CN102267221A - Gripping device - Google Patents

Abstract

The invention provides a gripping device for clamping and taking out multicavity injected shaped parts. The shaped part comprises a material rod and a connecting rod formed by extended ends of a plurality of material rods. The gripping device comprises a fixed framework, a plurality of gripping jaws, a sleeve and a linear drive unit. Each gripping jaw comprises a gripping jaw body and an elastic element which fixes the gripping jaw body on the fixed framework. The plurality of gripping jaw bodies are distributed in a bunchy shape. A gap for accommodating a corresponding connecting rod is located between every two adjacent gripping jaw bodies. The sleeve is sleeved around the gripping jaw bodies from the end where a plurality of elastic elements are located, and constrains the gripping jaw bodies. The linear drive unit is fixed on the fixed framework for driving the sleeve to move towards a direction far from the elastic elements and to reset. The gripping device provided in the invention clamps and takes out shaped parts through a plurality of connecting rods so as to realize demoulding, which enables deformation or fracture of the connecting rods to be avoided and quality of demoulding to be improved.

Description

Translated fromChinese

夹取装置Gripper

技术领域technical field

本发明涉及夹取装置，特别涉及一种用于夹取多模穴射出成型件的夹取装置。The invention relates to a clamping device, in particular to a clamping device for clamping multi-cavity injection molded parts.

背景技术Background technique

目前，多模穴射出成型件可通过夹取装置夹取脱模。现有的夹取装置一般为两爪式夹取装置，只能夹取杆状物。因此，现在一般通过两爪式夹取装置夹取成型件的料杆(形成于模具的浇口(sprue))使成型件脱模。然而，若成型件与模具之间的粘力较大，夹取成型件的料杆脱模有可能导致成型件的连接杆(形成于模具的浇道(runner))变形或断裂，使得整个成型件变形或者导致成型件无法完整脱模，脱模质量低。At present, multi-cavity injection molded parts can be clamped and demolded by clamping devices. The existing gripping device is generally a two-jaw type gripping device, which can only grip rod-shaped objects. Therefore, currently, the material rod (formed in the sprue of the mold) of the molded part is usually clamped by a two-jaw type clamping device to demould the molded part. However, if the adhesive force between the molded part and the mold is large, the stripping of the material rod clamping the molded part may cause the deformation or breakage of the connecting rod (formed in the runner (runner) of the mold) of the molded part, making the entire molding Parts are deformed or the molded parts cannot be completely demoulded, and the demoulding quality is low.

发明内容Contents of the invention

有鉴于此，有必要提供一种可提高脱模质量的夹取装置。In view of this, it is necessary to provide a clamping device that can improve the demoulding quality.

一种夹取装置，其用于夹取多模穴射出成型件。该成型件包括一个料杆及多个自该料杆的一端延伸出的连接杆。该夹取装置包括一个固定框架、多个夹爪、一个套筒及一个线性驱动装置。每个夹爪包括一个夹爪本体及一个将该夹爪本体固定到该固定框架上的弹性元件。该多个夹爪本体呈束状分布。每两个相邻的夹爪本体之间存在一个用于收容对应一个连接杆的夹缝。该套筒紧密套设并约束该多个夹爪本体。该线性驱动装置固定于该固定框架上，用于驱动该套筒朝远离该多个弹性元件的方向运动及复位。A clamping device is used for clamping multi-cavity injection molded parts. The molded part includes a material rod and a plurality of connecting rods extending from one end of the material rod. The clamping device includes a fixed frame, multiple jaws, a sleeve and a linear drive device. Each jaw includes a jaw body and an elastic element fixing the jaw body to the fixed frame. The plurality of jaw bodies are distributed in bundles. A gap for accommodating a corresponding connecting rod exists between every two adjacent jaw bodies. The sleeve is tightly sleeved and restrains the plurality of clamping jaw bodies. The linear driving device is fixed on the fixed frame, and is used to drive the sleeve to move and reset in a direction away from the plurality of elastic elements.

