CN219688628U - Clamping jaw device and conveying device - Google Patents

Abstract

The utility model relates to the field of clamping structures, aims to solve the problem of inaccurate stroke control of a known clamping jaw, and provides a clamping jaw device and a conveying device. The clamping jaw device comprises a bracket, a first clamping jaw, a second clamping jaw, a driving assembly and an induction assembly. The first clamping jaw and the second clamping jaw are respectively connected to the bracket in a sliding manner along a first direction and define a clamping opening. The driving assembly is respectively connected with the first clamping jaw and the second clamping jaw in a transmission way so as to drive the opening and closing clamping opening; the driving assembly comprises a driving piece and a transmission mechanism, wherein the transmission mechanism is used for converting the rotation motion output by the driving piece into the sliding motion of the first clamping jaw and the second clamping jaw. The sensing component comprises a sensing piece and a detection element, and the detection element is electrically connected with the driving piece; the induction piece is used for rotating under the drive of the driving piece; the detecting element is used for detecting the corner information of the driving piece through the sensing piece. The utility model has the advantages of accurate stroke opening and closing control, difficult damage to products and favorable adaptation to clamping of target pieces with different thicknesses.

Description

Clamping jaw device and conveying device

Technical Field

The utility model relates to the field of clamping structures, in particular to a clamping jaw device and a conveying device.

Background

The jaw device is a device for gripping a workpiece. The existing clamping jaw mostly adopts a pneumatic control mode, and an electromagnetic valve controls the action of extending and retracting of an air cylinder so as to realize the opening and closing of the clamping jaw. The existing cylinder control clamping jaw structure has inaccurate stroke control, and the phenomenon that products are not clamped tightly or damaged can occur.

Disclosure of Invention

The utility model provides a clamping jaw device and a conveying device, which are used for solving the problem of inaccurate stroke control of a clamping jaw in the prior art.

In a first aspect, the present utility model provides a jaw apparatus comprising a support, a first jaw, a second jaw, a drive assembly, and an induction assembly. The first jaw is slidably coupled to the bracket in a first direction. The second clamping jaw is slidably connected to the bracket along a first direction, and the second clamping jaw is opposite to the first clamping jaw along the first direction so as to define a clamping opening. The driving assembly is respectively connected with the first clamping jaw and the second clamping jaw in a transmission way and is used for driving the first clamping jaw and the second clamping jaw to move relatively along a first direction so as to open and close the clamping opening; the driving assembly comprises a driving piece and a transmission mechanism, wherein the driving piece is used for outputting rotary motion, and the transmission mechanism is used for converting the rotary motion output by the driving piece into sliding of the first clamping jaw and the second clamping jaw along the first direction. The sensing component comprises a sensing piece and a detection element, and the detection element is electrically connected with the driving piece; the induction piece is connected with the driving piece or the transmission mechanism in a transmission way and is used for rotating under the drive of the driving piece; the detecting element is used for detecting the corner information of the driving piece through the sensing piece, and the corner information is used for controlling the driving piece to rotate by a set angle so as to control the clamping opening to open and close according to a set stroke.

In the embodiment of the utility model, the rotary motion output by the driving piece drives the first clamping jaw and the second clamping jaw to slide to open and close the clamping opening through the transmission mechanism, and drives the sensing piece to rotate on the other hand, so that the detection element is facilitated to acquire the corner information, and further the driving piece is controlled to rotate at a required set angle, the opening and closing of the set stroke of the clamping opening are realized, products are not easy to damage, and the clamping of target pieces with different thicknesses is facilitated.

In one possible embodiment, the sensor strip is perpendicular to the axis of rotation of the drive member. The sensing piece comprises a fan-shaped part, and the fan-shaped part is provided with a first radius edge and a second radius edge which form a set angle. When the induction piece rotates under the drive of the driving assembly to enable the first radius edge to correspond to the detection element, the first clamping jaw and the second clamping jaw are opened to the position with the largest clamping opening under the drive of the driving assembly. When the induction piece rotates to enable the second radius edge to correspond to the detection element under the driving of the driving assembly, the first clamping jaw and the second clamping jaw are opened to the position with the minimum clamping opening under the driving of the driving assembly.

