CN108040874B

CN108040874B - Seedling picking paw suitable for multi-specification glass test tube seedling culture

Info

Publication number: CN108040874B
Application number: CN201711353911.2A
Authority: CN
Inventors: 盛朝强; 凌睿; 江浙; 邹永畅; 田思沛; 陈果
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2017-12-15
Filing date: 2017-12-15
Publication date: 2021-07-20
Anticipated expiration: 2037-12-15
Also published as: CN108040874A

Abstract

The invention discloses a seedling taking paw suitable for seedling raising of glass test tubes of multiple specifications, and designs a universal seedling taking paw structure aiming at the problem that the existing mechanical paw cannot be compatible with the glass test tubes of multiple specifications for seedling taking. A get seedling hand claw suitable for many specifications glass test tube grow seedlings includes hand claw base, mechanical gripper, transmission and adjusting device. The adjusting device is used for adjusting the closing distance of mechanical claws with different specifications, and the transmission device drives the adjusting device to extrude or not extrude the mechanical claws to realize the closing or opening of the mechanical claws. The invention has the characteristics of simple structure, low seedling damage and good universality, and can be matched with a tissue culture seedling transplanting robot for use.

Description

Seedling picking paw suitable for multi-specification glass test tube seedling culture

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a seedling taking paw suitable for seedling raising of multiple specifications of glass test tubes.

Background

At present, the division and transplantation of tissue culture seedlings are mainly performed by manual operation, the division and transplantation operation of the tissue culture seedlings is performed manually, the working efficiency is low, the labor intensity is high, the most important problem is that the probability that the tissue culture seedlings are infected by germs is greatly increased due to human intervention in an aseptic working room, the survival rate of the seedlings is reduced, the quality of the seedlings is deteriorated, and waste is serious, so that the research on the tissue culture seedling transplantation robot for replacing the manual transplantation process is significant, and the design of a seedling taking mechanism is an important part of the tissue culture seedling robot. One of the mode among the present mode of growing seedlings is to utilize the glass test tube to carry out the tissue culture seedling and cultivate, to this kind of mode of growing seedlings, there is the condition that different kinds of tissue culture seedling need the glass test tube of different specifications to go to cultivate, and current mechanical gripper not only structure complicated and only can use with a certain specification glass test tube is supporting, does not have the commonality for get seedling gripper use scene singleness.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a paw structure which has simple structure, less power source and low damage seedling and is suitable for taking seedlings under the condition that tissue culture seedlings are cultivated in glass test tubes with various specifications.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a tissue culture seedling transplantation robot gets seedling hand claw suitable for many specifications glass test tube are grown seedlings, including hand claw base, mechanical gripper, transmission and adjusting device, its characterized in that: the mechanical gripper comprises a replaceable elongated first gripper and a replaceable elongated second gripper; the slender first paw is connected with the slender second paw in a V shape; the tail ends of the slender first claw and the slender second claw are provided with silica gel sleeves; the mechanical paw is fixed at the front end of the paw base; the transmission device is fixed at the lower end of the paw base; the transmission device comprises a driving motor, a reduction box, a screw rod and a U-shaped rectangular nut; the adjusting device is a first adjusting column provided with a first rolling mechanism and a second adjusting column provided with a second rolling mechanism; the first adjusting column and the second adjusting column are in sliding fit with a notch at the upper end of the U-shaped rectangular nut and are symmetrically and adjustably mounted on two sides of the mechanical gripper; the U-shaped rectangular nut is in spiral fit with the screw rod; the driving motor is matched with the reduction gearbox to drive the screw rod to rotate, so that the U-shaped rectangular nut is driven to move linearly; and the first rolling mechanism and the second rolling mechanism press or do not press the mechanical gripper to realize the closing or opening of the mechanical gripper by the movement of the U-shaped rectangular nut.

Preferably, the first and second elongated claws have a maximum width of 10 mm.

Preferably, the elongated first paw and the elongated second paw are made of elastic materials; the U-shaped rectangular nut and the paw base are made of aluminum materials.

Preferably, the first and second adjusting columns are in the shape of an inverted "T".

Preferably, the side surface of the U-shaped rectangular nut is provided with an installation groove; the lower ends of the first adjusting column and the second adjusting column are provided with threaded holes; the threaded holes of the first adjusting column and the second adjusting column are symmetrically and adjustably arranged on two sides of the mechanical paw through the screw fit of the mounting groove and the first screw and the second screw.

Preferably, the first rolling mechanism and the second rolling mechanism are roller bearings or ball bearings; the driving motor is a direct current motor.

The invention has the beneficial effects that: the tissue culture seedling transplanting robot seedling taking paw suitable for seedling culture of the glass test tubes with multiple specifications drives the screw rod to rotate by matching the driving motor and the reduction gearbox which are installed on the base, so that the U-shaped rectangular nut is driven to linearly move, the mechanical paw is extruded or not extruded by the rolling mechanism to close or open by the motion of the U-shaped rectangular nut, the whole transmission device is simple in structure, only one motor is needed, and the tissue culture seedling transplanting robot seedling taking paw has the characteristic of few power sources; the maximum width of the first paw and the second paw is 10mm, the first paw and the second paw are slender, the paws with proper lengths can be replaced according to the specification of the glass test tube, the extrusion distance is adjusted through the adjusting device, and the device is suitable for seedling taking operation of the glass test tubes with various specifications; the tail ends of the first long and thin claw and the second long and thin claw are provided with silica gel sleeves, so that the damage to the seedlings during seedling taking is reduced.

