JP5388095B2 - Pinching device - Google Patents

Description

The present invention relates to a clamping device that grips a small or large object with a pair of gripping portions, and more particularly to a clamping device in which the gripping portion bends along the shape of the object.

The forceps used mainly for surgery, which is an example of a clamping device, is mainly used for grasping, holding, and pulling an object (part of a living body, surgical thread, instrument). Patent Document 2 proposes a surgical instrument for fixing, peeling, detaching, cutting, grasping, pulling, suturing, and the like of tissues such as organs. FIG. 8 shows a forceps 80 generally used. A pair of clamping members (forceps members) 85 provided with grips 81 and 82 on one side and handles 83 and 84 as an example of an operation unit on the other side are shown. , 86 are pivotally connected via a pin (screw) 87.

When the forceps 80 is viewed from the side, the front sides of the gripping portions 81 and 82 are curved upward, and the tips of the gripping portions 81 and 82 facing each other with the gripping portions 81 and 82 closed are in contact with each other (for example, A thread used for stitching) can be gripped, and large objects (for example, blood vessels, intestines, etc.) can be gripped between the gripping portions 81 and 82 facing each other.
Reference numeral 88 denotes a ratchet mechanism provided on the opposite handles 83 and 84, which can hold the holding members 85 and 86 at a predetermined angle.

JP-A-9-294746 JP 2004-209909 A

However, as shown in FIG. 8, when the gripping portions 81 and 82 facing the forceps 80 grip an object such as an intestine or a blood vessel, the gripping portions 81 and 82 are made of a hard material. In some cases, the object is grasped while maintaining the shape, and the object is sometimes pressed. Therefore, it is possible to bend the grip portion in accordance with the shape of the object, but in this case, it is necessary to prepare various types of forceps according to the size of the object.
In addition, if the gripping part is made of a soft material, the gripping force of the object is weakened, the function as a forceps is not exhibited sufficiently, and the member does not have sufficient rigidity. There was a problem of weakening.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a clamping device whose gripping portion can be deformed according to the shape of an object.

The holding device according to the first aspect of the present invention is configured to connect a pair of holding members, each having a gripping portion on one side and an operation portion on the other side, so that the gripping portion is closed. In the clamping device capable of gripping a small object by abutting the tip of the gripping part and capable of gripping a large object between the opposing gripping parts,
The pair of gripping portions each include an outer member and an inner member that are elastically bendable and connected at the tip, and a plurality of support members that are disposed with a gap between the outer member and the inner member. In addition, the end portions of the respective support members are connected to the inner side of the outer member and the outer side of the inner member so as to be tiltable.
The clamping device according to the present invention can be applied not only to the surgical forceps, but also to, for example, the hand (grip device) of a robot arm of an industrial machine.

Further, the clamping device according to the second invention is the clamping device according to the first invention, wherein the bending rigidity of the outer member is 0.8 to 2.5 (more preferably 1) of the bending rigidity of the inner member. ˜1.6) times the range. When the bending rigidity of the outer member becomes smaller than the lower limit of the bending rigidity of the inner member, the gripping force at the tip of the gripping portion becomes smaller. When the bending rigidity of the outer member is larger than the upper limit, the force with which the outer member restrains the inner member becomes larger. The deformation along is reduced.

A clamping device according to a third invention is the clamping device according to the first or second invention, wherein the average bending stiffness of the outer member in the front half is smaller than the average bending stiffness of the remaining outer member in the base side. doing. As a result, the front half of the outer member is easily bent, and the gripping portion is further curved to grip the object.

A clamping device according to a fourth invention is the clamping device according to the first to third inventions, wherein at least one end of the support member is rotatably attached to the inner member or the outer member via a pin. It has been.
The clamping device according to a fifth invention is the clamping device according to the first to third inventions, wherein at least one end of the support member is interposed via a connecting member that can be bent to the inner member or the outer member. And bends freely. As a result, the supporting member transmits the pressing force but does not transmit the moment.

