A press device

Abstract

The present application relates to the technical field of medical devices, and discloses a pressing and holding device. The pressing and holding device comprises a supporting assembly. The pressing and holding device further comprises a driving assembly arranged on the supporting assembly. The pressing and holding device further comprises a pressing and holding assembly comprising first blades and second blades alternately arranged along a preset circumferential direction. Adjacent first blades and second blades are slidingly connected, and the first blades are drivingly connected with the driving assembly. Under the driving of the driving assembly, the adjacent second blades are driven by the first blades to move towards or away from the center of the preset circumferential direction. In the above manner, the structure of the driving assembly can be simplified, the number of blades can be increased, and the pressing and holding effect of the to-be-pressed-and-held piece can be improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a gripping device. Background Technology

[0002] Currently, all transcatheter aortic valve procedures require a special clamping loader to clamp the valve stent onto the delivery device before surgery. Once the valve stent is securely clamped onto the delivery device, it is transported to the lesion site for release, thus enabling aortic valve placement or replacement.

[0003] Current compression loaders typically achieve the effect of compressing the valve stent by using multiple blades distributed along the circumference to concentrically contract and release. However, the current compression loaders have relatively complex structures for driving the blade movement, which limits the number of blades and thus hinders the improvement of the valve stent's compression effect. Summary of the Invention

[0004] In view of this, the main technical problem solved by the present invention is to provide a pressing and gripping device that can simplify the structure of the drive component, facilitate the increase of the number of blades, and thus improve the pressing and gripping effect of the workpiece to be pressed and gripped.

[0005] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide a gripping device. The gripping device includes a support assembly. The gripping device also includes a driving assembly disposed on the support assembly. The gripping device further includes a gripping assembly, which includes first and second blades alternately arranged along a predetermined circumferential direction. Adjacent first and second blades are slidably connected, and the first blades are drive-connected to the driving assembly. Under the drive of the driving assembly, the first blades drive adjacent second blades to move together toward or away from the center of the predetermined circumferential direction.

[0006] In one embodiment of the present invention, one of the first blade and the second blade is provided with a sliding block and the other is provided with a sliding groove. The sliding block is embedded in the sliding groove and the sliding block and the sliding groove can slide relative to each other. The sliding block and the sliding groove both extend along a first direction to limit the separation of the first blade and the second blade, wherein the first direction is perpendicular to the plane defined by a preset circumferential direction.

[0007] In one embodiment of the present invention, the first blade is provided with a guide structure; the driving assembly includes a driving member and a guide member, which are rotatably connected, and the driving member is capable of rotating relative to the guide member along a preset circumferential direction; the guide member is provided with a through guide groove, the extension direction of the guide groove is set at an angle to the radial direction of the preset circumferential direction, and the guide structure is movably inserted through the guide groove to guide the first blade to move toward or away from the center; the driving member is provided with a driving groove corresponding to the guide groove, the extension direction of the driving groove is set at an angle to the extension direction of the corresponding guide groove, and the guide structure is also movably inserted through the driving groove, wherein the rotation of the driving member drives the guide structure to move along the guide groove.

[0008] In one embodiment of the present invention, both the guide groove and the drive groove extend clockwise along a preset circumferential direction or both extend counterclockwise along a preset circumferential direction, while one of the guide groove and the drive groove extends toward the center of the circle and the other extends away from the center of the circle.

[0009] In one embodiment of the present invention, the guide structure includes a first guide structure and a second guide structure that are stacked and fixed to each other; the first guide structure is movably disposed in the guide groove, the second guide structure is movably disposed in the drive groove, and the length of the first guide structure in the extension direction of the guide groove is greater than the length of the second guide structure in the extension direction of the guide groove.

[0010] In one embodiment of the present invention, the guide structure includes a first guide structure and a second guide structure spaced apart from each other; the guide groove includes a first guide groove and a second guide groove; the first guide structure is movably disposed in the first guide groove, the second guide structure is movably disposed in the second guide groove and the drive groove, and the length of the first guide structure in the extension direction of the first guide groove is greater than the length of the second guide structure in the extension direction of the second guide groove.

[0011] In one embodiment of the present invention, the extension direction of the first guide groove is set at an angle to the extension direction of the second guide groove; the first guide structure includes a first guide portion and a second guide portion, the first guide portion is movably disposed in the first guide groove and extends along the first guide groove, the extension direction of the second guide portion is different from the extension direction of the first guide portion, the first blade is also provided with a guide groove, the second guide portion is movably disposed in the guide groove and extends along the guide groove.

[0012] In one embodiment of the present invention, there are multiple guide grooves and multiple drive grooves, and each guide groove and each drive groove are distributed sequentially at intervals along a preset circumferential direction; in the preset circumferential direction, there are recessed structures between adjacent guide grooves and / or between adjacent drive grooves, and the guide members and / or drive members are also provided with reinforcing ribs.

[0013] In one embodiment of the present invention, the guide member is further provided with a first through hole, and the guide groove is located on the outer periphery of the first through hole. The drive member is further provided with a second through hole corresponding to the first through hole. The member to be pressed passes through the first through hole and the second through hole and is squeezed by the first blade and the second blade. A protruding rotating platform is provided on the outer periphery of one of the first through hole and the second through hole. The rotating platform passes through the other of the first through hole and the second through hole, so that the drive member and the guide member are rotatably connected.

[0014] In one embodiment of the present invention, the support assembly includes a base and a support member. The support member is disposed on the base and has a third through hole corresponding to the first through hole and the second through hole. The member to be pressed passes through the first through hole, the second through hole and the third through hole and is squeezed by the first blade and the second blade. One of the first through hole and the third through hole has a groove on its edge and the other has a block on its edge. The block is embedded in the groove to restrict the relative rotation between the guide member and the support member along a preset circumferential direction.

[0015] In one embodiment of the present invention, the support assembly includes a base and a support member, the support member is disposed on the base, the support member and the guide member are fixedly connected, and the support assembly also includes at least one limiting member, the limiting member being detachably disposed on the base; the driving member includes a connected driving body and a driving handle, the driving body is provided with a driving groove, and the driving handle rotates along a preset circumferential direction to drive the driving body to rotate, wherein the limiting member is used to abut against the driving handle to limit the further rotation of the driving handle.

[0016] In one embodiment of the present invention, the driving component includes a driving body and at least two transmission teeth. The driving body is provided with a driving groove, and the at least two transmission teeth are distributed sequentially along the outer periphery of the driving body. The driving component also includes a power component, which is connected to the at least two transmission teeth to drive the driving body to rotate.

