CN101416609B - Manipulator suitable for transplanting tissue culture plantlets in culture flask - Google Patents
Manipulator suitable for transplanting tissue culture plantlets in culture flask Download PDFInfo
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- CN101416609B CN101416609B CN2008102392401A CN200810239240A CN101416609B CN 101416609 B CN101416609 B CN 101416609B CN 2008102392401 A CN2008102392401 A CN 2008102392401A CN 200810239240 A CN200810239240 A CN 200810239240A CN 101416609 B CN101416609 B CN 101416609B
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- paw
- seedling
- gas pawl
- joint
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Abstract
The invention relates to a manipulator for transplanting tissue culture seedling in culture flask, comprising a workbench provided with a mechanical arm having 3 freedoms and a claw mechanism having 2 freedoms; the mechanical arm has two horizontally rotary joint mechanisms in series connection and a vertically moving joint mechanism connected to the end of the horizontally rotary joint mechanism in series; the end of the vertically moving joint mechanism is connected with the claw mechanism; the claw mechanism has an openable and clo sable claw, capable of rotating around a vertical axial line in 360 degrees and turning over in horizontal and vertical directions. The invention has simple structure and accurate position. The driving mechanism of the claw can fetch seedling only by extending the claw into the culture flask without stretching into and touching flask and hurting seedling. So it is fit for small space operation.
Description
Technical field
The present invention relates to a kind of tissue cultivating seedling machine for pricking out, particularly about a kind of manipulator that is suitable for tissue cultivating seedling transplanting operation in the blake bottle.
Background technology
In traditional tissue cultivating seedling propagation production process; In order to obtain more seedling strain quantity; Usually the plant that needs to have grown up to is divided into the little stem section (or fritter sorite) that has axillalry bud, on the subculture medium of transplanting in the new culture vessel, makes it to grow into a new seedling strain; And then cut apart transplanting, so carry out tens of circulation breeding operations.This migration process workload is big, and repeatability is big, needs to drop into great amount of manpower and time.More external research institutions carried out the research and development of associated mechanical device to this migration process, but these devices all are to design to disc type seedling growing, and structure is huge.And in the factorial seedling growth process of reality, for reduce courses of infection as far as possible, thin mouthful of blake bottle formula of many employings grown seedlings.Compare with culture plate, it is little to cultivate the bottleneck neck, and the inner space is little, and seedling strain growth conditions and spacing are all irregular, and the therefore external tissue cultivating seedling transplantation device of developing also is not suitable for the domestic actual needs of growing seedlings and producing.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind ofly move flexibly, accurate positioning, the tissue cultivating seedling that is suitable in the blake bottle that do not bump bottle no seedling injury transplant the manipulator of operation.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of manipulator that is suitable for tissue cultivating seedling transplanting operation in the blake bottle; It comprises a workbench, and said workbench is provided with a mechanical arm and the paw mechanism with two-freedom with three degree of freedom; Said mechanical arm comprises that two horizontally rotate the vertical linear joint of articulation mechanism and mechanism, and wherein two horizontally rotate articulation mechanism for being connected in series, and vertically the linear joint mechanisms in series horizontally rotates the articulation mechanism end said; The end of said vertical linear joint mechanism connects said paw mechanism, said paw mechanism comprise one can in 360 ° of scopes, rotate around vertical axis, can the realization level and the upset in vertical two orientation, and expansible and the closed seedling paw of getting.
Said two horizontally rotate a big arm and the forearm that articulation mechanism comprises series connection; Said big arm and one is fixed on the shoulder joint axle horizontal that the shoulder joint motor on the workbench is connected and is connected; Said forearm and one is fixed on the elbow joint axle horizontal that the terminal elbow joint motor of said big arm is connected and is connected, and said big arm has vertical parallel rotation with forearm.
It is terminal through the fixing linear joint motor of linear joint support that said vertical linear joint mechanism is included in said forearm; It is secondary to connect a master/slave moving gear on the said linear joint motor output shaft; Said driven gear rotational support is on said forearm, and said driven gear center connects a leading screw through an embedded nut, and said leading screw has the flat horizontal surface of two symmetries; Corresponding with said two flat horizontal surface positions, on said linear joint support, be fixed with two guide pads.
