Rotary clamping structure and transfer device

Abstract

The utility model discloses a rotary clamping structure and a transfer device, the rotary clamping structure comprises a rotary part and a clamping part, and the rotary part comprises a first driving mechanism, a first transmission part and a second transmission part rotationally connected with the first transmission part; the clamping component comprises a clamping driving assembly and two clamping assemblies arranged on the clamping driving assembly, the second transmission part is connected to the clamping driving assembly, the first driving mechanism drives the first transmission part to rotate so as to drive the second transmission part to rotate, then the clamping component is driven to rotate, and the clamping driving assembly drives the clamping assemblies to move linearly. Therefore, the two clamping assemblies get close to each other or get away from each other. The rotary clamping structure is convenient to integrate, small and exquisite in structure, free rotation and flexible release can be achieved, torque feedback exists in the clamping and rotating process, falling is not prone to occurring after clamping, light weight and modular design are achieved, and the rotary clamping structure is more suitable for an automatic integration device.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a rotary clamping structure and a transfer device. Background Art

[0002] In the process of biochemical reaction, it is necessary to pipette and separate samples, and it is inevitable to use various consumables as carriers. Therefore, the handling and placement of consumables is an essential step in the experiment. Traditional consumable handling and transfer is usually done manually, which is inefficient, labor-intensive, and unsafe. Especially for the transfer of consumables with high throughput requirements, manual operation is difficult to achieve.

[0003] Currently, transfer devices are used to transfer consumables, but existing transfer devices have complex structures, are bulky overall, occupy a large space, are costly, are inflexible to operate, and there is a risk of consumables falling during the transfer process. Furthermore, the transfer devices are not suitable for the transportation of high-throughput consumables. Utility Model Content

[0004] In order to solve at least one of the above defects, it is necessary to propose a rotating clamping structure, which is used in a transfer device, has a simple structure, a small size, can realize flexible rotation and clamping actions, and is conducive to improving operational convenience and automation.

[0005] In addition, an embodiment of the present application also provides a transfer device using the rotating clamping structure.

[0006] In a first aspect, an embodiment of the present application provides a rotating clamping device, wherein the rotating clamping structure comprises: a rotating part and a clamping part, wherein the rotating part comprises a first driving mechanism, a first transmission member arranged on an output shaft of the first driving mechanism, and a second transmission member rotatably connected to the first transmission member; the clamping part comprises a clamping drive assembly, and two clamping assemblies arranged on the clamping drive assembly, the two clamping assemblies are arranged opposite to each other, and the second transmission member is connected to the clamping drive assembly, wherein the first driving mechanism is used to drive the first transmission member to rotate, so as to drive the second transmission member to rotate, and then drive the clamping part to perform rotational motion, and the clamping drive assembly is used to drive at least one of the clamping assemblies to move along a straight line, so as to make the two clamping assemblies approach or move away from each other.

[0007] In some possible embodiments, the first transmission member is meshedly connected with the second transmission member to drive the clamping component to perform a 360-degree rotational movement.

[0008] In some possible embodiments, both the first transmission member and the second transmission member are gears, and an outer diameter of the first transmission member is smaller than an outer diameter of the second transmission member.

[0009] In some possible embodiments, the clamping drive assembly includes: a second drive mechanism, and a third transmission member arranged on the output shaft of the second drive mechanism, at least one of the two clamping assemblies is connected to the third transmission member, and the second drive mechanism is used to drive the third transmission member to move, so as to drive the clamping assembly connected to the third transmission member to move, so that the two clamping assemblies are closer to or farther away from each other.

[0010] In some possible embodiments, the clamping drive assembly also includes a connecting assembly arranged at the output end of the second driving mechanism, the second transmission member is connected to the connecting assembly, the clamping assembly connected to the third transmission member is slidably arranged on the connecting assembly, and when the second driving mechanism drives the third transmission member to move, the clamping assembly connected to the third transmission member moves along the connecting assembly.

[0011] In some possible embodiments, the third transmission member is meshingly connected to at least one of the two clamping assemblies.

