Ligation device

Abstract

The present invention provides a ligation device capable of stably ligation an object to be ligated by using a wire. A ligation device (1) is provided with: a columnar body (2A); a holding part (3) provided at one end of the main body (2A) in the longitudinal direction and holding a body to be bound; a drawing-in body, at least a part of which is disposed within the main body (2A) and a part of which moves toward the other end of the main body (2A) in the longitudinal direction, thereby drawing in a wire into the main body (2A), said wire binding the body to be bound held by the holding unit (3); and a drive mechanism (7) connected to the other end of the main body (2A) in the longitudinal direction and having at least a drive motor (Mm) for moving the pull-in body in the longitudinal direction.

Description

TECHNICAL FIELD

[0001] The present application relates to a ligature device that ligatures a ligatured body with a thread. BACKGROUND

[0002] Patent Literature 1 discloses a ligature device that ligatures a ligatured body in a body with a thread. The ligature device has a first extendable member, an advancing member, a second extendable member, and a complement member. The first extendable member and the second extendable member each have a lumen. The advancing member holds a coil of a thread at a tip end. The advancing member is disposed in the lumen of the first extendable member and is movable along the lumen of the first extendable member. The complement member has a complement portion at a tip end. The complement member is disposed in the lumen of the second extendable member and is movable along the lumen of the second extendable member. An operation for moving the first extendable member, the advancing member, the second extendable member, and the complement member is performed manually by an operator.

[0003] A method for ligaturing a ligatured body with a thread using the ligature device is as follows. The first extendable member and the second extendable member are moved toward the ligatured body according to an operation of the operator. After the tip ends of the first extendable member and the second extendable member are moved to the inside of the ligatured body, the first extendable member and the second extendable member are stopped. Then, the advancing member and the complement member are moved according to an operation of the operator. The coil of the thread held at the tip end of the advancing member protrudes from the tip end of the first extendable member. The complement portion provided at the tip end of the complement member protrudes from the tip end of the second extendable member. The complement portion complements the coil. Then, the advancing member and the complement member are moved to the front side according to an operation of the operator. The coil complemented by the complement portion is detached from the advancing member. The periphery of the ligatured body becomes a state surrounded by the thread. Thus, the ligatured body can be ligatured with the thread.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Laid-Open No. 2004-513702 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] In the ligature device, an operation for ligaturing a ligatured body with a thread is performed manually by an operator. Therefore, since a deviation occurs in the operation, the ligatured body is sometimes not ligatured stably.

[0009] An object of the present application is to provide a ligature device that can ligature a ligatured body with a thread stably.

[0010] TECHNICAL SOLUTION FOR SOLVING THE PROBLEMS

[0011] The ligation device of the present application is characterized by comprising: a columnar main body; a holding portion provided at one end in a length direction of the main body, holding a ligated body; a pulling-in body at least a part of which is disposed inside the main body, the part moving toward the other end in the length direction of the main body, thereby pulling a thread for ligating the ligated body held by the holding portion into the main body; and a driving mechanism connected to the other end in the length direction of the main body, having at least a first motor that moves the pulling-in body in the length direction.

[0012] The ligation device pulls the thread for ligating the ligated body into the main body by the pulling-in body, and ligates the ligated body. The ligation device can stably perform the operation of pulling the thread into the main body for ligating the ligated body by driving the pulling-in body by the first motor. Therefore, the ligation device can stably ligate the ligated body by the thread. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a perspective view of the ligation device 1.

[0014] Figure 2 is a cross-sectional view of II-II line viewed from the arrow direction Figure 1 .

[0015] Figure 3 is a cross-sectional view of III-III line viewed from the arrow direction Figure 1 .

[0016] Figure 4 is a cross-sectional view of IV-IV line viewed from the arrow direction Figure 1 .

[0017] Figure 5 is a perspective view of the forming portion 2B.

[0018] Figure 6 is a perspective view of the pulling-in body 4, the pusher 5, and the driving unit 7.

[0019] Figure 7 is a side view of the pulling-in body 4, the pusher 5, and the driving unit 7.

[0020] Figure 8 is a rear view of the driving unit 7.

[0021] Figure 9 is a perspective view of the first pulling-in member 4A and the first driving mechanism 7A.

[0022] Figure 10 is an exploded perspective view of the first hook support portion 70A.

[0023] Figure 11 is a cross-sectional view of V-V line viewed from the arrow directionFigure 9 A cross-sectional view along line XI-XI.

[0024] Figure 12 This is a perspective view of the second pull-in component 4B and the second drive mechanism 7B.

[0025] Figure 13 This is an exploded perspective view of the second hook support 70B.

[0026] Figure 14 Viewed from the direction of the arrow Figure 12 A cross-sectional view of line XIV-XIV.

[0027] Figure 15 This is a perspective view of the pusher 5 and the third drive mechanism 7C.

[0028] Figure 16 This is an exploded perspective view of the pusher support section 70C.

[0029] Figure 17 This is a 3D view of the conveyor section 6.

[0030] Figure 18 This is a diagram showing the first step in the ligation process.

[0031] Figure 19 This is a diagram showing the second step in the ligation process.

[0032] Figure 20 This is a diagram representing the third step in the ligation process.

[0033] Figure 21 This is a diagram representing the fourth step in the ligation process.

[0034] Figure 22 This is a diagram representing the fifth step in the ligation process.

[0035] Figure 23 This is a diagram representing the sixth step in the ligation process.

[0036] Figure 24 This is a diagram representing the seventh step in the ligation process.

[0037] Figure 25 This is a diagram representing the eighth step in the ligation process.

[0038] Figure 26 This is a diagram representing the ninth step in the ligation process.

[0039] Figure 27 This is a diagram representing the tenth step in the ligation process.

[0040] Figure 28 This is a diagram showing the state of the ligated body S with the silk thread T wound around it.

[0041] Figure 29 FIG. 11 is a view showing the eleventh step of the ligation process.

[0042] Figure 30 FIG. 12 is a view showing the state of the ligated body S in which the thread T is wound.

[0043] Figure 31 FIG. 13 is a view showing the twelfth step of the ligation process.

[0044] Figure 32 FIG. 14 is a view showing the thirteenth step of the ligation process.

[0045] Figure 33 FIG. 15 is a view showing the fourteenth step of the ligation process.

[0046] Figure 34 FIG. 16 is a view showing the first step of the reconfiguration process.

[0047] Figure 35 FIG. 17 is a view showing the second step of the reconfiguration process.

[0048] Figure 36 FIG. 18 is a view showing the third step of the reconfiguration process.

[0049] Figure 37 FIG. 19 is a view showing the fourth step of the reconfiguration process.

[0050] Figure 38 FIG. 20 is a view showing the fifth step of the reconfiguration process.

[0051] Figure 39 FIG. 21 is a view showing the sixth step of the reconfiguration process.

[0052] Figure 40 FIG. 22 is a view showing the seventh step of the reconfiguration process.

[0053] Figure 41 FIG. 23 is an exploded perspective view of the first pull-in member 4A and the first drive mechanism 8A.

[0054] Figure 42 FIG. 24 is a plan view of the first pull-in member 4A and the first drive mechanism 8A.

[0055] Figure 43 FIG. 25 is an exploded perspective view of the first hook support 80.

[0056] Figure 44 FIG. 26 is a perspective view of the push-knocker 5 and the third drive mechanism 8C.

[0057] Figure 45 FIG. 27 is a plan view of the push-knocker 5 and the third drive mechanism 8C.

[0058] Figure 46 FIG. 28 is an exploded perspective view of the push-knocker support 85.

[0059] Figure 47 This is a side view of the second rotating body 86.

[0060] Figure 48 This is an explanatory diagram illustrating the operation of the first drive mechanism 8A.

[0061] Figure 49 This is an explanatory diagram illustrating the operation of the first drive mechanism 8A.

[0062] Figure 50 This is an explanatory diagram illustrating the operation of the third drive mechanism 8C.

[0063] Figure 51 This is an explanatory diagram illustrating the operation of the third drive mechanism 8C. Detailed Implementation

[0064] One embodiment of the ligation device 1 of the present invention will be described with reference to the accompanying drawings. The accompanying drawings are used to illustrate the technical features that can be employed in the present invention. The configuration of the device described herein is not intended to be limited thereto, but is merely an illustrative example. Figure 1 The top, bottom, lower left, upper right, lower right, and upper left of the ligation device 1 are respectively the top, bottom, front, back, left, and right sides.

[0065] <Summary of Ligation Device 1>

[0066] The ligation device 1 is a device for ligating a body S using a suture T. As an example, the body S is part of a living organism, such as a blood vessel. The ligation device 1 is connected to a surgical support robot R (see reference) for performing minimally invasive surgery. Figure 1 For use. Ligation devices 1A and 1B are examples of ligation device 1.

[0067] <First Embodiment (Ligation Device 1A)>

[0068] like Figure 1 As shown, the ligation device 1A, as one embodiment of the ligation device 1, includes a main body 2A, a forming part 2B, a holding part 3, and a pull-in body 4 (see reference). Figure 6 etc.), pusher 5 (refer to) Figure 6 etc.), Conveying Unit 6 (refer to) Figure 17 ), drive unit 7, and robot connection part 9, etc.

[0069] <Main Body 2A>

[0070] The main body 2A is cylindrical and extends in the front-to-back direction. The front-to-back direction corresponds to the length direction of the main body 2A. The main body 2A includes a base 20A and a rotating part 20B. The rotating part 20B is supported at the top end of the base 20A. The rotating part 20B is rotatable about a first axis C1 extending in the vertical direction. Hereinafter, the description assumes that the base 20A and the rotating part 20B are arranged in a straight line in the front-to-back direction. Figure 2 , Figure 3 , Figure 4 As shown, multiple through holes are formed inside the main body 2A. Specifically, the first through hole 21, the second through hole 22A, the third through hole 22B, the fourth through hole 23A, the fifth through hole 23B, the sixth through hole 24A, the seventh through hole 24B, and the eighth through hole 25 are formed inside the main body 2A.

[0071] The first through hole 21 is located at the center of the left-right direction of the main body 2A. For example... Figure 2 As shown, the first insertion hole 21 includes an extension 21A, a first branch 21B, and a second branch 21C. The extension 21A extends rearward from the top of the main body 2A. The first branch 21B extends rearward from the rear end of the extension 21A. The second branch 21C extends obliquely downward and backward from the rear end of the extension 21A, bending rearward and extending further rearward. The first insertion hole 21 branches into the first branch 21B and the second branch 21C at the rear end of the extension 21A. A portion of the first pull-in member 4A and the pusher 5 are inserted into the first branch 21B. A portion of the second pull-in member 4B is inserted into the second branch 21C.

[0072] Figure 4The second through hole 22A, the third through hole 22B, the fourth through hole 23A, the fifth through hole 23B, the sixth through hole 24A, the seventh through hole 24B, and the eighth through hole 25 shown extend in the front-back direction. The second through hole 22A and the third through hole 22B are located at the center of the main body 2A in the vertical direction. The second through hole 22A is located to the right of the first through hole 21. The third through hole 22B is located to the left of the first through hole 21. The third operating line 221 is inserted into the second through hole 22A and the third through hole 22B. The fourth through hole 23A and the fifth through hole 23B are located below the second branch 21C of the first through hole 21. The fourth through hole 23A is located to the right of the second branch 21C. The first operating line 201 and the fourth operating line 231 are inserted into the fourth through hole 23A. The fifth through hole 23B is positioned to the left of the second branch 21C. The fifth operating line 232 is inserted into the fifth through hole 23B. The sixth through hole 24A is positioned to the right of the first branch 21B. The first operating line 201 and the second operating line 202 are inserted into the sixth through hole 24A. The seventh through hole 24B is positioned to the left of the first branch 21B. The second operating line 202 is inserted into the seventh through hole 24B. The rotating part 20B of the main body 2A rotates relative to the base 20A according to the operation of the second operating line 202. The eighth through hole 25 is positioned below the second branch 21C. The sixth operating line 251 is inserted into the eighth through hole 25.

[0073] like Figure 2 As shown, a first cutter 26 is provided inside the rotating part 20B. (As indicated...) Figure 3 As shown, the first cutter 26 has a rotary table 26A and a blade 26B. The rotary table 26A is capable of rotating about a second axis C2 extending in the vertical direction. The rotary table 26A rotates according to the fourth operating line 231 and the fifth operating line 232 (see reference). Figure 4 The blade 26B rotates during the operation of the rotary table 26A. The blade 26B extends upwards from the upper surface of the rotary table 26A. During the rotation of the rotary table 26A, the blade 26B is located within the extension 21A of the first through hole 21 (see reference 26A). Figure 2 The blade 26B passes through the extension 21A, thereby cutting the thread T within the extension 21A.

[0074] like Figure 2 As shown, a bobbin B is disposed inside the rotating part 20B, forward of the first cutter 26. A thread T is wound on the bobbin B. The bobbin B is supported so that it can rotate about a third axis C3 extending in the left-right direction.

[0075] <Forming Section 2B>

[0076] like Figure 2 , Figure 3As shown, the forming part 2B is disposed inside the main body 2A at a position rearward than the first cutter 26. The forming part 2B forms a coil of wire T within the extension 21A of the first insertion hole 21. The forming part 2B includes a first coil shaft 46 and a second coil shaft 56.

[0077] like Figure 5 As shown, the first coil shaft 46 has a first support platform 46A, a first separation platform 46B, a second separation platform 46C, a first separation wall 461B, a second separation wall 462B, a third separation wall 461C, a fourth separation wall 462C, and a first gear 46D. The second coil shaft 56 has a second support platform 56A, a third separation platform 56B, a fourth separation platform 56C, a fifth separation wall 561B, a sixth separation wall 562B, a seventh separation wall 561C, an eighth separation wall 562C, and a second gear 56D.

[0078] The first support platform 46A and the second support platform 56A are circular plates, orthogonal to the vertical direction. The first support platform 46A and the second support platform 56A are arranged in the front-to-back direction. The first support platform 46A is positioned behind the second support platform 56A. The first support platform 46A is rotatable about a fourth axis C4 passing through its center and extending vertically. The second support platform 56A is rotatable about a fifth axis C5 passing through its center and extending vertically.

[0079] A first groove 463 is formed on the side of the first support platform 46A. A third operating line 221 extends from the rear of the first support platform 46A forward, wraps around the first groove 463 to change direction, and extends rearward. A first gear 46D is provided on the lower side of the first support platform 46A. A second gear 56D is provided on the lower side of the second support platform 56A. The first gear 46D meshes with the second gear 56D. According to the operation of the third operating line 221, the first support platform 46A and the second support platform 56A rotate in conjunction.

[0080] When viewed from above, if the first support platform 46A rotates clockwise, the second support platform 56A rotates counterclockwise. This direction of rotation will be referred to as "first rotation direction R1". When viewed from above, if the first support platform 46A rotates counterclockwise, the second support platform 56A rotates clockwise. This direction of rotation will be referred to as "second rotation direction R2". In the following description, unless otherwise specified, "clockwise" and "counterclockwise" refer to the rotation direction as viewed from above.

[0081] A first separation platform 46B and a second separation platform 46C are disposed on the upper surface of a first support platform 46A. The first separation platform 46B and the second separation platform 46C are separated radially about a fourth axis C4. A second groove 460A is formed between the first separation platform 46B and the second separation platform 46C. A third separation platform 56B and a fourth separation platform 56C are disposed on the upper surface of a second support platform 56A. The third separation platform 56B and the fourth separation platform 56C are separated radially about a fifth axis C5. A third groove 560A is formed between the third separation platform 56B and the fourth separation platform 56C.

[0082] The first separating wall 461B and the second separating wall 462B protrude upward from the first separating platform 46B. The first separating wall 461B and the second separating wall 462B are separated circumferentially about the fourth axis C4. A fourth groove 460B is formed between the first separating wall 461B and the second separating wall 462B. The third separating wall 461C and the fourth separating wall 462C protrude upward from the second separating platform 46C. The third separating wall 461C and the fourth separating wall 462C are separated circumferentially about the fourth axis C4. A fifth groove 460C is formed between the third separating wall 461C and the fourth separating wall 462C. The upper ends of the first separating wall 461B, the second separating wall 462B, the third separating wall 461C, and the fourth separating wall 462C slope upward from the clockwise end toward the opposite end.

[0083] The fifth separation wall 561B and the sixth separation wall 562B protrude upward from the third separation platform 56B. The fifth separation wall 561B and the sixth separation wall 562B are separated circumferentially about the fifth axis C5. A sixth groove 560B is formed between the fifth separation wall 561B and the sixth separation wall 562B. The seventh separation wall 561C and the eighth separation wall 562C protrude upward from the fourth separation platform 56C. The seventh separation wall 561C and the eighth separation wall 562C are separated circumferentially about the fifth axis C5. A seventh groove 560C is formed between the seventh separation wall 561C and the eighth separation wall 562C. The upper ends of the fifth separation wall 561B, the sixth separation wall 562B, the seventh separation wall 561C, and the eighth separation wall 562C slope upward from the counterclockwise end toward the opposite end.

