Accurate calculus grabber

Abstract

The invention belongs to the technical field of medical instruments, and discloses an accurate calculus grabber which comprises a main branch pipe, one end of the main branch pipe is communicated with a secondary branch pipe, the end, away from the main branch pipe, of the secondary branch pipe is communicated with a front end pipe, the accurate calculus grabber further comprises a calculus grabbing mechanism, and the calculus grabbing mechanism comprises a pushing frame rod slidably connected to the interior of the main branch pipe; when the annular plug slides to the side, close to the elastic reed pipe, of the fixing cylinder, the pushing frame rod continues to be pulled, the pushing frame rod drives the flexible guide rod and the round block to move, the round block drives the traction wire and the gallstone to enter the front end pipe, and at the moment, the pushing frame rod is slightly pushed, so that the annular plug slides in the fixing cylinder; the multiple traction wires can be diffused and unfolded in the front end tube, gallstone falls into the front end tube, the calculus can be temporarily stored in the front end tube and does not need to be taken out of the body immediately, and the calculus in the temporary storage cavity is taken out at a time after multiple grabbing or operation key steps are completed.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically a precise stone grasper. Background Technology

[0002] Gallstone surgery is one of the most effective methods for curing gallstones to date. The most advanced gallstone retrieval device currently available is the stone retrieval basket manufactured by Endo-Flex, which plays an irreplaceable role in gallstone retrieval, especially in common bile duct stone surgery.

[0003] The prior art document CN118680632B discloses a bile duct stone retrieval instrument for ERCP surgery. This application discloses a bile duct stone retrieval instrument for ERCP surgery, including a main branch tube having a first proximal end and a first distal end opposite to each other; a push tube having a second proximal end and a second distal end opposite to each other, wherein the push tube is sleeved on the outside of the main branch tube; and a stone retrieval part disposed around the first proximal end of the main branch tube and connected to the second proximal end. The stone retrieval part is configured such that when the second proximal end moves towards the first proximal end, a portion of the stone retrieval part moves away from the outer wall of the main branch tube to a bulging state, and when the second proximal end moves away from the first proximal end, a portion of the stone retrieval part moves towards the outer wall of the main branch tube to a contracted state. It mainly solves the problem that existing stone retrieval baskets or stone retrieval balloons cannot effectively grasp the stones, resulting in repeated operations, which in turn prolongs the operation time and increases the patient's pain.

[0004] Although the above application can solve the problem that existing stone retrieval baskets or balloons cannot effectively capture gallstones, after capturing the gallstones, they need to be removed from the body before the next capture operation can be performed. This not only involves complicated steps but also prolongs the operation time and reduces the efficiency of the operation. Summary of the Invention

[0005] To address the problem mentioned in the background art that gallstones need to be repeatedly removed from the body, this invention provides a precise stone grasping device.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a precise stone grasper, comprising a main branch pipe, one end of which is connected to a secondary branch pipe, and the end of the secondary branch pipe away from the main branch pipe is connected to a front end pipe; and further comprising a stone grasping mechanism, the stone grasping mechanism comprising a pushing frame rod slidably connected inside the main branch pipe, one end of which is fixedly connected to a fixing rod, the fixing rod being disposed inside the main branch pipe, one end of which is fixedly connected to a flexible guide rod, and the end of the flexible guide rod being provided with a grasping component for grasping the stone.

[0007] Preferably, the gripping component includes a circular block fixedly connected to one end of the flexible guide rod, and four traction wires are fixedly connected to all four sides of the circular block on the side near the flexible guide rod, with a sliding block fixedly connected to one end of each traction wire.

[0008] Preferably, the inner wall of the sliding block is slidably connected to the outer wall of the flexible guide rod, and a crossbar is fixedly connected to both ends of one side of the sliding block. An annular plug is fixedly connected to the end of the crossbar away from the sliding block.

[0009] Preferably, the outer wall of the annular plug is slidably connected to a fixed cylinder, the inner wall of the fixed cylinder is fixedly connected to the outer wall of the flexible guide rod, and one end of the fixed cylinder is connected to an elastic spring tube.

