Profiling clamping device and profiling clamping mechanism

Abstract

The utility model provides a profiling clamping device and a profiling clamping mechanism, the profiling clamping device comprises a mounting seat and a limiting cover which are detachably connected, an elastic clamping assembly and a locking assembly, the mounting seat and the limiting cover are connected to form a containing cavity, and the limiting cover is provided with a plurality of through holes communicating with the containing cavity; the elastic clamping assembly comprises a deformable shell and a plurality of elastic positioning pieces contained in the deformable shell, and an open groove is formed in the side, facing the limiting cover, of the deformable shell. The deformable shell is movably installed in the containing cavity, the open groove of the deformable shell is obliquely connected with the limiting cover in an abutting mode, and at least part of each elastic positioning piece extends out of the containing cavity from each penetrating hole of the limiting cover. The locking assembly is installed on the installation base and can drive the deformable shell and the multiple elastic positioning pieces to move so that the open groove of the deformable shell can be tightened, the multiple elastic positioning pieces can be driven to be mutually clamped and positioned, the moving and static conditions of the elastic positioning pieces can be controlled, and the profiling function is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of profiling clamping devices, in particular to a profiling clamping device and a profiling clamping mechanism. BACKGROUND

[0002] Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. In order to achieve the requirement of automatic clamping, an applicable clamp needs to be assembled on the industrial robot to clamp the target part. However, in the actual production process, the industrial robot often needs to clamp different shaped products on the same production equipment. Therefore, different shaped clamping devices need to be replaced, which is costly and reduces production efficiency. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a profiling clamping device and a profiling clamping mechanism. The profiling clamping device can independently adapt to different shaped clamped objects, has a wide range of applications, and can also reduce production costs.

[0004] The present application provides a profiling clamping device, which comprises a detachably connected mounting seat and a limiting cover, an elastic clamping assembly, and a locking assembly. The mounting seat and the limiting cover are connected to form a containing cavity. The limiting cover is provided with a plurality of through holes in communication with the containing cavity.

[0005] The elastic clamping assembly comprises a deformable shell and a plurality of elastic positioning members. The deformable shell is provided with an open slot on the side facing the limiting cover. The deformable shell is movably installed in the containing cavity, and the open end of the deformable shell is obliquely abutted with the limiting cover. The plurality of elastic positioning members are accommodated in the open slot, and at least part of each elastic positioning member extends out of the containing cavity from each through hole of the limiting cover.

[0006] The locking assembly is installed on the mounting seat and connected with the deformable shell. The locking assembly is used to drive the deformable shell and the plurality of elastic positioning members to move towards the limiting cover, so as to tighten the open end of the open slot of the deformable shell and drive the plurality of elastic positioning members to be clamped and positioned with each other.

[0007] In some embodiments, each elastic positioning member comprises a contraction rod and an elastic body. One end of the elastic body is abutted with the contraction rod, and the other end is abutted with the cavity bottom of the containing cavity. The contraction rod extends out of the containing cavity from the through hole of the limiting cover.

[0008] In some embodiments, the shrinkable rod comprises a mutual connection of an anti-escape part and an abutting part, the anti-escape part is located in the deformable shell, one end of the anti-escape part away from the abutting part is provided with a limiting groove, the elastic body is arranged in the limiting groove, and the abutting part is used for abutting the clamped object away from the anti-escape part.

[0009] In some embodiments, the aperture of the perforation is smaller than the outer diameter of the anti-escape part and larger than the outer diameter of the abutting part.

[0010] In some embodiments, the side wall of the open slot is provided with a plurality of notches in communication with the open slot, and the notches extend along the depth direction of the open slot of the deformable shell.

[0011] In some embodiments, the limiting cover is recessed to form an intracavity limiting groove, the groove wall of the intracavity limiting groove is provided with an interference part, the locking assembly is used to drive the deformable shell to move to the side wall of the open slot abutting the interference part, the side wall of the open slot is deformed inwardly, and the deformable shell is tightened.

[0012] In some embodiments, the side wall of the open slot is provided with an abutting surface arranged obliquely near one end of the limiting cover, the interference part is a pressing inclined surface, and the abutting surface abuts the pressing inclined surface.

[0013] In some embodiments, the locking assembly comprises a handle and a cam locking joint, one end of the cam locking joint is connected with the bottom surface of the deformable shell, the other end of the cam locking joint is arranged out of the mounting seat and connected with the handle, and the handle is used to lock the cam locking joint.