[0017] In one embodiment of the present invention, a measuring protrusion is provided on the surface of the first blade and / or the surface of the second blade, the measuring protrusion being used to abut against the pressure gripper; the support assembly includes a base and a support member, the support member being disposed on the base and the drive assembly being disposed on the support member; the pressure gripper further includes a sensor, the sensor being disposed on the support member, for sensing the magnitude of the force applied by the pressure gripper to the measuring protrusion.

[0018] In one embodiment of the present invention, the length of the protrusion in the first direction is less than the length of the first blade in the first direction and the length of the second blade in the first direction; wherein, the first direction is perpendicular to the plane defined by a preset circumferential direction.

[0019] In one embodiment of the present invention, the surface of the first blade facing the measuring protrusion and / or the surface of the second blade facing the measuring protrusion are provided with grooves, the measuring protrusion and the grooves both extend along the relative sliding direction of the first blade and the second blade, and the measuring protrusion is movably embedded in the groove.

[0020] The beneficial effects of this invention are as follows: Unlike existing technologies, this invention provides a gripping device. The gripping component of this device includes a first blade and second blades alternately arranged along a preset circumferential direction. The first blade is drive-connected to a driving component. Under the drive of the driving component, the first blade drives the adjacent second blade to move towards or away from the center of the preset circumferential direction. This means that in this invention, the driving component only needs to drive the first blade, and the first blade drives the second blade. Therefore, the driving component only needs to be designed for the first blade, simplifying its structure. In other words, the same driving component allows for the movement of a larger number of blades, which is beneficial for increasing the number of blades and thus improving the gripping effect on the object to be gripped. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. Furthermore, these drawings and textual descriptions are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the concept of the invention to those skilled in the art by reference to specific embodiments.

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the gripping device of the present invention;

[0023] Figure 2 yes Figure 1 The exploded structural diagram of the gripping device shown is shown.

[0024] Figure 3 This is a schematic diagram of the structure of an embodiment of the gripping component of the present invention;

[0025] Figure 4 yes Figure 3 The diagram shows a structural schematic of another state of the gripping component.

[0026] Figure 5 This is a schematic diagram of the structure of an embodiment of the first blade of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of an embodiment of the second blade of the present invention;

[0028] Figure 7 yes Figure 3 A schematic diagram of the cross-sectional structure of the gripping component along the AA direction is shown.

[0029] Figure 8 yes Figure 7 A partial structural schematic diagram of region B of the gripping component is shown.

[0030] Figure 9This is a schematic diagram of another embodiment of the gripping component of the present invention;

[0031] Figure 10 This is a schematic diagram of another embodiment of the first blade of the present invention;

[0032] Figure 11 This is a schematic diagram of another embodiment of the second blade of the present invention;

[0033] Figure 12 yes Figure 9 A schematic diagram of the cross-sectional structure of the gripping component in the DD direction is shown.

[0034] Figure 13 yes Figure 12 A partial structural diagram of region E of the gripping component is shown;

[0035] Figure 14 This is a schematic diagram of the structure of an embodiment of the driving component of the present invention;

[0036] Figure 15 This is a schematic diagram of the structure of an embodiment of the driving component and the gripping component of the present invention;

[0037] Figure 16 yes Figure 15 The diagram shows another state of the driving component and the gripping component.

[0038] Figure 17 This is a schematic diagram of another embodiment of the driving component and the gripping component of the present invention;

[0039] Figure 18 This is a schematic diagram of an embodiment of the first guiding structure of the present invention;

[0040] Figure 19 This is a structural schematic diagram of an embodiment of the support and guide components of the present invention;

[0041] Figure 20 yes Figure 1 A schematic diagram of another state of the gripping device shown;

[0042] Figure 21 This is a schematic diagram of the structure of an embodiment of the drive component and support member of the present invention;

[0043] Figures 22a-22c This is a schematic diagram of the structure of the component to be pressed and held in the pressing and holding hole at different depths according to the present invention;

[0044] Figure 23 This is a schematic diagram of an embodiment of the measurement system of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below in conjunction with the embodiments of this invention. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0046] To address the technical problems of existing pressure-gripping loaders having complex structures for driving blade movement and being unable to measure the radial support force at local locations of valve stents, an embodiment of the present invention provides a pressure-gripping device. The pressure-gripping device includes a support assembly. The pressure-gripping device also includes a drive assembly disposed on the support assembly. The pressure-gripping device further includes a pressure-gripping component, which includes first and second blades alternately arranged along a predetermined circumferential direction. Adjacent first and second blades are slidably connected, and the first blades are drively connected to the drive assembly. Under the drive of the drive assembly, the first blades drive adjacent second blades to move together toward or away from the center of the predetermined circumferential direction. The surfaces of the first and / or second blades are provided with measuring protrusions for abutting against the pressure-gripping component. The pressure-gripping device also includes a sensor disposed on the support assembly for sensing the magnitude of the force exerted by the pressure-gripping component on the measuring protrusions. The following is a detailed description.

[0047] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of an embodiment of the gripping device of the present invention. Figure 2 yes Figure 1 The exploded structure diagram of the gripping device shown.

[0048] In one embodiment, the clamping device is applied to the clamping operation of the component to be clamped. For example, the clamping device can be applied to the clamping operation of a valve stent, i.e., the component to be clamped is a valve stent, such as a self-expanding valve stent, a bulbar expansion valve stent, etc.; or the clamping device can also be applied to measure the radial support force of a valve stent, i.e., clamping the valve stent to a certain size and measuring the radial support force possessed by the valve stent at this time. Of course, the clamping device of this embodiment can also be applied to the clamping operation of other types of tubular stents, and is not limited here.

[0049] Specifically, the gripping device includes a support assembly 10. The support assembly 10 serves as the basic support carrier for the gripping device, providing support and bearing for other components of the gripping device.

[0050] The gripping device also includes a drive assembly 20 and a gripping assembly 30. As the name suggests, the gripping assembly 30 is a collection of components in the gripping device used to perform the gripping operation on the workpiece to be gripped. The drive assembly 20 is driveably connected to the gripping assembly 30 so that, driven by the drive assembly 20, the gripping assembly 30 performs the gripping operation on the workpiece to be gripped.

[0051] Please refer to the following: Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the structure of an embodiment of the gripping component of the present invention. Figure 4 yes Figure 3 The diagram shows another state of the gripping component.