[0012] In some possible embodiments, each of the clamping assemblies includes a slider, a connecting portion provided on the slider, and a clamping portion detachably provided on the connecting portion, the two sliders are respectively located on opposite sides of the third transmission member, and the third transmission member is meshedly connected to the two sliders, and the second driving mechanism is used to drive the third transmission member to rotate, so as to drive the two sliders to make linear motion in opposite directions, thereby driving the two clamping portions to move closer to or away from each other.

[0013] In some possible embodiments, the connecting assembly includes: a connecting seat arranged at the output end of the second driving mechanism and a sliding guide plate connected to the connecting seat, the second transmission member is fixed on the connecting seat, the sliding guide plate has two parallel track grooves, and the two sliding blocks are respectively slidably arranged in the two track grooves.

[0014] In some possible embodiments, the detection component includes: an electrical slip ring, a fixed ring, a sensor sheet, a plurality of connecting columns and a sensor, wherein the fixed ring is sleeved on the second driving mechanism; along the axial direction of the fixed ring, the sensor sheet and the fixed ring are arranged opposite to each other and are connected through the connecting columns; the sensor is located on the side of the sensor sheet; the electrical slip ring is located on the side of the sensor sheet away from the fixed ring and on the central axis of the fixed ring.

[0015] In some possible embodiments, the rotating clamping structure further includes a supporting component, wherein the supporting component includes a housing and a mounting plate assembly located in the housing, and the rotating component and the clamping component are both mounted on the mounting plate assembly.

[0016] In a second aspect, an embodiment of the present application provides a transfer device, which includes: a control host, a connecting arm connected to the control host, and a rotating clamping structure provided on the connecting arm, and the rotating clamping structure is the rotating clamping structure as described above.

[0017] The rotary clamping structure provided in the embodiment of the present application can realize the free rotation of the clamping part through the rotational connection between the first transmission part and the second transmission part in the rotating part, and can realize the clamping and releasing of the part to be transferred through the linear motion of the two relatively arranged clamping components in the clamping part; through the cooperation between the rotating part and the clamping part, the operation is convenient, the placement is more flexible, and the automatic transfer of consumables in high-throughput pipetting scenarios can be realized; the structure of the rotary clamping structure is simple and compact, and the lightweight and modular design are easy to integrate. In addition, the meshing connection is used to realize the transmission of motion, and the tightness of the clamping can be judged according to the rotation angle of the second driving mechanism. There is feedback of torque, which can effectively improve the accuracy of the clamping force, so as to achieve the purpose of preventing the part to be transferred from falling after being clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic structural diagram of a transfer device according to an embodiment of the present application.

[0020] Figure 2 for Figure 1 Schematic diagram of the structure of the rotating clamping structure.

[0021] Figure 3 for Figure 2 Schematic diagram of the structure of the rotating clamping structure after removing the outer shell.

[0022] Figure 4 for Figure 2 Section view along AA.

[0023] Figure 5 for Figure 2 Exploded view of the rotating clamping structure in .

[0024] Figure 6 for Figure 3 Schematic diagram of the structure of the rotating parts.

[0025] Figure 7 for Figure 3Schematic diagram of the structure of the clamping parts.

[0026] Figure 8 for Figure 3 Schematic diagram of the structure of the detection component.

[0027] Main component symbols

[0028]

[0029]

[0030] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that when a component is referred to as being "fixed to" or "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. The term "and / or" as used herein includes all and any combinations of one or more of the relevant listed items.

[0033] See also Figure 1 and Figure 2 The embodiment of the present application provides a transfer device 1000, which can realize the clamping, movement and release of the part to be transferred to realize the transfer of the part to be transferred. For example, the transfer device 1000 can be applied to the transfer of consumables in biochemical reaction scenarios, and can be specifically used for the automatic handling and placement of consumables in high-throughput liquid handling application scenarios (such as high-throughput gene sequencing scenarios). The transfer device 1000 includes: a control host 200, a mobile mechanism 300 connected to the control host 200, and a rotating clamping structure 100 provided on the mobile mechanism 300. The control host 200 can control the rotating clamping structure 100 to rotate, clamp and release, and can also control the mobile mechanism 300 to drive the rotating clamping structure 100 to move to the destination, thereby realizing the automatic handling of the part 400 to be transferred.

