JP2525389Y2 - Coarse motion table integrated manipulator such as glass electrode - Google Patents

Description

[Detailed description of the invention] "Industrial application field" This invention is used in the fields of basic medicine and bionics.
The present invention relates to a manipulator integrated with a coarse moving table, such as a glass electrode, for moving pipettes, such as a glass electrode, for processing cells by remote control.

"Prior art" As the manipulator of this type, the present applicant has proposed many types of manipulators with various improvements. For example,
The manipulator described in JP-A-62-132460 and the manipulator described in Japanese Utility Model Laid-Open Publication No. 64-26181 include a moving unit to which a glass electrode and the like are attached, and an operating unit for controlling the moving unit, and The part is attached near the stage of the microscope by a bracket part. The moving unit comprises an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism that move in the front-rear, left-right, and up-and-down directions, respectively, and each moving mechanism moves the piston in response to a change in the pressure inside the hydraulic cylinder. The slider is moved relative to the table in a predetermined direction by an amount corresponding to the pressure change.

The hydraulic cylinder of each moving mechanism is connected to the corresponding hydraulic cylinder of the X-axis operating mechanism, the Y-axis operating mechanism, and the Z-axis operating mechanism of the operating unit by a pressure-resistant tube.

Then, a glass cylinder or the like is moved by changing the internal pressure of the hydraulic cylinder of the moving unit by pressing the hydraulic cylinder of the operating unit.

However, this type of manipulator can usually move the glass electrode or the like in micron units for convenience in processing cells, but the range in which the glass electrode or the like can be moved is so wide. It cannot be obtained, and the greater the amount of movement of the glass electricity or the like, the greater the amount of operation and the lack of convenience.

For example, when detaching cells from the stage of the microscope, it is necessary to move the glass electrode or the like largely to the side so as not to disturb the detaching operation, which is inconvenient.

For this reason, in general, a coarse movement mechanism is attached to the stage side of the microscope via a bracket, and the above-mentioned moving part to which a glass electrode or the like is mounted via the bracket is attached to the coarse movement mechanism. It is.

The above coarse movement mechanism comprises an X-axis coarse movement mechanism, a Y-axis coarse movement mechanism, and a Z-axis coarse movement mechanism for moving in the front-rear, left-right and up-down directions, respectively. For example, since the pinion rotates and the above-mentioned pinion is meshed with the rack, the movable base moves with a large moving amount in a predetermined direction relative to the base in accordance with the rotation amount of the operation knob. I have.

[Problem to be Solved by the Invention] However, since the coarse movement mechanism and the moving part are attached to the stage side of the microscope with an appropriate number of brackets interposed, not only many brackets are required but also the coarse movement mechanism is required. The shape was also bulky because the and the moving part were installed vertically.

In addition, a large portion of the side of the stage of the microscope is occupied, and various movements of an operator who processes while observing cells and collects data are restricted, which may be an obstacle.

Further, the coarse movement mechanism including the bracket and the moving portion have a problem that the shape thereof is considerably bulky, the appearance is poor, and it is difficult to operate.

In view of the above circumstances, it is an object of the present invention to provide a manipulator such as a glass electrode which has a small number of parts, can be attached to the side of a microscope stage without being bulky, and is easy to handle in operation. I do.

"Means and Actions for Solving the Problems" The present invention has been made in order to achieve the above-mentioned object, and includes a moving unit having three sets of moving mechanisms for moving glass electrodes and the like in the front-rear and left-right and up-down directions, The moving mechanism of the moving unit includes a base, a slider that slides with respect to the base, a piston, and a diaphragm that is pressed by the piston. A glass electrode provided with a hydraulic cylinder interposed between the base and the slider, wherein each of the above-mentioned hydraulic cylinders is connected to a hydraulic cylinder of an operation unit whose internal pressure changes by pressing operation. A coarse moving table on which a pinion orthogonal to the traveling direction of the moving mechanism to be mounted is provided, and the coarse moving knob is fixed by projecting the pinion shaft out of the coarse moving table. Said A coarse mechanism that movably mounts a moving mechanism with a rack attached to the lower surface on the lower surface to engage with the pinion of the coarse moving table, and coarsely moves the moving mechanism on the coarse moving table by operating the coarse knob A manipulator integrated with a coarse moving table such as a glass electrode, which is integrated.

"Example" Hereinafter, one of manipulators such as a glass electrode according to the present invention will be described.
An embodiment will be described with reference to the drawings.

FIG. 1 is a left side view of a moving unit showing an embodiment of a coarse moving table integrated manipulator such as a glass electrode according to the present invention. FIG. 2 is a front view of the manipulator of FIG. 1, and FIG. 3 is a rear view of the manipulator of FIG.

1 to 3, the mounting base 1 of the moving part A is
The adjustment stage 2 is screwed to the side end of the microscope stage directly or via a bracket.

The adjusting table 2 is attached to the long hole 3 drilled by a knob-equipped adjusting screw 5 so that the Z-axis moving mechanism 4 can be moved and adjusted in the height direction via a Z-axis coarse moving table 6. .