[0014] In some embodiments, the mounting seat is further provided with a retreat-stop part, the retreat-stop part is a jacking screw, the jacking screw is connected with the mounting seat, and the top end of the jacking screw abuts the cam locking joint.

[0015] The application further provides a profiling clamping mechanism, which comprises a base and two oppositely arranged profiling clamping devices mounted on the base; the profiling clamping mechanism comprises the profiling clamping device; and the clamping ends of the elastic positioning members of the two profiling clamping devices are oppositely arranged.

[0016] After the above technical scheme is adopted, the beneficial effects are as follows:

[0017] The application provides a profiling clamping device and a profiling clamping mechanism. The profiling clamping device comprises a detachably connected mounting seat and a limiting cover, an elastic clamping assembly and a locking assembly. The locking assembly can drive the deformable shell and the plurality of elastic positioning pieces to move and tighten, so that the elastic positioning pieces can be adapted to different shapes of clamped objects, have a profiling function, can greatly improve the use range and scene of the profiling clamping device, and reduce the production cost. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained on the basis of these drawings without creative labor.

[0019] Figure 1 A structural schematic diagram of a profiling clamping device provided by the embodiment of the present application.

[0020] Figure 2 A partial sectional view schematic diagram of a profiling clamping device provided by the embodiment of the present application.

[0021] Figure 3 An exploded structural schematic diagram of a profiling clamping device provided by the embodiment of the present application.

[0022] Figure 4 A structural schematic diagram of a deformable shell of a profiling clamping device provided by the embodiment of the present application.

[0023] Figure 5 A structural schematic diagram of a limiting cover of a profiling clamping device provided by the embodiment of the present application.

[0024] Figure 6 A structural schematic diagram of an elastic positioning piece of a profiling clamping device provided by the embodiment of the present application.

[0025] Figure 7 A structural schematic diagram of a locking assembly of a profiling clamping device provided by the embodiment of the present application.

[0026] Reference signs:

[0027] 100-profiling clamping device;

[0028] 10-mounting seat; 101-first connecting hole; 102-first mounting hole; 103-second mounting hole; 11-retaining portion; 12-tightening screw;

[0029] 20-limiting cover; 201-second connecting hole; 21-perforation;

[0030] 30-housing cavity; 31-cavity limiting groove; 311-interference portion; 3111-pressing slope;

[0031] 40-elastic clamping assembly; 41-deformable shell; 411-open slot; 4111-abutment surface; 412-bottom wall; 413-gap; 415-open end; 42-elastic positioning member; 421-contracting rod; 4211-anti-dropping portion; 42111-limiting groove; 4212-abutment portion; 422-elastic body; 43-side wall;

[0032] 50-locking assembly; 51-handle; 52-cam locking joint; 521-groove; 522-driving portion; 523-locking portion; 525-unlocking portion;

[0033] 60-connection piece. DETAILED DESCRIPTION

[0034] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the drawings.

[0035] It should be clear that the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0036] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0037] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0038] Industrial robots often need to clamp different shaped products on the same production equipment, and usually need to replace different shaped clamping devices. The clamping device for clamping different products has high cost and frequent replacement during use, which reduces production efficiency.

[0039] The present application provides a profiling clamping device 100, which can adapt to different shaped clamped articles and improve production efficiency. Figure 1 A structure schematic diagram of a profiling clamping device provided by the embodiments of the present application, Figure 2This is a partial cross-sectional schematic diagram of a contour-following gripping device provided in an embodiment of this application, as shown below. Figure 1 and Figure 2 As shown, this contour-following clamping device 100 includes a detachably connected mounting base 10 and a limiting cover 20, an elastic clamping component 40, and a locking component 50.

[0040] The mounting base 10 is connected to the limiting cover 20 to form a receiving cavity 30. The limiting cover 20 has a plurality of through holes 21 communicating with the receiving cavity 30. The elastic clamping assembly 40 includes a deformable shell 41 and a plurality of elastic positioning members 42 housed in the deformable shell 41. The deformable shell 41 has an open groove 411 on the side facing the limiting cover 20. The deformable shell 41 is movably installed in the receiving cavity 30. The open end 415 of the deformable shell 41 abuts obliquely against the limiting cover 20. The plurality of elastic positioning members 42 are housed in the open groove 411, and at least a portion of each elastic positioning member 42 extends out of the receiving cavity 30 from each through hole 21 of the limiting cover 20.