[0084] like Figure 5 As shown, when the second coil shaft 56 rotates and the second separating stage 46C is positioned to the right relative to the first separating stage 46B, the second coil shaft 56 rotates in conjunction, and the fourth separating stage 56C is positioned to the right relative to the third separating stage 56B. Hereinafter, Figure 5The rotational position shown is called the "first rotational position". The position after rotating the first coil shaft 46 and the second coil shaft 56 90 degrees from the first rotational position along the first rotational direction R1 is called the "second rotational position". The position after rotating the first coil shaft 46 and the second coil shaft 56 180 degrees from the first rotational position is called the "third rotational position".

[0085] With the first coil shaft 46 and the second coil shaft 56 positioned in the first or third rotational position, the second slot 460A and the third slot 560A extend in the front-rear direction, and the fourth slot 460B, the fifth slot 460C, the sixth slot 560B, and the seventh slot 560C extend in the left-right direction. With the first coil shaft 46 and the second coil shaft 56 positioned in the second rotational position, the second slot 460A and the third slot 560A extend in the left-right direction, and the fourth slot 460B, the fifth slot 460C, the sixth slot 560B, and the seventh slot 560C extend in the front-rear direction.

[0086] Forming section 2B can form a first coil P1 and a second coil P2 by winding the wire T around the first coil shaft 46 and the second coil shaft 56 (see reference). Figure 40 A first coil P1 is formed on a first coil shaft 46, and a second coil P2 is formed on a second coil shaft 56. Furthermore, by rotating the first coil shaft 46 and the second coil shaft 56 while the first coil P1 and the second coil P2 are formed, the forming part 2B can remove the first coil P1 and the second coil P2 from the first coil shaft 46 and the second coil shaft 56 while maintaining the state in which the first coil P1 and the second coil P2 are formed on the wire T.

[0087] <Maintenance Section 3>

[0088] like Figure 1 As shown, the retaining part 3 is disposed at the top of the main body 2A. The retaining part 3 includes a first jaw part 3A and a second jaw part 3B. The first jaw part 3A and the second jaw part 3B retain the ligated body S.

[0089] The first jaw portion 3A extends forward from the top of the main body 2A and extends further by curving forward and upward. The rear end of the second jaw portion 3B is rotatably supported on the top of the main body 2A. A sixth axis C6 extending along the rotation center of the second jaw portion 3B extends in the left-right direction. The top of the second jaw portion 3B moves towards a position close to contacting the top of the first jaw portion 3A depending on the rotation of the second jaw portion 3B (see reference). Figure 2 ) and the separation position relative to the top of the first jaw 3A, separating upwards (refer to Figure 1 The second jaw 3B moves according to the first operating line 201 (refer to...). Figure 4 The operation moves the device towards the approaching position and the separation position.

[0090] As Figure 2 shown, in a state where the second jaw portion 3B is disposed in the approach position, a gap is formed between a portion in the first jaw portion 3A other than a contact portion that contacts the second jaw portion 3B and a portion in the second jaw portion 3B other than a contact portion that contacts the first jaw portion 3A. The ligature S is held by the first jaw portion 3A and the second jaw portion 3B in a state of being accommodated in the gap.

[0091] A first insertion hole 31 is formed in the first jaw portion 3A. The first insertion hole 31 extends obliquely downward rearward from a portion in the first jaw portion 3A that contacts the second jaw portion 3B disposed in the approach position, is bent rearward, and extends rearward. A transport portion 6 (refer to Figure 17 ) described later is disposed in the first insertion hole 31. A hook pin 35 for hooking the suture T is provided at a top end of the first insertion hole 31.

[0092] A recess 32 is formed in a lower surface of the second jaw portion 3B. The recess 32 is recessed upward. The recess 32 extends rearward from a top end of the second jaw portion 3B toward a rear end. The rear end of the recess 32 is located forward of a top end of the first insertion hole 21 of the main body 2A. A second insertion hole 33 is provided in the vicinity of the top end of the second jaw portion 3B. The second insertion hole 33 penetrates the second jaw portion 3B in the upward and downward direction. The recess 32 intersects the second insertion hole 33. A second cutter 34 is fixed to a rear side in the second insertion hole 33 of the second jaw portion 3B. A cutting edge of the second cutter 34 faces an inner side of the second insertion hole 33.

[0093] <Retracting body 4>

[0094] At least a portion of the retracting body 4 is disposed in the main body 2A. The retracting body 4 is movable in the forward and rearward direction with respect to the main body 2A. The retracting body 4 draws the suture T into the main body 2A by moving toward the rear. As Figure 6 , Figure 7 , Figure 8 shown, the retracting body 4 includes a first retracting member 4A and a second retracting member 4B. The first retracting member 4A and the second retracting member 4B have the same shape. The first retracting member 4A is disposed above the second retracting member 4B. The first retracting member 4A is disposed inside a knot pusher 5 described later.

[0095] As Figure 9 shown, the first retracting member 4A has a hook body 41 and a wire 42. The hook body 41 has a cylindrical shape and extends in the forward and rearward direction. A cutout 41A is formed in the vicinity of a top end of the hook body 41 and on the left side. A portion of a cutout face of the cutout 41A that extends to the right from a left end is inclined forward. A top end portion of the hook body 41 is bent into a hook shape in a state viewed from above. The portion of the hook body 41 that is hooked is referred to as a hook 41B. The hook 41B hooks the suture T.

[0096] The wire 42 is arranged in the through-hole in the hook body 41. The wire 42 has a cylindrical shape and extends in the front-rear direction. The front surface 42A of the wire 42 is inclined with respect to a plane orthogonal to the front-rear direction. In a state viewed from above, the front surface 42A extends obliquely rearward from the left end to the right. The wire 42 presses the thread T hooked by the hook 41B of the hook body 41.

[0097] As shown in Figure 12 , the second pull-in member 4B has a hook body 43 and a wire 44. The hook body 43 and the wire 44 correspond to the hook body 41 and the wire 42 (refer to Figure 9 ) of the first pull-in member 4A. The notch 43A and the hook 43B of the hook body 43 correspond to the notch 41A and the hook 41B (refer to Figure 9 ) of the hook body 41. The front surface 44A of the wire 44 corresponds to the front surface 42A (refer to Figure 9 ) of the wire 42.

[0098] The first pull-in member 4A is movable in the front-rear direction along the extension 21A and the first branch 21B (refer to Figure 2 ) of the first insertion hole 21 in the main body 2A and the recess 32 (refer to Figure 2 ) of the second jaw 3B. The second pull-in member 4B is movable in the front-rear direction along the extension 21A and the second branch 21C (refer to Figure 2 ) of the first insertion hole 21 in the main body 2A and the recess 32 (refer to Figure 2 ) of the second jaw 3B.

[0099] <Pusher 5>

[0100] At least a part of the pusher 5 is arranged in the main body 2A. The pusher 5 is movable in the front-rear direction with respect to the main body 2A. The pusher 5 pushes the first coil P1 and the second coil P2 of the thread T formed by the forming portion 2B out of the main body 2A in the front direction by moving in the front direction.

[0101] As shown in Figure 15 , the pusher 5 has a cylindrical shape and extends in the front-rear direction. The first pull-in member 4A (refer to Figure 9 ) is arranged inside the pusher 5. The positions of the center lines that pass through the centers of the pusher 5 and the first pull-in member 4A respectively and extend in the front-rear direction coincide with each other. The tip 51 of the pusher 5 is inclined with respect to a plane orthogonal to the front-rear direction.

[0102] The pusher 5 is movable in the front-rear direction along the extension 21A and the first branch 21B of the first insertion hole 21 in the main body 2A and the recess 32 (refer to Figure 2 ) of the second jaw 3B. In addition, the pusher 5 is relatively movable in the front-rear direction with respect to the first pull-in member 4A arranged inside.

[0103] <Transportation Section 6>

[0104] Figure 17 The conveying section 6 shown is disposed in the first jaw section 3A of the holding section 3 (see reference). Figure 1 (etc.) inside. The conveying unit 6 can move along the first insertion hole 31 (refer to) Figure 2 The conveying section 6 moves in the front-to-back direction. The conveying section 6 feeds the thread T from the first jaw 3A toward the second jaw 3B. The conveying section 6 has a base 61, a groove 62, a connecting section 63, and a connecting section 64.

[0105] The base 61 has a cylindrical shape bent into an arc. The base 61 extends upward toward the top. A groove 62 is provided at the top of the base 61. The groove 62 extends in the front-to-back direction. The groove 62 is positioned to the right of the center in the left-to-right direction of the base 61. The groove 62 clamps and holds the thread T therebetween. A cutout 60 is formed on the right surface of the base 61. The bottom of the cutout 60 is positioned to the left of the groove 62 in the left-to-right direction.

[0106] The connecting portion 63 extends rearward from the rear end of the base 61. The connecting portion 63 is cylindrical with a cross-sectional diameter smaller than that of the base 61. The connecting portion 63 is flexible. A connecting portion 64 is provided at the rear end of the connecting portion 63. A sixth operating line 251 (see reference) is connected to the connecting portion 64. Figure 4 The conveyor unit 6 moves in the forward and backward direction according to the operation of the sixth operating line 251.

[0107] <Robot Connection Part 9>

[0108] like Figure 1 As shown, the robot connector 9 covers the rear end of the main body 2A. The robot connector 9 is cylindrical. The robot connector 9 has a bottom surface that covers the opening at the lower end. The main body 2A extends rearward through the front end of the side 91 of the robot connector 9 and to the rear end of the side 91. The pull-in body 4 and the pusher 5 extend through the main body 2A to a position further rearward than the rear end of the side 91.

[0109] A circular plate Rr of robot R is inserted into the opening 9A at the upper end of robot connector 9. Thus, robot connector 9 is connected to robot R. Multiple robot motors MR, built into robot R, are connected to the circular plate Rr. The rotation axes of the multiple robot motors MR extend toward the robot connector 9. Robot R rotates the multiple robot motors MR to control the first operating line 201, second operating line 202, third operating line 221, fourth operating line 231, fifth operating line 232, and sixth operating line 251 (see reference). Figure 4 To perform the operation.

[0110] <Drive Unit 7>

[0111] As shown in Figure 1 , a drive unit 7 is connected to a rear end portion of a side surface 91 of the robot connecting portion 9. The drive unit 7 has a first drive mechanism 7A (refer to Figure 9 ), a second drive mechanism 7B (refer to Figure 12 ), a third drive mechanism 7C (refer to Figure 15 ), a first support plate 701, a second support plate 702, a plurality of spacers 703, a housing 704, and a bottom plate 705.

[0112] The first support plate 701 and the second support plate 702 are circular plates orthogonal to the front-rear direction. The plurality of spacers 703 are provided between the first support plate 701 and the second support plate 702. The plurality of spacers 703 support the first support plate 701 and the second support plate 702 in a state in which the first support plate 701 and the second support plate 702 are separated in the front-rear direction. The second support plate 702 is disposed at a position further rearward than the first support plate 701. The housing 704 has a cylindrical shape. A central axis of the housing 704 extends in the front-rear direction. A front end of the housing 704 is connected to a rear surface of the second support plate 702. A rear end of the housing 704 is closed by the bottom plate 705.

[0113] Figure 9 , Figure 10 , Figure 11 The first drive mechanism 7A shown in Figure 12 , Figure 13 , Figure 14 The second drive mechanism 7B shown in Figure 15 , Figure 16 The third drive mechanism 7C shown in

[0114] As shown in Figure 6 , first and second electric motors Ma1 and Ma2, first and second auxiliary electric motors Mb1 and Mb2, and second and auxiliary electric motors Mc1 and Mc2 (hereinafter collectively referred to as "drive electric motors Mm") are fixed to a front surface of the first support plate 701. Rotating shafts of the drive electric motors Mm pass through through-holes of the first support plate 701 in the rearward direction and protrude further rearward than a rear surface of the first support plate 701.

[0115] As shown in Figure 6 , Figure 7As shown, the first threaded shafts Xa1, Xb1, and the second threaded shaft Xc1 (hereinafter collectively referred to as "threaded shaft X1"), and the first auxiliary shafts Xa2, Xb2, and the second auxiliary shaft Xc2 (hereinafter collectively referred to as "auxiliary shaft X2") extend in the front-rear direction between the second support plate 702 and the base plate 705. The threaded shaft X1 has a rod-like shape with a circular cross-section. External threads are formed on the side of the threaded shaft X1. The external threads extend in a helical manner in the front-rear direction. The auxiliary shaft X2 is a D-shaped cutting shaft with a D-shaped cross-section.

[0116] The front ends of both the threaded shaft X1 and the auxiliary shaft X2 protrude forward through a through hole in the second support plate 702 and extend forward beyond the front surface of the second support plate 702. The threaded shaft X1 and the auxiliary shaft X2 are rotatably supported by the second support plate 702 and the base plate 705. The threaded shaft X1, the auxiliary shaft X2, and the first hook support 70A, the second hook support 70B, and the pusher support 70C (described later) are covered by the housing 704.

[0117] <First Drive Mechanism 7A>

[0118] like Figure 9 As shown, the first drive mechanism 7A includes a first threaded shaft Xa1, a first auxiliary shaft Xa2, a first hook support 70A, a first motor Ma1, and a first auxiliary motor Ma2 (see reference). Figure 6 ).

[0119] The first threaded shaft Xa1 is positioned diagonally below and to the right relative to the first auxiliary shaft Xa2, extending parallel to the first auxiliary shaft Xa2. The first threaded shaft Xa1 is positioned relative to the second support plate 702 (see reference). Figure 6 The protruding part is connected to the first gear Ga1. The first gear Ga1 is connected to the first motor Ma1 (see reference). Figure 6 The first threaded shaft Xa1 is driven to rotate by the first electric motor Ma1. A second gear Ga2 is connected to the portion of the first auxiliary shaft Xa2 that protrudes forward from the second support plate 702. The second gear Ga2 is connected to the first auxiliary electric motor Ma2 (see reference). Figure 6 The gears of the rotating shaft are engaged. The first auxiliary shaft Xa2 is driven to rotate by the first auxiliary motor Ma2.

[0120] The first hook support 70A supports the hook body 41 and the wire 42. For example... Figure 10 , Figure 11 As shown, the first hook support portion 70A has a support base 71A, a first main gear 71B, a first driven gear 71C, and a first conversion portion 71D.

[0121] The support base 71A supports the hook body 41, the first main gear 71B, the first driven gear 71C, and the first conversion portion 71D. The support base 71A has a base portion 711, a first clamping portion 712, a second clamping portion 713, a first protruding portion 714, and a second protruding portion 715. The base portion 711 has a cylindrical shape. The central axis of the base portion 711 extends in the front-rear direction. A through-hole extending in the front-rear direction is formed in the base portion 711. An internal thread is formed on the inner surface of the through-hole. The internal thread extends in the front-rear direction in a helical shape. The through-hole in which the internal thread is formed on the inner surface is referred to as a "first nut portion 710". The first threaded shaft Xa1 (refer to Figure 9 ) is inserted through the first nut portion 710. The external thread of the first threaded shaft Xa1 engages with the internal thread of the first nut portion 710.

[0122] The first clamping portion 712 and the second clamping portion 713 protrude obliquely upward to the left from the side surface of the base portion 711. The first clamping portion 712 and the second clamping portion 713 have a plate shape and are orthogonal to the front-rear direction. The first clamping portion 712 and the second clamping portion 713 are separated in the front-rear direction. The first clamping portion 712 is disposed at a position further forward than the second clamping portion 713. A first through-hole 712H extending in the front-rear direction is formed in the upper end portion of the first clamping portion 712. A second through-hole 713H extending in the front-rear direction is formed in the upper end portion of the second clamping portion 713. The first through-hole 712H and the second through-hole 713H are arranged in a straight line in the front-rear direction. The first auxiliary shaft Xa2 (refer to Figure 9 ).

[0123] The first protruding portion 714 protrudes forward from the left end portion in the front surface of the first clamping portion 712. A first through-hole 714H extending in the front-rear direction is formed in the first clamping portion 712 and the first protruding portion 714. The rear end of the hook body 41 is connected to the front surface of the first protruding portion 714 and the periphery of the first through-hole 714H (refer to Figure 11 ). The second protruding portion 715 protrudes rearward from the left end portion in the rear surface of the second clamping portion 713. A second through-hole 715H extending in the front-rear direction is formed in the second clamping portion 713 and the second protruding portion 715. The first through-hole 714H and the second through-hole 715H are arranged in a straight line in the front-rear direction.

