A kind of four-fingered gripper structure and a kind of distribution mechanism

Abstract

The present application belongs to the technical field of power divider, and discloses a kind of split mechanism and four finger clamping structure, including shell, clamping drive motor, center gear shaft, first fixed gear ring being arranged in the shell, movable gear ring, third fixed gear ring, first single-layer planetary gear set, second single-layer planetary gear set, third single-layer planetary gear set, fourth single-layer planetary gear set, double-layer planetary gear set, fifth single-layer planetary gear set and sixth single-layer planetary gear set being connected in turn, the outer periphery of the shell is provided with pulley;First fixed gear ring is connected with clamping drive motor;The third single-layer planetary gear set is connected with first fixed gear ring;One end of the center gear shaft is connected to the fourth single-layer planetary gear set and the double-layer planetary gear set respectively, and the other end sequentially passes through fifth single-layer planetary gear set, sixth single-layer planetary gear set and the shell.The present application reduces the volume.

Description

Technical Field

[0001] This invention belongs to the technical field of power transfer cases, and more specifically, relates to a transfer mechanism and a four-finger gripping structure. Background Technology

[0002] Currently, research on industrial robot grippers is increasingly focused on flexible, multi-degree-of-freedom designs, with the ultimate goal of enabling dexterous manipulation similar to human fingers. Considering the limited space at the robot's end effector and the need to reduce control complexity, employing a multi-power-output transfer mechanism can significantly reduce the number of drive motors and the difficulty of parallel control.

[0003] Most industrial grippers now use two drive motors to switch between different working modes. For example, the gripper devices disclosed in CN115319777 B and CN 115213929 B have greatly enriched the working modes of industrial grippers. However, in general, the size of their power system is still too large and cannot meet the goal of refined design. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a transfer mechanism and a four-finger clamping structure, which aims to solve the problem of the excessive size of the existing four-finger clamping structure.

[0005] To achieve the above objectives, according to one aspect of the present invention, a transfer mechanism is provided, the transfer mechanism comprising a housing, a clamping drive motor, a central gear shaft, a first fixed gear ring, a movable gear ring, a third fixed gear ring disposed within the housing, and a first single-layer planetary gear set, a second single-layer planetary gear set, a third single-layer planetary gear set, a fourth single-layer planetary gear set, a double-layer planetary gear set, a fifth single-layer planetary gear set, and a sixth single-layer planetary gear set connected in sequence, wherein a pulley is disposed on the outer periphery of the housing; the first fixed gear ring is connected to the clamping drive motor; the third single-layer planetary gear set... The first fixed gear ring is connected to the first single-layer planetary gear set; the first and second single-layer planetary gear sets mesh with the first fixed gear ring; the third, fourth, and double-layer planetary gear sets mesh with the moving gear ring respectively; the fifth and sixth single-layer planetary gear sets mesh with the third fixed gear ring respectively, and the sixth single-layer planetary gear set is connected to the housing; one end of the central gear shaft is connected to the fourth single-layer planetary gear set and the double-layer planetary gear set respectively, and the other end passes through the fifth single-layer planetary gear set, the sixth single-layer planetary gear set, and the housing in sequence.

[0006] Furthermore, the transfer mechanism also includes a seventh single-layer planetary gear set, an eighth single-layer planetary gear set, a second fixed gear ring, and a gear shaft. One end of the central gear shaft protruding from the housing is connected to the seventh single-layer planetary gear set. The seventh single-layer planetary gear set is connected to the eighth single-layer planetary gear set, and both mesh with the second fixed gear ring. The gear shaft is connected to the eighth single-layer planetary gear set.

[0007] Furthermore, the first fixed gear ring, the second fixed gear ring, the third fixed gear ring, and the moving gear ring are all internal gear rings, that is, the gear teeth are arranged inside the gear ring.

[0008] Furthermore, the moving gear ring is provided with four sets of gear teeth, one of which is a complete circle of gear teeth; the other three sets of gear teeth do not form a complete circle, but are all combinations of gear tooth segments, and these three sets have different phases.