[0052] In one embodiment, the gripping assembly 30 includes components along a predetermined circumferential direction (e.g., ...). Figure 3 (As shown by the dashed line C, the same below) The first blade 31 and the second blade 32 are alternately arranged. The first blade 31 and the second blade 32 surround and form a gripping hole 33. The part to be gripped is compressed by the pressure of the first blade 31 and the second blade 32 in the gripping hole 33, thereby completing the gripping operation. Specifically, the first blade 31 and the second blade 32 are oriented towards the center of the predetermined circumferential direction (e.g., ...). Figure 3 As shown in the midpoint O (the same below), the movement causes the space of the gripping hole 33 to decrease, thereby causing the part to be gripped in the gripping hole 33 to be compressed, such as... Figure 4 As shown; the first blade 31 and the second blade 32 move away from the center of the preset circumferential direction, thereby increasing the space of the gripping hole 33, which allows the removal of the gripping part that has completed the gripping operation from the gripping hole 33 or allows a new gripping part to be placed into the gripping hole 33, such as... Figure 3 As shown.

[0053] The adjacent first blade 31 and second blade 32 are slidably connected. Specifically, the first blade 31 is slidably connected to both adjacent second blades 32 in a preset circumferential direction, and the second blade 32 is slidably connected to both adjacent first blades 31 in a preset circumferential direction. The first blade 31 is driven by the drive assembly 20 so that, under the drive of the drive assembly 20, the first blade 31 drives the adjacent second blades 32 to move together toward or away from the center of the preset circumferential direction.

[0054] Specifically, the drive assembly 20 drives each first blade 31 to move toward the center of the preset circumferential direction. Since there is a sliding engagement between adjacent first blades 31 and second blades 32, the first blade 31 can drive the adjacent second blades 32 to move together toward the center of the preset circumferential direction. Similarly, the drive assembly 20 drives each first blade 31 to move away from the center of the preset circumferential direction, and the first blade 31 can drive the adjacent second blades 32 to move together away from the center of the preset circumferential direction.

[0055] In this embodiment, the driving component 20 only needs to drive the first blade 31 to move, and the first blade 31 drives the second blade 32 to move. Therefore, the driving component 20 only needs to be designed for the first blade 31, which simplifies the structure of the driving component 20. In other words, the same driving component 20 allows for the movement of more blades, which is beneficial for increasing the number of blades and thus improving the gripping effect on the object to be gripped. It can be understood that the more first blades 31 and second blades 32 there are, the closer the gripping hole 33 formed by the first blades 31 and second blades 32 is to a circular hole, thus resulting in a better gripping effect.

[0056] Optionally, both the first blade 31 and the second blade 32 can be made of at least one of metallic or polymeric materials. For example, both the first blade 31 and the second blade 32 can be made of metallic materials such as stainless steel or aluminum alloy, or polymeric materials such as ABS, POM, PTFE, or PC. Here, PC refers to polycarbonate; ABS refers to acrylonitrile butadiene styrene plastic; POM refers to polyoxymethylene; and PTFE refers to polytetrafluoroethylene.

[0057] Furthermore, please refer to the following: Figures 5 to 8 One of the first blade 31 and the second blade 32 is provided with a sliding block 34, and the other is provided with a sliding groove 35. The sliding block 34 is embedded in the sliding groove 35, and the sliding block 34 and the sliding groove 35 can slide relative to each other. In this way, the first blade 31 and the second blade 32 can slide relative to each other through the cooperation of the sliding block 34 and the sliding groove 35. Specifically, the sliding block 34 and the sliding groove 35 can slide relative to each other in a direction toward or away from the center of the preset circumferential direction.

[0058] As the first blade 31 and the second blade 32 move together toward or away from the center of the preset circumferential direction, there is a relative displacement between the first blade 31 and the second blade 32. The sliding block 34 and the sliding groove 35 are required to slide between the first blade 31 and the second blade 32 to allow relative displacement between them to support the pressing operation.

[0059] Furthermore, both the sliding block 34 and the sliding groove 35 are along the first direction (e.g., Figure 5 and Figure 6As indicated by the middle arrow X (the same applies below), the sliding groove 35 extends to restrict the separation of the first blade 31 and the second blade 32, wherein the first direction is perpendicular to the plane defined by the preset circumferential direction. In this way, it can be ensured that the first blade 31 drives the second blade 32 to move in coordination. Specifically, the sliding groove 35 and its corresponding sliding block 34 are engaged with each other, so that the sliding block 34 and the sliding groove 35 can restrict the separation of the first blade 31 and the second blade 32.

[0060] The sliding block 34 and the sliding groove 35 also extend along the direction close to the center of the preset circumferential direction, so that during the relative movement between the first blade 31 and the second blade 32, the sliding block 34 and the sliding groove 35 can cooperate to restrict the separation of the first blade 31 and the second blade 32.

[0061] In one exemplary embodiment, such as Figures 5 to 8 As shown, the first blade 31 has sliding blocks 34 and sliding grooves 35 on both sides facing the two adjacent second blades 32, and the second blade 32 has sliding blocks 34 and sliding grooves 35 on both sides facing the two adjacent first blades 31. The sliding block 34 includes a connected first sub-block 341 and a second sub-block 342. The first sub-block 341 extends along a first direction, and the second sub-block 342 extends along the relative directions of the first blade 31 and the second blade 32. The first sub-block 341 of one of the two adjacent blades is embedded in the sliding groove 35 of the other blade, allowing the adjacent first blades 31 and second blades 32 to slide relative to each other, while also preventing the adjacent first blades 31 and second blades 32 from separating from each other.

[0062] In another exemplary embodiment, please refer to Figures 9 to 13 The first blade 31 has sliding blocks 34 and sliding grooves 35 on both sides facing the two adjacent second blades 32, as shown in the figure. Figure 10 As shown; the second blade 32 is provided with sliding blocks 34 and sliding grooves 35 on both sides facing the two adjacent first blades 31, as shown. Figure 11 As shown. The sliding block 34 includes a first sub-block 341 and a second sub-block 342 connected together, the first sub-block 341 extending along a first direction (e.g., Figure 10 and Figure 11 As shown), the second sub-block 342 extends along the relative directions of the first blade 31 and the second blade 32 (as shown). Figure 13 (As shown). The sliding groove 35 includes a first sub-groove 351 and a second sub-groove 352 that are connected, the first sub-groove 351 extending along a first direction (e.g. Figure 10 and Figure 11 As shown), the second sub-slot 352 extends along the relative directions of the first blade 31 and the second blade 32 (as shown). Figure 13(As shown). In each pair of adjacent blades, the first sub-block 341 of one blade is embedded in the first sub-groove 351 of the other blade, and the second sub-block 342 is embedded in the second sub-groove 352, so that the adjacent first blades 31 and second blades 32 can slide relative to each other, and also restricts the separation between the adjacent first blades 31 and second blades 32.

[0063] Please see Figure 2 , Figures 14 to 16 , Figure 14 This is a schematic diagram of the structure of an embodiment of the driving component of the present invention. Figure 15 This is a schematic diagram of an embodiment of the driving component and the gripping component of the present invention. Figure 16 yes Figure 15 The diagram shows another state of the driving component and the gripping component. Figure 15 and Figure 16 The orthographic projection of the drive groove 211 on the drive member 21 onto the guide member 22 is shown.