[0010] Preferably, the end of the elastic reed tube away from the fixed tube is connected to a sealing tube, the outer wall of the sealing tube is fixedly connected to the inner wall of one end of the secondary branch tube, and the inner wall of the sealing tube is slidably connected to the outer wall of one end of the flexible guide rod.

[0011] Preferably, the inner wall of the front end tube is provided with a protective component, the protective component includes an irregularly shaped ring plate fixedly connected to the inner wall of one end of the front end tube, a micro memory metal ring block is fixedly connected to one end of the inner cavity of the fixed cylinder, and multiple exhaust holes are opened on the outer wall of the end of the fixed cylinder near the micro memory metal ring block.

[0012] Preferably, an auxiliary component is provided at one end of the fixed cylinder, the auxiliary component including a compression ring plate fixedly connected to one end of the fixed cylinder, and an annular cylinder is fixedly connected to one end of the sealing cylinder.

[0013] Preferably, an annular plate is slidably connected to one end of the inner cavity of the annular cylinder, and a miniature compression spring is fixedly connected to one side of the annular plate, with one end of the miniature compression spring fixedly connected to one side of the inner cavity of the annular cylinder.

[0014] Preferably, four connecting rods are fixedly connected to the side of the annular plate away from the micro compression spring, and a fixing ring plate is fixedly connected to one end of each connecting rod. The fixing ring plate is disposed outside the annular cylinder.

[0015] Preferably, one end of the annular cylinder is connected to four bends, one end of the bend is slidably connected to a sliding rod, one end of the sliding rod is fixedly connected to a bearing ring plate, and one bearing ring plate is provided.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] This invention, through the inclusion of a gripping component, inserts the secondary branch tube and the front tube into the patient's bile duct. Pushing the pusher rod causes the fixed rod and flexible guide rod to slide within the secondary branch tube and the front tube. This allows the flexible guide rod to move the circular block and traction wire, thereby moving the circular block, traction wire, and sliding block into the patient's bile duct. Simultaneously, as the pusher rod slides within the main branch tube, saline solution from the main and secondary branch tubes enters the sealed cylinder. The saline solution then passes through the sealed cylinder into the elastic reed tube. Entering the interior of the fixed cylinder, the annular plug inside the fixed cylinder slides. The annular plug drives the crossbar and sliding block to slide along the inner cavity of the fixed cylinder, causing the sliding block to gradually approach the round block. This allows multiple traction wires to spread out, facilitating the retrieval of gallstones. After retrieval, a slight pull on the pushing rod creates negative pressure inside the main branch pipe, secondary branch pipe, and sealed cylinder. This negative pressure causes the annular plug inside the fixed cylinder to reset, and the round block and sliding block to move away from each other, causing the traction wires to converge, facilitating the grabbing of gallstones. When the annular plug slides to the side of the fixed cylinder close to the elastic spring tube, continue to pull the push rod. The push rod drives the flexible guide rod and the round block to move. The round block drives the traction wire and gallstone into the interior of the front tube. At this time, gently push the push rod to make the annular plug slide inside the fixed cylinder. This allows multiple traction wires to spread out inside the front tube, causing the gallstone to fall into the interior of the front tube. The stone can be temporarily stored inside the front tube without being removed immediately. After completing multiple grabbing or key surgical steps, the stone in the temporary storage cavity can be removed all at once.

[0018] This invention, through the coordinated arrangement of a grasping component and a protective component, allows the annular plug to move to the other end of the fixed cylinder's inner cavity as the circular block and sliding block approach each other. The saline solution injected into the fixed cylinder is then discharged through multiple vent holes, thus being injected into the patient's bile duct. This saline solution prevents air from entering the bile duct and affecting the patient's health. Furthermore, the injection of saline solution helps clean the inside of the bile duct, flushing away blood clots, pus, and other impurities, facilitating subsequent gallstone removal. When the circular block and sliding block move away from each other, the micro-shape memory metal ring compresses the annular plug, sealing the vent holes and preventing saline leakage. This improves the accuracy of the negative pressure-driven repositioning of the annular plug, ensuring the stability of the device's operation.