[0041] The locking assembly 50 is mounted on the mounting base 10 and connected to the deformable housing 41. The locking assembly 50 is used to drive the deformable housing 41 and a plurality of elastic positioning elements 42 to move toward the limiting cover 20, so that the opening end 415 of the deformable housing 41 is tightened, and the plurality of elastic positioning elements 42 are clamped and positioned together.

[0042] In the above scheme, the locking component 50 can drive the deformable shell 41 and multiple elastic positioning elements 42 to move towards the limiting cover 20. During the movement, since the open end 415 of the deformable shell 41 abuts against the inclined surface of the limiting cover 20, when the deformable shell 41 moves towards the limiting cover 20, the open end 415 of the open end 415 is tightened under the action of the inclined surface of the limiting cover 20 due to the deformation function of the deformable shell 41. This causes the multiple elastic positioning elements 42 to clamp and position each other, so that the movement and stationary state of the multiple elastic positioning elements 42 can be controlled. The free end of the elastic positioning element 42 can adapt to the different shapes of the clamped objects, thereby effectively expanding the application scenarios of the contour clamping device, improving production efficiency, and reducing production costs.

[0043] Figure 3 This is an exploded structural diagram of a contour-following gripping device provided in an embodiment of this application, as shown below. Figure 3 As shown, in this contour-following clamping device 100, the mounting base 10 and the limiting cover 20 are interlocked to form a receiving cavity 30. Specifically, the mounting base 10 can be a rectangular box-shaped structure. In other embodiments, the mounting base 10 can also be a cylindrical structure, a regular hexagonal cylindrical structure, etc., as long as the mounting base 10 can cooperate with the limiting cover 20 to form the receiving cavity 30. There is no limitation here.

[0044] In some embodiments, the mounting base 10 has an open end and a bottom end opposite to the open end. The bottom end of the mounting base 10 is provided with at least two first connection holes 101 for mounting connectors 60, such as bolts, screws, etc., so that the mounting base 10 and the limiting cover 20 can be detachably connected.

[0045] In some embodiments, the mounting base 10 is further provided with a retaining part 11, which cooperates with the locking assembly 50 to keep the plurality of elastic positioning elements 42 in a clamped and positioned state. To facilitate the installation of the retaining part 11, the bottom end of the mounting base 10 is also provided with a first mounting hole 102 for installing the retaining part 11. In some embodiments, the retaining part 11 is a tightening screw 12, and the first mounting hole 102 has an internal thread.

[0046] The mounting base 10 and the limiting cover 20 can be made of metal or engineering plastic materials, and there is no limitation here.

[0047] In some implementations, such as Figure 3 , Figure 4 and Figure 5 As shown, the limiting cover 20 has a box-shaped structure with an internal recess forming a limiting groove 31. The bottom surface of the groove has multiple through holes 21 for the elastic positioning member 42 to pass through. Specifically, the through holes 21 can be circular, elliptical, etc., and the shape of the through holes 21 is adapted to the elastic positioning member 42.

[0048] The wall of the cavity limiting groove 31 is provided with an interference portion 311, and the open groove 411 of the deformable shell 41 abuts against the interference portion 311. In this embodiment, the interference portion 311 can be a pressing inclined surface 3111. In other embodiments, the interference portion 311 can also be an arc surface or curved surface structure. The interference portion 311 can also be a rib, protrusion, etc. provided on the groove wall, as long as it can interfere with the deformable shell 41 during the movement.

[0049] like Figure 3 and Figure 4 As shown, for ease of processing, the pressing bevel 3111 connects the bottom and side surfaces of the inner cavity limiting groove 31, forming a chamfered bevel structure. In some embodiments, the interference part 311 can also be an arc surface, or a combination of a bevel and an arc surface. The limiting cover 20 can be formed from metal or engineering plastic materials, and is not limited here.

[0050] To facilitate cooperation with the mounting base 10, the limiting cover 20 is also provided with a second connecting hole 201 corresponding to the first connecting hole 101. After the connector 60 passes through the first connecting hole 101 on the mounting base 10, it locks with the second connecting hole 201, so that the mounting base 10 and the limiting cover 20 are connected as one unit.

[0051] In the above scheme, the cavity limiting groove 31 has the structure of both allowing the elastic positioning member 42 to move through the through hole 21 and being buckled with the mounting seat 10 to form the accommodating cavity 30, and the structure is simple and convenient for processing and manufacturing.