Said paw mechanism is included in one first gripper motor of fixing on the support of said leading screw lower end connection; Connect latch spoon on the other hand on the first paw motor output shaft; Fixing one second gripper motor in the top of paw handle also articulates a spring; A gas pawl support is fixed in the bottom, the said gas pawl support said seedling paw of getting that is rotationally connected, and getting the gear shaft that 90 ° of upsets of a restriction paw are set above the seedling paw; Said two ends difference bolt one steel wire rope of getting the seedling paw, a said steel wire rope other end is wrapped on the output shaft of said second gripper motor, and the other end bolt of another said steel wire rope is on said spring.
The said seedling paw of getting comprises a direct gas pawl that is rotationally connected with said gas pawl support, and said gas pawl two ends connect two said steel wire ropes, connect fingerboard on the other hand on the two gas pawl lever arms of said gas pawl front end respectively.
The relative inner of two said finger plates is provided with elastomeric material.
The present invention is owing to take above technical scheme, and it has the following advantages: 1, the present invention is simple in structure, adopts the joint of mechanical arm mechanism that horizontally rotates and vertically move combination, and motion is flexible, accurate positioning.2, the drive part of paw mechanism of the present invention is owing to be arranged on the end that is connected with mechanical arm; When getting seedling, do not stretch into the seedling bottle; Therefore its power is delivered at a distance through steel wire rope and gets the seedling paw, and it is very small and exquisite, compact to get seedling position structure, very is convenient in small space, get the seedling operation.3, the seedling paw of getting of the present invention is vertical state when getting into the seedling bottle, gets into behind the seedling bottle upset and is the level of state and gets seedling again, therefore in getting the seedling process, can not collide the seedling bottle, hinders seedling and influence the growth position of other seedling strain.4, the finger front edge of board is pasted with elastomeric material, therefore when getting seedling, can not crush seedling strain stem stalk.The present invention extremely is suitable in small space, carrying out tissue cultivating seedling and transplants operation.
Description of drawings
Fig. 1 is a front view of the present invention
Fig. 2 is a vertical view of the present invention
Fig. 3 is that the mechanical arm among Fig. 1 horizontally rotates the shoulder joint structural scheme of mechanism
Fig. 4 is that the mechanical arm among Fig. 1 horizontally rotates the elbow joint structural scheme of mechanism
Fig. 5 is the vertical linear joint structural scheme of mechanism among Fig. 1
Fig. 6 is the driven gear structural representation among Fig. 5
Fig. 7 is the structural representation of embedded nut
Fig. 8 is the fit structure sketch map of driven gear, embedded nut and leading screw
Fig. 9 is the structural representation of leading screw
Figure 10 is that sketch map is looked on the left side of Fig. 9
Figure 11 is the paw mechanism sketch map among Fig. 1
Figure 12 is that the paw in the paw mechanism is the horizontal level sketch map
Figure 13 is the left view of Figure 12
Figure 14 is two open sketch mapes of finger plate when the stuffiness of gas pawl
Figure 15 is the sketch map of two finger plate closings when the gas pawl is ventilated
Figure 16 is that the paw in the paw mechanism is the vertical position sketch map
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Like Fig. 1, shown in Figure 2, whole tissue cultivating seedling machine for pricking out hand of the present invention comprises that workbench 1, mechanical arm horizontally rotate shoulder joint mechanism 2, mechanical arm horizontally rotates elbow joint mechanism 3, the vertical linear joint of mechanical arm mechanism 4 and 5 five parts of paw mechanism.Workbench 1 comprises a table top 6, a fixing simultaneously electric machine support 7 and a bearing bracket 8 on the table top 6, and bearing bracket 8 is higher than electric machine support 7.Electric machine support 7 also can be provided with all-in-one-piece with bearing bracket 8.