[0019] This invention, through the coordinated arrangement of a grasping component, a protective component, and an auxiliary component, and aided by the design of a uniquely shaped ring plate, significantly reduces the risk of gallstones slipping back into the patient's body after they enter the front tube, thus improving the stability of gallstone retention. When a gallstone enters the front tube, the fixed cylinder moves the squeezing ring plate, which compresses one side of the fixed ring plate during its movement. This causes the fixed ring plate to slide along the connecting rod and the annular plate inside the annular cylinder, allowing airflow from the rodless area inside the annular cylinder to enter the curved tube. The airflow then pushes a sliding rod inside the curved tube, which in turn moves a carrying ring plate, causing it to slide left and right within the front tube. This left-right movement of the carrying ring plate scrapes the outer side of the traction wire, causing gallstones caught within the traction wire to fall into the front tube. This ensures that no residual gallstone particles adhere to the outer wall of the traction wire during the gallstone grasping process, thereby improving the cleanliness and efficiency of the operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall side structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the flexible guide rod structure from below according to the present invention;

[0022] Figure 3 This is a schematic diagram of the side structure of the pusher rod of the present invention;

[0023] Figure 4 This is a schematic cross-sectional view of the irregularly shaped ring plate of the present invention;

[0024] Figure 5 For the present invention Figure 4 Enlarged view of A in the middle;

[0025] Figure 6 For the present invention Figure 4 Enlarged view of B in the middle;

[0026] Figure 7 This is a schematic diagram of the side structure of the traction wire of the present invention;

[0027] Figure 8 This is a schematic diagram of the side structure of the bearing ring plate of the present invention;

[0028] Figure 9 This is a top view of the extrusion ring plate structure of the present invention.

[0029] In the diagram: 1. Main branch pipe; 2. Secondary branch pipe; 3. Front end pipe; 4. Stone grasping mechanism; 41. Pushing frame rod; 42. Fixing rod; 43. Flexible guide rod; 44. Grasping component; 45. Protective component; 46. Auxiliary component; 441. Round block; 442. Traction wire; 443. Sliding block; 444. Fixing cylinder; 445. Crossbar; 446. Ring plug; 447. Elastic reed tube; 448. Sealing cylinder; 451. Irregularly shaped ring plate; 452. Miniature memory metal ring block; 453. Vent hole; 461. Compression ring plate; 462. Ring cylinder; 463. Ring plate; 464. Miniature compression spring; 465. Connecting rod; 466. Fixing ring plate; 467. Bend; 468. Sliding rod; 469. Bearing ring plate. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figures 1 to 9 As shown, the present invention provides a precise stone grasper, including a main branch tube 1, one end of the main branch tube 1 is connected to a secondary branch tube 2, the end of the secondary branch tube 2 away from the main branch tube 1 is connected to a front end tube 3, and also includes;

[0032] The stone grasping mechanism 4 includes a pushing frame rod 41 slidably connected inside the main branch pipe 1. One end of the pushing frame rod 41 is fixedly connected to a fixing rod 42. The fixing rod 42 is located inside the main branch pipe 1. One end of the fixing rod 42 is fixedly connected to a flexible guide rod 43. The end of the flexible guide rod 43 is provided with a grasping component 44 for grasping the stone.

[0033] Using the above method: When the annular plug 446 slides to the side close to the elastic reed tube 447, the pusher rod 41 is pulled further, pushing the flexible guide rod 43 and the round block 441 to move, causing the traction wire 442 and the gallstone to enter the front tube 3. At this time, the pusher rod 41 is slightly pushed, causing the annular plug 446 to slide inside the fixed cylinder 444, thereby spreading the traction wire 442, causing the gallstone to fall into the front tube 3 and be temporarily stored there.

[0034] The gripping component 44 includes a circular block 441 fixedly connected to one end of the flexible guide rod 43. Four traction wires 442 are fixedly connected around the side of the circular block 441 near the flexible guide rod 43. A sliding block 443 is fixedly connected to one end of each traction wire 442.