[0034] Please refer to Figures 3 to 5As shown, the rotary clamping structure 100 of the embodiment of the present application includes: a rotating component 10 and a clamping component 20, wherein the rotating component 10 includes a first driving mechanism 1, a first transmission member 2 arranged on the output shaft of the first driving mechanism 1, and a second transmission member 3 rotatably connected to the first transmission member 2. The clamping component 20 includes a clamping drive assembly 4, and two clamping assemblies 5 arranged on the clamping drive assembly 4, the two clamping assemblies 5 are arranged opposite to each other, and the second transmission member 3 is connected to the clamping drive assembly 4. The first driving mechanism 1 is used to drive the first transmission member 2 to rotate, so as to drive the second transmission member 3 to rotate, and then drive the clamping component 20 to rotate. The clamping drive assembly 4 is used to drive at least one of the clamping assemblies 5 to move along a straight line, so as to make the two clamping assemblies 5 approach each other or move away from each other, so as to clamp or release the part to be transferred.

[0035] The rotating clamping structure 100 also includes a supporting component 30, which includes a shell 6 and a mounting plate assembly 7 located in the shell 6. The rotating component 10 and the clamping component 20 are both mounted on the mounting plate assembly 7. The rotating component 10 and the clamping drive assembly 4 are located in the shell 6. Two sets of clamping assemblies 5 extend out of the shell 6 to facilitate clamping of the part 400 to be transferred.

[0036] In some embodiments, the mounting plate assembly 7 includes a driving mechanism mounting plate 71 for mounting and fixing the first driving mechanism 1, a transmission member mounting plate 72 for mounting the first transmission member 2 and the second transmission member 3, and a transmission member cover plate 73 for covering the transmission member mounting plate 72. The clamping member 20 is fixed to the driving mechanism mounting plate 71 through the transmission member mounting plate 72 and the transmission member cover plate 73, and is fixed to the housing 6, thereby fixing the rotating member 10 and the clamping member 20.

[0037] Please refer to Figures 2 to 5 and Figure 6 , the first transmission member 2 and the second transmission member 3 can be meshedly connected to drive the clamping member 20 to perform a 360-degree rotational movement. Specifically, the first transmission member 2 and the second transmission member 3 can both be gears. Through the external meshing of the gears, the rotation of the first transmission member 2 can be transmitted to the second transmission member 3 to drive the second transmission member 3 to rotate. Since the second transmission member 3 is fixed on the clamping drive assembly 4 of the clamping member 20, the clamping member 20 can be driven to perform a 360-degree rotational movement. Through the meshing connection of the first transmission member 2 and the second transmission member 3, torque feedback can be achieved, so that the control host 200 can accurately control the rotation angle of the second transmission member 3 according to the feedback torque, and realize flexible rotation at any angle within 360 degrees.

[0038] In some embodiments, the outer diameter of the first transmission member 2 is smaller than the outer diameter of the second transmission member 3. When the second transmission member 3 needs to be controlled to rotate at a specific angle, the outer diameter of the first transmission member 2 is designed to be smaller, which can increase the rotation angle of the first transmission member 2 and reduce the error of torque feedback, so as to further improve the accuracy of controlling the rotation angle of the second transmission member 3. It can be understood that the outer diameter of the first transmission member 2 is larger than the outer diameter of the second transmission member 3, which can also achieve the transmission effect.

[0039] Please refer to Figures 2 to 5 and Figure 7 , the clamping drive assembly 4 includes: a second drive mechanism 41, and a third transmission member 43 arranged on the output shaft of the second drive mechanism 41, at least one of the two clamping assemblies 5 is connected to the third transmission member 43, and the second drive mechanism 41 is used to drive the third transmission member 43 to move, so as to drive the clamping assembly 5 connected to the third transmission member 43 to move, so that the two clamping assemblies 5 are close to or away from each other, so as to clamp or release the to-be-transferred member 400. In some embodiments, the clamping drive assembly 4 also includes a connecting assembly 42 arranged at the output end of the second drive mechanism 41, and the second transmission member 3 is connected to the connecting assembly 42. Specifically, the connecting assembly 42 is sleeved at the output end of the second drive mechanism 41, the second transmission member 3 is sleeved on the outside of the second drive mechanism 41 and fixed on the connecting assembly 42, and when the second transmission member 3 rotates, it can drive the second drive mechanism 41 to rotate through the connecting assembly 42, so as to achieve the purpose of driving the clamping component 20 to rotate. At least one of the two clamping assemblies 5 is connected to the third transmission member 43, and the clamping assembly 5 connected to the third transmission member 43 is slidably disposed on the connecting assembly 42. The second driving mechanism 41 is used to drive the third transmission member 43 to move, so as to drive the clamping assembly 5 connected to the third transmission member 43 to move along the connecting assembly 42, so that the two clamping assemblies 5 are moved closer to or farther from each other, so as to clamp or release the object 400 to be transferred.