As shown in Figure 3, mechanical arm horizontally rotates shoulder joint mechanism 2 and comprises a shoulder joint motor 9 that is arranged on the electric machine support 7, and the output shaft of shoulder joint motor 9 vertically connects a shoulder joint nodal axisn 11 through shoulder joint shaft coupling 10 after upwards passing electric machine support 7 tops.Shoulder joint nodal axisn 11 adopts upper and lower two bearings/bearing block combination 12,13 to support, and wherein step 14 is fixed on the top of bearing bracket 8, top chock 15 through four bolts 16 be fixed on parallel with step 14 directly over.The end of shoulder joint nodal axisn 11 connects a big arm 18 through big arm trip bolt 17 levels, and an end of big arm 18 is provided with a balancing weight 19, and the mechanism that is used for being connected with big arm 18 other ends keeps balance.Shoulder joint motor 9 through shaft coupling 10 with transmission of power to shoulder joint nodal axisn 11, shoulder joint nodal axisn 11 drive the big arm 18 that is connected with it and on parts be that the center is done and horizontally rotated motion with the axis of shoulder joint nodal axisn 11.
As shown in Figure 4, mechanical arm horizontally rotates elbow joint mechanism 3 and is included in the fixing elbow joint electric machine support 20 of big arm 18 other ends, a fixing elbow joint motor 21 on elbow joint electric machine support 20.Elbow joint motor 21 output shafts vertically connect an elbow joint axle 23 through shaft coupling 22.Elbow joint axle 23 upwards passes big arm 18, and to be installed in bearing 24 on the big arm 18 as supporting a terminal end that connects a forearm 26 equally through a forearm trip bolt 25 levels of elbow joint axle 23.Elbow joint motor 21 drives elbow joint axles 23 through shaft coupling 22 and horizontally rotates, thus drive the forearm 26 that is connected with it and on parts be that the center is done and horizontally rotated motion with the axis of elbow joint axle 23.
As shown in Figure 5, the vertical linear joint of mechanical arm mechanism 4 is included in the fixing linear joint electric machine support 27 of forearm 26 other ends, a fixing linear joint motor 28 on linear joint electric machine support 27.The output shaft of linear joint motor 28 is connected through a screw and a gear shaft, is fixed with master gear 29 on the gear shaft, and master gear 29 is connected with a joggle one from gear 30.Be supported on the forearm 26 through the bearing 31 that is arranged on the forearm 26 from gear 30.Shown in Fig. 6～10, be nested with a nut 32 from gear 30 centre bores, through the leading screw 33 as vertical moving member that is threaded of nut 32.In order to realize vertically moving of leading screw 33, leading screw 33 is provided with the flat horizontal surface of two symmetries, and is corresponding with two flat horizontal surface positions, on linear joint electric machine support 27, is fixed with two guide pads 34, plays the guide effect to leading screw 33.After nut 32 and forearm 26 are passed in leading screw 33 lower ends, connect paw mechanism 5.Under the driving of linear joint motor 28, master gear 29 engagements are rotated from gear 30 together, in nut 32, do vertically moving up and down from the rotating band movable wire thick stick 33 of gear 30.
Shown in Figure 11～13, paw mechanism 5 comprises a support 35 that is connected leading screw 33 lower ends, fixing one first gripper motor 36 on the support 35.Connect a vertical paw handle 38 through a bolt 37 on the output shaft of first gripper motor 36.Fixing one second gripper motor 39 and a carbine 40 on the top of paw handle 38; The fixing gas pawl support 41 in the bottom of paw handle 38; Gas pawl support 41 has crotch in, and in interior crotch, top is provided with a gear shaft 42; The bottom is through two small clevis pin with head, 43 switchings, one gas pawl 44; Gas pawl 44 can overturn in the crotch in gas pawl support 41 around small clevis pin with head 43, and when being turned to 90 °, gear shaft 42 can block gas pawl 44.The front end of gas pawl 44 and tail end be bolt one steel wire rope 45,46 respectively, and the other end solderless wrapped connection of steel wire rope 45 is to the output shaft of second gripper motor 39, and the other end of steel wire rope 46 is bolted on the spring 47 that is articulated on the carbine 40.Gas pawl 44 is the routine techniques product; Like Figure 14, shown in 15; It comprises two gas pawl lever arms 48,49 (not looking out among the pneumatic control system figure) by pneumatic control system control; On two gas pawl lever arms 48,49, connect fingerboard 50,51 on the other hand respectively, finger plate 50,51 gentle pawl 44 common formations are got the seedling paw.The inboard of finger plate 50,51 is relatively set with sheet rubber elastomeric material 52.When 44 stuffiness of gas pawl, two gas pawl lever arms 48,49 open, and two finger plates 50,51 that are connected with it also open, and can press from both sides seedling.When 44 ventilations of gas pawl, two gas pawl lever arm 48,49 closures, two of being connected with it finger plate 50,51 is also closed, clamps the seedling strain.