The clamping device according to a sixth aspect of the present invention is the clamping device according to the first to fifth aspects of the present invention, wherein the gaps between the plurality of support members are 0.5-1... Maximum inner widths of the inner member and the outer member. It is in the range of 2 times. As a result, the load received by the curved inner member can be efficiently transmitted to the outer member via the support member.

A sandwiching device according to a seventh aspect is the sandwiching device according to the first to sixth aspects, wherein the pair of gripping portions are curved to one side when viewed from the side. This improves the workability of the tip of the gripping part.

The clamping device according to an eighth invention is the clamping device according to the first to seventh inventions, wherein a slip stopper is formed or provided inside the inner member. This increases the holding force to the object to be sandwiched.

A clamping device according to a ninth invention is the clamping device according to any of the first to eighth inventions, wherein the pair of gripping portions are removably fixed to a clamping base portion integrally connected to the operation portion. ing. As a result, the gripping part can be exchanged and the gripping part can be easily manufactured.

A clamping device according to a tenth invention is the clamping device according to any of the first to ninth inventions, wherein the clamping members are each made of stainless steel, titanium or a titanium alloy, silicon resin, urethane, other plastics, or carbon nanotubes. ing. Accordingly, the clamping device is not rusted or hardly rusted, which is suitable for a forceps used for surgery.

The clamping device according to any one of claims 1 to 10, wherein the gripping portion is closed and the tip of the opposing gripping portion comes into contact to grip a small object, and the paired gripping portions are elastically bendable and connected at the tip. Each of the outer member and the inner member, and a plurality of support members disposed with a gap between the outer member and the inner member, and the end portions of the support members are arranged on the inner side of the outer member and the inner member. Since it is connected to the outside of the inner member so as to be tiltable, when a large object is gripped in the middle of the gripping portion (portion excluding the tip and the base side), the inner member is curved, and accordingly, the supporting member The outer member is also pressed through the inner member, and the inner member can be bent and gripped so that the gripping portion surrounds the large object. This increases the gripping force on the large object.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
Here, FIG. 1 is a plan view of the clamping device according to the first embodiment of the present invention, FIG. 2A is a partially enlarged plan view of the clamping device, and FIG. 1B is a partial side view of the clamping device, 3A is a partially enlarged plan view of the clamping device, FIG. 3B is a partially enlarged plan view of a clamping device according to another embodiment of the present invention, and FIG. 4A is the first embodiment of the present invention. FIG. 5B is a plan view and a perspective view of a state in which an object is sandwiched by the clamping device, and FIG. 5A is a second view of the present invention. The top view of the clamping device (forceps) which concerns on this embodiment, (B) is the partial side view of the clamping device, FIG. 6 is the top view of the clamping device (forceps) which concerns on the 3rd Embodiment of this invention, 7A and 7B are plan views of a clamping device according to a modified example of the present invention, respectively, and FIG. 7C is a plan view of a transport device according to the modified example of the present invention.

As shown in FIG. 1 and FIG. 2, the clamping device 10 according to the first embodiment of the present invention is rotatably connected at an intermediate portion, and gripping portions 11 and 12 are an example of an operation portion on the other side. The pair of holding members 15 and 16 are provided with handles 13 and 14, and the pair of gripping portions 11 and 12 are elastically bendable and connected to the outer members 17 and 18 and the inner members. 19 and 20 and a plurality of support members 21 and 22 arranged with a gap between the outer members 17 and 18 and the inner members 19 and 20. These will be described in detail below.

In this clamping device 10, the gripping portions 11 and 12 are screwed to clamping base portions 23 and 24 that are integrated with the handles 13 and 14. In some cases, the sandwiching base portions 23 and 24 and the gripping portions 11 and 12 are integrally formed. The pair of clamping members 15 and 16 are rotatably connected by pins 25 at the intermediate portion.

