Gripper device

Abstract

The application relates to a clamping jaw device, which comprises a first driving structure; the first transmission structure comprises a first transmission gear assembly and a first transmission shaft; a lifting piece is sleeved on the first transmission shaft and can move along the axial direction of the first transmission shaft under the rotation action of the first transmission shaft; a guide assembly comprises a first guide piece and a second guide piece; the first guide piece is connected to the lifting piece and synchronously lifts with the lifting piece; under the lifting action of the first guide piece, at least two second guide pieces are gathered or dispersed along the radial direction of the first transmission shaft; the at least two second guide pieces are gathered or dispersed so that a clamping piece clamps or releases an internal fixation needle. The clamping jaw device provided by the application can replace the manual grabbing of the internal fixation needle by a doctor, thereby relieving the hand fatigue of the doctor; through the feedback of the electric driving structure, the clamping force of the clamping piece on the internal fixation needle and whether the internal fixation needle has the clamping deviation phenomenon can be judged, thereby improving the puncture effect and puncture efficiency.

Description

Technical Field

[0001] This application relates to the field of surgical instrument technology, and in particular to a gripper device. Background Technology

[0002] In the medical field, Kirschner wires are widely used fixation tools in orthopedic surgery. Their main functions include fixing fracture ends to promote healing, positioning them in orthopedic surgical robots to guide bone screws, determining the osteotomy locations for tools such as drills (and trephine saws), retrieval sites for biopsies, and injection points for bone cement, among other applications. They can be used alone or in conjunction with other devices such as plates, screws, or external fixators.

[0003] Currently, most surgeries involve surgeons manually inserting Kirschner wires under the guidance of X-ray images and orthopedic positioning nets (positioners). Manual insertion of Kirschner wires easily leads to hand fatigue for the surgeon, and the process heavily relies on the surgeon's experience and judgment. Only one Kirschner wire can be inserted at a time, making continuous automated insertion impossible. The puncture effect largely depends on the surgeon, and the insertion efficiency is low. Furthermore, manual insertion is prone to errors in insertion point and angle, resulting in poor safety and low levels of automation and intelligent control. Utility Model Content

[0004] In view of this, the present application provides a gripper device to solve at least one problem existing in the prior art.

[0005] In a first aspect, embodiments of this application provide a gripper device, the gripper device comprising:

[0006] First drive structure;

[0007] The first transmission structure includes a first transmission gear assembly and a first transmission shaft. The first transmission shaft is connected to the first transmission gear assembly. The first driving structure is used to drive the first transmission gear assembly to rotate, and cause the first transmission gear assembly to drive the first transmission shaft to rotate.

[0008] The lifting component is sleeved on the first drive shaft and can move along its axial direction under the rotation of the first drive shaft;

[0009] A guide assembly is connected to the lifting member, and under the lifting action of the lifting member, the guide assembly can converge or disperse radially along the first transmission shaft.

[0010] A clamping assembly is connected to the guide assembly, and the clamping assembly follows the guide assembly to converge or disperse in order to clamp or release the internal fixing pin.

[0011] In conjunction with the first aspect of this application, in an optional embodiment, the guiding assembly includes a first guide member and at least two second guide members, the at least two second guide members being slidably connected to the first guide member, the first guide member being connected to the lifting member and moving up and down synchronously with it, and under the lifting action of the first guide member, the at least two second guide members converging or dispersing radially along the first transmission shaft.

[0012] In conjunction with a first aspect of this application, in an alternative embodiment, the clamping assembly includes:

[0013] At least two clamping members are connected to the second guide members and the at least two clamping members are circumferentially distributed around the axis of the first drive shaft. The at least two second guide members are brought together or dispersed so that the clamping members clamp or release the internal fixing pin.