Like Figure 12, shown in Figure 16; When second gripper motor 39 is just changeing (or be defined as counter-rotating also can); Pulling steel wire rope 45 promotes; Make that the gas pawl 44 that is connected with steel wire rope 45 is that the center turns clockwise with the axis of bearing pin 43, when the upper surface of gas pawl 44 contacted with gear shaft 42, the gas pawl lever arm 48,49 of gas pawl 44 just in time was horizontal; When the counter-rotating of second gripper motor 39 (or be defined as just change also can); Steel wire rope 45 unclamps; Gas pawl 44 axis with bearing pin 43 under the pulling force of spring 47 and steel wire rope 46 is that the center is rotated counterclockwise; When the upper surface of gas pawl 44 contacts with gear shaft 42 once more, the position that the gas pawl lever arm 48,49 of gas pawl 44 just in time is in straight down.
The present invention can run to this position and grasp the seedling strain according to the position of certain seedling strain in the blake bottle in use automatically; Get the seedling paw and when entering into the seedling bottle, be vertical state; Overturn 90 ° after entering into the seedling bottle, be the level of state and get seedling again, in getting the seedling process, can not collide the seedling bottle like this; Can not hinder seedling and the growth position that influences other seedling strain, its specific operation process is following:
1, mechanical arm horizontally rotates shoulder joint mechanism 2 and elbow joint mechanism 3 and grasps the relative position of point in horizontal plane according to paw end and seedling strain, drives big arm 18 and does respectively with forearm 26 and horizontally rotate motion, makes paw mechanism 5 ends just move to seedling bottle top.
2, paw mechanism 5 is according to the opening direction of orientation, seedling strain place and gas pawl 44 (gas pawl 44 is the level of state outside bottle the time); Drive paw mechanism 5 and rotate through driving first gripper motor 36 around vertical axis, up to the open centre of gas pawl 44 over against seedling strain position.
3, steel wire rope 45 is loosened in second gripper motor 39 counter-rotating, and making gas pawl 44 is that the center is rotated counterclockwise 90 ° with the axis of bearing pin 43, the opening direction of gas pawl 44 down, this moment, the gas pawl 44 was vertical state.
4, the vertical linear joint of mechanical arm mechanism 4 starts linear joint motor 28 according to finger plate 50,51 terminal positions, and leading screw 33 is moved straight down, makes to get the seedling paw smoothly through bottleneck, enters into the seedling strain and grasps the some position.
5, second gripper motor 39 is just changeing; Pulling steel wire rope 45 upwards promotes; Making gas pawl 44 is that the center turns clockwise 90 ° with the axis of bearing pin 43, and gas pawl 44 is horizontal (shown in figure 12), and the seedling strain just is among the finger plate 50,51 of gas pawl 44 front ends.44 ventilations of gas pawl make two finger plate 50,51 closures, clamp the seedling strain.
6 and then one-shot linear joint motor 28, leading screw 33 is moved straight up, blake bottle is taken out in the seedling strain.