[0035] The inner wall of the sliding block 443 is slidably connected to the outer wall of the flexible guide rod 43. Both ends of one side of the sliding block 443 are fixedly connected to a crossbar 445, and the end of the crossbar 445 away from the sliding block 443 is fixedly connected to an annular plug 446.

[0036] Using the above scheme: Slightly pull the push rod 41 to generate negative pressure inside the main branch pipe 1, the secondary branch pipe 2 and the sealing cylinder 448. The negative pressure can reset the annular plug 446 inside the fixed cylinder 444, and the round block 441 and the sliding block 443 move away from each other, thereby causing the traction wire 442 to be in a retracted state.

[0037] The outer wall of the annular plug 446 is slidably connected to a fixed cylinder 444, the inner wall of the fixed cylinder 444 is fixedly connected to the outer wall of the flexible guide rod 43, and one end of the fixed cylinder 444 is connected to an elastic spring tube 447.

[0038] The end of the elastic reed tube 447 away from the fixed tube 444 is connected to the sealing tube 448. The outer wall of the sealing tube 448 is fixedly connected to the inner wall of one end of the secondary branch tube 2, and the inner wall of the sealing tube 448 is slidably connected to the outer wall of one end of the flexible guide rod 43.

[0039] Using the above method: After inserting the secondary branch tube 2 and the front tube 3 into the patient's bile duct, push the pusher rod 41, causing the fixed rod 42 and the flexible guide rod 43 to slide inside the tube. The flexible guide rod 43 pushes the round block 441 and the traction wire 442 into the bile duct. At the same time, the pusher rod 41 slides inside the main branch tube 1, causing saline to enter the sealing cylinder 448 and then enter the fixed cylinder 444 through the elastic spring tube 447. The saline pushes the ring plug 446 to slide, causing the crossbar 445 and the sliding block 443 to slide along the inner cavity of the fixed cylinder 444, ultimately bringing the sliding block 443 closer to the round block 441, spreading the traction wire 442, and providing more space for the grasping of gallstones.

[0040] like Figures 1 to 9 As shown, the inner wall of the front tube 3 is provided with a protective component 45. The protective component 45 includes an irregular ring plate 451 fixedly connected to the inner wall of one end of the front tube 3. A micro memory metal ring block 452 is fixedly connected to one end of the inner cavity of the fixed cylinder 444. Multiple exhaust holes 453 are opened on the outer wall of the end of the fixed cylinder 444 near the micro memory metal ring block 452.

[0041] Using the above scheme: when the circular block 441 and the sliding block 443 move away from each other, the micro memory metal ring block 452 undergoes memory deformation, squeezing the annular plug 446, thereby sealing the vent hole 453 and preventing the leakage of saline solution.

[0042] An auxiliary component 46 is provided at one end of the fixed cylinder 444. The auxiliary component 46 includes a compression ring plate 461 fixedly connected to one end of the fixed cylinder 444, and an annular cylinder 462 is fixedly connected to one end of the sealing cylinder 448.

[0043] An annular plate 463 is slidably connected to one end of the inner cavity of the annular cylinder 462. A miniature compression spring 464 is fixedly connected to one side of the annular plate 463. One end of the miniature compression spring 464 is fixedly connected to one side of the inner cavity of the annular cylinder 462.

[0044] Four connecting rods 465 are fixedly connected to the side of the annular plate 463 away from the miniature compression spring 464. One end of the connecting rod 465 is fixedly connected to a fixing ring plate 466, which is located outside the annular cylinder 462.

[0045] The outer wall of one end of the annular cylinder 462 is connected to four bends 467 respectively. The inner wall of one end of the bend 467 is slidably connected to a sliding rod 468. One end of the sliding rod 468 is fixedly connected to a bearing ring plate 469. There is one bearing ring plate 469.

[0046] Using the above scheme: When gallstones enter the front tube 3, the fixed cylinder 444 drives the compression ring plate 461 to move. The compression ring plate 461 compresses one side of the fixed ring plate 466, pushing the connecting rod 465 and the annular plate 463 to slide within the annular cylinder 462, allowing the airflow in the rodless area to enter the bend 467. The airflow pushes the sliding rod 468 within the bend 467 to move, causing the bearing ring plate 469 to slide left and right within the front tube 3. During this process, the outer side of the traction wire 442 is scraped, causing the gallstones within the traction wire 442 to fall into the front tube 3.