采用本发明的夹取装置，当该线性驱动装置驱动该套筒朝远离该多个弹性元件的方向运动时，由于该多个夹爪本体在该套筒约束下逐渐靠拢，该多个夹缝逐渐变小直至该多个夹爪本体夹紧该多个连接杆，当线性驱动装置驱动该套筒复位时，该套筒逐渐放开靠拢的该多个夹爪本体，该多个夹缝逐渐变大直至该多个夹爪本体松开该多个连接杆，从而实现通过该多个夹爪本体夹取该多个连接杆而夹取该成型件，避免采用该夹取装置夹取该成型件脱模过程中，该多个连接杆变形或断裂，提高脱模质量。With the clamping device of the present invention, when the linear drive device drives the sleeve to move away from the plurality of elastic elements, since the plurality of clamping jaw bodies gradually approach under the constraints of the sleeve, the plurality of gaps gradually become smaller until the multiple jaw bodies clamp the multiple connecting rods, when the linear drive device drives the sleeve to reset, the sleeve gradually releases the multiple clamping jaw bodies, and the multiple gaps gradually become larger Until the plurality of jaw bodies loosen the plurality of connecting rods, the plurality of connecting rods can be clamped by the plurality of jaw bodies to clamp the molded part, avoiding the use of the clamping device to clamp the molded part. During the molding process, the plurality of connecting rods are deformed or broken, which improves the demoulding quality.

附图说明Description of drawings

图1为一种四模穴镜片成型件的立体示意图。Fig. 1 is a three-dimensional schematic view of a four-cavity lens molding.

图2为本发明较佳实施方式的夹取装置的立体示意图。Fig. 2 is a three-dimensional schematic diagram of a clamping device according to a preferred embodiment of the present invention.

图3为图2的夹取装置的分解示意图。FIG. 3 is an exploded schematic view of the clamping device of FIG. 2 .

图4为本发明较佳实施方式的夹取装置夹取四摸穴镜片成型件的示意图。Fig. 4 is a schematic diagram of a clamping device according to a preferred embodiment of the present invention clamping a molded piece of a four-point lens.

主要元件符号说明Description of main component symbols

夹取装置           100Clampingdevice 100

固定框架           10fixedframe 10

第一固定板         12First fixedplate 12

固定板             12aFixedplate 12a

第一通孔           12bFirst throughhole 12b

第二固定板         14Second fixedplate 14

连接板             16Connectingplate 16

固定柱             18Fixedcolumn 18

侧面               18aSide 18a

第一盲螺孔         18bFirstblind screw hole 18b

夹爪               20Gripper 20

夹爪本体           22Gripper Body 22

连接端面           22aConnection end face 22a

夹取端面         22bClampingend face 22b

夹取面           22cClampingsurface 22c

约束面           22dConstraint surface 22d

第二盲螺孔       22eSecondblind screw hole 22e

圆柱状凹陷       22fCylindrical depression 22f

引导面           22gGuide surface 22g

弹性元件         24Elastic element 24

弹性板           24aElastic plate 24a

第二通孔         24bSecond throughhole 24b

夹缝             26Gap 26

套筒             30Socket 30

封闭端           32Closed end 32

连接孔           32aConnection hole 32a

开口端           34Openend 34

导槽             34aGuide groove 34a

缺               34bMissing 34b

滚轮             34cRoller 34c

线性驱动装置     40Linear drives 40

气缸本体         42Cylinder body 42

安装面           42aMounting surface 42a

第三盲螺孔       42bThirdblind screw hole 42b

活塞杆           44Pistonrod 44

成型件           200Molded parts 200

料杆             202Material bar 202

连接杆           204Connectingrod 204

镜片             206Lens 206

具体实施方式Detailed ways

请参阅图1至图4，本发明较佳实施方式的夹取装置100用于夹取一个四模穴镜片成型件200脱模。镜片成型件200包括一个料杆202、四个自料杆202的末端呈放射状且等角度(90°)延伸出的连接杆204及四个位于连接杆204远离料杆202的末端的镜片206(形成于模具的模穴(cavity)(图未示))。Please refer to FIG. 1 to FIG. 4 , theclamping device 100 according to the preferred embodiment of the present invention is used to clamp a four-cavitylens forming part 200 for demoulding. Thelens forming part 200 includes amaterial rod 202, four connectingrods 204 extending radially and equiangularly (90°) from the end of thematerial rod 202 and four lenses 206 ( Formed in the cavity (cavity) of the mold (not shown in the figure).

