3.11's both ends link to each other with the both ends of spring 3.13 respectively, and wire rope 3.11 walks around reel 3.10, pulley 3.12 and connecting pin in proper order to form rope traction structure, and adjust wire rope 3.11's tension through spring 3.13, so that the atress of being held the thing in by the centre gripping in-process increases gradually from zero, in order to get up the guard action to being held the thing, prevent to being held the centre gripping in-process and produce the damage.

The driving force of the stepping motor 3.1 is transmitted to the first gear 3.5 through the worm wheel 3.3, the worm 3.2 and the transmission shaft 3.4, and the first gear 3.5 is meshed and connected with the rack so as to transmit the driving force of the stepping motor 3.1 to the rigid clamping jaw 2 to form a first transmission line, so that the clamped object is clamped and loosened;

the driving force of the stepping motor 3.1 is transmitted to the first gear 3.5 through the worm wheel 3.3, the worm 3.2 and the transmission shaft 3.4, the first gear 3.5 is driven by the linear motor to displace along the height direction to be meshed with the second gear 3.7, so that the driving force of the stepping motor 3.1 is transmitted to the reel 3.10, and then the driving force is transmitted to the rigid clamping jaw 2 through the steel wire rope 3.11, the pulley 3.12 and the spring 3.13 to form a second transmission line, so that the clamped object is clamped and loosened.

Optionally, the worm and gear structure has the characteristic of reverse self-locking, so that the clamping is not loosened, accidents such as power failure and the like can still be kept stable

Referring to fig. 8, the cylinder 6 includes a cylinder body, a sealing ring 6.1, a cavity 6.2, a piston rod 6.3, a rodless cavity 6.4, a rod cavity 6.5, a first pressure sensor 6.6 and a second pressure sensor 6.7;

the piston rod 6.3 is preferably provided with a first sealing section and a second sealing section which are connected with each other, the first sealing section and the second sealing section are connected with each other to form a T-shaped structure, and the first sealing section is arranged in the cylinder body and is connected with the inner wall of the cylinder body through the sealing structure so as to divide the cylinder body into a rodless cavity 6.4 and a rod cavity 6.5 which are not communicated with each other; the second sealing section is arranged in the rod cavity 6.5 and is connected with the inner wall of the cylinder body through the sealing ring 6.1. Here, preference is given to: the sealing ring 6.1 is preferably provided with a flexible sealing ring structure, the sealing ring 6.1 is arranged, and a cavity 6.2 for installing the sealing ring 6.1 is also arranged on the cylinder body; in order to realize the detection of the air pressure in the rod cavity 6.5 and the rodless cavity 6.4, a second pressure sensor 6.7 is also arranged on the inner wall of the rod cavity 6.5, and a first pressure sensor 6.6 is also arranged on the inner wall of the rodless cavity 6.4.

Optionally, the following working modes can be adopted by the self-adaptive robot clamping jaw according to different grabbing objects:

scheme one: when the flexible driver needs the clamping jaw to grasp the force enough, the linear motor controls the first gear to be meshed with the rack assembly, and the power transmission route is as follows: step motor, worm wheel, transmission shaft, rack assembly, rigid clamping jaw, flexible driver and clamped object; the flexible drive is now in a fully undeployed state.

Because of the characteristic of reverse self-locking of the worm and gear mechanism, the clamping can not loosen, and accidents such as power failure and the like can still be kept stable.

In order to adapt to clamped objects with different shapes and specifications, the flexible driver can be moved to different angles, and the flexible driver has different rigidities under different angles so as to adapt to clamping requirements of different products.

Scheme II: when the clamped object is a fragile article or a special shape, the flexible driver is started, and is a soft clamping jaw, and the specific clamping mode is as follows:

(1) the linear motor can control the first gear to be meshed with the rack assembly, and the power transmission route is as follows: step motor- & gt worm gear- & gt transmission shaft- & gt first gear- & gt rack assembly- & gt rigid clamping jaw- & gt flexible driver- & gt clamped object.

(2) The linear motor can control the first gear to be meshed with the rack assembly, the connection mode is that the stepping motor, the worm wheel, the transmission shaft, the first gear, the rack assembly, the rigid clamping jaw, the flexible driver and the clamped object are meshed, but the stepping motor does not work, and only the flexible driver works as the flexible clamping jaw at the moment.

Due to the reverse self-locking characteristic of the worm and gear mechanism, the rigid clamping jaw can keep a fixed state under the condition of power failure, and the use of the flexible clamping jaw is not affected.

(3) The linear motor is controlled to jack up, at the moment, the first gear is meshed with the second gear, and the power transmission route is as follows: step motor- & gt worm gear- & gt transmission shaft- & gt first gear- & gt second gear- & gt reel- & gt wire rope- & gt spring- & gt rack assembly- & gt rigid clamping jaw- & gt flexible driver- & gt clamped object, wherein the specific mode is adjusted according to specific load and working condition.