[0124] The first main gear 71B is a spur gear. The rotation axis of the first main gear 71B extends in the front-to-back direction. The first main gear 71B is disposed between the upper ends of the first clamping part 712 and the second clamping part 713. A gear through-hole 716H extending in the front-to-back direction is formed at the center of the first main gear 71B. The cross-sectional shape of the gear through-hole 716H is D-shaped. The first through-hole 712H of the first clamping part 712, the second through-hole 713H of the second clamping part 713, and the gear through-hole 716H of the first main gear 71B are arranged in a straight line in the front-to-back direction. (First auxiliary shaft Xa2 (reference)) Figure 9 The first main gear 71B is inserted into the gear through hole 716H. The first main gear 71B can move in the front-rear direction relative to the first auxiliary shaft Xa2. Furthermore, the cross-sectional shape of the first auxiliary shaft Xa2 is D-shaped. Therefore, the first main gear 71B rotates according to the rotation of the first auxiliary shaft Xa2.

[0125] The first driven gear 71C is a spur gear. The rotation axis of the first driven gear 71C extends in the front-to-back direction. The first driven gear 71C is disposed between the left ends of the first clamping part 712 and the second clamping part 713, respectively. A through hole is formed in the first driven gear 71C, passing through its center and extending in the front-to-back direction. An internal thread is formed on the inner surface of the through hole. The internal thread extends in a helical shape in the front-to-back direction. Figure 11 As shown, the through hole with an internal thread formed on its inner surface is called the "nut portion 717". The first through hole 714H formed in the first clamping portion 712 and the first protrusion 714, the second through hole 715H formed in the second clamping portion 713 and the second protrusion 715, and the nut portion 717 are arranged in a straight line in the front-back direction.

[0126] The first driven gear 71C meshes with the first master gear 71B. Therefore, the first driven gear 71C rotates according to the rotation of the first master gear 71B.

[0127] like Figure 10 , Figure 11 As shown, a first conversion part 71D is provided at the rear end of the wire 42. The first conversion part 71D has a terminal part 718 and a driven gear 719. The terminal part 718 is connected to the rear end of the wire 42. The terminal part 718 is disposed within a second through hole 715H. The terminal part 718 is movable in the front-rear direction along the second through hole 715H. The wire 42 extends forward from the terminal part 718. The wire 42 passes through the second through hole 715H, the nut part 717 of the first driven gear 71C, and the first through hole 714H, and is inserted into the through hole of the hook body 41.

[0128] Driven gear 719 is connected to the area in front of terminal portion 718 and around wire 42. Driven gear 719 has an external thread formed on its side. The external thread of driven gear 719 engages with the internal thread of nut portion 717.

[0129] <Second drive mechanism 7B>

[0130] like Figure 12 As shown, the second drive mechanism 7B includes a first threaded shaft Xb1, a first auxiliary shaft Xb2, a second hook support 70B, a first motor Mb1, and a first auxiliary motor Mb2 (see reference). Figure 6 ).

[0131] The first threaded shaft Xb1 is positioned to the right relative to the first auxiliary shaft Xb2 and extends parallel to the first threaded shaft Xb1. The second support plate 702 (see reference) is located within the first threaded shaft Xb1. Figure 6 The protruding part connects to the third gear Gb1. The third gear Gb1 is connected to the first motor Mb1 (see reference). Figure 6 The first threaded shaft Xb1 is driven to rotate by the first motor Mb1. A fourth gear Gb2 is connected to the portion of the first auxiliary shaft Xb2 that protrudes forward from the second support plate 702. The fourth gear Gb2 is connected to the first auxiliary motor Mb2 (see reference). Figure 6 The gears of the rotating shaft are engaged. The first auxiliary shaft Xb2 is driven to rotate by the first auxiliary motor Mb2.

[0132] The second hook support 70B supports the hook body 43 and the wire 44. The structure of the second hook support 70B is the same as that of the first hook support 70A (see reference). Figure 10 , Figure 11 Common to all. The following explanations of the common structural parts are omitted or simplified.

[0133] like Figure 13 , Figure 14 As shown, the second hook support portion 70B includes a support base 72A, a first main gear 72B, a first driven gear 72C, and a first conversion portion 72D. The support base 72A, the first main gear 72B, the first driven gear 72C, and the first conversion portion 72D are connected to the support base 71A, the first main gear 71B, the first driven gear 71C, and the first conversion portion 71D of the first hook support portion 70A (see reference). Figure 10 , Figure 11 The base 721, first clamping part 722, second clamping part 723, first protrusion 724, and second protrusion 725 of the support base 72A correspond to the base 711, first clamping part 712, second clamping part 713, first protrusion 714, and second protrusion 715 of the support base 71A (see reference). Figure 10 ,Figure 11 ) correspond to each other. The first nut portion 720 formed in the base 721 corresponds to the first nut portion 710 (refer to Figure 10 ) formed in the base 711 of the support base 71A.

[0134] The first threaded shaft Xbl is inserted through the first nut portion 720 (refer to Figure 12 ). The external thread of the first threaded shaft Xbl engages with the internal thread of the first nut portion 720.

[0135] The first clamping portion 722 and the second clamping portion 723 protrude obliquely upward to the left from the side surface of the base 721. The first through-hole 722H formed in the left end portion of the first clamping portion 722 and the second through-hole 723H formed in the left end portion of the second clamping portion 723 correspond to the first through-hole 712H and the second through-hole 713H (refer to Figure 10 ) of the support base 71A. The first through-hole 722H and the second through-hole 723H are arranged in a straight line in the front-rear direction. The first auxiliary shaft Xb2 is inserted through the first through-hole 722H and the second through-hole 723H (refer to Figure 12 ).

[0136] The first protruding portion 724 protrudes forward from the upper end portion in the front surface of the first clamping portion 722. The first through-hole 724H formed in the first clamping portion 722 and the first protruding portion 724 corresponds to the first through-hole 714H (refer to Figure 10 , Figure 11 ) of the support base 71A. The rear end of the hook body 43 is connected to the front surface of the first protruding portion 724 and the periphery of the first through-hole 724H (refer to Figure 14 ). The second protruding portion 725 protrudes rearward from the upper end portion in the rear surface of the second clamping portion 723. The second through-hole 725H formed in the second clamping portion 723 and the second protruding portion 725 corresponds to the second through-hole 715H (refer to Figure 10 , Figure 11 ) of the support base 71A. The first through-hole 724H and the second through-hole 725H are arranged in a straight line in the front-rear direction.

[0137] The through-hole 726H of the first main gear 72B corresponds to the gear through-hole 716H (refer to Figure 10 , Figure 11 ) of the first main gear 71B of the first hook support portion 70A. The first through-hole 722H of the first clamping portion 722, the second through-hole 723H of the second clamping portion 723, and the through-hole 726H of the first main gear 72B are arranged in a straight line in the front-rear direction. The first auxiliary shaft Xb2 (refer to Figure 12) and inserted into the through hole 726H. The first main gear 72B is movable in the front-rear direction with respect to the first auxiliary shaft Xb2. The first main gear 72B rotates in accordance with the rotation of the first auxiliary shaft Xb2.

[0138] The first driven gear 72C is disposed between the upper end portions of the first clamping portion 722 and the second clamping portion 723. A through hole is formed in the inner surface of the first driven gear 72C. The through hole formed in the inner surface of which is threaded is referred to as a "nut portion 727". As shown in Figure 14 , the first through hole 724H formed in the first clamping portion 722 and the first protruding portion 724, the second through hole 725H formed in the second clamping portion 723 and the second protruding portion 725, and the nut portion 727 are arranged in a straight line in the front-rear direction. The first driven gear 72C is engaged with the first main gear 72B. Therefore, the first driven gear 72C rotates in accordance with the rotation of the first main gear 72B.

[0139] As shown in Figure 13 , Figure 14 , the terminal portion 728 of the first conversion portion 72D and the driven gear 729 correspond to the terminal portion 718 of the first conversion portion 71D of the hook support portion 70A and the driven gear 719 (see Figure 10 , Figure 11 ). The wire 44 extends toward the front from the terminal portion 728. The wire 44 passes through the second through hole 725H, the nut portion 727 of the first driven gear 72C, and the first through hole 724H, and is inserted into the through hole of the hook body 43. The external thread of the driven gear 729 is engaged with the internal thread of the nut portion 727.

[0140] <Third drive mechanism 7C>

[0141] As shown in Figure 15 , the third drive mechanism 7C has a second threaded shaft Xc1, a second auxiliary shaft Xc2, a pusher support portion 70C, a second motor Mc1, and a second auxiliary motor Mc2 (see Figure 6 ).

[0142] The second threaded shaft Xc1 is located diagonally lower left with respect to the second auxiliary shaft Xc2 and extends in parallel with the second threaded shaft Xc1. A fifth gear Gc1 is connected to a portion of the second threaded shaft Xc1 that protrudes forward with respect to the second support plate 702 (see Figure 6 ). The fifth gear Gc1 is engaged with a gear connected to a rotating shaft of the second motor Mc1 (see Figure 6 ). The second threaded shaft Xc1 is rotated by the second motor Mc1. A gear Gc2 is connected to a portion of the second auxiliary shaft Xc2 that protrudes forward with respect to the second support plate 702. The gear Gc2 is engaged with a gear connected to the second auxiliary motor Mc2 (see Figure 6The gears of the rotating shaft are engaged. The second auxiliary shaft Xc2 is driven to rotate by the second auxiliary motor Mc2.

[0143] The pusher support 70C supports the pusher 5. The pusher support 70C, except for a portion thereof, is constructed similarly to the first hook support 70A (see reference). Figure 10 , Figure 11 ), second hook support 70B (refer to Figure 13 , Figure 14 Common to the first hook support 70A. The following description omits or simplifies the parts common to the first hook support 70A.

[0144] like Figure 16 As shown, the pusher support 70C includes a support base 73A, a second main gear 73B, and a second driven gear 739. The support base 73A and the second main gear 73B are related to the support base 71A and the first main gear 71B of the first hook support 70A (see reference). Figure 10 The pusher support 70C does not have a first driven gear 71C corresponding to the first hook support 70A (see reference). Figure 10 The corresponding components are the base 731, first clamping part 732, and second clamping part 733 of the support base 73A and the base 711, first clamping part 712, and second clamping part 713 of the support base 71A (see reference). Figure 10 , Figure 11 The support base 73A does not have the first protrusion 714 and the second protrusion 715 that correspond to the first hook support 70A (see reference). Figure 10 , Figure 11 The corresponding part. The second nut part 730 formed in the base 731 and the first nut part 710 formed in the base 711 of the support base 71A (see reference). Figure 10 Corresponding to the second threaded shaft Xc1, which is inserted into the second nut portion 730 (refer to...). Figure 15 The external thread of the second threaded shaft Xc1 engages with the internal thread of the second nut part 730.

[0145] The first clamping portion 732 and the second clamping portion 733 protrude obliquely upward and to the right from the side of the base 731. A first through hole 732H formed at the upper end of the first clamping portion 732 and a second through hole 733H formed at the upper end of the second clamping portion 733, along with the first through hole 712H and the second through hole 713H of the supporting base 71A (see reference). Figure 10 Corresponding to the first through hole 732H and the second through hole 733H, which are arranged in a straight line in the front-to-back direction. The second auxiliary shaft Xc2 is inserted into the first through hole 732H and the second through hole 733H (refer to...). Figure 15 ).

[0146] A first through hole 734H is formed at the right end of the first clamping part 732. A second through hole 735H is formed at the right end of the second clamping part 733. The first through hole 734H and the second through hole 735H are arranged in a straight line in the front-back direction. The rear end of the pusher 5 is inserted into the first through hole 734H and the second through hole 735H.

[0147] The gear through hole 736H of the second main gear 73B and the gear through hole 716H of the first main gear 71B of the first hook support 70A (see reference) Figure 10 , Figure 11 Correspondingly, the first through hole 732H of the first clamping part 732, the second through hole 733H of the second clamping part 733, and the gear through hole 736H of the second main gear 73B are arranged in a straight line in the front-back direction. The second auxiliary shaft Xc2 is inserted into the gear through hole 736H (see reference). Figure 12 The second main gear 73B is movable in the front-to-back direction relative to the second auxiliary shaft Xc2. The second main gear 73B rotates according to the rotation of the second auxiliary shaft Xc2.

[0148] The second driven gear 739 is connected around the portion slightly forward of the rear end of the pusher 5. The second driven gear 739 is disposed between the first clamping portion 732 and the second clamping portion 733. The second driven gear 739 meshes with the second main gear 73B. In response to the rotation of the second auxiliary shaft Xc2, the second main gear 73B and the second driven gear 739 rotate.

[0149] <Operating Instructions for First Drive Mechanism 7A>

[0150] In the following description, the direction of rotation of the threaded shaft X1 when it rotates to move the hooks 41, 43, and the pusher 5 forward is called the "positive direction." The direction of rotation of the threaded shaft X1 when it rotates to move the hooks 41, 43, and the pusher 5 backward is called the "reverse direction." The direction of rotation of the auxiliary shaft X2 when it rotates to move the wires 42, 44 forward is called the "positive direction." The direction of rotation of the auxiliary shaft X2 when it rotates to move the wires 42, 44 backward is called the "reverse direction."

[0151] exist Figure 9 , Figure 10In this process, when the ligation device 1A moves the hook 41 and wire 42 of the first pull-in member 4A forward, it drives the first motor Ma1 to rotate the first threaded shaft Xa1 in the positive direction. The first nut portion 710 is subjected to a forward force due to the rotation of the first threaded shaft Xa1 and moves forward. In this case, the support base 71A on which the first nut portion 710 is formed moves forward according to the movement of the first nut portion 710. As a result, the hook 41 connected to the first protrusion 714 also moves forward. In addition, the first main gear 71B moves forward along the first auxiliary shaft Xa2.

[0152] Furthermore, as the support base 71A moves forward, the wire 42, which is connected to the terminal portion 718 disposed within the second through hole 715H, also moves forward. Therefore, the hook 41 of the first pull-in member 4A and the wire 42 move forward as a unit.

[0153] On the other hand, while the ligation device 1A moves the hook 41 and wire 42 of the first pull-in member 4A backward, it drives the first motor Ma1 to rotate the first threaded shaft Xa1 in the opposite direction. As a result, the hook 41 and wire 42 of the first pull-in member 4A move backward as a single unit.

[0154] Additionally, when the ligation device 1A moves the wire 42 forward relative to the hook 41 of the first pull-in member 4A, it drives the first auxiliary motor Ma2, causing the first auxiliary shaft Xa2 (refer to...) Figure 9 The first auxiliary shaft Xa2 rotates in the positive direction. As the first auxiliary shaft Xa2 rotates, the first main gear 71B and the first driven gear 71C rotate. Due to the rotation of the first driven gear 71C, the driven gear 719 of the first conversion part 71D receives a forward force from the first driven gear 71C and moves forward. In this case, the wire 42 connected to the driven gear 719 also moves forward. However, the hook 41 connected to the first protrusion 714 does not move. Therefore, the wire 42 of the first pull-in member 4A moves forward relative to the hook 41.

[0155] When the ligation device 1A moves the wire 42 rearward relative to the hook body 41, it drives the first auxiliary motor Ma2, causing the first auxiliary shaft Xa2 to rotate in the opposite direction. In this case, the hook body 41 connected to the first protrusion 714 does not move, only the wire 42 moves rearward.

[0156] As described above, the first drive mechanism 7A rotates the first threaded shaft Xa1 via the first motor Ma1, thereby causing the hook 41 and the wire 42 of the first pull-in component 4A to move integrally in the front-back direction. Furthermore, the first auxiliary motor Ma2, the first auxiliary shaft Xa2, the first main gear 71B, the first driven gear 71C, and the first conversion unit 71D in the first drive mechanism 7A function as a moving mechanism 71 that causes the wire 42 to move relative to the hook 41 in the front-back direction. The first conversion unit 71D converts the rotational motion of the first auxiliary shaft Xa2, the first main gear 71B, and the first driven gear 71C into linear motion, thereby moving the wire 42 in the front-back direction.

[0157] <Operating Instructions for the Second Drive Mechanism 7B>

[0158] The operation of the second drive mechanism 7B, which moves the hook 43 and wire 44 of the second pull-in component 4B in the front-to-back direction, is the same as the operation of the first drive mechanism 7A. Figure 12 , Figure 13 In this mechanism, the second drive mechanism 7B rotates the first threaded shaft Xb1 via the first motor Mb1, thereby causing the hook 43 and the wire 44 of the second pull-in component 4B to move integrally in the front-back direction. Furthermore, the first auxiliary motor Mb2, the first auxiliary shaft Xb2, the first main gear 72B, the first driven gear 72C, and the first conversion unit 72D in the second drive mechanism 7B function as a moving mechanism 72 that moves the wire 44 relative to the hook 43 in the front-back direction. The first conversion unit 72D converts the rotational motion of the first auxiliary shaft Xb2, the first main gear 72B, and the first driven gear 72C into linear motion, thereby moving the wire 44 in the front-back direction.