夹取装置100包括一个固定框架10、多个夹爪20、一个套筒30及一个线性驱动装置40。每个夹爪20包括一个夹爪本体22及一个将夹爪本体22固定到固定框架10上的弹性元件24。多个夹爪本体22呈束状分布。每两个相邻的夹爪本体22之间存在一个用于收容对应一个连接杆204的夹缝26。套筒30自多个弹性元件24一侧套入多个夹爪本体22并约束多个夹爪本体22。线性驱动装置40固定于固定框架10上，用于驱动套筒30朝远离多个弹性元件24的方向运动。Theclamping device 100 includes a fixedframe 10 , a plurality ofjaws 20 , asleeve 30 and alinear driving device 40 . Eachjaw 20 includes ajaw body 22 and anelastic element 24 for fixing thejaw body 22 to the fixedframe 10 . A plurality ofjaw bodies 22 are distributed in bundles. Agap 26 for accommodating a corresponding connectingrod 204 exists between every twoadjacent jaw bodies 22 . Thesleeve 30 is inserted into the plurality ofjaw bodies 22 from one side of the plurality ofelastic elements 24 and constrains the plurality ofjaw bodies 22 . Thelinear driving device 40 is fixed on the fixedframe 10 for driving thesleeve 30 to move away from the plurality ofelastic elements 24 .

如此，多个夹缝26分别套入多个连接杆204，当线性驱动装置40驱动套筒30朝远离多个弹性元件24的方向运动时，多个夹爪本体22在套筒30约束下逐渐靠拢，多个夹缝26逐渐变小直至多个夹爪本体22夹紧多个连接杆204，从而夹取成型件200脱模，避免脱模过程中多个连接杆204变形或断裂，提高脱模质量。In this way, the plurality ofslits 26 are inserted into the plurality of connectingrods 204 respectively, and when thelinear drive device 40 drives thesleeve 30 to move away from the plurality ofelastic elements 24 , the plurality ofjaw bodies 22 gradually move closer under the constraints of thesleeve 30 , the plurality ofcracks 26 gradually become smaller until the plurality ofjaw bodies 22 clamp the plurality of connectingrods 204, thereby clamping the moldedpart 200 for demoulding, avoiding the deformation or fracture of the plurality of connectingrods 204 during the demoulding process, and improving the demoulding quality .

当套筒30在线性驱动装置40驱动下或在多个弹性元件24的h恢复力作用下复位(朝靠近多个弹性元件24的方向运动)时，套筒30逐渐放开靠拢的多个夹爪本体22，多个夹缝26逐渐变大直至多个夹爪本体22松开多个连接杆204。When thesleeve 30 is driven by thelinear drive device 40 or is reset under the action of the h restoring force of the multiple elastic elements 24 (moving toward the direction close to the multiple elastic elements 24), thesleeve 30 gradually releases the multiple clips that are close together. Thejaw body 22 and the plurality ofcracks 26 gradually become larger until the plurality ofjaw bodies 22 loosen the plurality of connectingrods 204 .

具体地，固定框架10基本呈矩形，其包括一个第一固定板12、一个与第一固定板12基本平行的第二固定板14、两个相互平行且分别连接第一固定板12及第二固定板14两端的连接板16及一个自第二固定板14与第一固定板12相背一侧延伸出的矩形固定柱18。第一固定板12为一个不连续板，其中间断开，且接近断开的部分向与第二固定板14相背的方向折弯，形成两个平行于连接板16的固定板12a。每个固定板12a开设有两个第一通孔12b。固定柱18包括四个相互垂直连接的侧面18a。每个侧面18a开设有两个第一盲螺孔18b。Specifically, the fixedframe 10 is substantially rectangular, which includes a first fixedplate 12, a second fixedplate 14 substantially parallel to the first fixedplate 12, two parallel to each other and respectively connected to the first fixedplate 12 and the second fixed plate. The connectingplates 16 at two ends of the fixingplate 14 and arectangular fixing column 18 extending from the opposite side of thesecond fixing plate 14 and thefirst fixing plate 12 . Thefirst fixing plate 12 is a discontinuous plate, the middle of which is broken, and the part close to the break is bent toward the direction opposite to thesecond fixing plate 14 , forming two fixingplates 12 a parallel to the connectingplate 16 . Each fixingplate 12a defines two first throughholes 12b. The fixingcolumn 18 includes foursides 18a perpendicularly connected to each other. Eachside 18a defines two firstblind screw holes 18b.