[0014] In conjunction with the first aspect of this application, in an optional embodiment, the first guide member is provided with a plurality of first guide grooves, the second guide member is provided with a first guide ramp that matches the first guide groove, and the first guide member moves up and down along the axial direction of the first drive shaft so that the first guide ramp abuts against and slides relative to the sidewall of the first guide groove.

[0015] Wherein, the plane containing the first guide slope forms an angle with the axis of the first transmission shaft, and the angle is an acute angle.

[0016] In conjunction with the first aspect of this application, in an optional embodiment, the gripper device further includes:

[0017] The first bearing is provided, the lifting member is connected to the inner ring of the first bearing, and the first guide member is connected to the outer ring of the first bearing.

[0018] In conjunction with the first aspect of this application, in an optional embodiment, the first transmission gear assembly includes:

[0019] The first bevel gear is connected to the first drive structure;

[0020] The second bevel gear meshes with the first bevel gear;

[0021] Under the driving force of the first drive structure, the first bevel gear rotates and drives the second bevel gear to rotate, so that the second bevel gear drives the first drive shaft to rotate.

[0022] In conjunction with the first aspect of this application, in an optional embodiment, the gripper device further includes:

[0023] Second drive structure;

[0024] The second transmission structure includes a second transmission gear assembly and a second transmission shaft. The second transmission shaft is connected to the second transmission gear assembly and is fitted onto the first transmission shaft. The second drive structure is used to drive the second transmission gear assembly to rotate, and the second transmission gear assembly drives the second transmission shaft to rotate. The second transmission shaft is coaxial with the first transmission shaft.

[0025] The second drive shaft rotates, causing the guide assembly to rotate, which in turn causes the guide assembly to simultaneously rotate the internal fixing pin held by the clamping member.

[0026] In conjunction with the first aspect of this application, in an optional embodiment, the second drive shaft has a limiting protrusion on its end face near the guide assembly, the limiting protrusion extending radially along the second drive shaft;

[0027] The second guide member is provided with a limiting groove that matches the limiting protrusion, so that the second guide member can move radially relative to the second drive shaft and rotate synchronously with the second drive shaft.

[0028] In conjunction with the first aspect of this application, in an optional embodiment, the gripper device further includes:

[0029] The third bearing is connected to the inner ring of the first drive shaft, and the second drive shaft is connected to the outer ring of the third bearing.

[0030] In conjunction with the first aspect of this application, in an optional embodiment, the second transmission gear assembly includes:

[0031] The first gear is connected to the second drive structure;

[0032] The second gear meshes with the first gear and is sleeved on the second drive shaft;

[0033] Under the driving force of the second drive structure, the first gear rotates and drives the second gear to rotate, so that the second gear drives the second transmission shaft to rotate synchronously.

[0034] The gripper device provided in this application embodiment uses a first driving structure to grip or release the internal fixation needle, replacing the doctor's manual grasping of the internal fixation needle and relieving the doctor's hand fatigue; through the feedback of the electrical driving structure, it can determine the gripping force of the gripper on the internal fixation needle and whether the internal fixation needle is misaligned, thereby improving the puncture effect and puncture efficiency; and it can realize continuous needle placement of the continuous needle placement device, with high needle placement efficiency, high needle placement accuracy, and can improve needle placement safety and high degree of intelligent control.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0037] Figure 1 This is a schematic diagram of the overall structure of the continuous needle placement device provided in the embodiments of this application;

[0038] Figure 2 This is a schematic diagram of the gripper device provided in the embodiments of this application;

[0039] Figure 3 This is an exploded view of the gripper device provided in the embodiments of this application;

[0040] Figure 4 for Figure 2 Schematic diagram of the cross section at point BB;

[0041] Figure 5 for Figure 3 Enlarged view of point A in the middle;

[0042] Figure 6 This is a schematic diagram of the gripper device provided in another embodiment of this application;

[0043] Figure 7 for Figure 6 Enlarged view of the CC area;

[0044] Figure 8 A three-dimensional structural diagram of the second drive shaft of the gripper device provided in the embodiments of this application.