[0040] In some embodiments, the third transmission member 43 is meshedly connected with at least one of the two clamping assemblies 5. Specifically, the third transmission member 43 can be a gear, and a tooth structure is provided at a portion where at least one clamping assembly 5 is connected to the third transmission member 43, so as to achieve meshing connection with the third transmission member 43.

[0041] In some embodiments, each of the clamping assemblies 5 includes: a slider 51, a connecting portion 52 disposed on the slider 51, and a clamping portion 53 detachably disposed on the connecting portion 52. The two sliders 51 are respectively located on opposite sides of the third transmission member 43, and the third transmission member 43 is meshed and connected with the two sliders 51. The second driving mechanism 41 is used to drive the third transmission member 43 to rotate, so as to drive the two sliders 51 to make linear motion in opposite directions, thereby driving the two clamping portions 53 to move closer to or farther from each other. Specifically, the slider 51 can be a long strip, and a linear tooth structure is provided on the side close to the third transmission member 43, such as a rack. In this way, after the third transmission member 43 rotates, the rotational motion of the third transmission member 43 can be converted into the linear motion of the two sliders 51 through meshing, and the moving directions of the two sliders 51 are opposite, so that the two relatively arranged clamping portions 53 can be moved closer to or farther from each other.

[0042] In some embodiments, a silicone sheet 54 is provided at the end of the clamping portion 53, which can play a role of anti-slip and buffering when clamping the transfer object 400. It is understandable that other materials that can play a role of anti-slip and buffering can also be used.

[0043] In some embodiments, the connection assembly 42 includes: a connection seat 44 provided at the output end of the second driving mechanism 41 and a sliding guide plate 45 connected to the connection seat 44. The second transmission member 3 is fixed on the connection seat 44. The sliding guide plate 45 has two parallel track grooves 46, and the two sliders 51 are respectively slidably provided in the two track grooves 46. Under the rotation of the third transmission member 43, the two sliders 51 can be driven to move along the corresponding track grooves 46.

[0044] In some embodiments, the track slot 46 may be a T-slot.

[0045] In some embodiments, the connection seat 44 is sleeved on the output end of the second driving mechanism 41. For example, the connection seat 44 may include a combination of a bearing 47 and a flange sleeve 48, which is arranged at the end of the second driving mechanism 41 to connect other structures.

[0046] Please refer to Figures 2 to 5 and Figure 8 The rotating clamping structure 100 also includes a detection component 8, and the detection component 40 is respectively connected to the rotating part 10 and the clamping part 20 for detecting the signals of the rotating part 10 and the clamping part 20. The detection component 40 is also used to connect to the control host 200 for signal connection, thereby realizing the on-off control of the rotating part 10 and the clamping part 20 by the control host 200.

[0047] In some embodiments, the detection assembly 8 includes: an electrical slip ring 81, a fixed ring 82, a sensing sheet 83, a plurality of connecting columns 84, and a sensor 85. The fixed ring 82 is sleeved on the second driving mechanism 41. Along the axial direction of the fixed ring 82, the sensing sheet 83 and the fixed ring 82 are arranged opposite to each other, and are connected in the middle by a plurality of connecting columns 84. The electrical slip ring 81 is located on the side of the sensing sheet 83 away from the fixed ring 82 and on the central axis of the fixed ring 82. The sensor 85 is located on the side of the sensing sheet 83. The electrical slip ring 81 is fixed to the inner side of the housing 6 through the slip ring mounting plate 86. When the second driving mechanism 41 rotates, it will drive the fixed ring 82 to rotate, and then drive the sensing sheet 83 to rotate to trigger the sensor 85. Through the cooperation of the electrical slip ring 81, the sensing sheet 83 and the sensor 85, the working state of the first driving mechanism 1 and the second driving mechanism 41 can be sensed, and then the sensing signal is transmitted to the control host 200.