In one possible embodiment, the drive member is a rotating electric machine. The transmission mechanism comprises a double cam shaft, a first follower and a second follower. The double-cam shaft comprises a rotating shaft part, a first cam and a second cam, wherein the rotating shaft part is connected to an output shaft of the rotating motor, and the first cam and the second cam are connected to the rotating shaft part at intervals along the axis direction of the rotating shaft part and used for rotating under the drive of the driving piece. The first follower is connected to the first clamping jaw, is in abutting fit with the first cam and is used for converting rotation of the first cam into sliding of the first clamping jaw along a first direction. The second follower is connected to the second clamping jaw, and is in abutting fit with the second cam, and is used for converting rotation of the second cam into sliding of the second clamping jaw along the first direction.

In one possible embodiment, the jaw device further comprises a first elastic member and a second elastic member. The first elastic member is connected between the bracket and the first clamping jaw and applies an elastic force to the first follower towards the first cam. The second elastic member is connected between the bracket and the second clamping jaw and applies an elastic force to the second follower towards the second cam.

In one possible embodiment, the bracket is provided with a first adjusting screw and a second adjusting screw, the first elastic piece is connected to the first adjusting screw, and the second elastic piece is connected to the second adjusting screw. The first adjusting screw is adjustably connected to the bracket along a first direction and used for adjusting the length of the first elastic piece. The second adjusting screw is adjustably connected to the bracket along the first direction and is used for adjusting the length of the second elastic piece.

In one possible embodiment, the first jaw includes a first gripping head and a first slider slidably connected to the bracket in a first direction, the first jaw being connected to the first slider. The second clamping jaw comprises a second clamping head and a second sliding block, the second sliding block is slidably connected to the bracket along the first direction, and the second clamping jaw is connected to the second sliding block. A clamping opening is defined between the first clamping head and the second clamping head.

In one possible embodiment, the bracket includes a cross plate and a riser. The first sliding block and the second sliding block are connected with one side plate surface of the vertical plate side by side; the first sliding block is provided with a first lug plate extending in a direction away from the vertical plate, and the second sliding block is provided with a second lug plate extending in a direction away from the vertical plate. The transverse plate is vertically connected to the vertical plate and corresponds to the first lug plate and the second lug plate along the first direction. The first elastic piece is connected between the first ear plate and the transverse plate, and the second elastic piece is connected between the second ear plate and the transverse plate.

In one possible embodiment, the bracket further comprises a mounting plate, the mounting plate being vertically connected to the cross plate and the mounting plate being vertically connected to the riser. The driving piece is installed in the mounting panel, and the end connection induction piece that the double cam axle kept away from the driving piece. The detection element is connected to the transverse plate; the detection element is a photoelectric sensor and comprises a transmitting end and a receiving end, and the transmitting end and the receiving end are respectively positioned at two sides of the induction piece.

In one possible embodiment, the jaw device further comprises a first slide rail and a second slide rail. The first slider is slidably connected to the riser through a first rail, and the second slider is slidably connected Yu Liban through a second rail.

In a second aspect, the present utility model also provides a conveyor apparatus comprising a support rail, a jaw apparatus, and a conveyor drive. The support rail is used for bearing a target piece; the clamping jaw device is used for clamping a target piece through the clamping opening; the conveying driver is in transmission connection with the clamping jaw device and used for driving the clamping jaw device to move along the extending direction of the supporting rail so as to convey the target piece.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present utility model and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a three-dimensional view of a jaw apparatus according to an embodiment of the present utility model;

FIG. 2 is a front view of the jaw apparatus of FIG. 1;

FIG. 3 is a side view of the jaw apparatus of FIG. 1;

FIG. 4 is another state view of the jaw apparatus of FIG. 3;

fig. 5 is a three-dimensional view of a delivery device according to an embodiment of the present utility model.