The handles 13 and 14 and the clamping bases 23 and 24 connected thereto are made of stainless steel, and the rod-shaped handles 13 and 14 are covered with resin covers 26 and 27. In place of the rod-shaped handles 13 and 14, as shown in FIG. 8, a ring-shaped handle may be used. Further, the holding members 15 and 16 that are rotatably connected by the pins 25 are predetermined. A ratchet mechanism (see FIG. 8) that keeps the angle can also be provided, whereby large and small objects gripped or sandwiched by the gripping portions 11 and 12 can be held in that state.

The gripping portions 11 and 12 are made of a heat-resistant plastic or a metal having corrosion resistance (for example, stainless steel, titanium, titanium alloy, silicon resin, urethane, other plastics, or carbon nanotube), and the gripping portion 11 on one side is The outer member 17 and the inner member 19 are connected to the base end and the distal end, and the grip portion 12 on the other side includes the outer member 18 and the inner member 20 connected to the proximal end and the distal end. The outer members 17 and 18 and the inner members 19 and 20 are made of a plate-like material (or a pipe or the like), and in the clamping device 10 in plan view shown in FIG. Are arranged vertically (vertically) so that the plate thickness can be seen in plan view (see FIG. 2), and the gripping portions 11 and 12 can be bent in the ab direction in FIG.

When the handles 13 and 14 are closed and the grips 11 and 12 are closed, as shown in FIGS. 2A and 2B, the tips 29 and 30 of the grips 11 and 12 come into contact with each other. The suture thread 30a (an example of a small article) can be gripped. In this case, the inner sides of the inner members 19 and 20 are curved so that a gap (for example, 1 to 5 mm) is formed between the gripping portions 11 and 12 that are opposed to each other except the tips 29 and 30. In addition, the slip stoppers 31 and 32 are coated (or formed and provided) inside the gripping portions 11 and 12 of the clamping device 10 according to this embodiment.

The outer members 17 and 18 are plate-like like the inner members 19 and 20 and have substantially the same width (height) as the inner members 19 and 20. The outer members 17 and 18 are curved with a smaller curvature than the inner members 19 and 20, and gaps 33 and 34 are formed between the outer members 17 and 18 and the inner members 19 and 20, the widths of which increase from the distal end to the proximal side, respectively. Has been.

As shown in FIGS. 4B and 4C, the inner members 19 and 20 have bending rigidity (bending strength) that can be bent outward along the object 36 when the large object 36 is sandwiched between the inner members 19 and 20. . The bending rigidity (EI) of the outer members 17 and 18 is 0.8 to 2.5 (more preferably 1 to 2, more preferably 1.1 to 1.8) of the bending rigidity of the inner members 19 and 20. It is about double. Here, when the bending rigidity of the outer members 17 and 18 is smaller than the bending rigidity of the inner members 19 and 20 as described above, the small object is gripped by the tips 29 and 30 of the opposing clamping members 15 and 16. When the bending rigidity of the outer members 17 and 18 is larger than the bending rigidity of the inner members 19 and 20 beyond the above range, the inner members 19 and 20 are pulled by the outer members 17 and 18 and are large objects. It becomes difficult to bend along an object. Here, I is the cross-sectional secondary moment of the member, and E is the longitudinal elastic modulus.

Incidentally, the average flexural rigidity of the front side half of the outer members 17 and 18, when smaller than the average flexural rigidity of the remaining group side of the outer members 17 and 18, easily bending the front-side half of the outer members 17 and 18, big When sandwiching the object, the gripping portions 11 and 12 are further curved along the object.
A plurality of support members 21 and 22 are tiltably disposed in the gaps 33 and 34 between the outer members 17 and 18 and the inner members 19 and 20. As shown in FIG. 3A, this support member 21 (22 is also the same) is rotatably connected to predetermined positions of the outer member 17 and the inner member 19 by a binding material 37 of yarn, string or wire, The load from the axial direction of 21 is transmitted to the outer member 17 and the inner member 19, but the moment from the support member 21 is not transmitted to the outer member 17 and the inner member 19.