[0048] Specifically, the rotating component 10 adopts the structure of external meshing transmission of the first transmission member 2 and the second transmission member 3 to realize the 360-degree rotation of the entire clamping component 20. The housing 6 and the mounting plate assembly 7 serve as the supporting shell parts of the rotating component 10 and the clamping component 20. The first driving mechanism 1 is fixed on the driving mechanism mounting plate 71, the driving mechanism mounting plate 71 is fixed to the transmission member mounting plate 72, the fixing ring 82 is fixed together with the second driving mechanism 41, the connecting column 84 is fixed on the fixing ring 82, the induction sheet 83 is fixed on the connecting column 84, the electrical slip ring 81 is fixed to the inner side of the housing 6 through the slip ring mounting plate 86, and the sensor 85 is fixed to the inner side of the housing 6. When the first driving mechanism 1 drives the clamping component 20 to rotate, the sensor 85 cooperates with the induction sheet 83 to sense the change in the rotation angle of the second driving mechanism 41, thereby judging whether the clamping component 20 is rotated to the right position, so as to control the on and off of the first driving mechanism 1.

[0049] The clamping component 20 adopts a transmission form in which the third transmission member 43 is meshed with two long strip-shaped sliders 51, so as to realize the opening or closing of the two clamping parts 53. The third transmission member 43 is fixed to the shaft end of the second driving mechanism 41, the second driving member 3 is fixed to the flange sleeve 48, the bearing 47 is fixed to the outer diameter of the flange sleeve 48, and the aforementioned structure is fixed to the transmission member mounting plate 72 through the transmission member cover plate 73. The second driving mechanism 41 penetrates the transmission member mounting plate 72, so that the inner diameter side of the bearing 47 has a fixed relationship with the second driving mechanism 41, and the outer diameter side of the bearing 47 has a fixed relationship with the transmission member mounting plate 72. In this way, under the action of the bearing 47, the second driving mechanism 41 as a whole can be driven by the first driving mechanism 1 relative to the transmission member mounting plate 72 to realize rotation. The sliding guide plate 45 is fixed on the flange sleeve 48, and the two sliders 51 are pushed into the two T-slots of the sliding guide plate 45 from both sides, and mesh with the third transmission member 43 at the end of the second driving mechanism 41; the two connecting parts 52 are fixed on the sides of the two sliders 51, and the clamping parts 53 at the ends are detachably fixed on the two connecting parts 52, and the silicone sheet 54 is pasted on the inner side walls opposite to the two clamping parts 53. The start or stop of the second driving mechanism 41 can be controlled by the cooperation of the electrical slip ring 81 and the fixing ring 82. After the second driving mechanism 41 is started, the third transmission member 43 can be driven to drive the opening or closing of the two clamping parts 53.