每个夹爪本体22包括一个连接端面22a、一个与连接端面22a相背且基本平行的夹取端面22b、两个垂直相连且与夹取端面22b垂直连接的夹取面22c、两个相邻且分别连接两个夹取面22c的约束面22d。两个约束面22d自连接端面22a到夹取端面22b向远离于两个夹取面22c的相交线的方向倾斜。也即是说，每个夹爪本体22自连接端面22a至夹取端面22b，其横截面积逐渐增加。每个连接端面22a开设有两个第二盲螺孔22e。每个夹爪本体22在其两个夹取面22c与其夹取端面22b相交处形成有一个圆柱状凹陷22f，圆柱状凹陷22f的轴向平行于两个约束面22d的相交线。如此，当夹取装置100夹取成型件200时，料杆202可收容于四个圆柱状凹陷22f构成的空间内，避免料杆202影响夹取。另外，每个夹爪本体22于两个约束面22d相交处形成有一个引导面22g，引导面22g平行于两个约束面22d的相交线。Eachjaw body 22 includes aconnection end surface 22a, a clampingend surface 22b that is opposite to theconnection end surface 22a and substantially parallel, two vertically connected clamping surfaces 22c that are vertically connected with the clampingend surface 22b, two adjacent And the constrainingsurfaces 22d respectively connecting the two clampingsurfaces 22c. The two constrainingsurfaces 22d are inclined from the connectingend surface 22a to the clampingend surface 22b in a direction away from the intersection line of the two clampingsurfaces 22c. That is to say, the cross-sectional area of eachjaw body 22 gradually increases from the connectingend surface 22 a to the clampingend surface 22 b. Each connectingend surface 22a defines two secondblind screw holes 22e. Eachjaw body 22 is formed with acylindrical depression 22f at the intersection of its twoclamping surfaces 22c and its clampingend surface 22b, and the axis of thecylindrical depression 22f is parallel to the intersection line of the two constrainingsurfaces 22d. In this way, when theclamping device 100 clamps the moldedpart 200, thematerial rod 202 can be accommodated in the space formed by the fourcylindrical recesses 22f, so as to prevent thematerial rod 202 from affecting the clamping. In addition, eachjaw body 22 is formed with aguide surface 22g at the intersection of the twoconstraint surfaces 22d, and theguide surface 22g is parallel to the intersection line of the twoconstraint surfaces 22d.

每个弹性元件24采用弹性材料(如弹性钢)制成，其包括垂直连接的两个弹性板24a，每个弹性板24a分别开设有分别对应第一盲螺孔18b及第二盲螺孔22e的两个第二通孔24b。如此，可通过十六个螺钉(图未示)穿过十六个第二通孔24b并螺入第一盲螺孔18b及第二盲螺孔22e将四个夹爪本体22呈束状固定于固定柱18的四个侧面18a。Eachelastic member 24 is made of elastic material (such as elastic steel), and it includes twoelastic plates 24a vertically connected, and eachelastic plate 24a is provided with a firstblind screw hole 18b and a secondblind screw hole 22e corresponding respectively. The two second throughholes 24b. In this way, the fourjaw bodies 22 can be fixed in bundles by sixteen screws (not shown) passing through the sixteen second throughholes 24b and screwed into the first blind screw holes 18b and the secondblind screw holes 22e on the foursides 18a of the fixingcolumn 18 .