[0045] Figure label:

[0046] a. Internal fixation pins;

[0047] 100. Gripper device;

[0048] 10. First driving structure;

[0049] 20. First transmission structure; 210. First transmission gear assembly; 211. First bevel gear; 212. Second bevel gear; 220. First transmission shaft; 221. Through hole;

[0050] 30. Lifting components;

[0051] 40. Guide assembly; 410. First guide member; 411. First guide groove; 412. Alternating groove; 413. Second guide ramp; 420. Second guide member; 421. First guide ramp; 422. Limiting groove; 423. Second guide groove;

[0052] 50. Clamping components;

[0053] 6a. First bearing; 6b. Second bearing; 6c. Third bearing; 6d. Fourth bearing;

[0054] 70. Second drive structure;

[0055] 80. Second transmission structure; 810. Second transmission gear assembly; 811. First gear; 812. Second gear; 820. Second transmission shaft; 821. Limiting protrusion;

[0056] 200, Needle cartridge module; 201, Needle cartridge; 202, Rotary drive component; 300, Lifting module; 301, Lifting drive; 302, Slide rail; 303, Slider; 400, Housing. Detailed Implementation

[0057] To make the technical solution and beneficial effects of the present invention more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0058] In the description of this invention, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this invention and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. That is, they should not be construed as limiting this invention.

[0059] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating the relative importance of the indicated features or the number of indicated technical features. Therefore, a feature specified as "first" or "second" can explicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc.; "several" means at least one, such as one, two, three, etc., unless otherwise explicitly specified.

[0060] In this invention, unless otherwise explicitly defined, the terms "installation," "connection," "linking," "fixing," and "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also 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.

[0061] In this invention, unless otherwise explicitly defined, the terms "above," "on top of," "over," "above," "below," "below," "below," or "below" for "first feature above second feature" can refer to the first and second features being in direct contact, or to the first and second features being in indirect contact through an intermediate medium. Furthermore, "above," "over," and "below" for "first feature above second feature" can mean the first feature is directly above or diagonally above the second feature, or simply indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. Similarly, "below," "below," and "below" for "first feature below second feature" can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0062] Figure 1 The diagram shows a schematic of a continuous needle placement device. The device includes a needle cartridge module 200, a lifting module 300, and a gripper device 100. The gripper device 100 is connected to the lifting module 300. The needle cartridge module 200 includes a needle cartridge 201 for accommodating multiple internal fixation needles a and a rotation drive 202. The needle cartridge 201 rotates under the driving force of the rotation drive 202, allowing the internal fixation needles a located on the needle cartridge 201 to sequentially correspond to the channels on the gripper device 100 for accommodating the internal fixation needles a. The gripper device 100 grips the internal fixation needles a and drives them to rotate. The gripper device 100, under the lifting action of the lifting module 300, achieves puncture and shaping of the vertebral body.

[0063] The housing 400 is used to encapsulate the gripper device 100. The housing 400 is provided with a channel for accommodating the inner fixing pin a. The lifting module 300 includes a lifting drive 301, a slide rail 302 and a slider 303. The housing 400 is connected to the slider 303. The gripper device 100 moves up and down along the slide rail 302 under the driving force of the lifting drive 301.

[0064] Internal fixation pins include, but are not limited to, at least one of the following: Kirschner wires, bone screws, and bone drills.

[0065] Continuous pin placement devices are suitable for vertebroplasty, a minimally invasive procedure used to treat vertebral compression fractures, especially those caused by osteoporosis. Continuous pin placement devices are also suitable for pedicle screw fixation, used to stabilize the spine, correct deformities, or promote bone healing.

[0066] Specifically, such as Figures 2 to 4 As shown, the gripper device 100 includes a first drive structure 10, a first transmission structure 20, a lifting member 30, a guide assembly 40, and a gripping assembly.