[0009] Furthermore, the first single-layer planetary gear set includes a first sun gear, a first planet carrier, and a twelfth planetary gear. The output shaft of the clamping drive motor is connected to the first sun gear. Multiple twelfth planetary gears are mounted on the first planet carrier, and the first sun gear meshes with multiple twelfth planetary gears. At the same time, the twelfth planetary gears mesh with the first fixed gear ring.

[0010] Furthermore, the second single-layer planetary gear set includes a second planetary carrier, an eleventh planetary gear, and a second sun gear, with multiple eleventh planetary gears respectively mounted on the second planetary carrier; the second sun gear is mounted on the side of the first planetary carrier away from the clamping drive motor; and the third sun gear is mounted on the side of the second planetary carrier away from the clamping drive motor.

[0011] Furthermore, the third single-layer planetary gear set includes a third planet carrier and a tenth planetary gear; the fourth single-layer planetary gear set includes a ninth planetary gear and a fourth sun gear; the third planet carrier is fixedly connected to one end of the first fixed gear ring; the third sun gear meshes with the tenth planetary gear, and multiple tenth planetary gears are mounted on the third planet carrier; the fourth sun gear is disposed on one end of the central gear shaft, and meshes with multiple ninth planetary gears; the number of tenth planetary gears is the same as the number of ninth planetary gears, and multiple tenth planetary gears and multiple ninth planetary gears form a group in pairs, with the planetary gears in each group being coaxially arranged.

[0012] Furthermore, the double-layer planetary gear set includes a fifth sun gear, a fourth planet carrier, an eighth planetary gear, a seventh planetary gear, a sixth planetary gear, and a fifth planetary gear; the seventh planetary gear and the fifth planetary gear are paired together and coaxially mounted on the fourth planet carrier; the eighth planetary gear and the sixth planetary gear are paired together and coaxially mounted on the fourth planet carrier; the fourth planet carrier is connected to the third fixed gear ring; the eighth planetary gear and the sixth planetary gear respectively mesh with the moving gear ring; the seventh planetary gear meshes with the fourth sun gear; the eighth planetary gear meshes with the seventh planetary gear, and the sixth planetary gear meshes with the fifth planetary gear; one continuous and complete set of teeth meshes with the tenth planetary gear, and the remaining three sets mesh with the ninth planetary gear, the eighth planetary gear, and the sixth planetary gear respectively.

[0013] Furthermore, the fifth single-layer planetary gear set includes a fifth planetary carrier, a fourth planetary gear, and a sixth sun gear; the sixth single-layer planetary gear set includes a sixth planetary carrier, a third planetary gear, and a seventh sun gear; the other end of the central gear shaft passes through the fifth sun gear, the sixth sun gear, and the seventh sun gear in sequence, and the central gear shaft forms a clearance fit with the fifth sun gear and the sixth sun gear. The fifth sun gear is installed in the middle of the fifth planetary carrier.

[0014] The present invention also provides a four-finger clamping structure, which includes the transfer mechanism and the fixed mounting base as described above, wherein the transfer mechanism is disposed on the fixed mounting base.

[0015] In summary, compared with the prior art, the transfer mechanism and four-finger gripping structure provided by the present invention have the following advantages: 1. The transfer mechanism, through the cooperation of a clamping drive motor and a planetary gear set, can provide different power to the central gear shaft and pulley. While ensuring that the working mode of the underdriven four-finger clamping structure remains unchanged, it reduces the transmission volume and the number of motors, thereby reducing the volume and cost of the corresponding four-finger clamping structure.

[0016] 2. The aforementioned transfer mechanism is a dual-power output mechanism, which can be widely used in various scenarios involving multiple working modes, significantly reducing the control cost of multi-motor control, reducing the number of drive motors, and improving energy utilization. Furthermore, given the limited space available for power development in fields such as robotics, this invention also saves considerable space for subsequent robot power development.

[0017] 3. One complete set of teeth meshes with the tenth planetary gear, while the remaining three sets mesh with the ninth, eighth, and sixth planetary gears, respectively. During power transmission, the moving gear ring allows power to be transmitted in a time-sharing manner from the other three sets of incomplete tooth segments with different phase distributions to their respective meshing planetary gears, thereby achieving power timing control and meeting different power requirements.