[0159] <Operating Instructions for the Third Drive Mechanism 7C>

[0160] exist Figure 15 , Figure 16 In this process, when the ligation device 1A moves the pusher 5 forward, it drives the second motor Mc1, causing the second threaded shaft Xc1 to rotate in the positive direction. The second nut portion 730 is subjected to a forward force due to the rotation of the second threaded shaft Xc1 and moves forward. In this case, the support base 73A, on which the second nut portion 730 is formed, moves forward due to the movement of the second nut portion 730. In addition, the second driven gear 739, which is held by the first clamping portion 732 and the second clamping portion 733 of the support base 73A, also moves forward. Therefore, the pusher 5, on which the second driven gear 739 is connected at its rear end, moves forward. In addition, the second main gear 73B moves forward along the second auxiliary shaft Xc2. On the other hand, when the ligation device 1A moves the pusher 5 backward, it drives the second motor Mc1, causing the second threaded shaft Xc1 to rotate in the opposite direction.

[0161] Furthermore, when the ligation device 1A rotates the ligation pusher 5, it drives the second auxiliary motor Mc2, causing the second auxiliary shaft Xc2 to rotate. As the second auxiliary shaft Xc2 rotates, the second main gear 73B and the second driven gear 739 rotate. Consequently, the ligation pusher 5, connected to the second driven gear 739, rotates around a seventh shaft C7 that passes through its center and extends in the front-rear direction. Also, the direction of rotation of the ligation pusher 5 when the second auxiliary shaft Xc2 rotates in the positive direction is different from the direction of rotation when the second auxiliary shaft Xc2 rotates in the negative direction.

[0162] As described above, the third drive mechanism 7C rotates the second threaded shaft Xc1 via the second motor Mc1, thereby moving the pusher 5 in the front-to-back direction. Furthermore, the second auxiliary motor Mc2, the second auxiliary shaft Xc2, the second main gear 73B, and the second driven gear 739 in the third drive mechanism 7C function as a rotating mechanism 73 that rotates the pusher 5 around the seventh axis C7.

[0163] <Positional relationship between the first drive mechanism 7A, the second drive mechanism 7B, and the third drive mechanism 7C>

[0164] like Figure 7 As shown, the front-rear distance between the rear end of the robot connecting part 9 and the front end of the first hook support part 70A is marked as L11. The front-rear distance between the rear end of the robot connecting part 9 and the second hook support part 70B is marked as L12. The front-rear distance between the rear end of the robot connecting part 9 and the pusher support part 70C is marked as L13. The front-rear distance between the rear end of the robot connecting part 9 and the front end of the drive motor Mm is marked as L21. The front-rear distance between the rear end of the robot connecting part 9 and the front ends of the threaded shaft X1 and the auxiliary shaft X2 is marked as L22. Furthermore, the front-rear position of the rear end of the robot connecting part 9 is consistent with the front-rear position of the rear end of the main body 2A.

[0165] Interval L21 is shorter than interval L22. That is, the drive motor Mm is closer to the robot connection part 9 than the threaded shaft X1 and the auxiliary shaft X2. In addition, interval L21 is shorter than intervals L11, L12, and L13. That is, the drive motor Mm is closer to the robot connection part 9 than the first hook support 70A, the second hook support 70B, and the pusher support 70C.

[0166] like Figure 8As shown, the positions of the first hook support 70A and the second hook support 70B are different in directions orthogonal to the front-back direction (vertical and horizontal directions). Therefore, when the first hook support 70A and the second hook support 70B move in the front-back direction respectively, they do not contact each other. Thus, the first hook support 70A can move forward of the second hook support 70B, and the second hook support 70B can move forward of the first hook support 70A. Furthermore, for example... Figure 7 As shown, even when a portion of the first hook support portion 70A and the second hook support portion 70B overlaps in the front-rear direction, the first hook support portion 70A and the second hook support portion 70B do not contact each other.

[0167] like Figure 8 As shown, in the rear view, the first pull-in member 4A and the pusher 5 are arranged in a concentric circle. The positions in the first hook support 70A that connect to the first pull-in member 4A and the positions in the pusher support 70C that connect to the pusher 5 are aligned in directions orthogonal to the front-back direction (vertical and horizontal directions). The positions in the first hook support 70A that connect to the first pull-in member 4A and the positions in the pusher support 70C that connect to the pusher 5 overlap in the front-back direction. More specifically, in the rear view, the region U1 surrounded by the first pull-in member 4A is included in the region U2 surrounded by the pusher 5.

[0168] A portion of the first hook support 70A and the pusher support 70C each overlaps in a direction orthogonal to the front-back direction (vertical and horizontal directions). For example... Figure 7 As shown, the pusher support 70C is positioned forward of the first hook support 70A. The first hook support 70A is restricted from moving forward of the pusher support 70C by the contact between the rear surface of the pusher support 70C and the front surface of the first hook support 70A. Therefore, the first hook support 70A is always positioned rearward of the pusher support 70C. The interval L13 is shorter than the interval L11.

[0169] On the other hand, such as Figure 8As shown, the positions of the second hook support portion 70B and the push knotter support portion 70C are different from each other in the direction orthogonal to the front-rear direction (the up-down direction and the left-right direction). The second hook support portion 70B and the push knotter support portion 70C do not overlap each other in a state viewed from the rear. Therefore, in a case where the second hook support portion 70B and the push knotter support portion 70C are moved in the front-rear direction, respectively, the second hook support portion 70B and the push knotter support portion 70C do not contact each other. Therefore, the second hook support portion 70B can be moved to a position further forward than the push knotter support portion 70C, and the push knotter support portion 70C can be moved to a position further forward than the second hook support portion 70B. In a case where the push knotter support portion 70C is located at a position further forward than the second hook support portion 70B, the interval L13 is shorter than the interval L12. On the other hand, in a case where the push knotter support portion 70C is located at a position further rearward than the second hook support portion 70B, the interval L13 is longer than the interval L12.

[0170] <Explanation of the Ligation Procedure>

[0171] A ligation procedure in which the ligation device 1A ligates the ligation target S using the thread T will be described. The ligation procedure is started by the ligation device 1A in the initial state. The initial state is as follows.

[0172] The second jaw portion 3B is disposed at the approach position. The delivery portion 6 is accommodated in the first insertion hole 31 of the first jaw portion 3A. The first pull-in member 4A and the push knotter 5 are disposed in the extension portion 21A and the first branch portion 21B of the first insertion hole 21. The tips of the first pull-in member 4A and the push knotter 5 are located near the tip of the main body 2A. The second pull-in member 4B is disposed in the second branch portion 21C of the first insertion hole 21. The tip of the second pull-in member 4B is located near the branch position of the extension portion 21A.

[0173] The thread T discharged from the bobbin B passes through the first insertion hole 31 of the first jaw portion 3A, the locking pin 35, the extension portion 21A, and the first branch portion 21B of the first insertion hole 21. The leading end of the thread T is held by the hook body 43 and the wire 44 of the second pull-in member 4B. The first coil axis 46 and the second coil axis 56 of the formation portion 2B are disposed at the third rotation position. The first coil P1 is formed on the first coil axis 46, and the second coil P2 is formed on the second coil axis 56. The first pull-in member 4A and the push knotter 5 are inserted through the first coil P1 and the second coil P2. In Figures 18 to 40 In the drawing, a state in which the first coil P1 and the second coil P2 are detached from the first coil axis 46 and the second coil axis 56 is shown for ease of understanding.

[0174] The main body 2A of the ligation device 1A is disposed in the body at a position further rearward than the ligation target S. In this state, the robot R drives the robot motor MR to operate the first operation wire 201. As Figure 18As shown, the second jaw portion 3B moves from the approach position to the separation position (arrow Y11). In this state, the main body 2A moves forward. The ligated body S is positioned between the first jaw portion 3A and the second jaw portion 3B.

[0175] Next, robot R drives robot motor MR to operate the first operation line 201. (As follows...) Figure 19 As shown, the second jaw 3B moves from the separated position to the approaching position (arrow Y12). The ligated body S is clamped between the first jaw 3A and the second jaw 3B. The thread T is positioned below the ligated body S. Next, the ligation device 1A drives the first motor Ma1 and the second motor Mc1 to rotate the first threaded shaft Xa1 and the second threaded shaft Xc1 in the positive direction. The hook 41 and thread 42 of the first pull-in member 4A and the pusher 5 move forward (arrow Y13). The first pull-in member 4A and the pusher 5 pass through the recess 32 of the second jaw 3B. The tips of the first pull-in member 4A and the pusher 5 reach the second insertion hole 33 of the second jaw 3B.

[0176] Next, the ligation device 1A drives the first motor Ma1, causing the first threaded shaft Xa1 to rotate in the positive direction. (As...) Figure 20 As shown, the hook 41 and wire 42 of the first pull-in component 4A move forward (arrow Y14). The tip of the first pull-in component 4A reaches near the front end of the second insertion hole 33 of the second jaw 3B. Furthermore, the second motor Mc1 is not driven, and the second threaded shaft Xc1 does not rotate. Therefore, the pusher 5 does not move forward. Thus, the tip of the first pull-in component 4A protrudes forward from the tip of the pusher 5.

[0177] Next, robot R drives robot motor MR to operate the sixth operation line 251. Conveyor unit 6 moves forward. (As follows...) Figure 21 As shown, the base 61 of the conveying section 6 protrudes upward from the first insertion hole 31 of the first jaw 3A, inserts into the second insertion hole 33 of the second jaw 3B, and moves further upward (arrow Y15). At this time, the groove 62 of the conveying section 6 clamps the wire T and lifts the wire T upward.

[0178] Next, the ligation device 1A drives the first motor Ma1 and the second motor Mc1, causing the first threaded shaft Xa1 and the second threaded shaft Xc1 to rotate in opposite directions. Figure 22As shown, the hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move to the rear (arrow Y16). The tips of the first pull-in member 4A and the push knotter 5 are separated to the rear with respect to the conveying section 6. The thread T is hooked to the hook 41B of the hook body 41. Next, the ligation device 1A drives the first auxiliary motor Ma2 to rotate the first auxiliary shaft Xa2 in the positive direction. The wire 42 moves to the front. The front surface 42A of the wire 42 holds the thread T between the hook 41B of the hook body 41. Further, in this state, the thread T is not flattened and is in a state where it can move with respect to the hook 41B of the hook body 41 and the wire 42. The thread T is held by the hook 41B of the hook body 41 and the wire 42 with a strength that does not fall off the hook body 41. Hereinafter, this holding state is referred to as a "half-holding state".

[0179] Next, the robot R drives the robot motor MR to operate the sixth operation wire 251. As shown in FIG. 27, the conveying section 6 moves to the front. The hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move to the front (arrow Y21). The tips of the first pull-in member 4A and the push knotter 5 are separated to the front with respect to the conveying section 6. The thread T is held by the hook 41B of the hook body 41 and the wire 42. Figure 23 As shown, the conveying section 6 moves to the rear and is housed in the first insertion hole 31 of the first jaw section 3A (arrow Y17). Also, the ligation device 1A drives the first motor Ma1 and the second motor Mc1 to rotate the first threaded shaft Xa1 and the second threaded shaft Xc1 in the reverse direction. The hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move to the rear (arrow Y18). The thread T held by the first pull-in member 4A passes above the ligated body S. The tips of the first pull-in member 4A and the push knotter 5 reach the portion between the extension 21A of the first insertion hole 21 and the formed section 2B.

[0180] Next, the ligation device 1A drives the first auxiliary motor Ma2 to rotate the first auxiliary shaft Xa2 in the positive direction. The wire 42 moves to the front. The thread T in the state held by the hook 41B of the hook body 41 and the wire 42 is flattened and becomes a state where it cannot move with respect to the hook 41B of the hook body 41 and the wire 42. Hereinafter, this holding state is referred to as a "full-holding state".

[0181] Next, the robot R drives the robot motor MR to operate the sixth operation wire 251. The conveying section 6 moves to the front. As shown in FIG. 27, the hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move to the front (arrow Y21). The tips of the first pull-in member 4A and the push knotter 5 are separated to the front with respect to the conveying section 6. The thread T is held by the hook 41B of the hook body 41 and the wire 42. Figure 24 As shown, the base 61 of the conveying section 6 protrudes upward from the first insertion hole 31 of the first jaw section 3A, is inserted into the second insertion hole 33 of the second jaw section 3B, and further moves upward (arrow Y19). At this time, the groove 62 of the conveying section 6 grips the thread T and lifts the thread T upward. Next, the ligation device 1A drives the first motor Ma1 and the second motor Mc1 to rotate the first threaded shaft Xa1 and the second threaded shaft Xc1 in the reverse direction. The hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move to the rear (arrow Y20).

[0182] The portion of the wire T between the portion held by the groove 62 of the conveyance section 6 and the portion held by the first pull-in member 4A is pressed against the second cutter 34 fixed to the second jaw section 3B. The wire T is cut by the second cutter 34. The wire T1 of the wire T, which is cut and separated from the bobbin B side, is held at the first end portion ta on one side by the second pull-in member 4B. The wire T1 extends forward from the first end portion ta, is wound around the ligature S, and extends backward, is bent at the portion held by the first pull-in member 4A, and extends forward to the second end portion tb on the other side. The wire T1 is wound around the ligature S.

[0183] Next, the robot R drives the robot motor MR, and operates the third operation wire 221. As shown in FIG. 23, the first coil shaft 46 and the second coil shaft 56 are rotated 360 degrees in the first rotation direction Rl from the third rotation position. The first coil P1 is detached from the first coil shaft 46, and the second coil P2 is detached from the second coil shaft 56. Figure 25 The conveyance section 6 moves backward, and is accommodated in the first insertion hole 31 of the first jaw section 3A. Also, the ligature device 1A drives the first auxiliary motor Ma2, and rotates the first auxiliary shaft Xa2 in the reverse direction. The wire 42 moves backward. The hook body 41 is switched from the full holding state to the half holding state.

[0184] The ligature device 1A drives the first motor Ma1 and the second motor Mc1, and rotates the first threaded shaft Xal and the second threaded shaft Xcl in the reverse direction. The hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move backward (arrow Y21). During the movement of the first pull-in member 4A and the push knotter 5 backward, the second end portion tb of the wire T11 passes through the first coil Pl and the second coil P2 backward. The tip of the first pull-in member 4A and the push knotter 5 reaches the first branch portion 21B of the first insertion hole 21. Also, the ligature device 1A drives the first auxiliary motor Ma2, and rotates the first auxiliary shaft Xa2 in the forward direction. The wire 42 moves forward. The hook body 41 is switched from the half holding state to the full holding state.

[0185] Next, the robot R drives the robot motor MR, and operates the third operation wire 221. As shown in FIG. 23, the first coil shaft 46 and the second coil shaft 56 are rotated 360 degrees in the first rotation direction Rl from the third rotation position. The first coil P1 is detached from the first coil shaft 46, and the second coil P2 is detached from the second coil shaft 56. Figure 26 The first coil shaft 46 and the second coil shaft 56 are rotated 360 degrees in the first rotation direction Rl from the third rotation position. The first coil Pl is detached from the first coil shaft 46, and the second coil P2 is detached from the second coil shaft 56.

[0186] Also, the ligature device 1A drives the first motor Ma1 and the second motor Mc1, and rotates the first threaded shaft Xal and the second threaded shaft Xcl in the forward direction. The hook body 41 and the wire 42 of the first pull-in member 4A and the push knotter 5 move forward (arrow Y22). At the same time, the ligature device 1A drives the first motor Mb1, and rotates the first threaded shaft Xbl in the reverse direction. The hook body 43 and the wire 44 of the second pull-in member 4B move backward (arrow Y23). Thus, the slack of the wire T1 is prevented.

[0187] Next, the ligation device 1A drives the first motor Mb1, causing the first threaded shaft Xb1 to rotate in the opposite direction. For example... Figure 27 As shown, according to the rotation of the first threaded shaft Xb1, the hook 43 and wire 44 of the second pull-in component 4B move further rearward (arrow Y24). This applies tension to the thread T1. Next, the ligation device 1A drives the first motor Ma1, causing the first threaded shaft Xa1 to rotate in the positive direction. The hook 41 and wire 42 of the first pull-in component 4A move forward (arrow Y25). The tip of the first pull-in component 4A reaches near the tip of the main body 2A. Additionally, the ligation device 1A drives the second motor Mc1, causing the second threaded shaft Xc1 to rotate in the positive direction. The pusher 5 moves forward (arrow Y26). The tip of the pusher 5 protrudes forward from the tip of the main body 2A, reaching near the ligated body S. This causes the pusher 5 to move the first coil P1 and the second coil P2 to the vicinity of the ligated body S. Figure 28 This refers to the first coil P1 and the second coil P2 located near the ligated body S.

[0188] Next, the ligation device 1A drives the first motor Ma1, causing the first threaded shaft Xa1 to rotate in the opposite direction. For example... Figure 29 As shown, the hook 41 and wire 42 of the first pull-in component 4A move rearward (arrow Y27). The top of the first pull-in component 4A reaches a position within the first insertion hole 21 of the main body 2A, behind the first cutter 26. Furthermore, the ligation device 1A drives the first motor Mb1, causing the first threaded shaft Xb1 to rotate in the positive direction. The hook 43 and wire 44 of the second pull-in component 4B move forward (arrow Y28).