[0064] In one embodiment, the first blade 31 is provided with a guide structure (including the first guide structure and the second guide structure hereinafter referred to as the second guide structure). The drive assembly 20 includes a drive member 21 and a guide member 22, which are rotatably connected, and the drive member 21 is capable of rotating relative to the guide member 22 along the aforementioned preset circumferential direction. The guide member 22 is provided with a through guide groove 221, and the guide structure is movably disposed in the guide groove 221 to guide the first blade 31 to move toward or away from the center of the preset circumferential direction. The drive member 21 is provided with a drive groove 211 corresponding to the guide groove 221, and the extension direction of the drive groove 211 is set at an angle to the extension direction of the corresponding guide groove 221. The guide structure is also movably disposed in the drive groove 211. By rotating the drive member 21, the drive groove 211 guides the guide structure to move along the guide groove 221, thereby causing the first blade 31 to drive the second blade 32 to move together toward or away from the center of the preset circumferential direction.

[0065] Figures 15 to 16 The demonstration shows the state change where the drive component rotates clockwise relative to the guide component 22 along the aforementioned preset circumferential direction, causing the first blade to drive the second blade together to move toward the center of the preset circumferential direction.

[0066] Therefore, in this embodiment, only the guide groove 221 and drive groove 211 need to be provided for the first blade 31, without providing guide grooves 221 and drive grooves 211 for the second blade 32. This means that this embodiment allows for the design of fewer guide grooves 221 and drive grooves 211, thus simplifying the structure of the drive assembly 20. In other words, when the number of guide grooves 221 and drive grooves 211 is fixed, the drive assembly 20 in this embodiment can drive more blades to perform the pressing operation, which is beneficial for increasing the number of blades and thus improving the pressing effect on the workpiece to be pressed. For example, Figure 15 and Figure 16 In this invention, six guide grooves 221 and six drive grooves 211 can drive 12 blades (six first blades 31 and six second blades 32) to perform the pressing and gripping operation, while in the prior art, six guide grooves and six drive grooves can only drive six blades to perform the pressing and gripping operation.

[0067] Furthermore, due to the limited size of the guide member 22 and the drive member 21, the guide member 22 and the drive member 21 cannot be provided with too many guide grooves 221 and drive grooves 211. Moreover, a large number of guide grooves 221 and drive grooves 211 will inevitably lead to a decrease in the overall structural strength of the guide member 22 and the drive member 21. Therefore, this embodiment is also conducive to improving the structural reliability of the drive assembly 20.

[0068] Optionally, both the guide component 22 and the drive component 21 can be made of at least one of the following materials: metal or polymer. For example, both the guide component 22 and the drive component 21 can be made of metal materials such as stainless steel or aluminum alloy, or polymer materials such as ABS, POM, PTFE, or PC.

[0069] Furthermore, the guide groove 221 and its extension do not pass through the center of the preset circumferential direction, so as to ensure that the guide groove 221 can guide the first blade 31, so that the first blade 31 drives the second blade 32 to move toward or away from the center of the preset circumferential direction. If the guide groove 221 and its extension pass through the center of the preset circumferential direction, the first blade 31 and the second blade 32 will be mutually constrained, causing the first blade 31 and the second blade 32 to be unable to move normally.

[0070] Furthermore, both the guide groove 221 and the drive groove 211 extend clockwise or counterclockwise along the aforementioned preset circumferential direction. Simultaneously, one of the guide groove 221 and the drive groove 211 extends towards the center of the preset circumferential direction, while the other extends away from the center. This results in a large angle between the extension directions of the guide groove 221 and the drive groove 211. This means that in this embodiment, the drive member 21 needs to rotate a relatively large distance relative to the guide member 22 to complete one pressing operation. That is, the movement speed of the first blade 31 and the second blade 32 is relatively slow, which avoids damage to the workpiece due to excessively fast movement speeds of the first blade 31 and the second blade 32. It also facilitates more precise adjustment of the size of the pressing hole 33, ensuring that the workpiece can be pressed to the set size.

[0071] In one exemplary embodiment, such as Figure 15 and Figure 16 As shown, both the guide groove 221 and the drive groove 211 extend clockwise along the aforementioned preset circumferential direction. At the same time, the guide groove 221 extends toward the center of the preset circumferential direction, while the drive groove 211 extends away from the center of the preset circumferential direction.

[0072] In another exemplary embodiment, both the guide groove 221 and the drive groove 211 extend clockwise along the aforementioned preset circumferential direction, while the guide groove 221 extends away from the center of the preset circumferential direction, and the drive groove 211 extends toward the center of the preset circumferential direction.

[0073] It should be noted that the guide groove 221 and the drive groove 211 do not extend strictly along the preset circumferential direction; that is, the extension directions of the guide groove 221 and the drive groove 211 can form a certain angle with the preset circumferential direction. Furthermore, Figure 15 and Figure 16 This illustrates the case where both the guide groove 221 and the drive groove 211 extend along a straight line, while Figure 17 The diagram shows the case where the guide groove 221 extends along a straight line and the drive groove 211 extends along a curve.

[0074] Furthermore, there are multiple guide grooves 221 and multiple drive grooves 211, and each guide groove 221 and each drive groove 211 is distributed sequentially at intervals along the aforementioned preset circumferential direction. In this preset circumferential direction, a recessed structure 231 is provided between adjacent guide grooves 221 and / or between adjacent drive grooves 211, that is, a recessed structure 231 is provided in the area of ​​the guide member 22 between adjacent guide grooves 221 and / or in the area of ​​the drive member 21 between adjacent drive grooves 211, and a reinforcing rib 232 is formed around the recessed structure 231.

[0075] By providing the recessed structure 231 in the above manner, the weight of the guide member 22 and the drive member 21 can be reduced. Furthermore, the reinforcing ribs 232 formed around the recessed structure 231 can enhance the structural strength of the guide groove 221 and the drive groove 211, thereby reducing the risk of deformation of the guide groove 221 and the drive groove 211 during the pressing process, and thus improving the overall structural reliability of the drive assembly 20.

[0076] For example, Figure 14 The example shown is a case where the area between adjacent drive slots 211 on the drive member 21 has a recessed structure 231 and a reinforcing rib 232 is formed around the recessed structure 231, which is not limited here.