As a result, the holding device 10 in the opened state as shown in FIG. 4A holds the large object 36 as shown in FIGS. 4B and 4C at the intermediate position between the gripping portions 11 and 12. Then, the inner members 19 and 20 bend along the outside of the object 36, and this bend causes the front side portions of the grip portions 11 and 12 (the side ahead of the portion in contact with the object 36) to be bent inward. Thus, the inner members 19 and 20 are more easily bent along the object 36 more smoothly.

In this embodiment, the support members 21 and 22 are connected to the outer members 17 and 18 and the inner members 19 and 20 by a thin string or a thick thread which is an example of the binding material 37, but FIG. As shown, pin receiving portions 41 and 42 that face each other on the inside of the outer member 39 and on the outside of the inner member 40 can be provided, and can be rotatably connected using both ends of the support member and the pins 43 and 44. It is.

The distance between the support members 21 and 22 is preferably 0.5 to 1.2 times the maximum inner width between the outer member 17 and the inner member 19. As a result, the gripping portions 11 and 12 have a pseudo-Fillendale structure to ensure the necessary rigidity of the entire gripping portion, and at the same time, when a load due to the gripping object is applied between the gripping portions 11 and 12 The intermediate portions of the inner members 19 and 20 are bent, and the outer members 17 and 18 are curved along the outer members 17 and 18 by pushing the outer members 17 and 18 outward through the support members 21 and 22, whereby the gripping portion 11. The front side of 12 is well curved inward, and the pressing force of the tips 29 and 30 of the gripping portions 11 and 12 is increased.

In this clamping device 10, the handles 13 and 14 and the gripping portions 11 and 12 are formed on the same plane, but the gripping portions 11 and 12 are curved in a direction perpendicular to the rotation surface of the gripping portions 11 and 12. (That is, it can be curved to one side as viewed from the side). Thereby, the operability of the gripping portions 11 and 12 is improved.

Next, a forceps 46 that is an example of a clamping device according to the second embodiment of the present invention shown in FIGS. 5A and 5B will be described.
The forceps 46 is made of all stainless steel (or titanium, titanium alloy, silicon resin, urethane, other plastics, carbon nanotubes), and grips 47, 48 on one side and handles 49, 50, which are examples of operation parts on the other side. A pair of sandwiching members (forceps members) 51, 52 are provided via a pin (screw) 53 so that the gripping portions 47, 48 are closed and the gripping portions 47, 48 are opposed to each other. A tip can contact and can grasp a small article, and can grasp a large article in the middle of opposed gripping portions 47 and 48.

And the holding parts 47 and 48 used as a pair have the outer members 54 and 55 and the inner members 56 and 57, respectively. The grip portions 47 and 48 are curved in a direction perpendicular to the opening / closing direction cd of the grip portions 47 and 48. The degree of curvature of the gripping portions 47 and 48 is such that h / g is about 0.1 to 1.5, where g is the horizontal length of the gripping portions 47 and 48 and h is the tip height with respect to the horizontal plane. You can decide freely.

The outer members 54 and 55 and the inner members 56 and 57 are each made of a plate material having the same width, and the base side and the front side are connected. A plurality of support members 58 and 59 are provided between the outer member 54 and the inner member 56 and between the outer member 55 and the inner member 57 with a gap. Both ends of the support members 58 and 59 are connected to the outer member 54 and the inner member 56 and the outer member 55 and the inner member 57, respectively, so as to be rotatable (bendable).