Description of main reference numerals:

jaw assembly 10

Bracket 11

First jaw 12

Second clamping jaw 13

Clamping opening 15

Drive assembly 16

Drive member 17

Drive mechanism 18

Sensing assembly 19

Sensor chip 20

Detection element 21

Sector 22

First radius edge 23

Second radius edge 24

Double camshaft 25

First follower 26

Second follower 27

Spindle portion 28

First cam 29

Second cam 30

First elastic member 31

Second elastic member 32

First adjusting screw 33

Second adjusting screw 34

First clamping head 35

First slider 36

Second clamping head 37

Second slider 38

Transverse plate 39

Vertical plate 40

First ear plate 41

Second ear plate 42

Mounting plate 43

Transmitting end 44

Receiving end 45

First slide rail 46

Second slide rail 47

Via hole 48

Connection portion 49

Connection block 50

First direction Y1

Second direction Y2

Conveying device 100

Support rail 101

Conveying driver 103

Side rail 105

External drive shaft 107

Target piece 200

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the utility model are described in detail. The following embodiments and features of the embodiments may be combined with each other without collision.

Examples

Referring to fig. 1 and 2, the present embodiment provides a jaw apparatus 10 for gripping a target piece 200 (see fig. 5). The target 200 may be a product or a carrier (e.g., a tray) for carrying the product.

The jaw apparatus 10 includes a frame 11, a first jaw 12, a second jaw 13, a drive assembly 16, and a sense assembly 19.

The first clamping jaw 12 is slidably connected to the bracket 11 along a first direction Y1, the second clamping jaw 13 is slidably connected to the bracket 11 along the first direction Y1, and the second clamping jaw 13 is opposite to the first clamping jaw 12 along the first direction Y1 to define a clamping opening 15. The target 200 can be held or released by opening and closing the holding opening 15.

The driving assembly 16 is respectively connected with the first clamping jaw 12 and the second clamping jaw 13 in a transmission manner, and is used for driving the first clamping jaw 12 and the second clamping jaw 13 to relatively move along the first direction Y1 so as to open and close the clamping opening 15.

The drive assembly 16 includes a drive member 17 and a transmission 18. The drive 17 is used for outputting a rotary motion, for example a rotary motor may be used. The rotation shaft of the rotating motor extends along a second direction Y2, and the second direction Y2 is perpendicular to the first direction Y1.

The transmission mechanism 18 is used to convert the rotational movement output from the driver 17 into a sliding movement of the first jaw 12 and the second jaw 13 in the first direction Y1.

The sensing assembly 19 includes a sensing tab 20 and a sensing element 21, the sensing element 21 being electrically connected to the driver 17. The sensing piece 20 is in transmission connection with the driving piece 17 or the transmission mechanism 18 and is used for rotating under the driving of the driving piece 17. The detecting element 21 is used for detecting the rotation angle information of the driving piece 17 through the sensing piece 20, and the rotation angle information is used for controlling the driving piece 17 to rotate by a set angle so as to control the clamping opening 15 to open and close according to a set stroke.

In the embodiment of the utility model, the rotation motion output by the driving piece 17 drives the first clamping jaw 12 and the second clamping jaw 13 to slide through the transmission mechanism 18 to open and close the clamping opening 15, and drives the sensing piece 20 to rotate, so that the detection element 21 is facilitated to acquire the corner information, and further the driving piece 17 is controlled to rotate at a required set angle, the opening and closing of the setting stroke of the clamping opening 15 are realized, and the clamping of target pieces 200 with different thicknesses are facilitated to be adapted.

Before use, the opening and closing stroke of the clamping opening 15 is calculated according to the size (such as thickness size) of the target piece 200 to be clamped. The set angle of the required rotation of the driving member 17 is calculated by the opening and closing stroke.

When the clamping device is used, according to the detected rotation angle information of the driving piece 17, the driving piece 17 is controlled to rotate to a state that the clamping opening 15 is opened, after the target piece 200 is placed in the clamping opening 15, the driving piece 17 is rotated to obtain a set angle through calculation, so that the driving piece 17 drives the clamping opening 15 to be closed according to a set stroke, and the clamping of the target piece 200 with corresponding thickness is realized. Due to the detection of the sensing unit 19 and the control of the determined rotation angle of the driving member 17, it is possible to ensure that the clamping opening 15 opens and closes the clamping target member 200 by a determined stroke, ensuring accurate and reliable clamping of the target member 200. When the target piece 200 needs to be loosened, the driving piece 17 drives the clamping opening 15 to be opened.

In this embodiment, the transmission 18 includes a double camshaft 25, a first follower 26, and a second follower 27.