[0018] 4. The transfer mechanism can adapt to different working scenarios. For example, if a higher working stroke is required, the reduction ratio can be increased; if a lower working stroke is required, the reduction ratio can be decreased. Furthermore, the number of working mode switching states can be changed by altering the number of tooth sets on the moving gear ring. Overall, this invention has universal applicability to power output and can be widely applied. Attached Figure Description

[0019] Figure 1 This is a partial schematic diagram of a four-finger clamping structure provided by the present invention; Figure 2 yes Figure 1 A schematic diagram of the transfer mechanism of the four-finger gripping structure; Figure 3 yes Figure 2 A three-dimensional exploded view of the transfer mechanism in the diagram; Figure 4 yes Figure 2 A cross-sectional schematic diagram of the transfer mechanism in the diagram; Figure 5 This is the timing diagram of the four-finger gripping structure in section 1; Figure 6 yes Figure 2 A three-dimensional schematic diagram of the moving gear ring of the transfer mechanism.

[0020] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-clamping drive motor, 2-pulley, 3-gear shaft, 4-first fixed gear ring, 5-first planetary carrier, 6-second planetary carrier, 7-third planetary carrier, 8-fourth planetary carrier, 9-fifth planetary carrier, 10-sixth planetary carrier, 11-left support, 12-seventh planetary carrier, 13-eighth planetary carrier, 14-right support, 15-first planetary gear, 16-second planetary gear, 17-second fixed gear ring, 18-third planetary gear, 19-fourth planetary gear, 20-fifth planetary gear, 21-sixth planetary gear, 22-seventh planetary gear, 23-eighth planetary gear, 24-ninth planetary gear, 25-tenth planetary gear, 26-eleventh planetary gear, 27-twelfth planetary gear, 28-first transmission screw, 29-variable stroke gripper parallel guide rail, 30-variable stroke gripper drive belt, 31-coupling, 32-second transmission screw. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] Please see Figure 1 This invention provides a four-finger clamping structure, comprising a clamping drive motor 1, a fixed mounting base, a transfer mechanism, a second transmission screw 32, a first transmission screw 28, a variable stroke gripper parallel guide rail 29, and a variable stroke gripper transmission belt 30. The second transmission screw 32 is a component of a gear and rack transmission mechanism, which is connected to the transfer mechanism via a coupling 31. The transfer mechanism is connected to the clamping drive motor 1. The gripper is connected to the gear and rack transmission mechanism via a connecting rod structure, which is also connected to a gripper support. The gripper is also connected to the gripper support, which is mounted on a gripper bracket. The gripper bracket is sleeved on the first transmission screw 28, and the two are threaded together. The first transmission screw 28 is connected to the fixed mounting base. The gripper bracket is slidably mounted on the variable stroke gripper parallel guide rail 29, and the variable stroke gripper transmission belt 30 is connected to one end of the first transmission screw 28 and the pulley 2 of the transfer mechanism.

[0023] In another embodiment, the four-finger gripping structure includes a constant-stroke gripper mechanism and a variable-stroke gripper mechanism, which are respectively connected to the gear and rack drive mechanism and located on opposite sides of the fixed mounting base.

[0024] Please see Figure 2 , Figure 3 , Figure 4 and Figure 6 The transfer mechanism is a power mechanism adaptable to various working states, including a moving gear ring, a housing, a first fixed gear ring 4, a second fixed gear ring 17, a third fixed gear ring, a gear shaft 3, a first planetary carrier 5, a second planetary carrier 6, a third planetary carrier 7, a fourth planetary carrier 8, a fifth planetary carrier 9, a sixth planetary carrier 10, a left support 11, a seventh planetary carrier 12, an eighth planetary carrier 13, a right support 14, a first planetary gear 15, a second planetary gear 16, a third planetary gear 18, a fourth planetary gear 19, a fifth planetary gear 20, a seventh planetary gear 22, an eighth planetary gear 23, a ninth planetary gear 24, a tenth planetary gear 25, an eleventh planetary gear 26, and a twelfth planetary gear 27.