The connection between the outer member 54 (same for 55) and the support member 58 is such that the connection member 60 having a small thickness and a certain length can be bent within elastic deformation. . Further, the connecting member 61 that connects the inner member 56 (same as 57) and the support member 58 has the same structure, and is thin with respect to a slight movement (tilt) of the support member 58, and has a certain length. The connecting member 60 having the shape can cope with the deformation within the elastic limit .

The connecting members 60 and 61 are extremely thin relative to the thickness of the support members 58 and 59 when the whole is stainless steel or titanium. However, when the whole is a synthetic resin, the bending rigidity of the synthetic resin itself is small. Therefore, it can have a certain thickness.

As described above, instead of the connecting members 60 and 61, as shown in FIG. 3B, both ends of the support member are connected to the outer member via the pins 43 and 44 and the pin receiving portions (bearing portions) 41 and 42. 39 and the inner member 40 can be connected to each other, whereby the end portion of the support member can be connected to the outer member 39 and the inner member 40 in a freely tiltable manner. In addition, this invention is applied also when connecting the edge part of a supporting member to an outer side member and an inner side member by other known means.

As described above, the outer members 54 and 55 and the inner members 56 and 57 are supported by connecting the end portions of the support members 58 and 59 to the outer members 54 and 55 and the inner members 56 and 57 so as to be rotatable or bendable. The thrust force and the pulling force are received from the members 58 and 59, but the moment load is not received.
Here, the bending rigidity of the outer members 54 and 55 is set in the range of 0.8 to 2.5 (more preferably 1 to 1.5) of the bending rigidity of the inner members 56 and 57. Accordingly, when the inner members 56 and 57 receive a load from the large object, the inner members 56 and 57 bend along the object. When the inner members 56 and 57 are bent, the outer members 54 and 55 that are maintained at a distance from the inner members 56 and 57 by the support members 58 and 59 are further curved. As a result, the gripping portions 47 and 48 are curved so as to surround the large object.

Next, when a small object (for example, a suture thread) is sandwiched between the tips of the gripping portions 47 and 48, the gripping portions 47 and 48 support the outer members 54 and 55 and the inner members 56 and 57 at a predetermined interval. Since the members 58 and 59 are provided, the entire structure becomes a pseudo-Fillendale structure, and the bending rigidity of the entire gripping portion is increased, thereby ensuring a sufficient gripping force at the tip portions of the gripping portions 47 and 48. it can. As a result, the small object can be firmly held by operating the handles 49 and 50.
Note that a ratchet mechanism 62 made of a combination of known saw blade teeth is provided between the handles 49 and 50 so that the handles 49 and 50 can be held at a predetermined angle.

Next, a forceps 64 that is an example of a clamping device according to a third embodiment of the present invention shown in FIG. 6 will be described.
The forceps 64 has a pair of holding members 67 and 68 provided with grips 65 and 66 on one side and handles 49 and 50 which are examples of an operation unit on the other side, and are rotatably connected via a pin 53. When the gripping portions 65 and 66 are closed, the tips of the opposing gripping portions 65 and 66 come into contact with each other to grip a small object, and a large object can be gripped between the gripping portions 65 and 66 facing each other.

The forceps 64 according to the third embodiment includes support members 58 and 59 between the outer members 54 and 55 and the inner members 56 and 57 in the forceps 46 according to the second embodiment. Since the structure is omitted, the same components as those of the forceps 46 according to the second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

In this embodiment, the outer members 54 and 55 and the inner members 56 and 57 are respectively curved outward and convex with respect to the gripping center. The outer members 54 and 55 and the inner members 56 and 57 are connected at both ends thereof, and a sufficient gap is provided at the intermediate portion. The bending rigidity of the outer members 54 and 55 is larger than the bending rigidity of the inner members 56 and 57, for example, about 1.2 to 3 times.

In using the forceps 64, when the small object (for example, a suture thread) is held by the tips of the grips 65 and 66 by operating the handles 49 and 50, the outer members 54 and 55 connected at both ends are used. Since the loads of both the inner members 56 and 57 are applied to the tips of the grip portions 65 and 66, the small object can be gripped with a sufficient pressing force.