[0052] In some embodiments, as shown in Figs. 1-3, the elastic clamping assembly 40 includes a deformable shell 41 and elastic positioning members 42, and the elastic positioning members 42 are accommodated in the deformable shell 41. Figure 2 Figure 3 Figure 5 In some embodiments, as shown in Figs. 1-3, the elastic clamping assembly 40 includes a deformable shell 41 and elastic positioning members 42, and the elastic positioning members 42 are accommodated in the deformable shell 41.

[0053] As shown in Fig. 4, the deformable shell 41 includes a side wall 43 and a bottom wall 412, and a plurality of notches 413 are arranged on the side wall 43 and extend from the open slot 411 of the deformable shell 41 to the bottom wall 412. The notches 413 can be strip-shaped notches or wedge-shaped notches, which are not limited herein. The arrangement of the notches 413 can realize the contraction of the caliber of the open slot 411 of the deformable shell 41. It can be understood that when the open slot 411 of the deformable shell 41 is contracted, the plurality of elastic members 42 are pressed, and the plurality of elastic positioning members 42 are clamped and positioned relative to each other; when the open slot of the deformable shell 41 is opened, the plurality of elastic positioning members 42 can freely extend or retract along the through hole 21. Figure 5 The open slot 411 of the deformable shell 41 is provided with an inclined abutting surface 4111, which is in abutment with the pressing inclined surface 3111. The abutting surface 4111 has a wedge-shaped inclined surface on one side, and the pressing inclined surface 3111 has an opposite wedge-shaped inclined surface. When the two inclined surfaces with the same angle and opposite directions are in abutment, the opening end 415 of the open slot 411 is contracted. In some embodiments, the abutting surface 4111 can also be a circular arc inclined surface. The deformable shell 41 can be made of metal or engineering plastic, which is not limited herein.

[0054] In the above scheme, the notches 413 of the deformable shell have a simple structure and have the characteristics of elastic deformation; the open slot 411 is provided with the inclined abutting surface 4111, which can generate a pressing force perpendicular to the circumferential wall of the cavity limiting groove 31 when it is in abutment with the pressing inclined surface 3111 in the limiting cover 20, so that the side wall 43 of the deformable shell 41 is inwardly contracted and the elastic positioning members 42 are pressed.

[0055] Further, the elastic positioning member 42 includes a contraction rod 421 and an elastic body 422, one end of the elastic body 422 is in abutment with the contraction rod 421, and the other end is in abutment with the bottom wall 412.

[0056]

[0057] ​​​The contraction rod 421 includes a anti-extraction portion 4211 and an abutting portion 4212. In this embodiment, the contraction rod 421 is a round rod, one end of which is the anti-extraction portion 4211 and the other end is the abutting portion 4212. The outer diameter of the abutting portion 4212 is smaller than that of the anti-extraction portion 4211. Because the inner diameter of the through hole 21 of the limiting cover 20 is larger than the outer diameter of the contraction rod 421, when the abutting portion 4212 of the contraction rod 421 slides out of the through hole 21 of the limiting cover 20 to the surface of the accommodating cavity 30, it cannot move forward any more due to the abutment of the anti-extraction portion 4211 and the inner surface of the groove bottom of the limiting cover 20. Meanwhile, the anti-extraction portion 4211 is internally provided with a limiting groove 42111, which can be a round hole structure. The elastic body 422 is a circular compression spring, one end of which abuts against the limiting groove 42111 and the other end abuts against the inner surface of the bottom wall 412 of the deformable shell 41.

[0058] In some embodiments, the elastic positioning member 42 can be a square rod or other shapes, as long as it can slide with the through hole 21 of the limiting cover 20. The elastic body 422 can also be rubber or other elastic materials. The top of the abutting portion 4212 can be provided with a soft material contact end, which can be silicone, rubber material, etc., to prevent scratching the surface of the clamped product.

[0059] In some embodiments, the plurality of through holes 21 of the limiting cover 20 are arranged in an array, for example, 3 by 4, 4 by 5, 5 by 6, etc. The plurality of elastic positioning members 42 are arranged in the array of the through holes 21 to form a multi-point structure, and the contact area has expandability.

[0060] In the above scheme, the bottom of each elastic positioning member 42 is provided with an elastic body 422, so that each elastic positioning member 42 has a static resistance basis, and thus a plurality of elastic positioning members 42 can form a non-parallel plane function, so that the abutting portion 4212 can rebound in response to the height of the product surface when it contacts the product surface. The profiling structure is simple and easy to operate.

[0061] In the above scheme, the accommodating cavity 30 provides the accommodating space and movement space for the elastic clamping assembly 40, and the anti-extraction portion 11 enables the mounting seat 10 to have a locking function, and the whole structure is compact and easy to process.