The double camshaft 25 includes a rotation shaft portion 28, a first cam 29, and a second cam 30. The rotation shaft portion 28 is coaxially connected to an output shaft of the rotary electric machine to be rotated by the rotary electric machine. The first cam 29 and the second cam 30 are connected to the rotating shaft portion 28 at intervals in the axial direction of the rotating shaft portion 28 so as to rotate with the rotating shaft portion 28.

The first follower 26 is connected to the first jaw 12 and is in abutting engagement with the first cam 29 for translating a rotation of the first cam 29 into a sliding movement of the first jaw 12 in the first direction Y1. The second follower 27 is connected to the second jaw 13 and is in abutting engagement with the second cam 30 for translating the rotation of the second cam 30 into a sliding movement of the second jaw 13 in the first direction Y1. The first follower 26 and the second follower 27 may each take the form of a roller. By the contact cooperation of the circumferential surface of the roller and the circumferential surfaces of the first cam 29 and the second cam 30, when the first cam 29 and the second cam 30 rotate, the roller is pushed by the first cam 29 and the second cam 30 to drive the first clamping jaw 12 and the second clamping jaw 13 to slide along the first direction Y1 due to different distances from the circumferential surface profile of the cam to the rotation center, so that the rotation motion of the driving piece 17 is converted into the sliding of the first clamping jaw 12 and the second clamping jaw 13.

By the contact cooperation transmission of the first follower 26/second follower 27 and the first cam 29/second cam 30, the problems of motion jamming and overlarge resistance can be avoided, and the smooth opening and closing of the clamping opening 15 can be ensured.

In other embodiments, the conversion of the motion may be achieved in other ways, such as with a lead screw nut pair or the like.

In this embodiment, optionally, the first clamping jaw 12 includes a first clamping head 35 and a first sliding block 36, the first sliding block 36 is slidably connected to the bracket 11 along the first direction Y1, and the first clamping jaw 12 is connected to the first sliding block 36. The second jaw 13 includes a second clamping head 37 and a second slider 38, the second slider 38 being slidably connected to the bracket 11 along the first direction Y1, the second jaw 13 being connected to the second slider 38. The jaw apparatus 10 further comprises a first slide rail 46 and a second slide rail 47. The first slider 36 is slidably coupled to the riser 40 via a first rail 46 and the second slider 38 is slidably coupled to the riser 40 via a second rail 47. The first clamping head 35 and the second clamping head 37 define therebetween the aforementioned clamping mouth 15.

In the present embodiment, the first slider 36 is connected to the first ear plate 41, and the second slider 38 is connected to the second ear plate 42. The aforementioned first and second followers 26, 27 may be connected to the first and second ear plates 41, 42, respectively.

In this embodiment, the jaw apparatus 10 further includes a first elastic member 31 and a second elastic member 32. The first elastic member 31 and the second elastic member 32 may be extension springs. The first elastic member 31 is connected between the bracket 11 and the first ear plate 41 for applying an elastic force toward the first cam 29 to the first follower 26 through the first ear plate 41. The second elastic member 32 is connected between the bracket 11 and the second ear plate 42 for applying an elastic force toward the second cam 30 to the second follower 27 through the second ear plate 42.

The cam drives the elastic member to apply elastic force, so that on one hand, the opening and closing stroke of the clamping opening 15 can be ensured, and on the other hand, due to the existence of the first elastic member 31/the second elastic member 32, even when the driving member 17 controls the first clamping jaw 12 and the second clamping jaw 13 to completely clamp the product, if the driving member 17 receives excessive external force, the first clamping jaw 12 and the second clamping jaw 13 can move against the elastic force, so that the situation that the target member 200 is damaged due to rigid clamping can be avoided.

Optionally, the bracket 11 is provided with a first adjusting screw 33 and a second adjusting screw 34, the first elastic member 31 is connected to the first adjusting screw 33, and the second elastic member 32 is connected to the second adjusting screw 34. The first adjusting screw 33 is adjustably coupled to the bracket 11 in the first direction Y1 for adjusting the length of the first elastic member 31. The second adjusting screw 34 is adjustably connected to the bracket 11 along the first direction Y1 for adjusting the length of the second elastic member 32. The length of the first elastic member 31/the second elastic member 32 is adjusted by the first adjusting screw 33/the second adjusting screw 34, so that the clamping force can be adjusted, the target member 200 can be clamped by a proper clamping force, and the possibility of clamping the target member 200 is reduced.