The self-adaptive robot clamping jaw can be applied to driving equipment or robot equipment to realize clamping of a clamped object, and the specific control scheme for clamping the self-adaptive robot clamping jaw applied to the driving equipment or the robot equipment is as follows: according to the signals fed back by the third pressure sensor, the first pressure sensor and the second pressure sensor, the working of the linear motor and the air pump is intelligently controlled, the corresponding working scheme and mode are adaptively selected, the pressure of the clamping jaw is intelligently matched, and the like, so that the clamping is reliable, safe and efficient.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A flexible drive, characterized by comprising a housing (1.2) and an airbag (1.1) arranged in the housing (1.2);

the shell (1.2) comprises a rigid section and a flexible section, wherein the rigid section and the flexible section are respectively provided with a plurality of pieces, and the rigid section and the flexible section are mutually connected to form a frame structure;

the air bags (1.1) are arranged between the inner walls of the frame structure, and the rigidity of the shell (1.2) is controlled by controlling the saturation of the air in the air bags (1.1).

2. The flexible drive of claim 1 wherein the number of rigid segments is twice the number of flexible segments, the rigid segments being interconnected in two pieces to form a two-piece rigid structure, the two pieces being interconnected by the flexible segments.

3. The flexible drive of claim 1 wherein the rigid section is provided in two pieces and the flexible section is provided in two pieces, wherein one rigid section and one flexible section are connected to each other to form a first connection structure and the other rigid section and the other flexible section are connected to each other to form a second connection structure, and wherein the first connection structure and the second connection structure are connected to each other to form a frame structure.

4. The flexible drive of claim 1 wherein the rigid segments and flexible segments are each provided in four pieces, with adjacent rigid segments being connected by a flexible segment.

5. An adaptive robot jaw characterized by comprising a rigid jaw (2), a transmission (3), a fixed plate (5) and a flexible drive (1) according to any of claims 1-4;

the transmission device (3) is arranged on the fixed plate (5);

the two rigid clamping jaws (2) are arranged, and the two rigid clamping jaws (2) are simultaneously connected with the transmission device (3);

the transmission device (3) drives the two rigid clamping jaws (2) to be close to or far away from each other so as to realize clamping or loosening;

the flexible driver (1) is provided with two rigid clamping jaws (2) which are arranged in one-to-one correspondence, the two flexible drivers (1) are respectively arranged at one ends of the two rigid clamping jaws (2) far away from the transmission device (3), and the two flexible drivers (1) are respectively arranged on the end faces of the two rigid clamping jaws (2) close to each other.

6. The adaptive robot jaw as claimed in claim 5, wherein said transmission (3) comprises a driving structure, a worm and gear structure, a rack and pinion structure and a rope pulling structure;

the fixed end of the driving structure is arranged on the fixed plate (5), and the driving end of the driving structure is connected with the worm and gear structure;

the gear rack structure comprises a connecting pin, a rack, a first gear (3.5) and a second gear (3.7); one end of the connecting pin is fixedly connected with the rack, and the other end of the connecting pin extends along the height direction and is simultaneously connected with the two rigid clamping jaws (2); the first gear (3.5) is meshed with the rack or the second gear (3.7);

the worm and gear structure comprises a transmission shaft (3.4), a worm wheel (3.3) and a worm (3.2); one end of the worm (3.2) is connected with the driving end of the driving structure, the worm wheel (3.3) is meshed with the worm (3.2), the transmission shaft (3.4) is arranged on the worm wheel (3.3), and the other end of the transmission shaft is connected with the gear rack structure;

the rope traction structure comprises a reel (3.10), a steel wire rope (3.11) and a pulley (3.12); reel (3.10) and second gear (3.7) are installed in first stand (3.8), and pulley (3.12) link to each other with fixed plate (5) through second stand (3.9), and reel (3.10), pulley (3.12) and connecting pin are walked around in proper order to wire rope (3.11) to form rope traction structure.

7. The adaptive robot jaw as claimed in claim 6, characterized in that a spring (3.13) is also connected to the wire rope (3.11), said spring (3.13) adjusting the tension of the wire rope (3.11).

8. An adaptive robot jaw according to any one of claims 5-7, characterized in that the adaptive robot jaw further comprises a cylinder (6), the driving end of the cylinder (6) being connected to the stationary plate (5).

9. The adaptive robot jaw as claimed in claim 8, wherein said cylinder (6) comprises a cylinder body, a sealing ring (6.1), a cavity (6.2), a piston rod (6.3), a rodless cavity (6.4) and a rod cavity (6.5);

the piston rod (6.3) is arranged to comprise a first sealing section and a second sealing section which are connected with each other, the first sealing section and the second sealing section are connected with each other to form a T-shaped structure, and the first sealing section is arranged in the cylinder body and is connected with the inner wall of the cylinder body through the sealing structure so as to divide the cylinder body into a rodless cavity (6.4) and a rod cavity (6.5) which are not communicated with each other;

the second sealing section is arranged in the rod cavity (6.5) and is connected with the inner wall of the cylinder body through the sealing ring (6.1).

10. An adaptive robot jaw as claimed in claim 9, characterized in that a second pressure sensor (6.7) is also mounted on the inner wall of the rod-shaped cavity (6.5), and a first pressure sensor (6.6) is also mounted on the inner wall of the rod-free cavity (6.4).