When a large object is gripped at the center of the gripping portions 65 and 66, the inner members 56 and 57 have a small bending rigidity, so that the inner members 56 and 57 are curved and deformed along the large object, thereby the outer member. 54 and 55 are also curved within a small range. Therefore, for example, in the forceps 80 shown in FIG. 8, when the tightening force of the gripping portions 81 and 82 is increased, it is necessary to increase the bending rigidity of the gripping portions 81 and 82. When gripping a large object, there is almost no deformation of the middle part of the gripping parts 81, 82. However, in the forceps 64, the middle part of the gripping parts 65, 66 is also curved and deformed to reduce the deformation of the large object. Can grip firmly.

In the above-described embodiment, the description has been given by using a handle that is manually operated by a person as the operation unit. However, the operation unit is attached to the tip of a robot arm or robot finger that performs an opening / closing operation, and the gripping unit is opened or closed by electric or fluid pressure. You can also.
Further, in the above-described embodiment, the pair of holding members is rotated around the pin at the intermediate position, but the present invention is also applied to the case where the holding member is rotated around the base side of the holding member. Is done.

Next, a modified example to which the present invention is applied will be described with reference to FIGS. 7 (A), (B), and (C). In the clamping device 100 shown in FIG. 7A, one end portions 105 and 106 of opposing clamping members 103 and 104 having gripping portions 101 and 102 are rotatably connected. On the other side of the holding members 103 and 104, handles 107 and 108, which are examples of the operation unit, are provided. The structure of the gripping portions 101 and 102 is the same as that of the sandwiching device 10 according to the first embodiment, and the outer members 17 and 18 and the inner members 19 and 20 and a support that can be tilted to these and connected in a ladder shape Members 21 and 22 are provided.

In this embodiment, the inner members 19 and 20 are curved or straight inward or outward so that the inner members 19 and 20 come into contact when the clamping members 103 and 104 are closed with no load. It has become. In use, when the loads P1 and P2 are applied to the handles 107 and 108 with the object sandwiched therebetween, the inner members 19 and 20 are bent to smoothly grip the object.

In the clamping device 110 shown in FIG. 7B, gripping members 111 and 112 are prepared at the center, and gripping members 117 and 118 provided with handles 113 to 116 which are examples of operation units on both sides are prepared. When the loads P3 to P6 are applied to the object 116, the object can be gripped. In this case, since the structure of the gripping portions 111 and 112 is the same as that of the first embodiment, the inner members 19 and 20 can grip and hold the object.

In the conveyance device 120 illustrated in FIG. 7C, a handle 122, which is an example of an operation unit, is provided on one side of a grip unit (strictly, a stacking member) 121. The grip 121 has an upper member 123 and a lower member 124, and a plurality of support members 125 that connect the upper member 123 and the lower member 124. The support member 125 is attached to the upper member 123 and the lower member 124 so as to be able to rotate (tilt). Therefore, when the object 126 is placed on the upper member 123, the upper member 123 bends along the object 126 and receives the object 126 smoothly.
In the above modification, the bending rigidity ratios of the inner members 19 and 20 and the upper member 123 and the outer members 17 and 18 and the lower member 124 are the same as those of the clamping devices according to the first and second embodiments described above. is there.

In the above-described embodiment, the description has been made using specific numbers. However, numerical values can be changed without departing from the gist of the present invention, and any one of the first to third embodiments can be used. The present invention is also applied to a case where a part of such a clamping device is diverted to a clamping device according to another embodiment.
In addition, in any of the clamping devices according to any of the embodiments, the present invention is applied not only when the pair of gripping portions are in the same plane, but also when the gripping portion is curved in one direction.