[0025] The housing is cylindrical and has a receiving cavity. The open end of the housing is connected to the clamping drive motor 1. The first fixed gear ring 4, the moving gear ring, and the third fixed gear ring are respectively disposed within the receiving cavity. The first fixed gear ring 4 is cylindrical, and its bottom is connected to the clamping drive motor 1. The output shaft of the clamping drive motor 1 is connected to the first sun gear. A plurality of twelfth planetary gears 27 are mounted on the first planetary carrier 5, and the first sun gear meshes with the plurality of twelfth planetary gears 27. At the same time, the twelfth planetary gears 27 mesh with the first fixed gear ring 4.

[0026] A second sun gear is mounted on the side of the first planetary carrier 5 away from the clamping drive motor 1, and the second sun gear meshes with the eleventh planetary gear 26. Multiple eleventh planetary gears 26 are respectively mounted on the second planetary carrier 6. A third sun gear is mounted on the side of the second planetary carrier 6 away from the clamping drive motor 1.

[0027] The third sun gear meshes with the tenth planetary gear 25, and multiple tenth planetary gears 25 are mounted on the third planet carrier 7. The third planet carrier 7 is fixedly connected to one end of the first fixed gear ring 4. Simultaneously, multiple tenth planetary gears 25 mesh with the moving gear ring. Multiple ninth planetary gears 24 are also provided on the third planet carrier 7, and the ninth planetary gears 24 are disposed within the moving gear ring, meshing with it. In this embodiment, the number of tenth planetary gears 25 is the same as the number of ninth planetary gears 24, and multiple tenth planetary gears 25 and multiple ninth planetary gears 24 form pairs, with the planetary gears in each pair being coaxially arranged.

[0028] The fourth sun gear is mounted on one end of the central gear shaft and meshes with multiple ninth planetary gears 24. The seventh planetary gear 22 and the fifth planetary gear 20 are paired and coaxially mounted on the fourth planetary carrier 8. The eighth planetary gear 23 and the sixth planetary gear 21 are paired and coaxially mounted on the fourth planetary carrier 8. The fourth planetary carrier 8 is connected to the third fixed gear ring. The eighth planetary gear 23 and the sixth planetary gear 21 mesh with the moving gear ring. The seventh planetary gear 22 meshes with the fourth sun gear. The eighth planetary gear 23 meshes with the seventh planetary gear 22, and the sixth planetary gear 21 meshes with the fifth planetary gear 20.

[0029] The other end of the central gear shaft passes sequentially through the fifth, sixth, and seventh sun gears and then connects to the seventh planet carrier 12. The central gear shaft forms a clearance fit with each of the fifth, sixth, and seventh sun gears.

[0030] The fifth sun gear is mounted in the middle of the fifth planet carrier 9. Multiple fourth planetary gears 19 are mounted on the side of the fifth planet carrier 9 away from the fifth sun gear, and these fourth planetary gears 19 mesh with the third fixed gear ring. The fourth planetary gears 19 also mesh with the sixth sun gear.

[0031] The sixth sun gear is mounted on the sixth planetary carrier 10. Multiple third planetary gears 18 are mounted on the side of the sixth planetary carrier 10 away from the sixth sun gear, and these third planetary gears 18 mesh with the third fixed gear ring. The third planetary gears 18 mesh with the seventh sun gear, which is mounted on the bottom of the housing. The pulley 2 is disposed on the housing.

[0032] The left support 11, the second fixed gear ring 17, and the right support 14 are sequentially connected and form a cavity. The seventh planetary carrier 12, the eighth planetary carrier 13, the first planetary gear 15, and the second planetary gear 16 are all disposed within the cavity. One end of the seventh planetary carrier 12, connected to the central gear shaft, is mounted on the left support 11 via a bearing, and the other end is equipped with multiple second planetary gears 16, which mesh with the second fixed gear ring 17. One end of the eighth planetary carrier 13 is equipped with an eighth sun gear, which meshes with the second planetary gear 16, and the other end is equipped with multiple first planetary gears 15, which mesh with the second fixed gear ring 17 and simultaneously with a ninth sun gear. The ninth sun gear is mounted on one end of the gear shaft, and the other end of the gear shaft extends out of the right support 14 and is connected to the right support 14 via a bearing.

[0033] In this embodiment, the first fixed gear ring 4, the second fixed gear ring 17, the third fixed gear ring, and the moving gear ring are all internal gear rings, that is, the gear teeth are arranged inside the gear ring.