[0189] By moving the first pull-in component 4A and the second pull-in component 4B, Figure 28 The first coil P1 shown extends as illustrated. Figure 30 As shown, a new first coil P11 is formed in the portion between the second coil P2 and the first end ta in the silk thread T1. Thus, the knot K of the male knot is formed, and the body S to be tied is tied by the silk thread T11.

[0190] Next, the ligation device 1A drives the second motor Mc1, causing the second threaded shaft Xc1 to rotate in the opposite direction. For example... Figure 31As shown, the pusher 5 moves rearward (arrow Y29). The tip of the pusher 5 reaches near the tip of the first pull-in member 4A. Next, the robot R drives the robot motor MR, operating the fourth operation wire 231 and the fifth operation wire 232. The rotating table 26A of the first cutter 26 rotates (arrow Y30). The blade 26B of the first cutter 26 cuts off the portion of the wire T11 extending from the knot K toward the first end portion ta and the second end portion tb from the knot K. The portion of the wire T11 cut off from the knot K including the second end portion tb is referred to as "wire T12". The portion of the wire T11 cut off from the knot K including the first end portion ta is referred to as "wire T13".

[0191] Next, the ligation device 1A drives the first motor Ma1 and the second motor Mc1, rotating the first threaded shaft Xa1 and the second threaded shaft Xc1 in opposite directions. As shown, Figure 32 As shown, the hook body 41 and the wire 42 of the first pull-in member 4A and the pusher 5 move rearward (arrow Y31). The tips of the first pull-in member 4A and the pusher 5 move to a position further rearward than the main body 2A. The wire T12 (refer to Figure 31 ) held by the first pull-in member 4A is removed from the first pull-in member 4A. In addition, the wire T13 (refer to Figure 31 ) held by the second pull-in member 4B is removed from the second pull-in member 4B. The ligation device 1A drives the first motor Ma1, rotating the first threaded shaft Xa1 in the positive direction. The hook body 41 and the wire 42 of the first pull-in member 4A move forward (arrow Y32). The tip of the first pull-in member 4A reaches inside the first branch portion 21B of the first insertion hole 21.

[0192] Next, the robot R drives the robot motor MR, operating the first operation wire 201. As shown, Figure 33 As shown, the second jaw portion 3B moves from the approach position to the separation position (arrow Y33). The ligated body S (refer to Figure 32 ) ligated by the wire T11 is removed from the holding portion 3. Next, the robot R drives the robot motor MR, operating the first operation wire 201. The second jaw portion 3B moves from the separation position to the approach position (arrow Y34).

[0193] <Explanation of the action of the reconfiguration process>

[0194] The reconfiguration process in which the ligation device 1A is returned to the initial state after the ligated body S is ligated with the wire T by the ligation process will be described. First, the robot R drives the robot motor MR, operating the third operation wire 221. The first coil shaft 46 and the second coil shaft 56 rotate 180 degrees from the third rotation position toward the first rotation position.

[0195] The ligation device 1A drives the first motor Mb1 to rotate the first threaded shaft Xb1 in the positive direction. As shown in Fig. 16, the hook body 43 and the wire 44 of the second pull-in member 4B move forward (arrow Y51). The second pull-in member 4B passes through the second branch portion 21C of the first insertion hole 21 and the extension portion 21A. The tip end of the second pull-in member 4B reaches the vicinity of the front end of the second insertion hole 33 of the second jaw portion 3B. Figure 34

[0196] Next, the robot R drives the robot motor MR to operate the sixth operation wire 251. The conveying portion 6 moves forward. As shown in Fig. 17, the base portion 61 of the conveying portion 6 protrudes upward from the first insertion hole 31 of the first jaw portion 3A, passes through the second insertion hole 33 of the second jaw portion 3B, and further moves upward (arrow Y52). At this time, the groove 62 of the conveying portion 6 grips the thread T and lifts the thread T upward. Figure 35

[0197] Next, the ligation device 1A drives the first motor Mb1 to rotate the first threaded shaft Xb1 in the reverse direction. As shown in Fig. 18, the hook body 43 and the wire 44 of the second pull-in member 4B move backward (arrow Y53). The thread T is hooked to the hook 43B of the hook body 43. Next, the ligation device 1A drives the first auxiliary motor Mb2 to rotate the first auxiliary shaft Xb2 in the positive direction. The wire 44 moves forward. The front surface 44A of the wire 44 holds the thread T between the hook 43B of the hook body 43. Figure 36

[0198] Next, the ligation device 1A drives the first motor Mb1 to rotate the first threaded shaft Xb1 in the reverse direction. As shown in Fig. 19, the hook body 43 and the wire 44 of the second pull-in member 4B move backward (arrow Y54). The tip end of the second pull-in member 4B reaches the vicinity of the branch position of the extension portion 21A of the first insertion hole 21, which is branched into the first branch portion 21B and the second branch portion 21C. Thus, the thread T discharged from the bobbin B passes through the first insertion hole 31 of the first jaw portion 3A, the locking pin 35, the recess 32 of the second jaw portion 3B, and the extension portion 21A of the first insertion hole 21. A portion of the thread T is arranged along the second groove 460A of the first coil shaft 46 arranged at the first rotation position and the third groove 560A of the second coil shaft 56 arranged at the first rotation position in the forming portion 2B (refer to Fig. 15). Figure 37 Figure 5

[0199] Next, the robot R drives the robot motor MR to operate the third operation wire 221. As shown in Fig. 20, the conveying portion 6 moves backward. The thread T is arranged along the first groove 450A of the first coil shaft 46 arranged at the second rotation position and the second groove 460A of the first coil shaft 46 arranged at the second rotation position in the forming portion 2B. The thread T is arranged along the first groove 550A of the second coil shaft 56 arranged at the second rotation position in the forming portion 2B. The thread T is arranged along the first groove 650A of the third coil shaft 66 arranged at the second rotation position in the forming portion 2B. Figure 38 ​​​​​As shown, the first coil shaft 46 and the second coil shaft 56 are rotated 90 degrees in the first rotational direction Rl from the first rotational position toward the second rotational position. Thereby, the thread T arranged along the second groove 460A is moved toward the fourth groove 460B and the fifth groove 460C, and the thread T arranged along the third groove 560A is moved toward the sixth groove 560B and the seventh groove 560C.

[0200] Next, the ligation device 1A drives the first motor Mb1 to rotate the first threaded shaft Xb1 in the reverse direction. As shown, Figure 39 the second pull-in member 4B moves rearward (arrow Y55) while holding the thread T. The tip of the second pull-in member 4B reaches the second branch portion 21C of the first insertion hole 21. Next, the ligation device 1A drives the first motor Mb1 to rotate the first threaded shaft Xb1 in the forward direction. The second pull-in member 4B moves slightly forward (arrow Y56). In addition, the robot R drives the robot motor MR to operate the third operation wire 221. The first coil shaft 46 and the second coil shaft 56 are rotated 270 degrees in the second rotational direction R2 from the second rotational position toward the third rotational position. Thereby, as shown, Figure 40 the first coil P1 is formed in the first coil shaft 46, and the second coil P2 is formed in the second coil shaft 56.

[0201] Next, the ligation device 1A drives the second motor Mc1 to rotate the second threaded shaft Xc1 in the forward direction. The pusher 5 moves forward. The tip of the pusher 5 protrudes forward more than the first pull-in member 4A. Next, the ligation device 1A drives the first motor Ma1 and the second motor Mc1 to rotate the first threaded shaft Xa1 and the second threaded shaft Xc1 in the forward direction. The hook body 41 and the wire 42 of the first pull-in member 4A and the pusher 5 move forward (arrow Y57). The first pull-in member 4A and the pusher 5 pass through the first coil P1 formed in the first coil shaft 46 of the forming portion 2B and the second coil P2 formed in the second coil shaft 56.

[0202] In addition, each time the tip of the pusher 5 passes through the thread T forming the first coil P1 and the second coil P2, the ligation device 1A drives the second auxiliary motor Mc2 to alternately rotate the second auxiliary shaft Xc2 in the forward direction or the reverse direction. The pusher 5 alternately rotates 180 degrees in each of one side and the other side (arrow Y58) with the seventh shaft C7 (refer to Figure 16 ) as the center. Thereby, the pusher 5 moves forward without being hooked to the first coil P1 and the second coil P2. After the tip of the first pull-in member 4A and the pusher 5 pass through the first coil P1 and the second coil P2, it reaches the vicinity of the tip of the main body 2A. Through the above, the ligation device 1A becomes the initial state.

[0203] <Operation, effect of the ligation device 1A>

[0204] The ligature device 1A pulls the wire T for ligaturing the ligatured body S into the main body 2A by the hook body 41 of the first pull-in member 4A and the hook body 43 of the second pull-in member 4B, and ligatures the ligatured body S. The ligature device 1A can stably perform the operation of pulling the wire T into the main body 2A for ligaturing the ligatured body S by driving the hook body 41 of the first pull-in member 4A by the first motor Ma1 and driving the hook body 43 of the second pull-in member 4B by the first motor Mb1. Therefore, the ligature device 1A can stably ligature the ligatured body S with the wire T.

[0205] The ligature device 1A moves the hook body 41 connected to the first hook support 70A in the front-rear direction by moving in the front-rear direction by the rotation of the first threaded shaft Xa1 according to the first nut portion 710 engaged with the first threaded shaft Xa1. The ligature device 1A moves the hook body 43 connected to the second hook support 70B in the front-rear direction by moving in the front-rear direction by the rotation of the first threaded shaft Xb1 according to the first nut portion 720 engaged with the first threaded shaft Xb1. Therefore, the ligature device 1A can efficiently transmit the rotational driving force of the first motors Ma1, Mb1 that rotate the first threaded shafts Xa1, Xb1 to the first hook support 70A and the second hook support 70B and move the hook bodies 41, 43 in the front-rear direction.

[0206] The movement mechanism 71 relatively moves the wire 42 of the first pull-in member 4A in the front-rear direction with respect to the hook body 41. The movement mechanism 72 relatively moves the wire 44 of the second pull-in member 4B in the front-rear direction with respect to the hook body 43. The ligature device 1A can stably ligature the ligatured body S with the wire T by stably holding the wire T with the hook bodies 41, 43 and the wires 42, 44 and pulling the wire T into the main body 2A.

[0207] The movement mechanism 71 is provided to the first drive mechanism 7A, and the movement mechanism 72 is provided to the second drive mechanism 7B. Therefore, the ligature device 1A can be downsized compared to a case where the movement mechanism 71 is provided separately from the first drive mechanism 7A and the movement mechanism 72 is provided separately from the second drive mechanism 7B.

[0208] The moving mechanism 71 rotates the first auxiliary shaft Xa2 by driving the first auxiliary motor Ma2, and moves the wire 42 in the front-rear direction via the first main gear 71B, the first driven gear 71C, and the first conversion section 71D. The moving mechanism 72 rotates the first auxiliary shaft Xb2 by driving the first auxiliary motor Mb2, and thereby moves the wire 44 in the front-rear direction via the first main gear 72B, the first driven gear 72C, and the first conversion section 72D. In this way, in the ligature device 1A, the first motors Ma1, Mb1 for moving the hook bodies 41, 43 and the first auxiliary motors Ma2, Mb2 for moving the wires 42, 44 are provided separately, and thereby the hook bodies 41, 43 and the wires 42, 44 can be moved stably in the front-rear direction.

[0209] The positions of the first hook support section 70A and the second hook support section 70B are different from each other in a direction orthogonal to the front-rear direction (the up-down direction and the left-right direction). In a state viewed from the rear, the first hook support section 70A and the second hook support section 70B do not overlap each other. Even in a case where the first hook support section 70A and the second hook support section 70B are brought close to each other in the front-rear direction, the first hook support section 70A and the second hook support section 70B do not interfere with each other. Therefore, the first hook support section 70A can be moved to a position further to the front than the second hook support section 70B, and the second hook support section 70B can be moved to a position further to the front than the first hook support section 70A. Therefore, in the ligature device 1A, the movable range of each of the first hook support section 70A and the second hook support section 70B in the front-rear direction can be increased.

[0210] The ligature device 1A moves in the front-rear direction by the rotation of the second threaded shaft Xc1 according to the second nut section 730 engaged with the second threaded shaft Xc1, and moves the pusher 5 connected to the pusher support section 70C in the front-rear direction. Therefore, the ligature device 1A can efficiently transmit the rotational driving force of the second motor Mc1 that rotates the second threaded shaft Xc1 to the pusher support section 70C, and move the pusher 5 in the front-rear direction.

[0211] The rotation mechanism 73 rotates the pusher 5 with the seventh shaft C7 as the center. Since the rotation mechanism 73 is provided to the third drive mechanism 7C, the ligature device 1A can downsize compared to a case where the rotation mechanism 73 and the third drive mechanism 7C are provided separately. In addition, the rotation mechanism 73 rotates the pusher 5 via the second main gear 73B and the second driven gear 739 by rotating the second auxiliary shaft Xc2 by driving the second auxiliary motor Mc2. The ligature device 1A can stably perform the movement and rotation of the pusher 5 by providing the second motor Mc1 for moving the pusher 5 in the front-rear direction and the second auxiliary motor Mc2 for rotating the pusher 5 separately.

[0212] The first pull-in member 4A and the pusher 5 are arranged in a concentric circular shape. The position in the first hook support portion 70A to which the first pull-in member 4A is connected and the position in the pusher support portion 70C to which the pusher 5 is connected overlap in the front-rear direction. In this case, in the ligature device 1A, the first hook support portion 70A and the pusher support portion 70C can be arranged in close proximity in a direction orthogonal to the front-rear direction (up-down direction or left-right direction). Thus, the ligature device 1A can downsize the dimension in the direction orthogonal to the front-rear direction.

[0213] The interval L13 in the front-rear direction between the main body 2A and the pusher support portion 70C is shorter than the interval L11 in the front-rear direction between the main body 2A and the first hook support portion 70A. In this case, the ligature device 1A can suppress interference of the pusher support portion 70C with the first hook support portion 70A in a case where the pusher 5 is moved in the front direction. Thus, the ligature device 1A can prevent the movement of the pusher support portion 70C from being suppressed by the first hook support portion 70A.

[0214] The second jaw portion 3B, the conveyance portion 6, and the forming portion 2B are driven by a robot motor MR built in a robot R connected to the robot connection portion 9. The ligature device 1A can not be provided with a motor for driving the second jaw portion 3B, the conveyance portion 6, and the forming portion 2B. Thus, the ligature device 1A can be downsized and lightened.

[0215] The driving motor Mm is closer to the robot connection portion 9 than the threaded shaft X1 and the auxiliary shaft X2. In addition, the driving motor Mm is closer to the robot connection portion 9 than the first hook support portion 70A, the second hook support portion 70B, and the pusher support portion 70C. In this way, by arranging the driving motor Mm at a position close to the robot connection portion 9, the force acting on the robot connection portion 9 in a state where the robot R holds the ligature device 1A becomes smaller than in a case where the driving motor Mm is arranged at a position away from the robot connection portion 9. Thus, the ligature device 1A can be held firmly with respect to the robot R.

[0216] <Second Embodiment (Ligature Device 1B)>

[0217] A ligature device 1B as another embodiment of the ligature device 1 is described with reference to the drawings. The main body 2A, the forming portion 2B, the holding portion 3, the pull-in body 4 (the first pull-in member 4A, the second pull-in member 4B), the pusher 5, the conveyance portion 6, and the robot connection portion 9 of the ligature device 1B have the same configuration as those of the ligature device 1A (refer to Figure 1 ). The ligature device 1B differs from the ligature device 1A in that the ligature device 1B has a driving unit 8 instead of the driving unit 7. Hereinafter, the driving unit 8 different in configuration is described, and the other descriptions are omitted. Furthermore, in the following description, the same reference numerals are assigned to the same components as those of the ligature device 1A, and the descriptions thereof are omitted. Figure 1In the present embodiment, as the drive motors Mm in the drive unit 7, a first motor Ma1, a first auxiliary motor Ma2, a first motor Mb1, a first auxiliary motor Mb2, a second motor Mc1, and a second auxiliary motor Mc2 are shown (see FIG. 2). However, the drive unit 8 includes only the first motor Ma1, the first motor Mb1, and the second motor Mc1, and does not include the first auxiliary motor Ma2, the first auxiliary motor Mb2, and the second auxiliary motor Mc2. Figure 6

[0218] <Drive unit 8>

[0219] The drive unit 8 has a first drive mechanism 8A (see FIG. 2), a second drive mechanism 8A', and a third drive mechanism 8C (see FIG. 2). The first drive mechanism 8A moves the hook body 41 and the wire 42 of the first pull-in member 4A in the front-rear direction. The second drive mechanism 8A' moves the hook body 43 and the wire 44 of the second pull-in member 4B in the front-rear direction. The second drive mechanism 8A' has the same structure as the first drive mechanism 8A. Hereinafter, the structure and operation of the second drive mechanism 8A' will be omitted. The third drive mechanism 8C moves the push knotter 5 in the front-rear direction and rotates the push knotter 5. Figures 41 to 43 Figures 44 to 46 <First drive mechanism 8A>

[0220] As shown in FIG. 2, the first drive mechanism 8A has a first motor Ma1 (see FIG. 2), a first threaded shaft Xd1, a support shaft Xd2, a first hook support portion 80, and a first switching portion 800.

