CN210017341U - Potato tissue culture tuber propagation end effector - Google Patents

Abstract

This utility patent discloses a potato tissue culture tuber propagation end effector, which includes a driving mechanism, a clamp and a cutting mechanism. The drive mechanism rotates the turntable synchronously through the rotation of the steering gear. The two arc rocker arms are respectively connected to the two ends of the turntable and the two sliders. The slider is constrained by two parallel cylindrical slide rails, and the arc rocker arm drives the slider to move. The clamp is fixed on the slider and is driven by the slider to realize the clamping and relaxation of the clamp. The rotary blade and the motor are fixed on the cylinder, and the position of the cylinder and the base is relatively fixed. The cylinder is subjected to the pressure of the air pump to achieve linear displacement movement, and when there is no pressure, it automatically returns to the initial position by the spring force. The utility model realizes the work of clamping, fixing and cutting potato tubers within a length of 10 cm by the same end effector through the clever design of the clamp and the cutting mechanism.

Description

A potato tissue culture tuber propagation end effector

technical field

The invention relates to the technical field of crop breeding, in particular to a potato tissue culture tuber propagation end effector.

Background technique

Potato is an indispensable food and vegetable crop in China, and its cultivation and breeding value is extremely high. The soil and climatic conditions in most areas of China are suitable for potato cultivation. At present, China's potato planting area accounts for about 25% of the world's total. In modern potato production practice, the application of virus-free seed potatoes can increase potato yield by more than 30%, and solve the problem of yield and quality decline caused by virus infection in potato production. The contribution of potato virus-free seed potato breeding technology to potato yield is unmatched by other single technologies such as potato breeding and cultivation. Tissue culture rapid propagation of detoxified tubers and tubers is the basic production link of the potato detoxification seed potato breeding system. Long-term skilled workers. At present, the domestic method of propagation of potato detoxification tubers is mainly manual. As an important part of the process of cultivating tubers, the automation and mechanization of potato detoxification tubers and tubers propagation operation can reduce labor intensity and improve operation. Efficiency, and ensure the consistent effect of transplanting tuber tubers. At present, there is no end effector on the automatic propagation equipment that can be used in production. Since potato tissue culture tubers are cut and propagated, a large number of experienced and skilled workers need to be trained, which increases a lot of manpower and material costs, and the labor intensity is high and the operation time is long. With the growing maturity and popularization of tuber breeding technology, the lag in the development of domestic automatic transplanting equipment has become a "bottleneck" for the development of the vegetable tuber breeding industry.

Therefore, the development of an end effector for potato tissue culture tuber cutting and propagation is of great significance to the mechanization, automation and intelligence of potato tuber propagation.

Utility model content

The technical problem to be solved by the utility model is to provide an end effector for realizing the actions of clipping, shearing and transplanting in the process of expanding potato tissue culture tubers.

In order to solve the above problems, the utility model adopts the following technical scheme, a kind of potato tissue culture seedling tuber expansion execution end effector, comprising:

a pair of clamps, the clamps are respectively connected with a pair of sliders sleeved on the slide rail, and move along the slide rail with the slider;

The drive mechanism, which connects the sliders, makes the sliders move closer or apart along the slide rails;

a cutting mechanism, the cutting mechanism is installed just below the central axis of the pair of clamps, and moves along the central axis toward the clamping end of the clamp or moves away from the clamp end of the clamp;

The sliding rails are erected and fixed so that the sliding rails are perpendicular to the central axis surfaces of the pair of clamps.

Further, the slide rail is erected between the columns of the archway, the slider has a connecting rod extending toward the upper part of the archway, a shaft hole is opened on the upper part of the archway, and the rotating shaft driven by the rotation of the steering gear passes through the shaft hole, connecting the center of the turntable. , one end of an arc-shaped rocker arm is hinged at both ends of the turntable in the radial direction, the other end of the arc-shaped rocker arm is hinged with the connecting rod of the slider, and the two arc-shaped rocker arms have opposite directions of rotation; the cutting The mechanism includes a rotating blade, a motor and a cylinder, the free end of the cylinder is fixed with the motor, the rotating blade is arranged parallel to the direction of the central axis, and the rotating blade is driven to rotate by the motor; the fixed end of the arch and the cylinder are erected on the base , so that the cylinder extends along the direction of the central axis, and the free end and the fixed end of the cylinder are also connected by a reset mechanism.

Further, the slide rail is set in one of the following ways:

The radial section of the slide rail is a polygon;

The radial section of the slide rail is circular, and at least two slide rails are erected between the uprights of the archway.