[0067] The first transmission structure 20 includes a first transmission gear assembly 210 and a first transmission shaft 220. The first transmission shaft 220 is connected to the first transmission gear assembly 210. The first drive structure 10 is used to drive the first transmission gear assembly 210 to rotate, and cause the first transmission gear assembly 210 to drive the first transmission shaft 220 to rotate.

[0068] The first drive structure 10 includes a motor and an output shaft. The motor is mounted on the housing 400, and drives the output shaft to rotate, thereby rotating the first transmission gear assembly 210. Compared to pneumatic drive methods, electric motor drive can reduce the space occupied by the motor, improve the ease of operation during surgery, and does not require a pneumatic source.

[0069] The lifting component 30 is sleeved on the first drive shaft 220 and can move along its axial direction under the rotation of the first drive shaft 220. As an example, the lifting component 30 is provided with an internal thread, and the first drive shaft 220 is provided with an external thread that matches the internal thread.

[0070] The guide assembly 40 is connected to the lifting member 30, and under the lifting action of the lifting member, the guide assembly 40 can converge or disperse radially along the first drive shaft. The clamping assembly is connected to the guide assembly 40, and the clamping assembly converges or disperses with the guide assembly 40 to clamp or release the inner fixing pin.

[0071] The gripper device 100 described above uses the first drive structure 10 to grip or release the internal fixation needle a, replacing the doctor's manual grasping of the internal fixation needle a, which can alleviate the doctor's hand fatigue; through the feedback of the electric drive structure, it can determine the gripping force of the gripper 50 on the internal fixation needle a and whether the internal fixation needle a is deviated, thereby improving the puncture effect and puncture efficiency; and it can realize continuous needle placement of the continuous needle placement device, with high needle placement efficiency, high needle placement accuracy, and can improve needle placement safety and high degree of intelligent control.

[0072] In an optional embodiment, the guide assembly 40 includes a first guide member 410 and at least two second guide members 420. The at least two second guide members 420 are slidably connected to the first guide member 410. The first guide member 410 is connected to the lifting member 30 and can move up and down synchronously with the lifting member 30. Under the lifting action of the first guide member 410, the at least two second guide members 420 converge or disperse radially along the first drive shaft 220. The first guide member 410 and the second guide members 420 transmit force mechanically, improving the stability of clamping the internal fixing pin.

[0073] In one optional embodiment, the clamping assembly includes at least two clamping members 50, which are circumferentially distributed around the axis of the first drive shaft 220. The clamping members 50 are connected to the second guide members 420. Under the lifting action of the first guide members 410, the at least two second guide members 420 converge or disperse to drive the clamping members 50 to clamp or release the internal fixing pin. The internal fixing pin is internal fixing pin a, but it is not limited to this.

[0074] This can be understood as the first guide member 410 moving along the axial direction of the first transmission shaft 220 under the driving force of the first drive structure 10. Figure 2 The movement is indicated by arrow s1. Based on the slidable connection between the first guide member 410 and at least two second guide members 420, the multiple second guide members 420 move in a direction perpendicular to the axis of the first drive shaft 220, i.e., in the radial direction of the first drive shaft 220, under the movement of the first guide member 410, thereby causing at least two clamping members 50 to converge or disperse, achieving clamping or release of the internal fixing needle a. The at least two clamping members 50 extend along the axial direction of the first drive shaft 20, which can increase the contact area between the clamping members 50 and the internal fixing needle, thereby improving the clamping effect of the clamping members on the internal fixing needle.

[0075] In an alternative embodiment, such as Figure 2 and Figure 5 As shown, the first guide member 410 is provided with a plurality of first guide grooves 411, and the second guide member 420 is provided with a first guide ramp 421 that matches the first guide grooves 411. The first guide member 410 moves up and down along the axial direction of the first drive shaft 220, so that the first guide ramp 421 abuts against and slides relative to the sidewall of the first guide groove 411. The plane containing the first guide ramp 421 forms an angle with the axis of the first drive shaft 220, i.e. Figure 2 The included angle α is shown in the figure, and the included angle is acute.

