CN210017341U - Potato tissue culture tuber propagation end effector - Google Patents
Potato tissue culture tuber propagation end effector Download PDFInfo
- Publication number
- CN210017341U CN210017341U CN201920531393.7U CN201920531393U CN210017341U CN 210017341 U CN210017341 U CN 210017341U CN 201920531393 U CN201920531393 U CN 201920531393U CN 210017341 U CN210017341 U CN 210017341U
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- China
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- cylinder
- end effector
- tissue culture
- fixed
- clamps
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Abstract
The utility model discloses a potato group banks up stem tuber propagation end effector with earth, including actuating mechanism, anchor clamps and cutting mechanism. The driving mechanism enables the turntable to synchronously rotate through the rotation of the steering engine. The two arc rocker arms are respectively connected with the two ends of the turntable and the two sliding blocks. The sliding block is restrained by two parallel cylindrical sliding rails and is driven to move by the arc-shaped rocker arm. The clamp is fixed on the sliding block and driven by the sliding block, so that the clamp is clamped and loosened. The rotary blade and the motor are fixed on the cylinder, and the cylinder and the base are relatively fixed. The cylinder is subjected to the pressure of the air pump to realize linear displacement motion, and when no pressure exists, the cylinder is automatically returned to the initial position by the spring force. The utility model discloses an ingenious anchor clamps and cutting mechanism design realize that same end effector accomplishes the work fixed and the cutting of potato tuber centre gripping within 10cm length.
Description
Technical Field
The invention relates to the technical field of crop breeding, in particular to an end effector for tuber propagation of potato tissue culture.
Background
The potato is an indispensable grain and vegetable crop in China, and has extremely high cultivation and breeding values. The soil and climate conditions in most areas of China are suitable for planting potatoes, and the planting area of the potatoes in China currently accounts for about 25 percent of the world. In the modern production practice of potatoes, the application of the virus-free seed potatoes can increase the yield of the potatoes by more than 30 percent, and solve the problems of yield and quality reduction caused by virus infection in the production of the potatoes. The contribution of the potato virus-free seed breeding technology to the potato yield is incomparable with other single technologies such as potato breeding and cultivation. The tissue culture and rapid propagation of the detoxified tubers is a basic production link of a breeding system of the detoxified seed potatoes, is a biological application technology with high technological content, and needs investment on tissue culture and rapid propagation facilities and equipment and long-term skilled workers for culture, culture medium preparation and inoculation. At present, the domestic potato virus-free tuber cutting and expanding propagation mode mainly adopts manpower as an important link in the tuber cultivating process, the automation and mechanization of the potato virus-free tuber cutting and expanding propagation operation are realized, the labor intensity is reduced, the operation efficiency is improved, and the consistency effect of transplanting the hole tubers is ensured. There is no end effector available on automated propagation equipment that can be used in practice in production. As a large amount of experience needs to be cultured and a large number of workers skilled in technology melastoma are required to perform the cutting and expanding propagation of the potato tissue culture tubers, the labor cost and the material cost are increased, and the labor intensity is high and the operation time is long. With the gradual maturity and popularization of the tuber cultivating technology, the development lag of domestic automatic transplanting equipment becomes the bottleneck of the development of the tuber cultivating industry of vegetables.
Therefore, the research and development of the potato tissue culture tuber cutting and expanding propagation end effector have important significance on the mechanization, automation and intellectualization of the potato tuber propagation.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an end effector that is used for potato group to organize tuber to expand to breed in-process to realize pressing from both sides, shearing and transplanting the action.
In order to solve the problems, the utility model adopts the following technical proposal, a potato tissue culture seedling tuber propagation execution end effector, which comprises
The pair of clamps are respectively connected with the pair of sliding blocks sleeved on the sliding rails and move along the sliding rails along with the sliding blocks;
the driving mechanism is connected with the sliding block to enable the sliding block to be close to or separate from each other along the sliding rail;
the cutting mechanism is arranged right below the central axes of the pair of clamps and moves towards the clamping end close to the clamps or moves towards the clamping end far away from the clamps along the central axes;
the slide rails are erected and fixed, so that the slide rails are perpendicular to the middle axial surfaces of the pair of clamps.