套筒30为一个圆形套筒，其包括一个封闭端32及一个开口端34。封闭端32的中心处开设有一个连接孔32a。开口端34开设有两个导槽34a。导槽34a平行于套筒30的轴向。另外，开口端34还开设有四个与四个引导面22g对应的缺口34b。每个缺口内安装有一个滚轮36。Thesleeve 30 is a circular sleeve including aclosed end 32 and anopen end 34 . A connectinghole 32a is opened at the center of theclosed end 32 . Theopen end 34 defines two guidinggrooves 34a. Theguide groove 34a is parallel to the axial direction of thesleeve 30 . In addition, theopen end 34 is also provided with fournotches 34b corresponding to the four guidingsurfaces 22g. A roller 36 is installed in each notch.

线性驱动装置40为一个气缸，其包括一个气缸本体42及一个活塞杆44。气缸本体42包括两个相背、平行的安装面42a。对应的两个固定板12a之间的距离等于或略大于两个安装面42a之间的距离。每个安装面42a开设有两个与对应的一个固定板12a上的两个第一通孔12b对应的两个第三盲螺孔42b。如此，气缸本体42可设置于两个固定板12a之间，且安装面42a分别与对应的固定板12a接触。如此，可通过四个螺钉12c将气缸本体42固定于第一固定板12上。活塞杆44可在气缸本体42的驱动下向第二固定板14伸出或缩回，其伸入连接孔32a，从而与套筒30固定连接，且连接后导槽34a嵌入第二固定板14而四个滚轮34c分别位于四个引导面22g上。如此套筒30在线性驱动装置40的驱动下，可穿过固定框架10套入四个夹爪本体22，而滚轮34c在引导面22g上可以减少套筒30套入四个夹爪本体22的摩擦力。Thelinear driving device 40 is a cylinder, which includes acylinder body 42 and apiston rod 44 . Thecylinder body 42 includes two opposite, parallel mountingsurfaces 42a. The distance between twocorresponding fixing plates 12a is equal to or slightly greater than the distance between two mountingsurfaces 42a. Each mountingsurface 42a is provided with two third blind screw holes 42b corresponding to the two first throughholes 12b on the corresponding fixingplate 12a. In this way, thecylinder body 42 can be disposed between the two fixingplates 12a, and the mountingsurfaces 42a are respectively in contact with thecorresponding fixing plates 12a. In this way, thecylinder body 42 can be fixed on thefirst fixing plate 12 by four screws 12c. Thepiston rod 44 can be extended or retracted toward thesecond fixing plate 14 under the drive of thecylinder body 42, and it extends into theconnection hole 32a, so as to be fixedly connected with thesleeve 30, and theguide groove 34a is embedded in thesecond fixing plate 14 after connection And the fourrollers 34c are respectively located on the fourguide surfaces 22g. In this way, under the drive of thelinear drive device 40, thesleeve 30 can be inserted into the fourjaw bodies 22 through the fixedframe 10, and theroller 34c on theguide surface 22g can reduce the time for thesleeve 30 to be inserted into the fourjaw bodies 22. friction.

可以理解，第一固定板12、气缸本体42及其固定方式并不限于本实施方式。例如，在其他实施方式中，气缸本体42可通过粘胶或焊接的方式固定于第一固定板12。It can be understood that thefirst fixing plate 12, thecylinder body 42 and their fixing methods are not limited to this embodiment. For example, in other embodiments, thecylinder body 42 can be fixed to thefirst fixing plate 12 by glue or welding.

夹爪本体22与固定框架10之间的固定方式也不限于本实施方式。例如，在其他实施方式中，弹性元件24可与固定柱18一体成型；或者省去固定柱18，弹性元件24直接从固定框架10延伸出。弹性元件24的形状也不限于本实施方式，可以为其它形状，或者与夹爪本体22的其他部分配合将夹爪本体22固定于固定框架10上。同样地，弹性元件24与固定框架10及夹爪本体22之间的连接也可通过粘胶或焊接的方式实现。The fixing method between thejaw body 22 and the fixingframe 10 is also not limited to this embodiment. For example, in other embodiments, theelastic element 24 can be integrally formed with the fixingcolumn 18 ; or the fixingcolumn 18 can be omitted, and theelastic element 24 can directly extend from the fixingframe 10 . The shape of theelastic element 24 is not limited to this embodiment, and can be other shapes, or cooperate with other parts of thejaw body 22 to fix thejaw body 22 on the fixedframe 10 . Likewise, the connection between theelastic element 24 and the fixingframe 10 and thejaw body 22 can also be realized by glue or welding.