[0221] The first threaded shaft Xd1 and the support shaft Xd2 extend in the front-rear direction. The first threaded shaft Xd1 and the support shaft Xd2 are parallel. The first threaded shaft Xd1 is rotatably supported by the second support plate 702 and the bottom plate 705 (see FIG. 2). An external thread is formed on the side surface of the first threaded shaft Xd1. The external thread extends in a spiral shape in the front-rear direction. A gear connected to the portion of the first threaded shaft Xd1 that protrudes forward of the second support plate 702 and a gear connected to the rotation shaft of the first motor Ma1 are engaged with each other. In Figure 41 Figure 42 The first threaded shaft Xd1 is rotated by the first motor Ma1. The support shaft Xd2 has a cylindrical shape. The support shaft Xd2 is fixed between the second support plate 702 and the bottom plate 705 and cannot rotate. Figure 6 The first hook support portion 80 supports the hook body 41 and the wire 42 of the first pull-in member 4A. As shown in FIG. 2, the first hook support portion 80 is formed on the side surface of the first threaded shaft Xd1. The first hook support portion 80 is formed in a hook shape. The hook body 41 of the first pull-in member 4A is inserted into the hook shape of the first hook support portion 80. The wire 42 of the first pull-in member 4A is inserted into the hook shape of the first hook support portion 80.

[0222] Figure 6 Figure 41 Figure 42

[0223] The first hook support portion 80 supports the hook body 41 and the wire 42 of the first pull-in member 4A. As shown in FIG. 2, the first hook support portion 80 is formed on the side surface of the first threaded shaft Xd1. The first hook support portion 80 is formed in a hook shape. The hook body 41 of the first pull-in member 4A is inserted into the hook shape of the first hook support portion 80. The wire 42 of the first pull-in member 4A is inserted into the hook shape of the first hook support portion 80. Figure 43 ​​​​​​​As shown, the first hook support portion 80 has a first rotating body 81, first rotating body support portions 82 and 83, and a wire connection portion 84.

[0224] The first rotating body 81 has a cylindrical shape. The central axis of the first rotating body 81 extends in the front-rear direction. The diameter of the through hole of the first rotating body 81 is the same in the front-rear direction. An internal thread is formed on the inner surface of the through hole. The internal thread extends in a spiral shape in the front-rear direction. The through hole with the internal thread formed on the inner surface is referred to as the "first nut part 810". The first threaded shaft Xd1 is inserted into the first nut part 810 (see reference). Figure 41 The external thread of the first threaded shaft Xd1 engages with the internal thread of the first nut part 810.

[0225] like Figure 43 As shown, the first rotating body 81 includes a front portion 81A, a central portion 81B, and a rear portion 81C. The front portion 81A, central portion 81B, and rear portion 81C are arranged in the front-rear direction. The front portion 81A is located at the foremost position, and the rear portion 81C is located at the rearmost position. The central portion 81B is clamped by the front portion 81A and the rear portion 81C from the front-rear direction. The outer diameter of the central portion 81B is larger than the outer diameters of the front portion 81A and the rear portion 81C. A stepped surface 81D extending between the sides of the front portion 81A and the central portion 81B is orthogonal to the front-rear direction.

[0226] A groove 811 extending circumferentially is formed on the side of the central portion 81B. A plurality of protrusions 812 are provided at the front end of the side of the central portion 81B. The plurality of protrusions 812 protrude outwards in a radial direction centered on the central axis of the first rotating body 81. Each protrusion 812 includes a first surface 812A, a second surface 812B, and a vertex 812C. The vertex 812C is located on the outermost side in a radial direction centered on the central axis of the first rotating body 81. When viewed from the front, the first surface 812A extends along a direction from the vertex 812C toward the central axis of the first rotating body 81. When viewed from the front, the second surface 812B is inclined clockwise relative to the direction from the vertex 812C toward the central axis of the first rotating body 81.

[0227] A plurality of protrusions 813 are provided on the step surface 81D. The plurality of protrusions 813 protrude forward from the step surface 81D. The plurality of protrusions 813 are arranged at equal intervals in the circumferential direction centered on the central axis of the first rotating body 81.

[0228] The first rotary body support portions 82, 83 are arranged in the front-rear direction. The first rotary body support portion 82 is disposed in front of the first rotary body support portion 83. The first rotary body support portion 82 is formed with a first through-hole 82A, a second through-hole 82B, a third through-hole 82C, a fourth through-hole 82D, and a fifth through-hole 82E. The first through-hole 82A, the second through-hole 82B, the third through-hole 82C, the fourth through-hole 82D, and the fifth through-hole 82E extend in the front-rear direction.

[0229] The first through-hole 82A has a circular cross-sectional shape. The front portion 81A of the first rotary body 81 is inserted from the rear into the first through-hole 82A. A portion of the rear surface of the first rotary body support portion 82 around the first through-hole 82A is formed with a plurality of recesses 821. The plurality of recesses 821 are arranged at equal intervals in the circumferential direction centered on the central axis of the first through-hole 82A.

[0230] The second through-hole 82B is disposed to the right of the first through-hole 82A. The second through-hole 82B has a quadrangular cross-sectional shape. The third through-hole 82C is disposed to the right of the second through-hole 82B. The third through-hole 82C has a circular cross-sectional shape. A first spacer 82P is disposed in the third through-hole 82C, and the support shaft Xd2 is inserted into the first spacer 82P. The fourth through-hole 82D is disposed above the second through-hole 82B. The fifth through-hole 82E is disposed below the second through-hole 82B. The fourth through-hole 82D and the fifth through-hole 82E have circular cross-sectional shapes.

[0231] The first rotary body support portion 83 has a base portion 830, a first extension portion 831, a second extension portion 832, a third extension portion 833, and a protruding portion 834. The right end of the base portion 830 is curved in a circular arc shape. A first through-hole 83C is formed in the base portion 830. The first through-hole 83C extends in the front-rear direction. The first through-hole 83C is circular in shape. The first through-hole 83C is disposed rearward of the third through-hole 82C of the first rotary body support portion 82. A second spacer 83P is disposed in the first through-hole 83C, and the support shaft Xd2 is inserted through the second spacer 83P. The first extension portion 831 extends leftward from the vicinity of the upper end portion of the base portion 830. The second extension portion 832 extends leftward from the vicinity of the lower end portion of the base portion 830. The first extension portion 831 and the second extension portion 832 are separated in the up-down direction. A second through-hole 83D is formed in the first extension portion 831. The second through-hole 83D is disposed rearward of the fourth through-hole 82D of the first rotary body support portion 82. A third through-hole 83E is formed in the second extension portion 832. The third through-hole 83E is disposed rearward of the fifth through-hole 82E of the first rotary body support portion 82. The second through-hole 83D and the third through-hole 83E extend in the front-rear direction. The second through-hole 83D and the third through-hole 83E are circular in cross-sectional shape. The third extension portion 833 extends leftward from the vicinity of the rear end portion of the base portion 830.

[0232] A second space 83F is formed in the vicinity of the right end in the gap between the first extension portion 831 and the second extension portion 832. The front of the second space 83F is covered by the protruding portion 834. The protruding portion 834 protrudes forward of the front surface of the base portion 830. The protruding portion 834 is disposed within the second through-hole 82B of the first rotary body support portion 82. A through-hole extending in the front-rear direction is formed in the protruding portion 834. The hook body 41 is connected to the front surface of the protruding portion 834. The hook body 41 extends forward from the front surface of the protruding portion 834. The through-hole of the hook body 41 and the through-hole of the protruding portion 834 are disposed in a straight line in the front-rear direction.

[0233] A first space 83B is formed in the vicinity of the left end in the gap between the first extension portion 831 and the second extension portion 832. The central portion 81B of the first rotary body 81 is disposed in the first space 83B. A through-hole 83A is formed rearward of the first space 83B in the third extension portion 833. The through-hole 83A is circular in cross-sectional shape. The rear portion 81C of the first rotary body 81 is disposed in the through-hole 83A.

[0234] A first bolt 82K is inserted into the second through hole 83D from the rear of the first rotating body support 83. The first bolt 82K passes through the second through hole 83D of the first rotating body support 83 and the fourth through hole 82D of the first rotating body support 82. A second bolt 83K is inserted into the third through hole 83E from the rear of the first rotating body support 83. The second bolt 83K passes through the third through hole 83E of the first rotating body support 83 and the fifth through hole 82E of the first rotating body support 82. The front ends of both the first bolt 82K and the second bolt 83K protrude forward beyond the first rotating body support 82. A first nut 82N is fitted into the protrusion of the first bolt 82K. A second nut 83N is fitted into the protrusion of the second bolt 83K.

[0235] A first spring 82S is located between the head of the first bolt 82K and the rear surface of the first rotating body support 82. A second spring 83S is located between the head of the second bolt 83K and the rear surface of the first rotating body support 82. The first spring 82S and the second spring 83S apply a force in a direction that brings the first rotating body supports 82 and 83 closer together. As a result, the rear surface of the first rotating body support 82 is in close contact with the front surface of the base 830 of the first rotating body support 83. The third extensions 833 of the first rotating body support 82 and the first rotating body support 83 support the first rotating body 81 in a state that clamps the first rotating body 81 from the front and rear. The plurality of protrusions 813 of the first rotating body 81 engage with the plurality of recesses 821 of the first rotating body support 82 from the rear side.

[0236] like Figure 42 As shown, with the first rotating body 81 supported by the first rotating body support portions 82 and 83, the left end of the first rotating body support portion 82 is aligned with the left end of the plurality of protrusions 812 of the first rotating body 81 in the left-right direction. The left end of the portion of the central portion 81B other than the plurality of protrusions 812 and the left end of the third extension 833 of the first rotating body support portion 83 are located to the right of the left end of the first rotating body support portion 82.

[0237] like Figure 43 As shown, the wire connector 84 is connected to the rear end of the wire 42. The wire connector 84 is disposed in the second space 83F of the first rotating body support 83 and is movable in the front-rear direction. The wire 42, extending forward from the wire connector 84, passes through a through hole in the protrusion 834 disposed in front of the second space 83F, and further through a through hole in the hook 41 connected to the front surface of the protrusion 834.

[0238] The wire connection portion 84 has a cam follower 84A on its left surface. The cam follower 84A engages with the groove 811 of the first rotating body 81. The wire 42 is connected to the first rotating body 81 via the cam follower 84A and the groove 811.

[0239] like Figure 41 , Figure 42 As shown, the first switching part 800 is positioned to the left of the first hook support part 80 in the left-right direction. Figure 42 As shown, the first switching unit 800 includes a base 801, a first switching rod 802, and a second switching rod 803. The base 801 is fixed to the housing 704 (see reference). Figure 1 Inside. The right surface of the base 801 is roughly aligned with the left surface of the first rotating body support 82 in the left-right direction. The first switching rod 802 and the second switching rod 803 extend in the left-right direction. The first switching rod 802 and the second switching rod 803 are arranged in the front-back direction. The first switching rod 802 is positioned in front of the second switching rod 803. The first switching rod 802 and the second switching rod 803 are positioned behind the first rotating body support 82 of the first hook support 80.

[0240] The first switching bar 802 follows the first recess 802U formed on the right surface of the base 801 (see reference). Figure 49 The second switching rod 803 moves in the left-right direction. The second switching rod 803 moves along the second recess 803U formed on the right surface of the base 801 (see reference). Figure 49 The first switching rod 802 and the second switching rod 803 move to the rightmost position, with their respective top ends protruding to the left from the right surface of the base 801. When the first switching rod 802 and the second switching rod 803 are moved to the leftmost position, their respective top ends do not protrude to the right from the right surface of the base 801. The first switching rod 802 is connected to a first force-applying member 802F (see reference 802F) located at the bottom of the first recess 802U of the base 801. Figure 49 The second switching bar 803 is subjected to a force to the right. The second force-applying component 803F (see reference 803F) is provided at the bottom of the second recess 803U of the base 801. Figure 49 The force is applied to the right.

[0241] <Third drive mechanism 8C>

[0242] like Figure 44 , Figure 45 As shown, the third drive mechanism 8C has a second electric motor Mc1 (see reference). Figure 6 The second threaded shaft Xf1, support shaft Xf2, pusher support 85, and second switching part 850 are structurally similar to the first threaded shaft Xd1, support shaft Xd2, first hook support 80, and first switching part 800 of the first drive mechanism 8A, except for a portion thereof. Figures 41 to 43 Common to all. The following explanations of the common structural parts are omitted or simplified.

[0243] The second threaded shaft Xf1 and the support shaft Xf2 correspond to the first threaded shaft Xd1 and the support shaft Xd2 (refer to Figures 41 to 43 ) of the first drive mechanism 8A. The gear connected to the portion of the second threaded shaft Xf1 that protrudes forward of the second support plate 702 (refer to Figure 6 ) engages with the gear connected to the rotating shaft of the second motor Mc1. The gears are omitted in Figure 44 , Figure 45 . The second threaded shaft Xf1 is rotated by being driven by the second motor Mc1. The pusher support portion 85 supports the pusher 5.

[0244] As shown in Figure 46 , the pusher support portion 85 has a second rotating body 86, second rotating body support portions 87, 88, and a first driven gear 89. The second rotating body 86 corresponds to the first rotating body 81 (refer to Figure 43 ) of the first drive mechanism 8A. A through-hole in which an internal thread is formed in an inner surface of the second rotating body 86 is referred to as a “second nut portion 860”. The second threaded shaft Xf1 is inserted through the second nut portion 860 (refer to Figure 41 ). The external thread of the second threaded shaft Xf1 engages with the internal thread of the second nut portion 860. The front portion 86A, the central portion 86B, and the rear portion 86C of the second rotating body 86 correspond to the front portion 81A, the central portion 81B, and the rear portion 81C (refer to Figure 43 ) of the first drive mechanism 8A.

[0245] As shown in Figure 47 , a first step face 86D extending between the side faces of the front portion 86A and the central portion 81B and a second step face 86E extending between the side faces of the central portion 86B and the rear portion 81C are orthogonal to the front-rear direction. A second main gear 861 is provided in front of the first step face 86D and at the rear end portion of the front portion 86A. A plurality of protrusions 863 are provided at the second step face 86E. The plurality of protrusions 863 protrude rearward from the second step face 86E. The plurality of protrusions 863 are arranged at equal intervals in a circumferential direction centered on the central axis of the second rotating body 86.

[0246] As shown in Figure 46As shown, a plurality of protrusions 862 are provided on the side surface of the central portion 86B. The plurality of protrusions 862 respectively protrude outward in the radial direction centered on the central axis of the second rotary body 86. Each protrusion 862 includes a first surface 862A, a second surface 862B, and an apex 862C. The apex 862C is disposed at the outermost side in the radial direction centered on the central axis of the second rotary body 86. The first surface 862A extends in a direction from the apex 862C toward the central axis of the second rotary body 86 and further extends while curving in the counterclockwise direction when viewed from the front. The second surface 862B is inclined in the clockwise direction with respect to the direction from the apex 862C toward the central axis of the second rotary body 86 when viewed from the front. Unlike the first rotary body 81 of the first drive mechanism 8A (refer to Figure 43 ), no groove is formed on the side surface of the central portion 86B.

[0247] The second rotary body support portions 87, 88 correspond to the first rotary body support portions 82, 83 of the first drive mechanism 8A (refer to Figure 43 ). The first through-hole 87A, the second through-hole 87B, the third through-hole 87C, the fourth through-hole 87D, and the fifth through-hole 87E of the second rotary body support portion 87 correspond to the first through-hole 82A, the second through-hole 82B, the third through-hole 82C, the fourth through-hole 82D, and the fifth through-hole 82E of the first rotary body support portion 82 (refer to Figure 43 ). The front portion 86A of the second rotary body 86 is inserted from the rear into the first through-hole 87A. The second spacer 87P is disposed in the second through-hole 87B, and the support shaft Xf2 is inserted through the second spacer 87P.

[0248] The first through-hole 88A, the second through-hole 88B, the third through-hole 88C, the fourth through-hole 88D, and the fifth through-hole 88E are formed in the second rotary body support portion 88. The first through-hole 88A, the second through-hole 88B, the third through-hole 88C, the fourth through-hole 88D, and the fifth through-hole 88E extend in the front-rear direction. The cross-sectional shape of the first through-hole 88A is circular. The rear portion 86C of the second rotary body 86 is inserted from the front into the first through-hole 88A. A plurality of recesses 881 are formed in the portion of the front surface of the second rotary body support portion 88 around the first through-hole 88A. The plurality of recesses 881 are arranged equidistantly in the circumferential direction centered on the axis passing through the center of the first through-hole 88A.