[0050] The transfer device 1000 provided in the embodiment of the present application has a structural design for the rotating clamping structure 100. Through the rotational connection between the first transmission member 2 and the second transmission member 3 in the rotating member 10, the free and flexible rotation of the clamping member 20 can be realized. Through the linear motion of the two relatively arranged clamping components 5 in the clamping member 20, the part to be transferred 400 can be clamped and released; through the cooperation between the rotating member 10 and the clamping member 20, the part to be transferred 400 can be clamped and released and rotated freely and flexibly, so as to realize the automatic handling and placement of the part to be transferred 400. The operation is convenient, the degree of automation is high, and the adaptability is strong. It is especially suitable for the transfer of consumables in high-throughput pipetting application scenarios. The rotating clamping structure 100 has a simple structure, a compact size, a lightweight and modular design, and is easy to integrate. Through the meshing connection between the first transmission member 2 and the second transmission member 3, the moving space can be reduced, which is conducive to reducing the volume of the rotating clamping structure 100. At the same time, through the torque feedback of the first driving mechanism 1, the accuracy of the rotation angle of the clamping member 20 can be improved to achieve rotation at any angle within 360 degrees. In addition, through the meshing connection between the third transmission member 43 and the clamping assembly 5, the rotational motion can be converted into a linear motion to achieve the clamping and release of the transfer member 400. The tightness of the clamping can also be judged according to the rotation angle of the second driving mechanism 41. With the torque feedback, the accuracy of the clamping force can be effectively improved, thereby reducing the risk of the transfer member 400 falling.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A rotating clamping structure, characterized in that: include: The rotating component includes a first driving mechanism, a first transmission member disposed on an output shaft of the first driving mechanism, and a second transmission member rotatably connected to the first transmission member; as well as The clamping component comprises a clamping drive assembly and two clamping assemblies arranged on the clamping drive assembly, the two clamping assemblies are arranged opposite to each other, and the second transmission member is connected to the clamping drive assembly. Among them, the first driving mechanism is used to drive the first transmission member to rotate, so as to drive the second transmission member to rotate, and then drive the clamping member to rotate, and the clamping drive component is used to drive at least one of the clamping components to move along a straight line, so that the two clamping components are close to each other or away from each other.

2. The rotary clamping structure according to claim 1, characterized in that: The first transmission member is meshedly connected with the second transmission member to drive the clamping member to perform 360-degree rotational movement.

3. The rotary clamping structure according to claim 1, characterized in that: The clamping drive assembly includes: a second drive mechanism, and a third transmission member arranged on the output shaft of the second drive mechanism, at least one of the two clamping assemblies is connected to the third transmission member, and the second drive mechanism is used to drive the third transmission member to move, so as to drive the clamping assembly connected to the third transmission member to move, so that the two clamping assemblies are closer to or farther away from each other.

4. The rotary clamping structure according to claim 3, characterized in that: The clamping drive assembly also includes a connecting assembly arranged at the output end of the second driving mechanism, the second transmission member is connected to the connecting assembly, the clamping assembly connected to the third transmission member is slidably arranged on the connecting assembly, and when the second driving mechanism drives the third transmission member to move, the clamping assembly connected to the third transmission member moves along the connecting assembly.

5. The rotary clamping structure according to claim 4, characterized in that: The third transmission member is meshingly connected with at least one of the two clamping assemblies.

6. The rotary clamping structure according to claim 5, characterized in that: Each of the clamping assemblies includes a slider, a connecting portion provided on the slider, and a clamping portion detachably provided on the connecting portion. The two sliders are respectively located on opposite sides of the third transmission member, and the third transmission member is meshedly connected to the two sliders. The second driving mechanism is used to drive the third transmission member to rotate, so as to drive the two sliders to make linear motion in opposite directions, thereby driving the two clamping portions to move closer to or away from each other.

7. The rotary clamping structure according to claim 6, characterized in that: The connecting assembly includes: a connecting seat arranged at the output end of the second driving mechanism and a sliding guide plate connected to the connecting seat, the second transmission member is fixed on the connecting seat, the sliding guide plate has two parallel track grooves, and the two sliding blocks are respectively slidably arranged in the two track grooves.

8. The rotary clamping structure according to claim 4, characterized in that: It also includes a detection component, which includes: an electrical slip ring, a fixed ring, a sensor sheet, a plurality of connecting columns and a sensor, wherein the fixed ring is sleeved on the second driving mechanism; along the axial direction of the fixed ring, the sensor sheet and the fixed ring are arranged opposite to each other and are connected through the connecting columns; the sensor is located on the side of the sensor sheet; the electrical slip ring is located on the side of the sensor sheet away from the fixed ring and on the central axis of the fixed ring.

9. The rotary clamping structure according to claim 1, characterized in that: It also includes a supporting component, which includes a shell and a mounting plate assembly located in the shell, and the rotating component and the clamping component are both mounted on the mounting plate assembly.

10. A transfer device, characterized in that: include: A control host, a connecting arm connected to the control host, and a rotating clamping structure arranged on the connecting arm, wherein the rotating clamping structure is the rotating clamping structure according to any one of claims 1 to 9.

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