[0077] It should be noted that the gripping assembly 30 has the aforementioned drive member 21 and guide member 22 on at least one side of its two sides in the first direction, and the first blade 31 has a guide structure corresponding to the drive member 21 and guide member 22 on each side of the gripping assembly 30. Furthermore, the drive member 21 can be located away from the gripping assembly 30 relative to the guide member 22, or the drive member 21 can be located close to the gripping assembly 30 relative to the guide member 22. Figure 2 The diagram illustrates that the gripping assembly 30 has driving members 21 and guide members 22 on both sides in the first direction, and that the driving members 21 are far away from the guide members 22 relative to the gripping assembly 30. The guide members 22 on both sides of the gripping assembly 30 and the driving members 21 on both sides can be fixedly fitted together by means of thread fastening, adhesive bonding, welding, etc.

[0078] Please continue reading. Figure 5 and Figure 15 In one embodiment, the guiding structure of the first blade 31 includes a first guiding structure 311 and a second guiding structure 312 that are stacked and fixed to each other, meaning that the movement directions of the first guiding structure 311 and the second guiding structure 312 are parallel to each other. The first guiding structure 311 is movably disposed in the guide groove 221, and the second guiding structure 312 is movably disposed in the drive groove 211, and the length of the first guiding structure 311 in the extending direction of the guide groove 221 is greater than the length of the second guiding structure 312 in the extending direction of the guide groove 221.

[0079] In this way, the longer first guide structure 311 cooperates with the guide groove 221 to guide the first blade 31 to translate along the guide groove 221, while restricting the rotation of the first blade 31, so as to ensure the normal movement of the first blade 31 and the second blade 32 and ensure the normal operation of the pressing and gripping operation.

[0080] It should be noted that the guide member 22 can be positioned closer to or further away from the first blade 31 and the second blade 32 relative to the drive member 21. Figure 2This illustrates the configuration where the guide member 22 is positioned relative to the drive member 21, close to the first blade 31 and the second blade 32. Specifically, the first guide structure 311 passes through the guide groove 221 but not within the drive groove 211, while the second guide structure 312 passes through the guide groove 221 and is within the drive groove 211. Figure 15 As shown. The first guide structure 311 is elongated, while the second guide structure 312 is cylindrical.

[0081] Please see Figure 9 , Figure 17 and Figure 18 , Figure 18 This is a schematic diagram of an embodiment of the first guiding structure of the present invention.

[0082] In an alternative embodiment, the first guide structure 311 and the second guide structure 312 of the first blade 31 can be separated from each other, and are not limited to the stacked arrangement described in the above embodiments. Specifically, in this embodiment, the first guide structure 311 and the second guide structure 312 are spaced apart from each other, such as... Figure 9 As shown.

[0083] like Figure 17 As shown, the guide groove includes a first guide groove 2211 and a second guide groove 2212. A first guide structure 311 is movably disposed in the first guide groove 2211, and a second guide structure 312 is movably disposed in the second guide groove 2212 and the drive groove 211 to guide the first blade 31 to move along the second guide groove 2212. The length of the first guide structure 311 in the extension direction of the first guide groove 2211 is greater than the length of the second guide structure 312 in the extension direction of the second guide groove 2212. That is, by using the longer first guide structure 311 in conjunction with the first guide groove 2211, the first blade 31 is guided to translate along the second guide groove 2212 while restricting the rotation of the first blade 31.

[0084] Furthermore, the extending direction of the first guide groove 2211 is set at an angle to the extending direction of the second guide groove 2212, that is, the angle between the extending direction of the first guide groove 2211 and the extending direction of the second guide groove 2212 is greater than 0°, such as... Figure 17 As shown, this means that there is a relative displacement between the first guide structure 311 and the first blade 31.

[0085] In view of this, the first guide structure 311 includes a first guide portion 3111 and a second guide portion 3112, such as Figure 18As shown. The first guide portion 3111 is movably disposed in the first guide groove 2211 and extends along the first guide groove 2211. The extension direction of the second guide portion 3112 is different from the extension direction of the first guide portion 3111. The first blade 31 is also provided with a guide groove 3113. The second guide portion 3112 is movably disposed in the guide groove 3113 and extends along the guide groove 3113.

[0086] In the above manner, during the movement of the first blade 31 along the second guide groove 2212, the first guide portion 3111 of the first guide structure 311 moves along the first guide groove 2211, while the second guide portion 3112 moves relative to the first blade 31 along the guide groove, so that relative movement is allowed between the first guide structure 311 and the first blade 31. This ensures both the translation of the first blade 31 and the second blade 32 and restricts the rotation of the first blade 31 and the second blade 32.

[0087] Optionally, the first guide structure 311 can be made of at least one of metal or polymer materials. For example, the first guide structure 311 can be made of metal materials such as stainless steel or aluminum alloy, or polymer materials such as ABS, POM, PTFE, or PC. Furthermore, the processing methods for the first guide structure 311 are mainly machine tool processing and injection molding.

[0088] Please see Figure 2 , Figure 17 and Figure 19 , Figure 19 This is a structural schematic diagram of an embodiment of the support and guide components of the present invention.

[0089] In one embodiment, the guide member 22 is further provided with a first through hole 222, and the guide groove 221 is located on the outer periphery of the first through hole 222. The drive member 21 is further provided with a second through hole 212 corresponding to the first through hole 222. The first through hole 222 and the second through hole 212 are further provided corresponding to the aforementioned gripping hole 33, such as... Figure 17 As shown. The part to be pressed passes through the first through hole 222 and the second through hole 212 to reach the pressing hole 33, and is squeezed by the first blade 31 and the second blade 32 in the pressing hole 33.

[0090] A raised pivot platform 24 is provided around the outer periphery of one of the first through holes 222 and the second through hole 212, that is, the pivot platform 24 extends along the aforementioned first direction. The pivot platform 24 is a hollow structure and is exposed. The pivot platform 24 passes through the other of the first through hole 222 and the second through hole 212, so that the driving member 21 and the guide member 22 are rotatably connected, that is, the driving member 21 and the guide member 22 are allowed to rotate relative to each other about the pivot platform 24.

[0091] Figure 17 and Figure 19 The diagram shows a rotating platform 24 surrounding the first through hole 222 of the guide member 22. The rotating platform 24 passes through the second through hole 212 of the drive member 21, allowing the drive member 21 and the guide member 22 to be rotatably connected. The above is for illustrative purposes only and is not intended to be limiting.

[0092] Furthermore, the support assembly 10 includes a base 11 and a support member 12, with the support member 12 disposed on the base 11. The support member 12 is provided with a third through hole 121 corresponding to the first through hole 222 and the second through hole 212, such as... Figure 19 As shown, the first through hole 222, the second through hole 212, and the third through hole 121 are provided corresponding to the aforementioned gripping hole 33. The part to be gripped passes through the first through hole 222, the second through hole 212, and the third through hole 121 to reach the gripping hole 33, and is squeezed by the first blade 31 and the second blade 32 in the gripping hole 33.