夹爪本体22的形状也可以不限于本实施方式，例如，可以为四分之一圆锥状。另外，假若线性驱动装置40的动力足够大或者套筒30与夹爪本体22之间的摩擦力较小，可以省去引导面22g及滚轮34c的配合。假若，料杆202的尺寸相对于连接杆204较小，料杆202本身并不影响夹取装置100对连接杆204的夹取，也可以略去圆柱状凹陷22f的设计。The shape of thejaw body 22 is not limited to this embodiment, for example, it may be a quarter-cone shape. In addition, if the power of thelinear driving device 40 is large enough or the friction force between thesleeve 30 and thejaw body 22 is small, the cooperation of theguide surface 22g and theroller 34c can be omitted. If the size of thematerial rod 202 is smaller than that of the connectingrod 204 , thematerial rod 202 itself does not affect the gripping of the connectingrod 204 by theclamping device 100 , and the design of thecylindrical recess 22f can also be omitted.

可以理解，夹取装置100并不限用于夹取四模穴的镜片成型件200脱模。其可以用于夹取其他数目模穴的其他类型射出成型件，例如，在其他工序(包括脱模)夹取八模穴的镜筒成型件，只需改变夹爪的数目。当然，假若采用固定柱18及滚轮34c的设计，固定柱18的结构及滚轮34c的数目也需对应改变。It can be understood that theclamping device 100 is not limited to be used for clamping and releasing the four-cavitylens forming part 200 . It can be used to clamp other types of injection molded parts with other numbers of cavities, for example, to clamp a lens barrel molded part with eight cavities in other processes (including demoulding), only need to change the number of clamping jaws. Of course, if the design of the fixingcolumn 18 and therollers 34c is adopted, the structure of the fixingcolumn 18 and the number of therollers 34c also need to be changed accordingly.

套筒30也不限于本实施方式。例如，套筒30可以不设连接孔32a，而通过其他方式与活塞杆44固定连接。假若固定框架10设置对应套筒30的挖空结构以容许套筒30穿过套入夹爪本体22，套筒30也可以不设置导槽34a。Thesleeve 30 is not limited to this embodiment, either. For example, thesleeve 30 may not be provided with theconnection hole 32a, but is fixedly connected with thepiston rod 44 by other means. If the fixingframe 10 is provided with a hollow structure corresponding to thesleeve 30 to allow thesleeve 30 to be inserted into thejaw body 22 , thesleeve 30 may not be provided with theguide groove 34a.

线性驱动装置40也不限于本实施方式，可采用其他的线性驱动装置，如采用线性马达，并将线性马达的定子固定于第一固定板12，使得线性马达的动子可朝第二固定板14伸出及缩回。Thelinear drive device 40 is not limited to this embodiment, and other linear drive devices can be used, such as a linear motor, and the stator of the linear motor is fixed on the first fixedplate 12, so that the mover of the linear motor can move toward the second fixed plate. 14 extend and retract.

总之，本技术领域的普通技术人员应当认识到，以上的实施方式仅是用来说明本发明，而并非用作为对本发明的限定，只要在本发明的实质精神范围之内，对以上实施例所作的适当改变和变化都落在本发明要求保护的范围之内。In a word, those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention, as long as within the spirit of the present invention, the above examples Appropriate changes and changes all fall within the scope of protection of the present invention.