[0062] In some embodiments, as shown in Figure 2 and Figure 3 the locking assembly 50 is installed on the mounting seat 10, and the locking assembly 50 includes a handle 51 and a cam locking joint 52.

[0063] In some embodiments, one end of the cam locking joint 52 is connected to the bottom surface of the deformable shell 41, and the other end extends out of the mounting seat 10 and is connected to the handle 51. The handle 51 is used to drive the cam locking joint 52 to rotate.

[0064] In order to facilitate the installation of the cam locking joint 52, the side of the mounting base 10 is also provided with a second mounting hole 103. Specifically, the cam locking joint 52 is in the shape of a shaft, one end of which is provided with the second mounting hole 103 for mounting the handle 51, and the middle is provided with a groove 521 which can abut against the tightening screw 12.

[0065] The two sides of the groove 521 are each provided with a driving portion 522, which includes symmetrically arranged locking portions 523 and unlocking portions 525. The basic structure of the driving portion 522 is cylindrical, and one part of the outer surface of the cylindrical shape is symmetrically removed to form the unlocking portion 525, and the remaining two parts are the locking portions 523.

[0066] The unlocking portion 525 includes two parallel planes, and the distance between the two parallel planes is the thickness of the unlocking portion 525. The locking portion 523 includes two symmetrically arranged circular arc surfaces, which are the shaft surfaces of the cam locking joint 52. Therefore, the thickness of the unlocking portion 525 is smaller than the diameter of the locking portion 523.

[0067] When the shaft of the cam locking joint 52 is rotated from the plane of the unlocking portion 525 to the circular arc surface of the locking portion 523, the rotating diameter changes from small to large, which can drive the deformable shell 41 abutting against the unlocking portion 525 to move forward. When the abutting surface 4111 of the deformable shell 41 abuts against the pressing inclined surface 3111 in the limiting cover 20, the side wall 43 of the deformable shell 41 contracts inwardly and thus compresses the plurality of elastic positioning members 42, so that the plurality of elastic positioning members 42 cannot move relative to each other.

[0068] When the cam locking joint 52 is rotated, i.e., from the circular arc surface of the locking portion 523 to the plane of the unlocking portion 525, the rotating diameter changes from large to small, which can drive the deformable shell 41 abutting against the locking portion 523 to move backward under the action of the elastic body 422. When the abutting surface 4111 of the deformable shell 41 separates from the pressing inclined surface 3111 in the limiting cover 20, the side wall 43 of the deformable shell 41 expands outwardly and thus releases the plurality of elastic positioning members 42, so that the plurality of elastic positioning members 42 can move relative to each other.

[0069] In other embodiments, the cam locking joint 52 and its locking portion 523 and unlocking portion 525 can also be in the form of, for example, an eccentric shaft, a cam shaft or other structures, and the mounting base 10, the handle 51 and the cam locking joint 52 can be made of metal or engineering plastic materials, which are not limited herein.

[0070] In the above scheme, because the unlocking portion 525 of the shaft of the cam locking connector 52 is a flat structure and the locking portion 523 is a cylindrical structure, the shaft of the cam locking connector 52 has two radii of rotation, so that the driving force can be generated during rotation, and the structure is simple and easy to operate.

[0071] The application also provides a profiling clamping mechanism, which comprises a base and two profiling clamping devices 100 mounted on the base.

[0072] In order to facilitate the positioning and clamping of the clamped object, the clamping ends of the elastic positioning members 42 of the two profiling clamping devices 100 are oppositely arranged. The profiling clamping device 100 is driven by a pneumatic, electric or hydraulic clamping mechanism on the mechanical arm of the robot to clamp the product, like using a clip to clamp something.

[0073] When a product needs to be changed, the clamping device needs to be changed. First, loosen the top tightening screw 12, and then rotate the locking assembly 50 to drive the deformable shell 41 and the elastic positioning member 42 to move backward. At this time, the deformable shell 41 and the elastic positioning member 42 are in a relaxed state. Then, place the product workpiece to be clamped between the two profiling clamping devices 100, and then rotate the locking assembly 50 to drive the deformable shell 41 and the elastic positioning member 42 to move forward. When the elastic positioning member 42 moves forward and contacts the surface of the product, it is blocked. The elastic positioning member 42 is blocked due to the different shapes of the product surface, and the surfaces of the plurality of abutting portions 4212 are not flush and match the shape of the product surface.