In this embodiment, the bracket 11 includes a cross plate 39, a riser 40, and a mounting plate 43. The first slider 36 and the second slider 38 are connected side by side to one side surface of the riser 40. The first slider 36 is provided with a first lug 41 extending in a direction away from the riser 40, and the second slider 38 is provided with a second lug 42 extending in a direction away from the riser 40. The cross plate 39 is vertically connected to the vertical plate 40, and corresponds to the first ear plate 41 and the second ear plate 42 along the first direction Y1. The first elastic member 31 is connected between the first ear plate 41 and the cross plate 39, and the second elastic member 32 is connected between the second ear plate 42 and the cross plate 39.

The mounting plate 43 is vertically connected to the cross plate 39 and the mounting plate 43 is vertically connected to the riser 40. The mounting plates 43 are respectively and vertically connected with the vertical plates 40 and the transverse plates 39, so that the vertical plates 40, the transverse plates 39 and the mounting plates 43 form a structure connected with each other in pairs, and the structure has higher structural rigidity so as to improve reliable support and ensure the mounting precision and the movement stability of each structure mounted on the structure.

The driving member 17 is mounted on the mounting plate 43, a through hole 48 is formed in the mounting plate 43, and one end of the double cam shaft 25 is connected to the driving member 17 and penetrates through the through hole 48. When the driving member 17 is a rotary motor, the motor body is fixed to the mounting plate 43 by flange connection or the like, and the motor output shaft corresponds to the through hole 48 so as to be connected to the double cam shaft 25.

The first cam 29 and the second cam 30 are provided on a section of the double cam shaft 25 passing through the through hole 48. The end of the double camshaft 25 remote from the drive member 17 is connected to the sensor tab 20.

The detection element 21 is connected to the cross plate 39. Optionally, the detecting element 21 is a photoelectric sensor, and includes a transmitting end 44 and a receiving end 45, where the transmitting end 44 and the receiving end 45 are located on two sides of the sensing piece 20 respectively. As shown in the figures, the photosensor in this embodiment has a generally U-shaped structure that is open upward to facilitate passage of the sensing piece 20.

In this embodiment, the sensing piece 20 is perpendicular to the rotation axis of the driving member 17. The sensing piece 20 comprises an integrated fan-shaped part 22 and a connecting part 49, wherein the connecting part 49 is connected to the double cam shaft 25, and the circle center of the fan-shaped part 22 is perpendicular to the rotating shaft of the driving piece 17. The scallop 22 has a first radius edge 23 and a second radius edge 24 that are angled.

Referring to fig. 3, when the sensing piece 20 is driven by the driving component 16 to rotate to enable the first radius edge 23 to correspond to the detecting element 21, the first clamping jaw 12 and the second clamping jaw 13 are driven by the driving component 16 to open to the position where the clamping opening 15 is maximum.

Referring to fig. 4, when the sensing piece 20 is driven by the driving component 16 to rotate to enable the second radius edge 24 to correspond to the detecting element 21, the first clamping jaw 12 and the second clamping jaw 13 are driven by the driving component 16 to open to the position where the clamping opening 15 is minimum.

In this embodiment, the position of the first radius edge 23 corresponding to the detecting element 21 can be set to be zero. As shown in fig. 3, when the driving member 17 rotates the sensing piece 20 counterclockwise to bring the first radius edge 23 into the sensing element 21, the sensing element 21 generates a signal indicating that the rotating motor has rotated to the initial angle. Thus, after the target 200 to be clamped is placed, the rotating motor rotates from the initial angle to the set angle, so that the clamping opening 15 is closed according to the set stroke to clamp the target 200 with the set thickness. For example, as shown in fig. 4, the rotating motor rotates the sensing piece 20 180 ° from the zero position to the closing stroke of the clamping opening 15.