[0093] Optionally, the support member 12 can be fixedly engaged with the base 11 by means of a bayonet or other means, which is not limited here.

[0094] In this embodiment, the driving member 21 is preferably rotatably configured, while the support member 12 and the guide member 22 remain relatively fixed. Specifically, one edge of the first through hole 222 of the guide member 22 and the third through hole 121 of the support member 12 is provided with a groove 131, and the other edge is provided with a locking block 132. The locking block 132 is embedded in the groove 131 to restrict the relative rotation between the guide member 22 and the support member 12 along a preset circumferential direction, thereby ensuring that the support member 12 and the guide member 22 remain relatively fixed.

[0095] Figure 19 The illustration shows a configuration where a locking block 132 is provided at the edge of the first through hole 222, and a locking groove 131 is provided at the edge of the third through hole 121. Furthermore, the locking block 132 is located at the end of the rotating shaft 24 facing the support member 12, allowing for a more compact structure of the guide member 22. Alternatively, the edge of the third through hole 121 of the support member 12 can also have a raised boss, with the locking groove 131 correspondingly positioned on this boss to engage with the locking block 132 on the guide member 22.

[0096] It should be noted that the support member 12 and the guide member 22 are also connected in the second direction (e.g., by a locking block 132 and a locking groove 131). Figure 19 As indicated by the middle arrow Z (i.e., in the vertical direction), they remain relatively fixed. For example, at least the first through hole 222 and the third through hole 121 are relatively fixed in the third direction (e.g., in the vertical direction). Figure 19As indicated by the middle arrow Y (i.e., in the horizontal direction), the edge is provided with a locking block 132 and a locking slot 131, which not only restricts the relative rotation between the guide member 22 and the support member 12, but also keeps the guide member 22 and the support member 12 relatively fixed in the second direction. The first direction is perpendicular to the plane defined by the second and third directions. Optionally, there are multiple locking slots 131 and locking blocks 132, and these multiple locking slots 131 and multiple locking blocks 132 are distributed sequentially at intervals along a preset circumferential direction.

[0097] Of course, in other embodiments of the present invention, the guide member 22 may be rotatably configured, while the support member 12 and the drive member 21 remain relatively fixed, which is not limited here. Furthermore, in the case where the gripping assembly 30 is provided with a drive member 21 and a guide member 22 on both sides in the first direction, the gripping assembly 30 may also be provided with a support member 12 on both sides in the first direction.

[0098] Please see Figure 1 , Figure 14 and Figure 20 , Figure 20 yes Figure 1 The diagram shows another state of the gripping device.

[0099] In one embodiment, the drive element 21 is manually driven. Specifically, the drive element 21 includes a connected drive body 213 and a drive handle 214. The drive body 213 is provided with the drive groove 211 described in the above embodiment, such as... Figure 14 As shown. The drive handle 214 is for user operation. The user rotates the drive handle 214 along a preset circumferential direction, which drives the drive body 213 to rotate along the preset circumferential direction, thereby driving the first blade 31 and the second blade 32 to move toward or away from the center of the preset circumferential direction.

[0100] Furthermore, the support assembly 10 also includes at least one limiting member 14, which is detachably disposed on the base 11. One of the at least one limiting member 14 can be disposed on the base 11. During the user's operation of rotating the drive handle 214 along a preset circumferential direction, the limiting member 14 abuts against the drive handle 214 to limit further rotation of the drive handle 214, thereby limiting the maximum rotational stroke of the drive handle 214, such as... Figure 20 As shown. When the support assembly 10 includes multiple limiting members 14, selecting different limiting members 14 on the base 11 can make the drive handle 214 have different maximum rotation strokes.

[0101] During the rotation of the drive handle 214 to abut the limiting member 14, the corresponding first blade 31 and second blade 32 move together toward the center of a preset circumferential direction to compress the object to be pressed. To accurately control the degree of compression, i.e., to accurately control the size of the object after compression, this embodiment provides the limiting member 14 to restrict the maximum rotation stroke of the drive handle 214. This also protects the object from excessive compression and damage. Furthermore, different limiting members 14 have different heights. Different heights of the limiting members 14 can be used to achieve different maximum rotation strokes for the drive handle 214, thus compressing the object to the required size and meeting different compression requirements.

[0102] Understandably, after completing the pressing operation of the current component to be pressed, the drive handle 214 is rotated away from the limit member 14, that is, the first blade 31 and the second blade 32 are driven together to move away from the center of the circle in the direction away from the preset circumference, so as to release the compressed component to be pressed and allow the next component to be pressed to be pressed to be changed for pressing operation, such as... Figure 1 As shown.

[0103] Furthermore, in the case where the aforementioned gripping assembly 30 is provided with a driving member 21 and a guide member 22 on both sides in the first direction, the driving member 21 on both sides of the gripping assembly 30 can include a driving body 213 and a driving handle 214. The driving bodies 213 on both sides and the driving handles 214 on both sides can be fixedly fitted by means of thread fastening, glue bonding, welding, etc.

[0104] The following parts list shows the materials, processing methods, and quantities of the core components of the gripping device in this embodiment. It is for illustrative purposes only and is not intended to limit the scope of the invention.

[0105]

[0106] CNC refers to digitally controlled precision machining. It can be seen that the pressure gripping device of this embodiment has fewer parts, a simpler structure, and is easier to process and assemble; moreover, the pressure gripping device of this embodiment has a smaller overall size, making it convenient to carry and use in operating rooms; furthermore, the compression range of the pressure gripping device of this embodiment reaches 0mm to 45mm, and this larger compression range makes the pressure gripping device of this embodiment more widely applicable.

[0107] Please see Figure 21 , Figure 21 This is a schematic diagram of an embodiment of the drive component and support member of the present invention.

[0108] In an alternative embodiment, the drive member 21 can also be electrically driven. Specifically, the drive member 21 includes a drive body 213 and at least two transmission teeth 215. The drive body 213 is provided with the drive groove 211 described in the above embodiment. The at least two transmission teeth 215 are distributed sequentially along the outer periphery of the drive body 213. The drive assembly 20 also includes a power member 25, which is connected to the at least two transmission teeth 215. The power member 25 provides power to drive the drive body 213 to rotate in a preset circumferential direction, thereby causing the first blade and the second blade to move together toward or away from the center of the preset circumferential direction.

[0109] The power unit 25 drives the drive body 213 to rotate along a preset circumferential direction, causing the first blade and the second blade to move together toward the center of the preset circumferential direction to compress the gripper. After completing the gripping operation of the current gripper, the power unit 25 drives the drive body 213 to rotate in the opposite direction, that is, drives the first blade and the second blade together to move away from the center of the preset circumferential direction to release the compressed gripper and allow the next gripper to be replaced for the gripping operation.