Claims (4)
1. one kind is suitable in the blake bottle tissue cultivating seedling and transplants the manipulator of operation, and it is characterized in that: it comprises a workbench, and said workbench is provided with a mechanical arm and the paw mechanism with two-freedom with three degree of freedom; Said mechanical arm comprises that first, second horizontally rotates the vertical linear joint of articulation mechanism and mechanism, and wherein first, second horizontally rotates articulation mechanism for being connected in series, and said vertical linear joint mechanisms in series horizontally rotates the articulation mechanism end second; The end of said vertical linear joint mechanism connects said paw mechanism, said paw mechanism comprise one can in 360 ° of scopes, rotate around vertical axis, can the realization level and the upset in vertical two orientation, and expansible and the closed seedling paw of getting;
Said first horizontally rotates articulation mechanism comprises that one is fixed on the shoulder joint motor on the said workbench, and said shoulder joint motor connects a shoulder joint nodal axisn, the said shoulder joint the tip of the axis level big arm that is connected; Said second horizontally rotates articulation mechanism comprises that one is fixed on the terminal elbow joint motor of said big arm; Said elbow joint motor connects an elbow joint axle; The said elbow joint the tip of the axis level forearm that is connected, said big arm has vertically parallel rotation with forearm;
It is terminal through the fixing linear joint motor of linear joint support that said vertical linear joint mechanism is included in said forearm; It is secondary to connect a master/slave moving gear on the said linear joint motor output shaft; Said driven gear rotational support is on said forearm, and said driven gear center connects a leading screw through an embedded nut, and said leading screw has the flat horizontal surface of two symmetries; Corresponding with said two flat horizontal surface positions, on said linear joint support, be fixed with two guide pads.
2. a kind of manipulator that is suitable for tissue cultivating seedling transplanting operation in the blake bottle as claimed in claim 1; It is characterized in that: said paw mechanism is included in one first gripper motor of fixing on the support of said leading screw lower end connection; Connect latch spoon on the other hand on the first paw motor output shaft; Fixing one second gripper motor in the top of paw handle also articulates a spring; A gas pawl support is fixed in the bottom, the said gas pawl support said seedling paw of getting that is rotationally connected, and getting the gear shaft that 90 ° of upsets of a restriction paw are set above the seedling paw; Said two ends difference bolt one steel wire rope of getting the seedling paw, a said steel wire rope other end is wrapped on the output shaft of said second gripper motor, and the other end bolt of another said steel wire rope is on said spring.
3. a kind of manipulator that is suitable for tissue cultivating seedling transplanting operation in the blake bottle as claimed in claim 2; It is characterized in that: the said seedling paw of getting comprises a direct gas pawl that is rotationally connected with said gas pawl support; Said gas pawl two ends connect two said steel wire ropes, connect fingerboard on the other hand on the two gas pawl lever arms of said gas pawl front end respectively.
4. a kind of manipulator that is suitable for tissue cultivating seedling transplanting operation in the blake bottle as claimed in claim 3, it is characterized in that: the relative inner of two said finger plates is provided with elastomeric material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102392401A CN101416609B (en) | 2008-12-05 | 2008-12-05 | Manipulator suitable for transplanting tissue culture plantlets in culture flask |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102392401A CN101416609B (en) | 2008-12-05 | 2008-12-05 | Manipulator suitable for transplanting tissue culture plantlets in culture flask |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101416609A CN101416609A (en) | 2009-04-29 |
| CN101416609B true CN101416609B (en) | 2012-04-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102392401A Expired - Fee Related CN101416609B (en) | 2008-12-05 | 2008-12-05 | Manipulator suitable for transplanting tissue culture plantlets in culture flask |
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| CN (1) | CN101416609B (en) |
Cited By (1)
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| CN104227732A (en) * | 2014-09-01 | 2014-12-24 | 汕头大学 | SCARA (Selective Compliance Assembly Robot Arm) with large arm/small arm capable of being replaced quickly |
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| CN102598930B (en) * | 2012-03-19 | 2013-12-25 | 中国农业大学 | Tissue culture seedling automatic transplanting mechanism and seedling transplanting method thereof |
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| CN112357551A (en) * | 2020-10-13 | 2021-02-12 | 山东科技大学 | Vegetable potted seedling carrying robot |
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2008
- 2008-12-05 CN CN2008102392401A patent/CN101416609B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227732A (en) * | 2014-09-01 | 2014-12-24 | 汕头大学 | SCARA (Selective Compliance Assembly Robot Arm) with large arm/small arm capable of being replaced quickly |
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| Publication number | Publication date |
|---|---|
| CN101416609A (en) | 2009-04-29 |
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Granted publication date: 20120418 Termination date: 20131205 |