[0076] The specific angle between the plane containing the first guide inclined surface 421 and the axis of the first transmission shaft 220 can be set according to requirements, and this application embodiment does not impose specific limitations.

[0077] In this embodiment, the axial movement is converted into radial movement through the first guide slope 421 and its matching first guide groove 411, which further realizes the clamping or loosening of the inner fixing needle a; the first guide member 410 and the second guide member 420 have simple structures and can avoid the clamping member 50 from applying too much clamping force to the inner fixing needle a and causing damage to it.

[0078] Furthermore, the first guide member 410 is provided with a second guide ramp 413, and the second guide member 420 is provided with a second guide groove 423 that matches the second guide ramp 413. The inclination angle of the second guide ramp 413 is the same as the inclination angle of the first guide ramp 421. By using the first guide groove 411 to match the first guide ramp 421 and the second guide groove 423 to match the second guide ramp 413, the stability of the second guide member 420 driving the clamping member 50 to move radially can be ensured.

[0079] In an alternative embodiment, such as Figure 3 and Figure 4 As shown, the gripper device 100 also includes a first bearing 6a, a lifting member 30 connected to the inner ring of the first bearing 6a, and a first guide member 410 connected to the outer ring of the first bearing 6a. The lifting member 30 and the first guide member 410 are connected via the first bearing 6a, which ensures that when the lifting member 30 moves relative to the first drive shaft 220 along its axial direction, the first guide member 410 and the second guide member 420 will not rotate with it.

[0080] In an alternative embodiment, such as Figure 2 , Figure 3 and Figure 4 As shown, the first transmission gear assembly 210 includes a first bevel gear 211 and a second bevel gear 212. The first bevel gear 211 is connected to the first drive structure 10, and the second bevel gear 212 meshes with the first bevel gear 211. Under the driving force of the first drive structure 10, the first bevel gear 211 rotates and drives the second bevel gear 212 to rotate, thereby causing the second bevel gear 212 to drive the first transmission shaft 220 to rotate.

[0081] In an alternative embodiment, such as Figure 4 As shown, the first drive shaft 220 has a through hole 221, which extends along the axial direction of the first drive shaft 220. The through hole 221 is used to insert the internal fixation needle a. The longer internal fixation needle a inserted into the through hole 221 of the first drive shaft 220 can play a certain guiding and limiting role for the internal fixation needle a, which can improve the positional accuracy of the internal fixation needle a during the puncture process.

[0082] In an alternative embodiment, such as Figure 6 and Figure 7As shown, the gripper device 100 also includes a second drive structure 70 and a second transmission structure 80. The second transmission structure 80 includes a second transmission gear assembly 810 and a second transmission shaft 820. The second transmission shaft 820 is connected to the second transmission gear assembly 810 and is fitted onto the first transmission shaft 220. The second drive structure 70 is used to drive the second transmission gear assembly 810 to rotate, and the second transmission gear assembly 810 drives the second transmission shaft 820 to rotate. The second transmission shaft 820 is coaxial with the first transmission shaft 220.

[0083] The rotation of the second drive shaft 820 drives the guide assembly 40 to rotate, which in turn causes the guide assembly 40 to drive the inner fixing pin a held by the clamping member 50 to rotate simultaneously.

[0084] The gripper device 100 described above can not only use the first drive structure 10 to clamp the internal fixation needle a, but also use the second drive structure 70 to drive the internal fixation needle a to rotate. During the rotation of the internal fixation needle a, it cooperates with the lifting module 300 to perform the puncture action on the vertebral body. Through the feedback of the electric drive structure, it can determine the clamping force of the gripper 50 on the internal fixation needle a and whether the internal fixation needle a is deviated, thereby improving the puncture effect and puncture efficiency.