[0110] Optionally, the at least two transmission teeth 215 may be disposed on a gear ring, which is fixedly engaged with the drive body 213, for example by means of thread fastening, glue bonding, welding or other methods. Figure 21 The diagram demonstrates a fixed fit between the gear ring and the drive body 213 via threaded fastening. Furthermore, the gear ring can be made of at least one of the following materials: metal or polymer. For example, it can be made of metal materials such as stainless steel or aluminum alloy, or polymer materials such as ABS, POM, PTFE, or PC. The gear ring is primarily manufactured using machine tool processing and injection molding.

[0111] Furthermore, the drive assembly 20 also includes a transmission gear 26 and a transmission shaft 27. The power component 25 can be fixed to the support member 12, and the output end of the transmission shaft 27 and the power component 25 are connected in a transmission manner, meaning the power component 25 can drive the transmission shaft 27 to rotate around its central axis. The transmission gear 26 is driven onto the transmission shaft 27, and the transmission gear 26 meshes with the transmission teeth 215 of the corresponding drive component 21 to achieve a transmission connection between the power component 25 and the aforementioned at least two transmission teeth 215.

[0112] Optionally, the power component 25 can be a device such as a motor that can provide driving force, and there is no limitation on this.

[0113] The following describes an example of applying the gripping device of the present invention to measure the radial support force of a workpiece to be gripped.

[0114] The radial support force of a valvular stent is a crucial indicator for evaluating its anchoring and expansion performance. During research and development, the stent's strut width, wall thickness, shape, and the position and height of the diamond-shaped nodes need to be adjusted according to the required radial support force. This is especially true for cardiac valve stents, which, due to their unique characteristics, typically require a sufficiently large radial support force at the annulus to ensure stable anchoring. Other parts of the stent, such as the waist, require slightly weaker radial support to improve maneuverability during arch crossing or loading. The design of cardiac valve stents must be tailored to human anatomy and clinical needs. Therefore, accurately measuring the radial support force at various locations on the stent is essential for product design and development, as well as guiding clinical practice.

[0115] Traditional equipment used to measure the radial support force of valvular stents employs a flat, plate-like clamp, or a clamp shape that matches the side profile of the valvular stent. The radial support force is measured while the valvular stent is held in place by this clamp. Clearly, traditional equipment has a large contact area between the clamp and the valvular stent, meaning it can only measure the overall radial support force of the valvular stent, not the radial support force at specific locations. Therefore, it cannot accurately measure the radial support force at various points on the valvular stent.

[0116] In view of this, one embodiment of the present invention provides a gripping device that can accurately measure the radial support force at a local location of the part to be gripped.

[0117] Please continue reading. Figure 9 and Figure 21 In one embodiment, the surface of the first blade 31 and / or the surface of the second blade 32 of the gripping assembly 30 are provided with measuring protrusions 36, which are used to abut against the gripping member. After the first blade 31 and the second blade 32 compress the gripping member, a radial support force of the gripping member is applied to the measuring protrusions 36.

[0118] Taking a valve stent as an example, the radial support force is perpendicular to the relative direction of the blood flow inlet and outlet of the gripper, and faces outwards from the gripper. The magnitude of the radial support force is related to the size of the gripper after compression. In other words, the gripping device in this embodiment measures the radial support force of the gripper when compressed to a set size.

[0119] The gripping device also includes a sensor 40, which is disposed on the aforementioned support member 12 (the figure shows that the sensor 40 and the power member 25 described in the above embodiment are disposed in the same position). The sensor 40 is used to sense the magnitude of the force exerted by the squeezed gripper on the measuring protrusion 36, that is, the sensor 40 is used to sense the radial support force of the portion of the gripper that abuts against the measuring protrusion 36.

[0120] As can be seen, in this embodiment, the measuring protrusion 36 replaces the first blade 31 and / or the second blade 32 to abut against the pressing gripper. The measuring protrusion 36 and the pressing gripper have a small contact area. The force sensed by the sensor 40 through the measuring protrusion 36 is the force of the measuring protrusion 36 abutting against the pressing gripper. Therefore, in this embodiment, the sensor 40 can sense the radial support force at a local position of the pressing gripper, and thus accurately measure the radial support force at a local position of the pressing gripper.

[0121] Sensor 40 senses the radial support force at the contact point between the measuring protrusion 36 and the gripper to be pressed. Therefore, by adjusting the contact point between the measuring protrusion 36 and the gripper to be pressed, the radial support force at different locations on the gripper to be pressed can be measured. For example, such as Figures 22a to 22c As shown, by adjusting the depth to which the gripper 60 extends into the gripping hole 33, different positions on the gripper 60 can be made to abut against the measuring protrusion 36, thereby measuring the radial support force at different positions on the gripper 60. Furthermore, as... Figure 9 As shown, in this embodiment, the surface of the first blade 31 and the surface of the second blade 32 are preferably provided with measuring protrusions 36 to further ensure accurate measurement of the radial support force of the gripper to be pressed.

[0122] It should be noted that, as Figure 10 and Figure 11 As shown, the length of the measuring protrusion 36 in the first direction is less than the length of the first blade 31 in the first direction and the length of the second blade 32 in the first direction. Therefore, when the measuring protrusion 36 replaces the first blade 31 and / or the second blade 32 to abut against the pressure gripper, the measuring protrusion 36 and the pressure gripper can have a smaller contact area to accurately measure the radial support force at a local position of the pressure gripper.

[0123] Furthermore, such as Figure 10 , Figure 11 and Figure 13As shown, the surface of the first blade 31 facing the measuring protrusion 36 and / or the surface of the second blade 32 facing the measuring protrusion 36 are provided with grooves 37, that is, the blade surfaces facing the measuring protrusion 36 are provided with grooves 37. Both the measuring protrusion 36 and the grooves 37 extend along the relative sliding direction of the first blade 31 and the second blade 32, and the measuring protrusion 36 is movably embedded in the grooves 37. In other words, as the first blade 31 and the second blade 32 slide relative to each other, the measuring protrusion 36 can move synchronously along the grooves 37.

[0124] The measuring protrusion 36 extends along the relative sliding direction of the first blade 31 and the second blade 32, so that the measuring protrusion 36 can abut against the receiving gripper when the first blade 31 and the second blade 32 are held in different relative positions. That is, the measuring protrusion 36 can abut against the receiving gripper when the receiving gripper is compressed to different sizes. Correspondingly, a groove 37 needs to be provided on the blade surface facing the measuring protrusion 36. The measuring protrusion 36 is embedded in the groove 37, so that the part of the measuring protrusion 36 that does not abut against the receiving gripper is hidden between the first blade 31 and the second blade 32.