Further, the reset mechanism includes 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 toward the fixed end away from the air cylinder.

Compared with the prior art, the utility model has the following beneficial effects: by cleverly combining the clamp and the cutting mechanism, the integration of clamping, shearing and transplanting in the section expansion of potato tissue culture tubers is realized. The 3D printed jig has a certain degree of deflection, and the front section of the jig is wrapped with tiny fluff, which can prevent the potato tuber from being damaged to the greatest extent while ensuring the stability of the tuber clamping. The ingenious structure of the fixture and its relative position with the cutting mechanism ensure the normal movement of the cutting mechanism, and ensure that the cutting mechanism is retracted without affecting the transplanting process when the potato tubers are cut and ready to be transplanted. The design is stable and reliable, the structure is simple, and the disassembly and assembly are convenient, so that the utility model has strong economical practicability, low cost and convenient mass production, and has a good market prospect.

Description of drawings

1 is a schematic diagram of the overall structure of an end effector according to an embodiment of the present invention;

FIG. 2 is a left-view structural schematic diagram of an embodiment of the present utility model;

3 is a schematic view of a bottom-view three-dimensional structure of an embodiment of the present utility model;

4 is a schematic structural diagram of a cutting mechanism according to an embodiment of the present invention;

5 is a schematic structural diagram of a clamp according to an embodiment of the present invention;

In the picture: 1-Servo, 101-Rotating shaft, 2-Arch, 21-Shaft hole, 22-Column, 3-Air pump joint, 4-Slider, 5-Motor, 6-Clamp, 61-Clamping end, 7 - Turntable, 8- Arc Arm, 9- Slide Rail, 10- Link, 11- Cylinder, 111- Free End, 112- Fixed End, 12- Rotating Blade, 13- Base, 14- Reset Mechanism.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in FIGS. 1 to 5 , an embodiment of the present invention provides an end effector for performing tuber expansion and propagation of potato tissue culture seedlings, including a driving mechanism, a pair of clamps 6 and a cutting mechanism. The driving mechanism includes a steering gear 1 , an arc-shaped arm 8 , a slider 4 , an arch 2 , a slide rail 9 , and a rotating shaft 101 . The cutting mechanism includes a rotating blade 12 , a motor 5 and an air cylinder 11 . The steering gear adopts Feite brand SCS2332 digital steering gear, the position resolution is 300/1024, the TTL communication level control, the no-load speed is 0.09sec/60(111RPM)@6V, and it has a potentiometer to identify the number of rotation angles.

Two circular slide rails 9 are erected between the columns 22 of the archway 2, the slider 4 has a connecting rod 10 extending toward the upper part of the archway 2, the upper part of the archway 2 is provided with a shaft hole 21, and the rotating shaft 101 driven by the rotation of the steering gear 1 passes through. The shaft hole 21 is connected to the center of the spindle-shaped turntable 7, and is located at one end of an arc-shaped rocker arm 8 hinged at both radial ends of the turntable 7, and the other end of the arc-shaped rocker arm 8 is connected to the connecting rod 10 of the slider 4. Hinged, the two arc rocker arms 8 have opposite directions of rotation; the rotary blade 12 is arranged parallel to the plane between the two clamps, and the rotary blade 12 is driven to rotate by the motor 5; the fixed end 112 of the arch 2 and the cylinder 11 is erected on the base 13, the cylinder 11 is extended along the direction of the central axis between the clamps, and the free end 111 of the cylinder 11 and the fixed end 112 are also connected by a reset mechanism 14. The reset mechanism includes an elastic mechanism or a magnetic field generating device. The end is driven by the air pump to move toward the fixed end away from the cylinder, and the fixed end of the cylinder has an air pump joint 3 for connecting the air pump. The cylinder 11 is subjected to the pressure of the air pump to realize linear displacement movement, and when there is no pressure, it is automatically returned to the initial position by the spring force.

The working method of the end effector is as follows: when there are tubers to be processed, the steering gear rotates at a fixed angle, and the clamps hold the tubers. When the rotary blade starts, the cylinder moves linearly under the action of the air pump. When the potato tubers are cut, the action of the air pump disappears, the cylinder returns to the original position, and the rotating blade stops. After the end effector reaches the transplanting point, the clamp is released, and the tuber transplanting is completed.

It should be understood that, for those skilled in the art, improvements or changes can be made according to the above description, and all these improvements or changes should fall within the protection scope of the appended claims of the present invention.

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.

Images