[0085] In an alternative embodiment, such as Figure 5 , Figure 7 and Figure 8 As shown, the second drive shaft 820 has a limiting protrusion 821 on its end face near the guide assembly 40, and the limiting protrusion 821 extends radially along the second drive shaft 820. The second guide member 420 has a limiting groove 422 that matches the limiting protrusion 821, so that the second guide member 420 can move radially relative to the second drive shaft 820 along the second drive shaft 820, and the second guide member 420 rotates synchronously with the second drive shaft 820.

[0086] The clamping member 50 is connected to the second guide member 420. When the second guide member 420 rotates synchronously with the second drive shaft 820, the inner fixing pin a clamped by the clamping member 50 also rotates synchronously with the second drive shaft 820.

[0087] In an optional embodiment, the gripper device 100 further includes a second bearing 6b, a first drive shaft 220 connected to the inner ring of the second bearing 6b, and a second drive shaft 820 connected to the outer ring of the second bearing 6b.

[0088] Furthermore, the gripper device 100 also includes a third bearing 6c, the inner ring of which is connected to the first drive shaft 220, and the second drive shaft 820 is connected to the outer ring of the third bearing 6c.

[0089] The first drive shaft 220 and the second drive shaft 820 are connected by a second bearing 6b and a third bearing 6c, which allows the first drive shaft 220 to remain stationary while the second drive shaft 820 rotates. Conversely, the second drive shaft 820 remains stationary while the first drive shaft 220 rotates, thus improving the flexibility and rotational stability of the device.

[0090] In an optional embodiment, the second transmission gear assembly 810 includes a first gear 811 and a second gear 812. The first gear 811 is connected to the second drive structure 70, and the second gear 812 meshes with the first gear 811. The second gear 812 is sleeved on the second transmission shaft 820. Under the driving force of the second drive structure 70, the first gear 811 rotates, and the rotation of the first gear 811 drives the second gear 812 to rotate, so that the second gear 812 drives the second transmission shaft 820 to rotate synchronously.

[0091] The second drive structure 70 includes a DC motor and an output shaft. The output shaft is connected to the first gear 811. The output shaft rotates under the driving force of the DC motor and drives the second transmission shaft 820 to rotate. Of course, the second drive structure 70 is not limited to a DC motor.

[0092] The gripper device 100 also includes a fourth bearing 6d, the outer wall of the second drive shaft 820 is connected to the inner ring of the fourth bearing 6d, and the outer ring of the fourth bearing 6d is connected to the housing 400.

[0093] In an alternative embodiment, such as Figure 5 and Figure 7 As shown, the first guide member 410 is also provided with a relief groove 412. When the first guide member 410 moves along the axial direction of the first drive shaft 220, the relief groove 412 is used to avoid the limiting protrusion 821 provided on the second drive shaft 820, so that the first guide member 410 can move a larger stroke, and at the same time improve the structural compactness of the device.

[0094] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations included in the claims. Various modifications and changes can be made to the above embodiments without departing from the scope of this disclosure. Similarly, the various technical features of the above embodiments can be arbitrarily combined to form other embodiments of this application that may not be explicitly described. Therefore, the above embodiments only illustrate several implementations of this application and do not limit the scope of protection of this patent application.

Claims

1. A gripper device, characterized in that, The gripper device (100) includes: First drive structure (10); The first transmission structure (20) includes a first transmission gear assembly (210) and a first transmission shaft (220). The first transmission shaft (220) is connected to the first transmission gear assembly (210). The first drive structure (10) is used to drive the first transmission gear assembly (210) to rotate, and cause the first transmission gear assembly (210) to drive the first transmission shaft (220) to rotate. The lifting component (30) is sleeved on the first drive shaft (220) and can move along its axial direction under the rotation of the first drive shaft (220); The guide assembly (40) is connected to the lifting member (30), and under the lifting action of the lifting member (30), the guide assembly (40) can converge or disperse radially along the first drive shaft (220); A clamping assembly is connected to the guide assembly (40), which follows the guide assembly (40) to converge or disperse in order to clamp or release the internal fixing pin.