Claims (7)

Translated fromChinese

1.一种夹取装置，其用于夹取多模穴射出成型件；该成型件包括一个料杆及多个自该料杆的一端延伸出的连接杆；其特征在于：该夹取装置包括一个固定框架、多个夹爪、一个套筒及一个线性驱动装置；每个夹爪包括一个夹爪本体及一个将该夹爪本体固定到该固定框架上的弹性元件；该多个夹爪本体呈束状分布；每两个相邻的夹爪本体之间存在一个用于收容对应一个连接杆的夹缝；该线性驱动装置固定于该固定框架上；该套筒自该多个弹性元件一侧套入该多个夹爪本体并约束该多个夹爪本体；该线性驱动装置固定于该固定框架上，用于驱动该套筒朝远离该多个弹性元件的方向运动以抓取该成型件。1. A clamping device, which is used for clamping a multi-cavity injection molded part; the molded part comprises a material rod and a plurality of connecting rods extending from one end of the material rod; it is characterized in that: the clamping device It includes a fixed frame, a plurality of jaws, a sleeve and a linear drive device; each jaw includes a jaw body and an elastic element that fixes the jaw body to the fixed frame; the plurality of jaws The body is distributed in bundles; there is a gap between every two adjacent jaw bodies for accommodating a corresponding connecting rod; the linear drive device is fixed on the fixed frame; the sleeve is formed from one of the plurality of elastic elements The plurality of jaw bodies are inserted sideways and constrained by the plurality of jaw bodies; the linear drive device is fixed on the fixed frame, and is used to drive the sleeve to move away from the plurality of elastic elements to grab the forming pieces.2.如权利要求1的夹取装置，其特征在于：每个夹爪本体包括一个连接端面、一个与该连接端面相背且平行的夹取端面、两个垂直相连且与该夹取端面垂直连接的夹取面、两个相邻且分别连接该两个夹取面的约束面；该两个约束面自该连接端面到该夹取端面向远离于该两个夹取面的相交线的方向倾斜。2. The clamping device according to claim 1, characterized in that: each clamping jaw body comprises a connection end surface, a clamping end surface opposite to and parallel to the connection end surface, two vertically connected and perpendicular to the clamping end surface The connected clamping surface, two adjacent and respectively connected constraint surfaces of the two clamping surfaces; the two constraint surfaces from the connection end surface to the clamping end face away from the intersection line of the two clamping surfaces The direction is tilted.3.如权利要求2的夹取装置，其特征在于：每个夹爪本体在其两个夹取面与其夹取端面相交处形成有一个圆柱状凹陷；该圆柱状凹陷的轴向平行于该两个约束面的相交线。3. The clamping device according to claim 2, characterized in that: each clamping jaw body is formed with a cylindrical depression at the intersection of its two clamping surfaces and its clamping end surface; the axial direction of the cylindrical depression is parallel to the The intersection line of the two constrained faces.4.如权利要求2的夹取装置，其特征在于：每个夹爪本体在其两个约束面相交处形成有一个引导面，引导面平行于两个约束面的相交线；该套筒包括有多个分别位于该多个引导面上的滚轮。4. The clamping device according to claim 2, characterized in that: each jaw body is formed with a guide surface at the intersection of its two constraint surfaces, and the guide surface is parallel to the intersection line of the two constraint surfaces; the sleeve includes There are a plurality of rollers respectively located on the plurality of guide surfaces.5.如权利要求1的夹取装置，其特征在于：该套筒包括一个开口端，该开口端开设有两个嵌入该第二固定板的导槽。5. The clamping device according to claim 1, wherein the sleeve comprises an open end, and the open end defines two guide grooves embedded in the second fixing plate.6.如权利要求1的夹取装置，其特征在于：该线形驱动马达为气缸，其包括一个固定于该第一固定板的气缸本体及一个与该套筒连接的活塞杆。6. The clamping device according to claim 1, wherein the linear driving motor is an air cylinder, which includes an air cylinder body fixed on the first fixing plate and a piston rod connected to the sleeve.7.如权利要求1的夹取装置，其特征在于：该套筒还用于在该线性驱动装置的驱动下或者在该多个弹性元件的恢复力的作用下朝靠近该多个弹性元件的方向运动以松开该成型件。7. The clamping device according to claim 1, characterized in that: the sleeve is also used to move towards the side of the plurality of elastic elements driven by the linear drive device or under the action of the restoring force of the plurality of elastic elements. direction movement to loosen the molding.

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