[0047] Working principle and usage process of this invention:

[0048] The secondary branch tube 2 and the front tube 3 are inserted into the patient's bile duct. The pusher rod 41 is pushed, causing the fixed rod 42 and the flexible guide rod 43 to slide inside the secondary branch tube 2 and the front tube 3. This causes the flexible guide rod 43 to move the round block 441 and the traction wire 442, thus moving the round block 441, the traction wire 442, and the sliding block 443 into the patient's bile duct. Simultaneously, as the pusher rod 41 slides inside the main branch tube 1, the saline solution inside the main branch tube 1 and the secondary branch tube 2 enters the sealed cylinder 448. The saline solution then enters the elastic reed tube 447 through the sealed cylinder 448, and finally enters the fixed cylinder 444 through the elastic reed tube 447. Inside the fixed cylinder 444, the annular plug 446 inside slides, causing the crossbar 445 and the sliding block 443 to slide along the inner cavity of the fixed cylinder 444. This causes the sliding block 443 to gradually approach the round block 441, thereby causing the multiple traction wires 442 to spread out, facilitating the retrieval of gallstones. After retrieval, the push rod 41 is slightly pulled, causing a negative pressure to be generated inside the main branch pipe 1, the secondary branch pipe 2, and the sealing cylinder 448. The negative pressure causes the annular plug 446 inside the fixed cylinder 444 to reset, and the round block 441 and the sliding block 443 to move away from each other, thereby causing the traction wires 442 to be in a contracted state, facilitating the retrieval of gallstones. When the annular plug 446 slides to the side of the fixed cylinder 444 near the elastic spring tube 447, the push rod 41 is pulled further. The push rod 41 drives the flexible guide rod 43 and the round block 441 to move. The round block 441 drives the traction wire 442 and the gallstone into the interior of the front tube 3. At this time, the push rod 41 is pushed slightly to make the annular plug 446 slide inside the fixed cylinder 444. This allows multiple traction wires 442 to spread out inside the front tube 3, causing the gallstone to fall into the interior of the front tube 3. The gallstone can be temporarily stored inside the front tube 3 without being removed immediately. After multiple grabbing or key surgical steps are completed, the gallstone in the temporary storage cavity can be removed all at once.

[0049] As the circular block 441 approaches the sliding block 443, the annular plug 446 moves to the other end of the inner cavity of the fixed cylinder 444. The saline solution injected into the fixed cylinder 444 is discharged outward through multiple vent holes 453, thus being injected into the patient's bile duct. This saline solution prevents air from entering the bile duct and affecting the patient's health. Furthermore, the injection of saline solution helps clean the inside of the bile duct, flushing away blood clots, pus, and other impurities, facilitating subsequent gallstone removal. When the circular block 441 and the sliding block 443 move away from each other, the shape memory deformation of the micro-memory metal ring 452 compresses the annular plug 446, causing it to block the flow of the vent holes 453, preventing saline solution leakage. This improves the accuracy of the negative pressure-driven repositioning of the annular plug 446, ensuring the stability of the device's operation.