[0249] The second through-hole 88B is provided to the right of the first through-hole 88A. The cross-sectional shape of the second through-hole 88B is circular. A third spacer 88P is provided to the second through-hole 88B, and the support shaft Xf2 is inserted through the third spacer 88P. The third through-hole 88C is provided to the right of the second through-hole 88B. The cross-sectional shape of the third through-hole 88C is circular. The rear end portion of the pusher 5 is inserted through the third through-hole 88C. The fourth through-hole 88D is provided above the second through-hole 88B. The fifth through-hole 88E is provided below the second through-hole 88B. The cross-sectional shapes of the fourth through-hole 88D and the fifth through-hole 88E are circular.

[0250] As shown in Figure 44 , Figure 45 , the bolt 87K is inserted through the fourth through-hole 88D from the rear of the second rotary body support portion 88 (see Figure 46 ). The bolt 87K passes through the fourth through-hole 88D of the second rotary body support portion 88 and the fourth through-hole 87D of the second rotary body support portion 87. The front end portion of the bolt 87K protrudes forward of the second rotary body support portion 87. The nut 87N is fitted to the protruding portion of the bolt 87K. The spring 87S is interposed between the head of the bolt 87K and the rear surface of the second rotary body support portion 88. The spring 87S exerts a force in a direction in which the second rotary body support portions 87, 88 approach each other. Further, a bolt not shown is inserted through the fifth through-holes 87E, 88E from the rear of the second rotary body support portion 88 (see Figure 46 ). The front end portion of the bolt protrudes forward of the second rotary body support portion 87 and is fitted to a nut not shown. A spring not shown is interposed between the head of the bolt and the rear surface of the second rotary body support portion 88, and exerts a force in a direction in which the second rotary body support portions 87, 88 approach each other.

[0251] The second rotary body support portions 87, 88 support the second rotary body 86 in a state sandwiching the second rotary body 86 from the front and rear directions by the force of the spring 87S or the like. The plurality of protrusions 863 of the second rotary body 86 are fitted to the plurality of recesses 881 of the second rotary body support portion 88 from the front.

[0252] As shown in Figure 46 , the second driven gear 86G is provided to the rear of the second rotary body support portion 87, to the front of the second rotary body support portion 88, and to the right of the second rotary body 86. The central axis of the second driven gear 86G extends in the front and rear directions. The second driven gear 86G is engaged with the second main gear 861 of the second rotary body 86. A through-hole 864 that passes through in the front and rear directions is formed at the center of the second driven gear 86G. A first spacer 86P is provided to the through-hole 864, and the support shaft Xf2 is inserted through the first spacer 86P. The second driven gear 86G is rotatable about the support shaft Xf2 in accordance with the rotation of the second rotary body 86.

[0253] A first driven gear 89 is connected to the rear end portion of the pusher 5. The first driven gear 89 is disposed to the right of the second driven gear 86G and engages with the second driven gear 86G. In the case where the first driven gear 89 rotates in accordance with the rotation of the second driven gear 86G, the pusher 5 connected to the first driven gear 89 also rotates. The pusher 5 extends forward from the first driven gear 89 and passes through the third through-hole 87C of the second rotary body support portion 87.

[0254] As shown in Figure 44 , Figure 45 , the second switching portion 850 is disposed to the left of the pusher support portion 85 in the left-right direction. The base 851, the first switching rod 852, and the second switching rod 853 of the second switching portion 850 correspond to the base 801, the first switching rod 802, and the second switching rod 803 (see Figure 41 , Figure 42 ) of the first switching portion 800, respectively. The right surface of the base 851 substantially coincides with the left-right direction position of the left surface of the second rotary body support portion 88. The first switching rod 852 and the second switching rod 853 are disposed to the front of the second rotary body support portion 87 of the pusher support portion 85. The first recess 852U, the second recess 853U, the first urging member 852F, and the second urging member 853F (see Figure 51 ) of the base 851 correspond to the first recess 802U, the second recess 803U, the first urging member 802F, and the second urging member 803F (see Figure 49 ) of the base 801, respectively.

[0255] <Explanation of the operation of the first drive mechanism 8A>

[0256] As shown in Figure 48 , the first rotary body support portion 82 of the first hook support portion 80 is disposed to the front with respect to the first switching rod 802 of the first switching portion 800. The first rotary body support portions 82, 83 of the first hook support portion 80 are in close contact by the forces of the first spring 82S and the second spring 83S. Figure 43 The plurality of protrusions 813 of the first rotary body 81 shown in

[0257] The ligation device 1B drives the first motor Ma1 (see Figure 6), the first threaded shaft Xdl is rotated in the reverse direction. In addition, the support shaft Xd2 is inserted through the third through-hole 82C and the first through-hole 83C, and thus the first hook support portion 80 becomes a state in which rotation is not possible about the first threaded shaft Xdl as a center. Therefore, the first nut portion 810 of the first rotating body 81 receives a force in the rearward direction according to rotation of the first threaded shaft Xdl, and moves in the rearward direction. In this case, as shown in Figure 48 the first rotating body support portions 82, 83 that support the first rotating body 81 move in the rearward direction (arrow Y71) according to movement of the first rotating body 81. Thus, the hook body 41 connected to the first rotating body support portion 83 also moves in the rearward direction (arrow Y72).

[0258] In addition, the first rotating body 81 that moves in the rearward direction according to the state in which rotation is not possible also moves the wire 42 connected to the first rotating body 81 via the cam follower 84A and the groove 811 in the rearward direction (arrow Y72). Therefore, the hook body 41 and the wire 42 of the first pull-in member 4A move in the rearward direction as one body. For example Figure 22 as shown, the thread T is hooked to the hook 41B of the hook body 41 according to movement of the hook body 41 and the wire 42 of the first pull-in member 4A in the rearward direction as one body.

[0259] As shown in Figure 48 the first hook support portion 80 moves in the rearward direction (arrow Y73) according to rotation of the first threaded shaft Xdl, and in response to this, the first switching rod 802 of the first switching portion 800 comes into contact with the rear surface of the first rotating body support portion 82 from the rear. Movement of the first rotating body support portion 82 in the rearward direction is restricted by the first switching rod 802. Moreover, according to rotation of the first threaded shaft Xdl in the reverse direction, only the first rotating body 81 and the first rotating body support portion 83 move in the rearward direction (arrow Y74). A gap Δdl is formed between the rear surface of the first rotating body support portion 82 and the first rotating body 81, and between the rear surface of the first rotating body support portion 82 and the front surface of the base portion 830 of the first rotating body support portion 83. The plurality of protrusions 813 of the first rotating body 81 are disengaged from the plurality of recesses 821 of the first rotating body support portion 82. The first rotating body 81 is rotatable with respect to the first rotating body support portions 82, 83.

[0260] As shown in Figure 49As shown, the first rotating body 81, which rotates further in the opposite direction according to the first threaded shaft Xd1, rotates around the first threaded shaft Xd1 as the center (arrow Y75). The rotation direction of the first rotating body 81 is counterclockwise when viewed from the front. Due to the rotation of the first rotating body 81, the cam follower 84A of the wire connection portion 84, which is connected to the rear end of the wire 42, moves forward along the groove 811 of the first rotating body 81. As a result, the wire 42 moves forward (arrows Y76, Y77). At this time, the first rotating body 81 does not move backward, therefore the hook 41 connected to the first rotating body support portion 83 does not move backward. For example... Figure 22 As shown, as the wire 42 moves forward relative to the hook body 41, the front surface 42A of the wire 42 holds the wire T between itself and the hook 41B of the hook body 41.

[0261] like Figure 49 As shown, the first rotating body 81 rotates (arrow Y78) as the first threaded shaft Xd1 rotates further in the opposite direction. Figure 43 The second surface 812B of the protrusion 812 of the first rotating body 81 shown contacts the first switching bar 802 from below. The protrusion 812 applies a force to the left on the first switching bar 802. The first switching bar 802 moves to the left against the force of the first force-applying member 802F due to the force received from the protrusion 812 (arrow Y79). The top end of the first switching bar 802 does not protrude to the right from the right surface of the base 801 of the first switching part 800. The first rotating body support 82 is capable of rearward movement. The first rotating body support 82 moves rearward by the force of the first spring 82S and the second spring 83S (arrow Y80). The first rotating body supports 82 and 83 are in close contact. The plurality of protrusions 813 of the first rotating body 81 engage with the plurality of recesses 821 of the first rotating body support 82. The first rotating body 81 becomes unable to rotate relative to the first rotating body supports 82 and 83.

[0262] As the first threaded shaft Xd1 rotates further in the opposite direction, the first nut portion 810 of the first rotating body 81 is subjected to a rearward force. The first rotating body support portions 82 and 83 supporting the first rotating body 81 move rearward according to the movement of the first rotating body 81 (arrow Y81). As a result, the hook 41 connected to the first rotating body support portion 83 also moves rearward (arrow Y82). In addition, as the first rotating body 81 moves rearward from its non-rotatable state, the wire 42 connected to the first rotating body 81 via the cam follower 84A and the groove 811 also moves rearward (arrow Y82). Therefore, the hook 41 and the wire 42 of the first pull-in member 4A become one unit and move rearward. For example Figure 23 As shown, the hook 41 and the wire 42 pass over the body S being tied while maintaining the state of holding the wire T.

[0263] When the first threaded shaft Xd1 rotates further in the opposite direction, the second switching bar 803 of the first switching part 800 approaches and contacts the rear surface of the first rotating body support part 82 from the rear. The first rotating body 81 can rotate. According to the rotation of the first threaded shaft Xd1, the first rotating body 81 rotates, causing the wire 42 to move rearward. At this time, the first rotating body 81 does not move rearward, so the hook 41 connected to the first rotating body support part 83 does not move rearward. According to the rearward relative movement of the wire 42 with respect to the hook 41, the state in which the hook 41 and the wire 42 hold the wire T is released.

[0264] As described above, the groove 811 of the first rotating body 81 and the cam follower 84A of the wire connection portion 84 function as a second conversion part 840 that converts the rotational motion of the first rotating body 81 into linear motion and moves the wire 42 forward. Furthermore, the first switching part 800 and the second conversion part 840 function as a moving mechanism 80A that moves the wire 42 relative to the hook body 41 in the front-back direction.

[0265] <Operating Instructions for the Third Drive Mechanism 8C>

[0266] like Figure 50 As shown, the second rotating body support 87 in the pusher support 85 is positioned rearward relative to the first switching bar 852 of the second switching part 850. The second rotating body supports 87 and 88 of the pusher support 85 clamp the second rotating body 86 by the force of the spring 87S. Figure 46 The protrusions 863 of the second rotating body 86 shown engage with the recesses 881 of the second rotating body support portion 88. Therefore, the second rotating body 86 cannot rotate relative to the second rotating body support portions 87 and 88.

[0267] When the ligation device 1B moves the ligation pusher 5 forward, it drives the second motor Mc1 (see reference). Figure 6 This causes the second threaded shaft Xf1 to rotate in the positive direction. It should be noted that since the support shaft Xf2 is inserted through the third through holes 87C and 88C, the pusher support portion 85 is unable to rotate around the second threaded shaft Xf1. Therefore, the second nut portion 860 of the second rotating body 86 receives a forward force due to the rotation of the second threaded shaft Xf1 and moves forward. In this case, as... Figure 50 As shown, the second rotating body support portions 87 and 88, which support the second rotating body 86, move forward according to the movement of the second rotating body 86 (arrow Y91). Consequently, the pusher 5, connected to the first driven gear 89 clamped between the second rotating body support portions 87 and 88, also moves forward (arrow Y92). For example, as... Figure 40As shown, according to the forward movement of the pusher 5, the tip end 51 of the pusher 5 approaches the first coil P1 formed by the first coil shaft 46 of the forming section 2B from the rear.

[0268] As shown, according to the forward movement of the pusher 5, the tip end 51 of the pusher 5 approaches the first coil P1 formed by the first coil shaft 46 of the forming section 2B from the rear. Figure 50 As shown, according to the forward movement of the pusher 5, the tip end 51 of the pusher 5 approaches the first coil P1 formed by the first coil shaft 46 of the forming section 2B from the rear.

[0269] As shown, according to the forward movement of the pusher 5, the tip end 51 of the pusher 5 approaches the first coil P1 formed by the first coil shaft 46 of the forming section 2B from the rear. Figure 51 As shown, according to the further rotation of the second screw shaft Xf1 in the positive direction, the second rotator 86 which is rotatable rotates around the second screw shaft Xf1 (arrow Y85). The direction of rotation of the second rotator 86 is the clockwise direction in the state observed from the front. According to the rotation of the second rotator 86, the second driven gear 86G engaged with the second main gear 861 of the second rotator 86 also rotates. Further, according to the rotation of the second driven gear 86G, the first driven gear 89 engaged with the second driven gear 86G receives a force in the direction of rotation. Thus, the pusher 5 connected to the first driven gear 89 at the rear end portion rotates around the seventh axis C7 (arrow Y86). At this time, since the second rotator 86 does not move forward, the pusher 5 supported by the second rotator support sections 87, 88 does not move rearward. For example Figure 40 As shown, according to the forward movement of the pusher 5, the tip end 51 of the pusher 5 approaches the first coil P1 formed by the first coil shaft 46 of the forming section 2B from the rear.

[0270] As shown, according to the forward movement of the pusher 5, the tip end 51 of the pusher 5 approaches the first coil P1 formed by the first coil shaft 46 of the forming section 2B from the rear. Figure 51 As shown, according to the further rotation of the second screw shaft Xf1 in the positive direction, the second rotator 86 which is rotatable rotates around the second screw shaft Xf1 (arrow Y85). The direction of rotation of the second rotator 86 is the clockwise direction in the state observed from the front. According to the rotation of the second rotator 86, the second driven gear 86G engaged with the second main gear 861 of the second rotator 86 also rotates. Further, according to the rotation of the second driven gear 86G, the first driven gear 89 engaged with the second driven gear 86G receives a force in the direction of rotation. Thus, the pusher 5 connected to the first driven gear 89 at the rear end portion rotates around the seventh axis C7 (arrow Y86). At this time, since the second rotator 86 does not move forward, the pusher 5 supported by the second rotator support sections 87, 88 does not move rearward. For example Figure 46The second face 862B of the protrusion 862 of the second rotating body 86 shown is in contact with the second switching rod 853 from above. The protrusion 862 exerts a force to the left on the second switching rod 853. The second switching rod 853 moves to the left (arrow Y99) against the force of the second force applying member 853F in accordance with the force received from the protrusion 862. The tip of the second switching rod 853 does not protrude to the right from the right surface of the base 851 of the second switching portion 850. The second rotating body support portion 88 becomes movable to the front. The second rotating body support portion 88 moves to the front (arrow Y100) by the force of the spring 87S. The plurality of protrusions 863 of the second rotating body 86 are engaged with the plurality of recesses 881 of the second rotating body support portion 88. The second rotating body 86 becomes non-rotatable with respect to the second rotating body support portions 87, 88.

[0271] According to further rotation of the second threaded shaft Xf1 in the positive direction, the second nut portion 860 of the second rotating body 86 receives a force to the front. The second rotating body support portions 87, 88 that support the second rotating body 86 move to the front (arrow Y101) in accordance with the movement of the second rotating body 86. Thereby, the pusher 5 supported by the pusher support portion 85 also moves to the front (arrow Y102). For example Figure 40 As shown, the pusher 5 moves to the front after passing through the wire T that forms the first loop P1.

[0272] In the case where the second threaded shaft Xf1 is further rotated in the positive direction, the first switching rod 852 of the second switching portion 850 approaches the front surface of the second rotating body support portion 88 from the front and comes into contact. The second rotating body 86 becomes rotatable. In accordance with the rotation of the second threaded shaft Xf1, the second rotating body 86 rotates, causing the pusher 5 to rotate. In this way, the pusher 5 repeatedly performs rotation and movement to the front. Thereby, as shown Figure 40 As shown, the pusher 5 moves to the front without hooking the first loop P1 and the second loop P2.

[0273] As described above, the second main gear 861 of the second rotating body 86, the second driven gear 86G, and the first driven gear 89 of the pusher 5 transmit the power of the second rotating body 86 that rotates in accordance with the rotation of the second threaded shaft Xf1 to the pusher 5, functioning as a transmission portion 890 that rotates the pusher 5. In addition, the second switching portion 850 and the transmission portion 890 function as a rotation mechanism 85A that rotates the pusher 5.

[0274] <Effects of the Ligation Device 1B>

[0275] The first driving mechanism 8A moves the hook body 41 of the first pull-in member 4A in the front-rear direction by rotating the first threaded shaft Xdl in a state where the first rotary body 81 is not rotatable with respect to the first rotary body support portions 82, 83. In addition, the first driving mechanism 8A relatively moves the wire 42 with respect to the hook body 41 in the front-rear direction by rotating the first threaded shaft Xdl in a state where the first rotary body 81 is rotatable with respect to the first rotary body support portions 82, 83. Thus, the first driving mechanism 8A can move the hook body 41 and the wire 42 of the first pull-in member 4A in the front-rear direction, respectively, by rotating the first threaded shaft Xdl by driving the first motor Mai. Thus, the ligature device IB can move the hook body 41 and the wire 42 in the front-rear direction, respectively, by the common motor, and thus can be downsized and lightened in size.