[0074] During the continuous forward movement of the deformable shell 41 and the elastic positioning member 42, when the abutting surface 4111 abuts against the pressing inclined surface 3111, the side wall 43 is deformed inwardly and presses the elastic positioning member 42. At this time, the top tightening screw 12 is tightened, and the adjustment of the clamping device is completed without the need to replace the clamping device.

[0075] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A profiling gripper device, characterized in that, The profiling clamp device (100) comprises a detachably connected mounting base (10) and a limiting cover (20), an elastic clamping assembly (40) and a locking assembly (50), the mounting base (10) and the limiting cover (20) are connected to form a containing cavity (30), the limiting cover (20) is provided with a plurality of through holes (21) in communication with the containing cavity (30); The elastic clamping assembly (40) comprises a deformable shell (41) and a plurality of elastic positioning members (42), one side of the deformable shell (41) towards the limiting cover (20) is provided with an open slot (411); the deformable shell (41) is movably installed in the containing cavity (30), the open end (415) of the deformable shell (41) is obliquely abutted with the limiting cover (20), a plurality of the elastic positioning members (42) are accommodated in the open slot (411), and at least part of each of the elastic positioning members (42) extends out of the containing cavity (30) from each of the through holes (21) of the limiting cover (20); The locking assembly (50) is installed on the mounting base (10) and connected with the deformable shell (41); the locking assembly (50) is used to drive the deformable shell (41) and the plurality of elastic positioning members (42) to move towards the limiting cover (20), so that the slot of the open slot (411) of the deformable shell (41) is tightened, and the plurality of elastic positioning members (42) are clamped and positioned with each other.

2. The profiling gripper device of claim 1, wherein, Each of the elastic positioning members (42) comprises a contraction rod (421) and an elastic body (422), one end of the elastic body (422) is abutted with the contraction rod (421), and the other end is abutted with the cavity bottom of the containing cavity; the contraction rod (421) extends out of the containing cavity (30) from the through hole (21) of the limiting cover (20).

3. The profiling gripper device of claim 2, wherein, The contraction rod (421) comprises a anti-dropping part (4211) and an abutting part (4212) connected with each other, the anti-dropping part (4211) is located in the deformable shell (41), one end of the anti-dropping part (4211) away from the abutting part (4212) is provided with a limiting slot (42111), the elastic body (422) is clamped in the limiting slot (42111), and the abutting part (4212) is used to abut the clamped object away from the anti-dropping part (4211).

4. The profiling gripper device of claim 3, wherein, The hole diameter of the through hole (21) is smaller than the outer diameter of the anti-dropping part (4211) and larger than the outer diameter of the abutting part (4212).

5. The profiling gripper device of claim 2, wherein, The side wall of the open slot (411) is provided with a plurality of notches (413) in communication with the open slot (411), the notches (413) extend along the depth direction of the open slot (411) of the deformable shell (41).

6. The profiling gripper device of claim 5, wherein, The limiting cover (20) is recessed to form a cavity-limiting groove (31), a groove wall of the cavity-limiting groove (31) is provided with an interference portion (311), the locking assembly (50) is used to drive the deformable shell (41) to move to the side wall of the open slot (411) abutting against the interference portion (311), the side wall of the open slot (411) is deformed inwardly and the deformable shell (41) is tightened.

7. The profiling gripper device of claim 6, wherein, The side wall of the open slot (411) is provided with an abutting surface (4111) arranged obliquely near one end of the limiting cover (20), the interference portion (311) is a pressing inclined surface (3111), and the abutting surface (4111) abuts against the pressing inclined surface (3111).

8. The profiling gripper device of claim 5, wherein, The locking assembly (50) comprises a handle (51) and a cam locking joint (52), one end of the cam locking joint (52) is connected with the bottom surface of the deformable shell (41), the other end of the cam locking joint (52) penetrates through the mounting base (10) and is connected with the handle (51), and the handle (51) is used to lock the cam locking joint (52).

9. The profiling gripper device of claim 8, wherein, The mounting base (10) is further provided with a retreat-stop portion (11), the retreat-stop portion (11) is a jacking screw (12), the jacking screw (12) is connected with the mounting base (10), and the top end of the jacking screw (12) abuts against the cam locking joint (52).

10. A profiling gripper mechanism characterized by, The profiling clamping mechanism comprises a base and two profiling clamping devices (100) oppositely arranged on the base; the profiling clamping device (100) is the profiling clamping device (100) according to any one of claims 1-9; and the clamping ends of the elastic positioning members (42) of the two profiling clamping devices (100) are oppositely arranged.

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