In this embodiment, by precise angle control of the rotating motor, the first clamping jaw 12 and the second clamping jaw 13 can be caused to stay at different positions, thereby realizing different closing degrees of the clamping opening 15. Meanwhile, due to the first elastic member 31 and the second elastic member 32, the first clamping jaw 12 and the second clamping jaw 13 can also float up and down when the target piece 200 is completely clamped, so that the target piece 200 is prevented from being damaged by rigid closing.

Referring to fig. 5 in combination, an embodiment of the present utility model also provides a conveyor 100 comprising a support rail 101, a jaw assembly 10 and a conveyor drive 103.

Wherein the support rail 101 is used to carry the target 200. The jaw apparatus 10 is used to clamp a target 200 with a clamp port 15. The conveying driver 103 is in transmission connection with the clamping jaw device 10 and is used for driving the clamping jaw device 10 to move along the extending direction of the supporting track 101 so as to convey the target piece 200.

In this embodiment, the support rail 101 includes two spaced side rails 105, and the target 200 is a sheet-like tray having a predetermined thickness, on which products (such as wafers) are carried, and which can be supported between the two side rails 105 on both sides thereof.

The conveying drive 103 may comprise an external drive shaft 107, the jaw device 10 may be provided with a connection block 50 on its support 11, which connection block 50 is drivingly connected to the external drive shaft 107, so that, under the drive of the external drive shaft 107, the jaw device 10 moves along the support rail 101 with the clamped object 200 for conveying.

The driving manner of the external drive shaft 107 in the present embodiment may be set as needed. For example, a screw nut fit is formed between the external driving shaft 107 and the connecting block 50, so that when the external driving shaft 107 rotates, the clamping jaw device 10 can be driven to linearly displace by the connecting block 50, and the clamped target piece 200 is driven to move, so that conveying is realized.

In other embodiments, the conveying driver 103 may also perform conveying by using a belt, for example, without limitation.

When the target 200 is clamped, the first clamping jaw 12 and the second clamping jaw 13 can respectively pass through the side rails 105 on one side from the upper side and the lower side and clamp the upper side and the lower side of the target 200, so as to clamp the target 200.

In view of the above description, the clamping jaw device 10 in the embodiment of the present utility model can conveniently realize that the clamping opening 15 is opened and closed according to the set stroke, so as to facilitate the clamping of the target pieces 200 with different thicknesses, and the conveying device 100 can conveniently realize the clamping and conveying of the target pieces 200.

Meanwhile, the clamping jaw device 10 in some embodiments of the present embodiment adopts a rotating motor to replace an air cylinder, which is beneficial to miniaturization of equipment, and the clamping jaw device can be opened and closed rapidly by means of the motor and a cam driving the clamping jaw to open and close, so that accurate clamping and loosening actions under high beat can be performed, and the clamping jaw device has good application value.

The above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model.

Claims (10)

1. A jaw apparatus, comprising:

a bracket;

a first jaw slidably coupled to the bracket in a first direction;

a second jaw slidably coupled to the bracket along the first direction, the second jaw opposing the first jaw along the first direction to define a grip opening;

the driving assembly is respectively connected with the first clamping jaw and the second clamping jaw in a transmission way and is used for driving the first clamping jaw and the second clamping jaw to move relatively along the first direction so as to open and close the clamping opening; the driving assembly comprises a driving piece and a transmission mechanism, wherein the driving piece is used for outputting rotary motion, and the transmission mechanism is used for converting the rotary motion output by the driving piece into sliding of the first clamping jaw and the second clamping jaw along the first direction;

the sensing assembly comprises a sensing piece and a detection element, and the detection element is electrically connected with the driving piece; the induction piece is connected with the driving piece or the transmission mechanism in a transmission way and is used for rotating under the drive of the driving piece; the detecting element is used for detecting the corner information of the driving piece through the sensing piece, and the corner information is used for controlling the driving piece to rotate by a set angle so as to control the clamping opening to open and close according to a set stroke.

2. A jaw apparatus as claimed in claim 1, wherein:

the induction piece is perpendicular to the rotating shaft of the driving piece;

the sensing piece comprises a fan-shaped part, wherein the fan-shaped part is provided with a first radius edge and a second radius edge which form a set angle;

when the induction piece rotates under the drive of the driving assembly to enable the first radius edge to correspond to the detection element, the first clamping jaw and the second clamping jaw are opened to the position with the largest clamping opening under the drive of the driving assembly;

when the induction piece rotates under the drive of the driving assembly to enable the second radius edge to correspond to the detection element, the first clamping jaw and the second clamping jaw are driven by the driving assembly to be opened to the position with the minimum clamping opening.