[0276] The third driving mechanism 8C moves the pusher 5 in the front-rear direction by rotating the second threaded shaft Xfl in a state where the second rotary body 86 is not rotatable with respect to the second rotary body support portions 87, 88. In addition, the third driving mechanism 8C rotates the pusher 5 by rotating the second threaded shaft Xfl in a state where the second rotary body 86 is rotatable with respect to the second rotary body support portions 87, 88. Thus, the third driving mechanism 8C can move and rotate the pusher 5 in the front-rear direction by rotating the second threaded shaft Xfl by driving the first motor Mai. Thus, the ligature device IB can move the movement and rotation of the pusher 5 in the front-rear direction, respectively, by the common motor, and thus can be downsized and lightened in size.

[0277] <Modification Example>

[0278] The present application is not limited to the above-described embodiments, and various modifications can be made. The structure of the holding portion 3 of the ligature device 1A, 1B is not limited to the first jaw portion 3A and the second jaw portion 3B. The holding portion 3 can have other structures capable of holding the ligated body S. For example, the holding portion 3 can hold the ligated body S by adsorbing the ligated body S to the front end of the main body 2A or winding the ligated body S. The structure of the first pull-in member 4A of the ligature device 1A, 1B is not limited to the hook body 41 and the wire 42. The first pull-in member 4A can have other structures capable of pulling the thread T into the main body 2A. For example, the first pull-in member 4A can have only the hook body 41 without the wire 42. For example, the first pull-in member 4A can hold the thread T and move it to the rear, thereby pulling the thread T into the main body 2A. The same applies to the second pull-in member 4B.

[0279] The ligating process in the above embodiments is one example, and the thread T can be used to ligate the ligated body S by other methods. The reconfiguring process in the above embodiments is one example, and the thread T can be reconfigured by other methods. For example, the reconfiguration of the thread T can also be performed manually by an operator.

[0280] In the ligating devices 1A, 1B, the configuration of the forming portion 2B for forming the first loop P1 and the second loop P2 in the thread T is not limited to the above embodiments. For example, the ligating devices 1A, 1B can not have the forming portion 2B, and the thread T can be formed into a loop by the operation of the main body 2A by the pull-in body 4.

[0281] The ligating devices 1A, 1B can have only the first pull-in member 4A and not have the second pull-in member 4B. The ligating devices 1A, 1B can have one or more other pull-in members in addition to the first pull-in member 4A and the second pull-in member 4B. That is, the pull-in members can be three or more. The ligating devices 1A, 1B can have only the pull-in body 4 and the driving mechanism of the pull-in body, and not have the pusher 5 and the third driving mechanism 7C, 8C. The threaded shaft X1 can be a sliding screw or a ball screw.

[0282] The first driving mechanism 7A and the second driving mechanism 7B of the ligating device 1A move the first hook support portion 70A and the second hook support portion 70B by the rotation of the threaded shaft X1, thereby moving the pull-in body 4 in the front-rear direction. The first driving mechanism 7A and the second driving mechanism 7B can move the first hook support portion 70A and the second hook support portion 70B without using the threaded shaft X1, thereby moving the pull-in body 4 in the front-rear direction. For example, the first driving mechanism 7A and the second driving mechanism 7B can have a synchronous belt whose both end portions in the front-rear direction are supported by two pulleys. The first hook support portion 70A and the second hook support portion 70B can be provided to the synchronous belt. The ligating device 1A can move the first hook support portion 70A and the second hook support portion 70B by rotating the synchronous belt, thereby moving the pull-in body 4 in the front-rear direction. Further, for example, the first driving mechanism 7A and the second driving mechanism 7B can move the first hook support portion 70A and the second hook support portion 70B by a linear motor, thereby moving the pull-in body 4 in the front-rear direction. The same applies to the third driving mechanism 7C. In addition, the first driving mechanism 8A, the second driving mechanism 8A', and the third driving mechanism 8C of the ligating device 1B are the same.

[0283] The first driving mechanism 7A can also not have the first driven gear 71C. The first main gear 71B can also mesh with the driven gear 719. A pulley can also be used instead of the first main gear 71B and the first driven gear 71C. A belt can also be stretched between the pulleys. The belt can also rotate in accordance with the rotation of the first auxiliary shaft Xa2, and in correspondence therewith, the wire 42 can be moved in the front-rear direction. The same applies to the second driving mechanism 7B, the first driving mechanism 8A, and the second driving mechanism 8A'.

[0284] A gear linked to the rotation axis of the first auxiliary motor Ma2 can also be used instead of the first auxiliary shaft Xa2 and the first main gear 71B of the first driving mechanism 7A. The gear can also extend in the front-rear direction and mesh with the first driven gear 71C. In this case, the first driving mechanism 7A can also not have the first auxiliary shaft Xa2 and the first main gear 71B. The same applies to the second driving mechanism 7B, the first driving mechanism 8A, and the second driving mechanism 8A'.

[0285] In the third driving mechanism 7C, a pulley can also be provided instead of the second main gear 73B and the second driven gear 739. A belt can also be stretched between the pulleys. The push knotter 5 can be rotated by the belt rotating in accordance with the rotation of the second auxiliary shaft Xc2. A gear linked to the rotation axis of the second auxiliary motor Mc2 can also be used instead of the second auxiliary shaft Xc2 and the second main gear 73B of the third driving mechanism 7C. The gear can extend in the front-rear direction and mesh with the second driven gear 739. In this case, the third driving mechanism 7C can also not have the second auxiliary shaft Xc2 and the second main gear 73B.

[0286] In the first driving mechanism 8A, the first rotating body 81 of the first hook support portion 80 can also have a gear on the side surface. As a wire connection portion 84 connected to the wire 42, a worm gear that meshes with the gear on the side surface of the first rotating body 81 can also be provided. The first hook support portion 80 can also move the worm gear in the front-rear direction by the gear on the side surface of the first rotating body 81 rotating in accordance with the rotation of the first threaded shaft Xd1, and thereby move the wire 42 in the front-rear direction. The first switching portion 800 switches the first rotating body 81 to a rotatable state and a non-rotatable state in accordance with the movement of the first hook support portion 80 in the front-rear direction. The first rotating body 81 can also be switched to the rotatable state and the non-rotatable state by other methods. For example, the first rotating body 81 can be switched to the rotatable state and the non-rotatable state at an arbitrary timing by an actuator that can forcibly separate the first rotating body support portions 82 and 83. The first driving mechanism 8A can also have only the first threaded shaft Xd1 and not have the support shaft Xd2. The hook body 41 can also be connected to the first rotating body support portion 82 of the first hook support portion 80.

[0287] In the third drive mechanism 8C, a pulley can also be provided instead of the first driven gear 89 of the knot pusher support portion 85. A belt can also be stretched between the second rotary body 86 and the pulley. The knot pusher 5 connected to the pulley can also be rotated by the rotation of the second rotary body 86. The second switching portion 850 switches the second rotary body 86 between the rotatable state and the non-rotatable state according to the movement of the knot pusher support portion 85 in the front-rear direction. The second rotary body 86 can also be switched between the rotatable state and the non-rotatable state by other methods. For example, the second rotary body 86 can be switched between the rotatable state and the non-rotatable state at any timing by an actuator capable of forcibly separating the second rotary body support portions 87, 88. The third drive mechanism 8C can have only the second threaded shaft Xf1 and not have the support shaft Xf2.

[0288] A part of each of the first hook support portion 70A and the second hook support portion 70B can coincide in a direction orthogonal to the front-rear direction (the up-down direction and the left-right direction). A part of each of the first hook support portion 70A and the second hook support portion 70B can also overlap each other in a state observed from the rear.

[0289] The first hook support portion 70A can also be always disposed at a position further forward than the knot pusher support portion 70C. In this case, the interval L13 can be longer than the interval L11. The front-rear direction positions of the first hook support portion 70A and the knot pusher support portion 70C can also coincide. In this case, the intervals L11, L13 can also coincide.

[0290] The robot connecting portion 9 can be disposed at a position behind the drive motor Mm and in front of the housing 704, or at a position at the rear end portion of the housing 704. The robot R can not drive all of the second jaw portion 3B, the conveying portion 6, and the forming portion 2B by the robot motor MR, or can operate at least one of the second jaw portion 3B, the conveying portion 6, and the forming portion 2B by the robot motor MR. The ligature devices 1A, 1B are not limited to the case of use in connection with the robot R. The ligature devices 1A, 1B can each act as a single body. In this case, the operation wire for operating the second jaw portion 3B, the conveying portion 6, and the forming portion 2B can be directly operated by the operator, or can be operated by a motor built in the ligature devices 1A, 1B. For example, the ligature devices 1A, 1B can be used in a state where the operator directly supports the rear end portion of the housing 704.

[0291] The front-rear direction is an example of the "lengthwise direction" of the present application.

[0292] Explanation of Reference Numerals

[0293] 1A, 1B: ligature device;

[0294] 2A: main body;

[0295] 2B: formation part;

[0296] 3: holding part;

[0297] 3A: first jaw part;

[0298] 3B: second jaw part;

[0299] 4: pull-in body;

[0300] 4A: first pull-in member;

[0301] 4B: second pull-in member;

[0302] 5: push knotter;

[0303] 6: conveying part;

[0304] 7A, 8A: first drive mechanism;

[0305] 7B, 8A': second drive mechanism;

[0306] 7C, 8C: third drive mechanism;

[0307] 9: robot connection part;

[0308] 41, 43: hook body;

[0309] 42, 44: wire;

[0310] 70A, 80: first hook support part;

[0311] 70B: second hook support part;

[0312] 70C, 85: push knotter support part;

[0313] 71, 72, 80A: moving mechanism;

[0314] 71D, 72D, 840: conversion part;

[0315] 73, 85A: rotating mechanism;

[0316] 71B, 72B: first main gear;

[0317] 73B, 861: second main gear;

[0318] 81: first rotating body;

[0319] 86: second rotating body;

[0320] 82, 83: first rotating body support part;

[0321] 87, 88: second rotating body support part;

[0322] 84: wire connecting portion

[0323] 710, 720, 810: first nut portion

[0324] 730, 860: second nut portion

[0325] 71C, 72C, 719, 729, 739: driven gear

[0326] 800: first switching portion

[0327] 850: second switching portion

[0328] 890: transmission portion

[0329] MR: robot motor

[0330] Ma1, Mb1: first motor

[0331] Ma2, Mb2: first auxiliary motor

[0332] Mc1: second motor

[0333] Mc1: second auxiliary motor

[0334] R: robot

[0335] S: ligated body

[0336] T: thread

[0337] Xa1, Xb1, Xd1: first threaded shaft

[0338] Xc1: second threaded shaft

[0339] Xa2, Xb2: first auxiliary shaft

[0340] Xc2: second auxiliary shaft

Claims

1. A ligation device, characterized in that, have: The main body is columnar; A retaining part is provided at one end of the main body along its length direction to retain the ligated body; A pull-in body, at least a portion of which is disposed within the main body, and by moving the portion toward the other end of the main body in the length direction, pulls the ligature holding the ligature in the holding portion into the main body; as well as The drive mechanism, connected to the other end of the body along the length direction, has at least a first electric motor that moves the pull-in body along the length direction.

2. The ligation device according to claim 1, characterized in that, The pull-in body has one or more pull-in components, each having a hook at its tip for hooking the thread. The drive mechanism is disposed in each of the pull-in components, and the drive mechanism further comprises: The first threaded shaft rotates via the first motor; and The hook support portion supports the base end of the hook body. The hook support portion includes a first nut portion that engages with the first threaded shaft and moves along the length direction by rotation of the first threaded shaft. The hook support portion moves in the length direction according to the movement of the first nut portion.

3. The ligation device according to claim 2, characterized in that, The pull-in component has a thread that presses against the hook and hooks the thread attached to the hook. The drive mechanism also includes a movement mechanism that moves the wire relative to the hook in the length direction.

4. The ligation device according to claim 3, characterized in that, The mobile mechanism has: First auxiliary motor; A first auxiliary shaft is arranged parallel to the first threaded shaft and rotates by the first auxiliary motor; The first main gear rotates by the rotation of the first auxiliary shaft; The first driven gear meshes with the first master gear and rotates by the rotation of the first master gear; as well as The first conversion unit is connected to the base end of the wire and converts the rotational motion of the first driven gear into linear motion, thereby moving the wire in the length direction.

5. The ligation device according to claim 3, characterized in that, The hook support portion includes: The first rotating body includes the first nut portion; A wire connector is connected to the first rotating body, and the base end of the wire is connected to the wire connector; and A first rotating body support portion supports the first rotating body, and the base end of the hook body is connected to the first rotating body support portion. With the first rotating body unable to rotate relative to its support, rotation of the first threaded shaft causes the first rotating body to move along its length. Correspondingly, the first rotating body support and the wire connection portion also move along their length. The mobile mechanism has: The first switching unit switches to a state where the first rotating body can rotate relative to the first rotating body support; and The second conversion unit is disposed on the first rotating body. When the first rotating body is able to rotate relative to the first rotating body support by the first switching unit, the rotational motion of the first rotating body, which rotates according to the rotation of the first threaded shaft, is converted into linear motion, thereby moving the wire in the length direction.

6. The ligation device according to claim 2, characterized in that, The pull-in body has at least a first pull-in component and a second pull-in component. The positions of the first hook support portion that supports the base end of the hook body of the first pull-in component and the second hook support portion that supports the base end of the hook body of the second pull-in component are different in an orthogonal direction orthogonal to the length direction.

7. The ligation device according to claim 2, characterized in that, It also has: The forming section forms a coil from the wire drawn in by the drawing member; and A pusher, having a cylindrical shape, has the pull-in member disposed inside, and pushes out the coil formed by the forming portion by moving one end toward the end in the length direction. The drive mechanism also includes: Second electric motor; The second threaded shaft rotates via the second motor; and The pusher support section supports the base end of the pusher. The pusher support includes a second nut portion that meshes with the second threaded shaft and moves in the longitudinal direction due to rotation of the second threaded shaft. The pusher support moves in the length direction according to the movement of the second nut.

8. The ligation device according to claim 7, characterized in that, The drive mechanism also includes a rotating mechanism that causes the knot pusher to rotate about a rotation axis that passes through the center of the knot pusher and extends in the length direction. The rotating mechanism includes: Second auxiliary motor; The second auxiliary shaft, arranged parallel to the second threaded shaft, rotates via the second auxiliary motor; The second main gear rotates by the rotation of the second auxiliary shaft; as well as The second driven gear meshes with the second master gear and rotates by the rotation of the second master gear. The second driven gear is connected to the base end of the pusher.

9. The ligation device according to claim 7, characterized in that, The drive mechanism also includes a rotating mechanism that causes the knot pusher to rotate about a rotation axis that passes through the center of the knot pusher and extends in the length direction. The pusher support includes: The second rotating body includes the second nut portion; A knot pusher connecting part is connected to the second rotating body, and the base end of the knot pusher is connected to the knot pusher connecting part; and The second rotating body support portion supports the second rotating body. With the second rotating body unable to rotate relative to its support, the rotation of the second threaded shaft causes the second rotating body to move along its length. Correspondingly, the pusher connector moves along its length. The rotating mechanism includes: The second switching unit switches to a state where the second rotating body can rotate relative to the second rotating body support; and The transmission unit, in a state where the second rotating body can rotate relative to the second rotating body support unit via the second switching unit, transmits the power of the second rotating body, which rotates according to the rotation of the second threaded shaft, to the pusher, and causes the pusher to rotate.

10. The ligation device according to claim 7, characterized in that, The position in the hook support for connecting the base end of the hook body and the position in the pusher support for connecting the base end of the pusher overlap in the length direction.

11. The ligation device according to claim 7, characterized in that, The distance in the length direction between the main body and the pusher support is shorter than the distance in the length direction between the main body and the hook support.

12. The ligation device according to claim 1, characterized in that, The retaining part has: First jaw region; and The second jaw portion is capable of moving close to the first jaw portion and maintaining the ligated body in both a close proximity position and a separated position from the first jaw portion. The ligation device also includes: A conveying section is provided on the holding section to deliver the filament from the first jaw section toward the second jaw section; The forming section forms a coil in the drawn-in filament when the filament delivered by the conveying section is drawn in by the drawing body; as well as Robot connector, for connecting to the robot. At least one of the second jaw, the conveying part, and the forming part is driven by a robot motor built into the robot connected to the robot connection part.

13. The ligation device according to claim 2, characterized in that, The ligation device has a robot connection part that connects to the robot. The distance in the length direction between the robot connector and the first motor is shorter than the distance in the length direction between the robot connector and the first threaded shaft and the shortest distance in the length direction between the robot connector and the hook support.

Images