Furthermore, the slide rail is erected between the upright posts of the memorial archway, the slide block is provided with a connecting rod extending towards the upper part of the memorial archway, the upper part of the memorial archway is provided with a shaft hole, a rotating shaft driven by the rotation of the steering engine penetrates through the shaft hole and is connected with the center of the turntable, one end of an arc-shaped rocker arm is hinged to each of the two radial ends of the turntable, the other end of the arc-shaped rocker arm is hinged to the connecting rod of the slide block, and the rotation directions; the cutting mechanism comprises a rotary blade, a motor and a cylinder, the motor is fixed at the free end of the cylinder, the rotary blade is arranged in parallel to the direction of the central axis, and the rotary blade is driven by the motor to rotate; the memorial archway and the fixed end of cylinder are erect on the base, make the cylinder along the axis direction extends, still connect through canceling release mechanical system between the free end of cylinder and the fixed end.
Further, the slide rail is arranged in one of the following ways:
the radial section of the slide rail is polygonal;
the radial section of the slide rail is circular, and at least two slide rails are erected between the upright posts of the housing.
Further, the reset mechanism comprises an elastic mechanism or a magnetic field generating device.
Further, the free end of the air cylinder is driven by the air pump to move towards the fixed end far away from the air cylinder.
Compared with the prior art, the utility model discloses following beneficial effect has: the integration of clamping, shearing and transplanting links in the cutting and expanding propagation of the potato tissue culture tubers is realized by skillfully combining the clamp and the cutting mechanism. The clamp printed by 3D has certain deflection, and the front section of the clamp is wrapped by micro fluff, so that the potato tuber clamping stability is ensured, and the damage to the potato tuber is prevented to the maximum extent. The ingenious structure of the clamp and the relative position of the clamp and the cutting mechanism ensure the normal movement of the cutting mechanism and ensure that the cutting mechanism is withdrawn when the potato tubers are cut and ready for transplantation, so that the transplantation link is not influenced. The design is stable and reliable, the mechanism is simple, the assembly and disassembly are convenient, the economic practicability is high, the cost is low, the batch production is convenient, and the market prospect is good.
Drawings
Fig. 1 is a schematic view of an overall structure of an end effector according to an embodiment of the present invention;
fig. 2 is a left side view structure diagram of the embodiment of the present invention;
fig. 3 is a schematic bottom perspective view of an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a cutting mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a clamp according to an embodiment of the present invention;
in the figure: 1-steering engine, 101-rotating shaft, 2-memorial archway, 21-shaft hole, 22-upright post, 3-air pump joint, 4-sliding block, 5-motor, 6-clamp, 61-clamping end, 7-rotating disc, 8-arc arm, 9-sliding rail, 10-connecting rod, 11-air cylinder, 111-free end, 112-fixed end, 12-rotating blade, 13-base and 14-resetting mechanism.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 5, an embodiment of the present invention provides an end effector for expanding propagation of potato tissue culture seedling tubers, comprising a driving mechanism, a pair of clamps 6 and a cutting mechanism. The driving mechanism comprises a steering engine 1, an arc-shaped arm 8, a sliding block 4, a housing window 2, a sliding rail 9 and a rotating shaft 101. The cutting mechanism comprises a rotary blade 12, a motor 5 and a cylinder 11. The steering engine is a Feite card SCS2332 type digital steering engine, the position resolution is 300/1024, the TTL communication level is controlled, the no-load speed is 0.09sec/60(111RPM) @6V, and a potentiometer with identification rotation angle degrees is adopted.
The two circular slide rails 9 are erected between upright posts 22 of the memorial archway 2, the sliding block 4 is provided with a connecting rod 10 extending towards the upper part of the memorial archway 2, the upper part of the memorial archway 2 is provided with a shaft hole 21, a rotating shaft 101 driven by the rotation of the steering engine 1 penetrates through the shaft hole 21 and is connected with the center of the spindle-shaped turntable 7, one end of each arc-shaped rocker arm 8 is hinged to each of the two radial ends of the turntable 7, the other end of each arc-shaped rocker arm 8 is hinged to the connecting rod 10 of the sliding block 4, and the rotation; the rotary blade 12 is arranged parallel to the plane between the two clamps, and the rotary blade 12 is driven by the motor 5 to rotate; the fixed ends 112 of the memorial archway 2 and the air cylinder 11 are erected on the base 13, so that the air cylinder 11 extends along the direction of the central axis between the clamps, the free end 111 and the fixed end 112 of the air cylinder 11 are also connected through the reset mechanism 14, the reset mechanism comprises an elastic mechanism or a magnetic field generating device, the free end of the air cylinder is driven by an air pump to move towards the fixed end far away from the air cylinder, and the fixed end of the air cylinder is provided with an air pump connector 3 used for being connected with the air pump. The cylinder 11 is subjected to the pressure of the air pump to realize linear displacement motion, and when no pressure exists, the linear displacement motion is automatically returned to the initial position by the spring force.