[0034] The moving gear ring has four sets of teeth, one of which is a continuous, complete circle of teeth; the other three sets are not complete circles, but are combinations of tooth segments, and these three sets have different phases. The continuous, complete circle of teeth meshes with the tenth planetary gear 25, while the other three sets mesh with the ninth planetary gear 24, the eighth planetary gear 23, and the sixth planetary gear 21, respectively. During power transmission, the moving gear ring allows power to be transmitted in a time-sharing manner from the other three sets of incomplete tooth segments with different phase distributions to their respective meshing planetary gears, thereby achieving power timing control and meeting different power requirements.

[0035] The first planet carrier 5, the twelfth planetary gear 27, and the first sun gear form a first single-layer planetary gear set. The second planet carrier 6, the eleventh planetary gear 26, and the second sun gear form a second single-layer planetary gear set; the third planet carrier 7, the tenth planetary gear 25, and the third sun gear form a third single-layer planetary gear set; the third planet carrier 7, the ninth planetary gear 24, and the fourth sun gear form a fourth single-layer planetary gear set; the fourth sun gear, the fifth sun gear, the fourth planet carrier 8, the eighth planetary gear 23, the seventh planetary gear 22, the sixth planetary gear 21, and the fifth planetary gear 20 form a double-layer planetary gear set; the fifth planet carrier 9, the fourth planetary gear 19, and the sixth sun gear form a fifth single-layer planetary gear set; the sixth planet carrier 10, the third planetary gear 18, and the seventh sun gear form a sixth single-layer planetary gear set; the seventh planet carrier 12, the second planetary gear 16, and the eighth sun gear form a seventh single-layer planetary gear set; the eighth planet carrier 13, the first planetary gear 15, and the ninth sun gear form an eighth single-layer planetary gear set. Some of the planetary carriers and sun gears are shared.

[0036] Please see Figure 5 A / 0° is the initial point of movement for the four-finger gripping structure. If the gripping drive motor 1 rotates counterclockwise to C / -120°, the four-finger gripping structure with single-power drive and multiple working modes executes the "grip" motion mode. After gripping, it only needs to return to the initial point A / 0°. If the gripping drive motor 1 rotates clockwise through B / 120° to C / -120°, the four-finger gripping structure with single-power drive and multiple working modes executes the "pinch" motion mode. This motion mode can be divided into the movement of the variable stroke gripper mechanism moving to the designated position from A / 0° to B / 120° and the gripping movement of the four grippers at the end of the four-finger gripping structure from B / 120° to C / 120°.

[0037] The four-finger gripping structure is a dual-power output split mechanism for the gripper's power system. While ensuring that the working mode of the underdriven four-finger gripping structure remains unchanged, it reduces the transmission volume and the number of motors, thereby further improving the machine's power density.

[0038] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A transfer mechanism, characterized in that: The transfer mechanism includes a housing, a clamping drive motor, a central gear shaft, a first fixed gear ring, a moving gear ring, a third fixed gear ring disposed within the housing, and a first single-layer planetary gear set, a second single-layer planetary gear set, a third single-layer planetary gear set, a fourth single-layer planetary gear set, a double-layer planetary gear set, a fifth single-layer planetary gear set, and a sixth single-layer planetary gear set connected in sequence. A pulley is disposed on the outer periphery of the housing. The first fixed gear ring is connected to the clamping drive motor; the third single-layer planetary gear set is connected to the first fixed gear ring; the first and second single-layer planetary gear sets are respectively connected to the first… The fixed gear ring meshes with the fixed gear ring; the third, fourth, and double-layer planetary gear sets mesh with the moving gear ring respectively; the fifth and sixth single-layer planetary gear sets mesh with the third fixed gear ring respectively, and the sixth single-layer planetary gear set is connected to the housing; one end of the central gear shaft is connected to the fourth single-layer planetary gear set and the double-layer planetary gear set respectively, and the other end passes through the fifth single-layer planetary gear set, the sixth single-layer planetary gear set and the housing in sequence, and a clearance fit is formed between the central gear shaft and the fifth single-layer planetary gear set, the sixth single-layer planetary gear set and the housing.