3. A jaw apparatus as claimed in claim 1, wherein:

the driving piece is a rotating motor, a rotating shaft of the rotating motor extends along a second direction, and the second direction is perpendicular to the first direction;

the transmission mechanism comprises a double cam shaft, a first follower and a second follower;

the double-cam shaft comprises a rotating shaft part, a first cam and a second cam, wherein the rotating shaft part is connected with an output shaft of the rotating motor, and the first cam and the second cam are connected with the rotating shaft part at intervals along the axis direction of the rotating shaft part and are used for rotating under the drive of the driving piece;

the first follower is connected to the first clamping jaw, is in abutting fit with the first cam and is used for converting rotation of the first cam into sliding of the first clamping jaw along the first direction;

the second follower is connected to the second clamping jaw, is in abutting fit with the second cam, and is used for converting rotation of the second cam into sliding of the second clamping jaw along the first direction.

4. A jaw apparatus according to claim 3, wherein:

the clamping jaw device further comprises a first elastic piece and a second elastic piece;

the first elastic piece is connected between the bracket and the first clamping jaw and applies elastic force towards the first cam to the first follower;

the second elastic member is connected between the bracket and the second clamping jaw, and applies an elastic force to the second follower toward the second cam.

5. A jaw apparatus as claimed in claim 4, wherein:

the bracket is provided with a first adjusting screw and a second adjusting screw, the first elastic piece is connected with the first adjusting screw, and the second elastic piece is connected with the second adjusting screw;

the first adjusting screw is adjustably connected to the bracket along the first direction and is used for adjusting the length of the first elastic piece;

the second adjusting screw is adjustably connected to the bracket along the first direction and is used for adjusting the length of the second elastic piece.

6. A jaw apparatus as claimed in claim 4, wherein:

the first clamping jaw comprises a first clamping head and a first sliding block, the first sliding block is slidably connected to the bracket along the first direction, and the first clamping jaw is connected to the first sliding block;

the second clamping jaw comprises a second clamping head and a second sliding block, the second sliding block is slidably connected to the bracket along the first direction, and the second clamping jaw is connected to the second sliding block;

the first clamping head and the second clamping head define the clamping opening therebetween.

7. A jaw apparatus as claimed in claim 6, wherein:

the bracket comprises a transverse plate and a vertical plate;

the first sliding block and the second sliding block are connected to one side plate surface of the vertical plate side by side; the first sliding block is provided with a first lug plate extending in a direction away from the vertical plate, and the second sliding block is provided with a second lug plate extending in a direction away from the vertical plate;

the transverse plate is vertically connected with the vertical plate and corresponds to the first ear plate and the second ear plate along the first direction;

the first elastic piece is connected between the first ear plate and the transverse plate, and the second elastic piece is connected between the second ear plate and the transverse plate.

8. A jaw apparatus as claimed in claim 7, wherein:

the bracket further comprises a mounting plate, wherein the mounting plate is vertically connected with the transverse plate and is vertically connected with the vertical plate;

the driving piece is arranged on the mounting plate, and the end part, far away from the driving piece, of the double cam shaft is connected with the induction piece;

the detection element is connected to the transverse plate; the detection element is a photoelectric sensor and comprises a transmitting end and a receiving end, and the transmitting end and the receiving end are respectively positioned at two sides of the induction piece.

9. A jaw apparatus as claimed in claim 7, wherein:

the clamping jaw device further comprises a first sliding rail and a second sliding rail;

the first sliding block is slidably connected to the vertical plate through the first sliding rail, and the second sliding block is slidably connected to the vertical plate through the second sliding rail.

10. A conveying apparatus, comprising:

a support rail for carrying a target;

a jaw apparatus as claimed in any one of claims 1-9, for gripping the target with the grip opening;

and the conveying driver is in transmission connection with the clamping jaw device and is used for driving the clamping jaw device to move along the extending direction of the supporting rail so as to convey the target piece.