It is a top view of the clamping device concerning a 1st embodiment of the present invention. (A) is the elements on larger scale of the clamping apparatus, (B) is the partial side view of the clamping apparatus. (A) is the elements on larger scale of the clamping apparatus, (B) is the elements on larger scale of the clamping apparatus which concerns on other embodiment of this invention. (A) is the top view of the state which the clamping apparatus based on the 1st Embodiment of this invention opened, (B), (C) is the top view and perspective view of the state in which the said clamping apparatus pinched | interposed the target object. is there. (A) is a top view of the clamping device (forceps) which concerns on the 2nd Embodiment of this invention, (B) is a partial side view of the clamping device. It is a top view of the clamping apparatus (forceps) which concerns on the 3rd Embodiment of this invention. (A), (B) is a top view of the clamping apparatus which concerns on the modification of this invention, respectively, (C) is a top view of the conveying apparatus which concerns on the modification of this invention. It is a perspective view of forceps (clamping device) concerning a conventional example.

10: clamping device, 11, 12: gripping part, 13, 14: handle, 15, 16: clamping member, 17, 18: outer member, 19, 20: inner member, 21, 22: support member, 23, 24: Clamping base, 25: pin, 26, 27: cover, 29, 30: tip, 30a: suture, 31, 32: anti-slip, 33, 34: gap, 36: object, 37: binding material, 39: outside Member, 40: inner member, 41, 42: pin receiving portion, 43, 44: pin, 46: forceps, 47, 48: gripping portion, 49, 50: handle, 51, 52: clamping member, 53: pin, 54 , 55: outer member, 56, 57: inner member, 58, 59: support member, 60, 61: connecting member, 62: ratchet mechanism, 64: forceps, 65, 66: gripping part, 67, 68: clamping member, 100: clamping device, 101, 102: gripping part, 1 3, 104: clamping member, 105, 106: one end, 107, 108: handle, 110: clamping device, 111, 112: gripping part, 113-116: handle, 117, 118: clamping member, 120: transport device, 121: gripping part, 122: handle, 123: upper member, 124: lower member, 125: support member, 126: object

Claims (10)

A gripping part on one side is connected to a pair of holding members provided with an operation part on the other side, and the tip of the gripping part facing the gripping part in a closed state can be contacted to grip small items. In a clamping device capable of gripping a large object in the middle of the gripping portions facing each other,
The pair of gripping portions each include an outer member and an inner member that are elastically bendable and connected at the tip, and a plurality of support members that are disposed with a gap between the outer member and the inner member. And an end portion of each support member is tiltably connected to the inside of the outer member and the outside of the inner member. 2. The clamping apparatus according to claim 1, wherein the bending rigidity of the outer member is in a range of 0.8 to 2.5 times the bending rigidity of the inner member. In clamping devices of claim 1 or 2, wherein the average flexural rigidity of the outer member of the front side half, clamping devices being smaller than the average flexural rigidity of the outer member of the remaining group side. The clamping device according to any one of claims 1 to 3, wherein at least one end of the support member is rotatably attached to the inner member or the outer member via a pin. Pinching device. The clamping device according to any one of claims 1 to 3, wherein at least one end of the support member is flexibly attached to the inner member or the outer member via a bendable connecting member. A characteristic clamping device. 6. The clamping device according to claim 1, wherein a gap between the plurality of support members is in a range of 0.5 to 1.2 times the inner maximum width of the inner member and the outer member. A characteristic clamping device. The clamping apparatus according to claim 1, wherein the pair of gripping portions are curved to one side when viewed from the side. The clamping device according to any one of claims 1 to 7, wherein a slip stopper is formed or provided inside the inner member. 9. The clamping apparatus according to claim 1, wherein the pair of gripping parts are detachably fixed to a clamping base part integrally connected to the operation part. apparatus. The clamping device according to any one of claims 1 to 9, wherein each of the clamping members is made of stainless steel, titanium, a titanium alloy, silicon resin, urethane, other plastics, or carbon nanotubes. apparatus.

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