[0125] For example, Figures 9 to 11 The illustration shows a case where both the surface of the first blade 31 and the surface of the second blade 32 are provided with measuring protrusions 36. Specifically, the surface of the second blade 32 corresponding to the measuring protrusions 36 on the first blade 31 is provided with grooves 37, and the surface of the first blade 31 corresponding to the measuring protrusions 36 on the second blade 32 is provided with grooves 37.

[0126] Please see Figure 23 , Figure 23 This is a schematic diagram of an embodiment of the measurement system of the present invention.

[0127] In one embodiment, the measurement system includes a gripping device 51 and a display device 52. A sensor 511 of the gripping device 51 is electrically connected to the display device 52, and is used to feed back the magnitude of the force sensed by the sensor 511 to the display device 52 for display. The gripping device 51 has been described in detail in the above embodiments and will not be repeated here.

[0128] Furthermore, in this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," "stacked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripping device, characterized in that, include: Support components; A drive component is disposed on the support component; The gripping assembly includes a first blade and a second blade arranged alternately along a preset circumferential direction. One of the first blade and the second blade is provided with a sliding block, and the other is provided with a sliding groove. The sliding block is embedded in the sliding groove, so that adjacent first blades and second blades are slidably connected. Both the sliding block and the sliding groove extend along a first direction to limit the separation of the first blade and the second blade. The first direction is perpendicular to the plane defined by the preset circumferential direction, and the first blade is driven by the driving assembly. Under the drive of the driving assembly, the first blade drives the adjacent second blade to move toward or away from the center of the preset circumferential direction. The first blade is provided with a guide structure; the driving assembly includes a driving member and a guide member, the driving member and the guide member are rotatably connected, and the driving member is capable of rotating relative to the guide member along the preset circumferential direction; the guide member is provided with a through guide groove, and the guide structure is movably inserted through the guide groove to guide the first blade to move toward or away from the center; the driving member is provided with a driving groove corresponding to the guide groove, the extension direction of the driving groove is set at an angle to the extension direction of the corresponding guide groove, and the guide structure is also movably inserted through the driving groove, wherein the rotation of the driving member drives the guide structure to move along the guide groove.

2. The gripping device according to claim 1, characterized in that, Both the guide groove and the drive groove extend clockwise along the preset circumferential direction or both extend counterclockwise along the preset circumferential direction. At the same time, one of the guide groove and the drive groove extends towards the center of the circle, while the other extends away from the center of the circle.

3. The gripping device according to claim 1, characterized in that, The guiding structure includes a first guiding structure and a second guiding structure that are stacked and fixed to each other; The first guide structure is movably inserted into the guide groove, the second guide structure is movably inserted into the drive groove, and the length of the first guide structure in the extension direction of the guide groove is greater than the length of the second guide structure in the extension direction of the guide groove.

4. The gripping device according to claim 1, characterized in that, The guiding structure includes a first guiding structure and a second guiding structure spaced apart from each other; The guide groove includes a first guide groove and a second guide groove; The first guide structure is movably disposed in the first guide groove, and the second guide structure is movably disposed in the second guide groove and the drive groove. Meanwhile, the length of the first guide structure in the extension direction of the first guide groove is greater than the length of the second guide structure in the extension direction of the second guide groove.

5. The gripping device according to claim 4, characterized in that, The extension direction of the first guide groove is set at an angle to the extension direction of the second guide groove; The first guide structure includes a first guide portion and a second guide portion. The first guide portion is movably disposed in the first guide groove and extends along the first guide groove. The extension direction of the second guide portion is different from the extension direction of the first guide portion. The first blade is also provided with a guide groove. The second guide portion is movably disposed in the guide groove and extends along the guide groove.

6. The gripping device according to claim 1, characterized in that, The number of guide grooves and the number of drive grooves are both multiple, and each guide groove and each drive groove are distributed sequentially at intervals along the preset circumferential direction; In the preset circumferential direction, a recessed structure is provided between adjacent guide grooves and / or between adjacent drive grooves, and the guide member and / or the drive member is also provided with reinforcing ribs.

7. The gripping device according to claim 1, characterized in that, The guide member is also provided with a first through hole, the guide groove is located on the outer periphery of the first through hole, and the drive member is also provided with a second through hole corresponding to the first through hole. The member to be pressed passes through the first through hole and the second through hole and receives the compression of the first blade and the second blade. A raised pivot platform is provided around the outer periphery of one of the first through hole and the second through hole, and the pivot platform passes through the other of the first through hole and the second through hole, so that the driving member and the guide member are rotatably connected.

8. The gripping device according to claim 7, characterized in that, The support assembly includes a base and a support member. The support member is disposed on the base and has a third through hole corresponding to the first through hole and the second through hole. The member to be pressed passes through the first through hole, the second through hole and the third through hole to receive the compression of the first blade and the second blade. One of the first through hole and the third through hole has a groove on its edge, and the other has a block on its edge. The block is embedded in the groove to restrict the relative rotation between the guide and the support along the preset circumferential direction.

9. The gripping device according to claim 1, characterized in that, The support assembly includes a base and a support member, the support member is disposed on the base, the support member and the guide member are fixedly connected, and the support assembly also includes at least one limiting member, the limiting member being detachably disposed on the base; The driving component includes a connected driving body and a driving handle. The driving body is provided with the driving groove. The driving handle rotates along the preset circumferential direction, causing the driving body to rotate. The limiting member is used to abut against the driving handle to limit the further rotation of the driving handle.

10. The gripping device according to claim 1, characterized in that, The driving component includes a driving body and at least two transmission teeth. The driving body is provided with the driving groove, and the at least two transmission teeth are distributed sequentially along the outer periphery of the driving body. The drive assembly further includes a power component, which is connected to the at least two transmission teeth to drive the drive body to rotate.

11. The gripping device according to claim 1, characterized in that, The surface of the first blade and / or the surface of the second blade are provided with measuring protrusions, which are used to abut against the receiving gripper; The support assembly includes a base and a support member, the support member being disposed on the base, and the drive assembly being disposed on the support member; The gripping device also includes a sensor disposed on the support member, which is used to sense the magnitude of the force applied by the member to be gripped to the measuring protrusion.

12. The gripping device according to claim 11, characterized in that, The length of the measuring protrusion in the first direction is less than the length of the first blade in the first direction and the length of the second blade in the first direction; Wherein, the first direction is perpendicular to the plane defined by the preset circumferential direction.

13. The gripping device according to claim 11, characterized in that, The first blade has a groove on the surface facing the measuring protrusion and / or the second blade has a groove on the surface facing the measuring protrusion. The measuring protrusion and the groove both extend along the relative sliding direction of the first blade and the second blade, and the measuring protrusion is movably embedded in the groove.

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