2. The transfer mechanism as described in claim 1, characterized in that: The transfer mechanism further includes a seventh single-layer planetary gear set, an eighth single-layer planetary gear set, a second fixed gear ring, and a gear shaft. One end of the central gear shaft protruding from the housing is connected to the seventh single-layer planetary gear set. The seventh single-layer planetary gear set is connected to the eighth single-layer planetary gear set, and both mesh with the second fixed gear ring. The gear shaft is connected to the eighth single-layer planetary gear set.

3. The transfer mechanism as described in claim 2, characterized in that: The first fixed gear ring, the second fixed gear ring, the third fixed gear ring, and the moving gear ring are all internal gear rings, that is, the gear teeth are located inside the gear ring.

4. The transfer mechanism as described in claim 1, characterized in that: The moving gear ring has four sets of gear teeth, one of which is a complete circle of teeth; the other three sets of teeth do not form a complete circle, but are all combinations of tooth segments, and these three sets have different phases.

5. The transfer mechanism as described in claim 4, characterized in that: The first single-layer planetary gear set includes a first sun gear, a first planet carrier, and a twelfth planetary gear. The output shaft of the clamping drive motor is connected to the first sun gear. Multiple twelfth planetary gears are mounted on the first planet carrier, and the first sun gear meshes with multiple twelfth planetary gears. At the same time, the twelfth planetary gears mesh with the first fixed gear ring.

6. The transfer mechanism as described in claim 5, characterized in that: The second single-layer planetary gear set includes a second planetary carrier, an eleventh planetary gear, and a second sun gear. Multiple eleventh planetary gears are respectively mounted on the second planetary carrier. The second sun gear is mounted on the side of the first planetary carrier away from the clamping drive motor. The third sun gear is mounted on the side of the second planetary carrier away from the clamping drive motor.

7. The transfer mechanism as described in claim 6, characterized in that: The third single-layer planetary gear set includes a third planet carrier and a tenth planetary gear; the fourth single-layer planetary gear set includes a ninth planetary gear and a fourth sun gear; the third planet carrier is fixedly connected to one end of the first fixed gear ring; the third sun gear meshes with the tenth planetary gear, and multiple tenth planetary gears are mounted on the third planet carrier; the fourth sun gear is located on one end of the central gear shaft and meshes with multiple ninth planetary gears. The number of the tenth planetary gears is the same as the number of the ninth planetary gears, and the multiple tenth planetary gears and the multiple ninth planetary gears form a group in pairs, with the planetary gears in each group being coaxially arranged.

8. The transfer mechanism as described in claim 7, characterized in that: The double-layer planetary gear set includes a fifth sun gear, a fourth planet carrier, an eighth planet gear, a seventh planet gear, a sixth planet gear, and a fifth planet gear; the seventh planet gear and the fifth planet gear are paired together and coaxially mounted on the fourth planet carrier; the eighth planet gear and the sixth planet gear are paired together and coaxially mounted on the fourth planet carrier; the fourth planet carrier is connected to the third fixed gear ring; the eighth planet gear and the sixth planet gear respectively mesh with the moving gear ring; the seventh planet gear meshes with the fourth sun gear; the eighth planet gear meshes with the seventh planet gear, and the sixth planet gear meshes with the fifth planet gear; One complete set of teeth meshes with the tenth planetary gear, and the other three sets mesh with the ninth, eighth, and sixth planetary gears, respectively.

9. The transfer mechanism as described in claim 8, characterized in that: The fifth single-layer planetary gear set includes a fifth planetary carrier, a fourth planetary gear, and a sixth sun gear; the sixth single-layer planetary gear set includes a sixth planetary carrier, a third planetary gear, and a seventh sun gear; the other end of the central gear shaft passes through the fifth sun gear, the sixth sun gear, and the seventh sun gear in sequence, and the central gear shaft forms a clearance fit with the fifth sun gear and the sixth sun gear; the fifth sun gear is installed in the middle of the fifth planetary carrier.

10. A four-finger gripping structure, characterized in that: The four-finger clamping structure includes a transfer mechanism and a fixed mounting base as described in any one of claims 1-9, wherein the transfer mechanism is disposed on the fixed mounting base.

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