The end effector works as follows: when the potato tubers are to be processed, the steering engine rotates for a fixed angle, and the clamp clamps the potato tubers. The rotary blade is started, and the air cylinder moves linearly under the action of the air pump. When the potato tubers are cut, the action of the air pump disappears, the air cylinder returns to the initial position, and the rotary blade stops. And after the end effector reaches the transplanting point, the clamp is loosened, and the potato tuber is completely transplanted.
It will be understood that modifications and variations can be made by those skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the purview of the scope of the invention as defined in the appended claims.
Claims (5)
1. An end effector for potato tissue culture tuber propagation, which is characterized by comprising
The pair of clamps are respectively connected with the pair of sliding blocks sleeved on the sliding rails and move along the sliding rails along with the sliding blocks;
the driving mechanism is connected with the sliding block to enable the sliding block to be close to or separate from each other along the sliding rail;
the cutting mechanism is arranged right below the central axes of the pair of clamps and moves towards the clamping end close to the clamps or moves towards the clamping end far away from the clamps along the central axes;
the slide rails are erected and fixed, so that the slide rails are perpendicular to the middle axial surfaces of the pair of clamps.
2. The potato tissue culture tuber propagation end effector of claim 1, wherein the slide rail is erected between the upright posts of the housing, the slide block is provided with a connecting rod extending towards the upper part of the housing, the upper part of the housing is provided with a shaft hole, a rotating shaft driven by the rotation of the steering engine passes through the shaft hole, is connected with the center of the turntable, is positioned at two radial ends of the turntable and is respectively hinged with one end of an arc-shaped rocker arm, the other end of the arc-shaped rocker arm is hinged with the connecting rod of the slide block, and the rotation directions of the two arc-shaped rocker arms are opposite; the cutting mechanism comprises a rotary blade, a motor and a cylinder, the motor is fixed at the free end of the cylinder, the rotary blade is arranged in parallel to the direction of the central axis, and the rotary blade is driven by the motor to rotate; the memorial archway and the fixed end of cylinder are erect on the base, make the cylinder along the axis direction extends, still connect through canceling release mechanical system between the free end of cylinder and the fixed end.
3. The potato tissue culture tuber propagation end effector of claim 2, wherein the slide rail is arranged in one of the following ways:
the radial section of the slide rail is polygonal;
the radial section of the slide rail is circular, and at least two slide rails are erected between the upright posts of the housing.
4. The potato tissue culture tuber propagation end effector of claim 2, wherein the reset mechanism comprises an elastic mechanism or a magnetic field generating device.
5. The potato tissue culture tuber propagation end effector of claim 2, wherein the free end of the air cylinder is driven by the air pump to move towards the fixed end far away from the air cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920531393.7U CN210017341U (en) | 2019-04-18 | 2019-04-18 | Potato tissue culture tuber propagation end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920531393.7U CN210017341U (en) | 2019-04-18 | 2019-04-18 | Potato tissue culture tuber propagation end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210017341U true CN210017341U (en) | 2020-02-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920531393.7U Expired - Fee Related CN210017341U (en) | 2019-04-18 | 2019-04-18 | Potato tissue culture tuber propagation end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210017341U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300464A (en) * | 2020-03-13 | 2020-06-19 | 三峡大学 | Synchronous clamping mechanism based on connecting rod and operation method |
-
2019
- 2019-04-18 CN CN201920531393.7U patent/CN210017341U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300464A (en) * | 2020-03-13 | 2020-06-19 | 三峡大学 | Synchronous clamping mechanism based on connecting rod and operation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200207 Termination date: 20210418 |