[0050] Due to the design of the irregularly shaped ring plate 451, when a gallstone enters the front tube 3, the inclined plate of the irregularly shaped ring plate 451 can significantly reduce the risk of the gallstone slipping back into the patient's body, thus improving the stability of gallstone retention. When the gallstone enters the front tube 3, the fixed cylinder 444 drives the compression ring plate 461 to move. During the movement of the compression ring plate 461, it will compress one side of the fixed ring plate 466, causing the fixed ring plate 466 to drive the connecting rod 465 and the annular plate 463 to slide inside the annular cylinder 462, thereby increasing the airflow in the rodless area inside the annular cylinder 462. Upon entering the interior of the bend 467, the airflow pushes the sliding rod 468 inside the bend 467 to move. The sliding rod 468 drives the bearing ring plate 469 to move, causing the bearing ring plate 469 to slide left and right inside the front end tube 3. During the left and right movement of the bearing ring plate 469, it can scrape the outside of the traction wire 442, causing multiple gallstones caught inside the traction wire 442 to fall into the interior of the front end tube 3. This ensures that no residual gallstone particles adhere to the outer wall of the traction wire 442 during the gallstone grabbing process, thereby improving the cleanliness and efficiency of the operation.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A precise stone-grabbing device, comprising a main branch tube (1), one end of which is connected to a secondary branch tube (2), and the end of the secondary branch tube (2) away from the main branch tube (1) is connected to a front end tube (3), characterized in that: Also includes; Stone grasping mechanism (4), the stone grasping mechanism (4) includes a pushing frame rod (41) slidably connected inside the main branch pipe (1), a fixed rod (42) is fixedly connected to one end of the pushing frame rod (41), the fixed rod (42) is set inside the main branch pipe (1), a flexible guide rod (43) is fixedly connected to one end of the fixed rod (42), and a grasping component (44) is provided at the end of the flexible guide rod (43) for grasping stones.

2. The stone-precision grasping device according to claim 1, characterized in that: The gripping component (44) includes a circular block (441) fixedly connected to one end of a flexible guide rod (43). Four traction wires (442) are fixedly connected around the side of the circular block (441) near the flexible guide rod (43). A sliding block (443) is fixedly connected to one end of each traction wire (442).

3. The stone-precision grasping device according to claim 2, characterized in that: The inner wall of the sliding block (443) is slidably connected to the outer wall of the flexible guide rod (43). A crossbar (445) is fixedly connected to both ends of one side of the sliding block (443). A ring plug (446) is fixedly connected to the end of the crossbar (445) away from the sliding block (443).

4. The stone-precision grasping device according to claim 3, characterized in that: The outer wall of the annular plug (446) is slidably connected to a fixed cylinder (444), the inner wall of the fixed cylinder (444) is fixedly connected to the outer wall of the flexible guide rod (43), and one end of the fixed cylinder (444) is connected to an elastic spring tube (447).

5. The precise stone-grabbing device according to claim 4, characterized in that: The end of the elastic reed tube (447) away from the fixed tube (444) is connected to a sealing tube (448). The outer wall of the sealing tube (448) is fixedly connected to the inner wall of one end of the secondary branch tube (2). The inner wall of the sealing tube (448) is slidably connected to the outer wall of one end of the flexible guide rod (43).

6. The precise stone-grabbing device according to claim 5, characterized in that: The inner wall of the front end tube (3) is provided with a protective component (45). The protective component (45) includes an irregular ring plate (451) fixedly connected to the inner wall of one end of the front end tube (3). A micro memory metal ring block (452) is fixedly connected to one end of the inner cavity of the fixed cylinder (444). Multiple exhaust holes (453) are opened on the outer wall of the fixed cylinder (444) near the micro memory metal ring block (452).

7. The precise stone-grabbing device according to claim 6, characterized in that: An auxiliary component (46) is provided at one end of the fixed cylinder (444). The auxiliary component (46) includes a compression ring plate (461) fixedly connected to one end of the fixed cylinder (444), and an annular cylinder (462) is fixedly connected to one end of the sealing cylinder (448).

8. The precise stone-grabbing device according to claim 7, characterized in that: An annular plate (463) is slidably connected to one end of the inner cavity of the annular cylinder (462), and a miniature compression spring (464) is fixedly connected to one side of the annular plate (463). One end of the miniature compression spring (464) is fixedly connected to one side of the inner cavity of the annular cylinder (462).

9. The precise stone-grabbing device according to claim 8, characterized in that: Four connecting rods (465) are fixedly connected to the side of the annular plate (463) away from the micro compression spring (464). One end of the connecting rod (465) is fixedly connected to a fixing ring plate (466), which is located outside the annular cylinder (462).

10. The precise stone-grabbing device according to claim 9, characterized in that: The outer wall of one end of the annular cylinder (462) is connected to four bends (467), and a sliding rod (468) is slidably connected to the inner wall of one end of the bend (467). One end of the sliding rod (468) is fixedly connected to a bearing ring plate (469), and one bearing ring plate (469) is provided.

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