2. The gripper device according to claim 1, characterized in that, The guide assembly (40) includes a first guide (410) and at least two second guides (420). The at least two second guides (420) are slidably connected to the first guide (410). The first guide (410) is connected to the lifting member (30) and moves up and down synchronously with it. Under the lifting action of the first guide (410), the at least two second guides (420) converge or disperse radially along the first drive shaft (220).

3. The gripper device according to claim 2, characterized in that, The clamping assembly includes: At least two clamping members (50) are connected to the second guide member (420) and at least two clamping members (50) are circumferentially distributed around the axis of the first drive shaft (220). At least two second guide members (420) are brought together or dispersed so that the clamping members (50) clamp or release the internal fixing pin.

4. The gripper device according to claim 2, characterized in that, The first guide member (410) is provided with a plurality of first guide grooves (411), and the second guide member (420) is provided with a first guide slope (421) that matches the first guide groove (411). The first guide member (410) moves up and down along the axial direction of the first transmission shaft (220) so that the first guide slope (421) abuts against and slides relative to the side wall of the first guide groove (411). Wherein, the plane containing the first guide slope (421) forms an angle with the axis of the first transmission shaft (220), and the angle is an acute angle.

5. The gripper device according to claim 2, characterized in that, The gripper device (100) further includes: The first bearing (6a) is connected to the inner ring of the first bearing (6a), and the first guide (410) is connected to the outer ring of the first bearing (6a).

6. The gripper device according to claim 1, characterized in that, The first transmission gear assembly (210) includes: The first bevel gear (211) is connected to the first drive structure (10). The second bevel gear (212) meshes with the first bevel gear (211); Under the driving force of the first drive structure (10), the first bevel gear (211) rotates and drives the second bevel gear (212) to rotate, so that the second bevel gear (212) drives the first drive shaft (220) to rotate.

7. The gripper device according to claim 3, characterized in that, The gripper device (100) further includes: Second drive structure (70); The second transmission structure (80) includes a second transmission gear assembly (810) and a second transmission shaft (820). The second transmission shaft (820) is connected to the second transmission gear assembly (810) and is fitted onto the first transmission shaft (220). The second drive structure (70) is used to drive the second transmission gear assembly (810) to rotate, and cause the second transmission gear assembly (810) to drive the second transmission shaft (820) to rotate. The second transmission shaft (820) is coaxial with the first transmission shaft (220). The second drive shaft (820) rotates to drive the guide assembly (40) to rotate, and the guide assembly (40) drives the internal fixing pin held by the clamping member (50) to rotate simultaneously.

8. The gripper device according to claim 7, characterized in that, The second drive shaft (820) has a limiting protrusion (821) on its end face near the guide assembly (40), and the limiting protrusion (821) extends radially along the second drive shaft (820); The second guide (420) is provided with a limiting groove that matches the limiting protrusion (821) so that the second guide (420) can move radially relative to the second drive shaft (820) and rotate synchronously with the second drive shaft (820).

9. The gripper device according to claim 7, characterized in that, The gripper device (100) further includes: The third bearing (6c) is connected to the inner ring of the first drive shaft (220), and the second drive shaft (820) is connected to the outer ring of the third bearing (6c).

10. The gripper device according to claim 7, characterized in that, The second transmission gear assembly (810) includes: The first gear (811) is connected to the second drive structure (70); The second gear (812) meshes with the first gear (811) and is sleeved on the second transmission shaft (820); Under the driving force of the second drive structure (70), the first gear (811) rotates and drives the second gear (812) to rotate, so that the second gear (812) drives the second transmission shaft (820) to rotate synchronously.

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