Drawings

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a perspective view of a U-shaped rectangular nut and adjustment device in accordance with an embodiment of the present invention;

Detailed Description

The present invention will be described in further detail with reference to the following embodiments and accompanying drawings.

Example (b): the seedling-taking paw structure of the tissue culture seedling transplanting robot suitable for multi-specification glass test tube seedling culture is shown in the figure 1-2, and the seedling-taking paw of the tissue culture seedling transplanting robot suitable for multi-specification glass test tube seedling culture comprises a paw base 1, a mechanical paw, a transmission device and an adjusting device. The mechanical gripper comprises a replaceable elongated first gripper 2 and a replaceable elongated second gripper 3; the tail ends of the slender first claw 2 and the slender second claw 3 are provided with the silica gel sleeve 9, so that the damage to the seedlings can be reduced when the seedlings are taken; the slender first claw 2 and the slender second claw 3 are made of elastic materials; the slender first claw 2 is connected with the slender second claw 3 in a V shape; the maximum width of the slender first claw 2 and the slender second claw is 10 mm; selecting a slender first claw 2 and a slender second claw 3 with proper lengths according to the specification of the seedling-raising glass test tube, and fixing the first claw and the slender second claw at the front end of a claw base 1; the transmission device is fixed at the lower end of the paw base 1; the transmission device comprises a direct current motor 4, a reduction box 5, a screw rod 7 and a U-shaped rectangular nut 6; the side surface of the U-shaped rectangular nut 6 is provided with an installation groove 12; the U-shaped rectangular nut 6 and the paw base 1 are made of aluminum materials; the adjusting device is a first adjusting column 11-1 provided with a first roller bearing or ball bearing 8-1 and a second adjusting column 11-2 provided with a second roller bearing or ball bearing; the first adjusting column 11-1 and the second adjusting column 11-2 are in an inverted T shape; the lower ends of the first adjusting column 11-1 and the second adjusting column 11-2 are provided with threaded holes; the first adjusting column 11-1 and the second adjusting column 11-2 are in sliding fit with the notch of the U-shaped rectangular nut 6, and are symmetrically and adjustably arranged on the two sides of the mechanical paw through the mounting groove 12 of the U-shaped rectangular nut 6 by utilizing threaded holes to be in threaded fit with the first screw 10-1 and the second screw 10-1. The U-shaped rectangular nut 6 is in screw fit with the screw rod 7; the direct current motor 4 and the reduction gearbox 5 are matched to drive the screw rod 7 to rotate, so that the U-shaped rectangular nut 6 is driven to linearly move, when the U-shaped rectangular nut 6 moves away from the paw base 1, the first roller bearing or the ball bearing 8-1 and the second roller bearing or the ball bearing 8-2 extrude the mechanical paw to achieve closing, when the U-shaped rectangular nut 6 moves close to the paw base 1, the first roller bearing or the ball bearing 8-1 and the second roller bearing or the ball bearing 8-2 do not extrude the mechanical paw, and the mechanical paw returns to a natural state under the self elasticity to achieve opening.

The above-described embodiment is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that several simple deductions or substitutions can be made without departing from the spirit of the present invention, and all should be considered as belonging to the scope of patent protection of the present invention as determined by the claims submitted.

Claims

1. The utility model provides a get seedling hand claw suitable for many specifications glass test tube are grown seedlings, includes hand claw base, mechanical gripper, transmission and adjusting device, its characterized in that: the mechanical gripper comprises a replaceable elongated first gripper and a replaceable elongated second gripper; the slender first paw is connected with the slender second paw in a V shape; the tail ends of the slender first claw and the slender second claw are provided with silica gel sleeves; the mechanical paw is fixed at the front end of the paw base; the transmission device is fixed at the lower end of the paw base; the transmission device comprises a driving motor, a reduction box, a screw rod and a U-shaped rectangular nut; the adjusting device is a first adjusting column provided with a first rolling mechanism and a second adjusting column provided with a second rolling mechanism; the first adjusting column and the second adjusting column are in sliding fit with a notch at the upper end of the U-shaped rectangular nut and are symmetrically and adjustably mounted on two sides of the mechanical gripper; the U-shaped rectangular nut is in spiral fit with the screw rod; the driving motor is matched with the reduction gearbox to drive the screw rod to rotate, so that the U-shaped rectangular nut is driven to move linearly; the U-shaped rectangular nut moves to enable the first rolling mechanism and the second rolling mechanism to press or not press the mechanical gripper to achieve closing or opening of the mechanical gripper; the maximum width of the slender first paw and the slender second paw is 10 mm; the slender first claw and the slender second claw are made of elastic materials; the U-shaped rectangular nut and the paw base are made of aluminum materials; the side surface of the U-shaped rectangular nut is provided with an installation groove; the first adjusting column and the second adjusting column are in an inverted T shape; the lower ends of the first adjusting column and the second adjusting column are provided with threaded holes; the first adjusting column and the second adjusting column are in screw fit with the first screw and the second screw through the mounting grooves by utilizing the threaded holes and are symmetrically and adjustably mounted on two sides of the mechanical gripper; the first rolling mechanism and the second rolling mechanism are roller bearings or ball bearings; the driving motor is a direct current motor.