The Z-axis coarse moving table 6 is attached to the adjusting table 2 so that the height position thereof can be adjusted by the adjusting screw 5, and a pinion 8 (see FIG. 4) having a coarse moving knob D is rotatably mounted. I have.

The pinion 8 is engaged with the rack 9 of the Z-axis moving mechanism 4. The configuration of the Z-axis moving mechanism 4 including the Z-axis coarse moving table 6 and other moving mechanisms will be described later with reference to FIGS. 4 and 5, but the Z-axis moving mechanism 4 is a hydraulic cylinder. The slider 10 has a slider 12 which can be relatively moved with respect to a base 11 by 10.

The slider 12 of the Z-axis moving mechanism 4 has an X-axis coarse moving table 13 screwed thereto.

An X-axis moving mechanism 14 is attached to the X-axis coarse moving table 13 with a pinion 8 and a rack 9 interposed in the same manner as the Z-axis coarse moving table 6 described above.

The X-axis moving mechanism 14 is configured such that the slider 12 can be moved relative to the base 11 by the hydraulic cylinder 10 similarly to the Z-axis moving mechanism 4.

A Y-axis coarse moving table 15 is screwed to the slider 12, and the Y-axis moving mechanism 16 is fixed to the Y-axis coarse moving table 15 via the pinion 8 and the rack 9 similarly to the Z-axis coarse moving table 6. Attach.

The Y-axis moving mechanism 16 can move the slider 12 relatively to the base by the hydraulic cylinder 10 like the Z-axis moving mechanism 4.

The slider 12 of the Y-axis moving mechanism 16 has a fixture 17 to which pipettes such as glass electrodes are attached.

The fixture 17 is mounted on the slider 12 of the Y-axis moving mechanism 16 as a pedestal.
18 is fixed, and the mounting base 1 is rotatable 360 degrees on the pedestal 18 so that pipettes such as glass electrodes can be turned.
9 is supported.

The mounting base 19 can be locked so that it cannot rotate by being pressed by a lock screw 20. The upper surface of the mounting base 19 has a receiving groove 21 for receiving a base end of a pipette 24 such as a glass electrode. The base end of a pipette 24 such as a glass electrode (hereinafter simply referred to as a glass electrode or the like) is provided in the receiving groove 21. Is provided with a mounting plate 22 for fixing the.

The mounting plate 22 should be tightened with the mounting screw 23.
The base end of 24 is pressed into the groove 21 and fixed.
The Z-axis coarse moving table 6 and the Z-axis moving mechanism 4 move the glass electrodes 24 in the height direction (hereinafter referred to as the Z direction).

The X-axis coarse moving table 13 and the X-axis moving mechanism 14 move the glass electrodes 24 in the lateral direction (hereinafter referred to as X direction).

The Y-axis coarse moving table 15 and the Y-axis moving mechanism 16 move the glass electrodes 24 in the front-rear direction (hereinafter referred to as the Y direction).

Z-axis coarse motion table 6 and Z-axis motion mechanism 4, X-axis coarse motion table 13 and X-axis motion mechanism 14, Y-axis coarse motion table 15 and Y-axis motion mechanism 16
Have the same structure, and the coarse moving table B and the moving mechanism C will be described below with reference to FIGS. 4 and 5.

As shown in FIG. 4, the coarse moving table B is formed in a concave shape, and has a relief groove 25 in which the rack 9 on the lower surface of the base 1 of the moving mechanism C is fitted on the upper surface of the concave portion. A pinion 8 facing inside 25 is rotatably mounted.

The rotation shaft 8a of the pinion 8 protrudes outward from the side surface of the coarse moving table B, and the protruding end is provided with a coarse moving knob D. Linear motion bearing 26
The base 11 is slidably mounted with the interposition.

A rack 9 is provided on the lower surface of the base 11, and the rack 9 engages with the pinion 8. The base 11 has a piston receiving hole 27 penetrating from one end to the other end, and the hydraulic cylinder 10 is fixed to one end of the piston receiving hole 27.

The hydraulic cylinder 10 is similar to that described in Japanese Utility Model Laid-Open Publication No. 64-26181, and has a diaphragm 29 in a cap-shaped cylinder body 28, as shown in FIG. The water is sealed in the cylinder chamber 30 of the first embodiment.

The cylinder chamber 30 connects the corresponding hydraulic cylinders (between the hydraulic cylinders of the X-axis and the X-axis, the Y-axis and the Y-axis, and the Z-axis and the Z-axis) of the operation unit E with the pressure-resistant tube 7. It is supposed to. The slider 12 is slidably mounted on the base 11 with a linear motion bearing 26 interposed therebetween. The sliding direction of the slider 12 is the same as the sliding direction of the base 11 with respect to the coarse table B by the coarse knob D.

At one end of the slider 12, a mounting plate 31 is screwed, and a piston 32 is implanted on the mounting plate 31.

The piston 32 can fit into the piston receiving hole 27 and press the diaphragm 29 of the hydraulic cylinder 10.

Also, a return spring 33 is provided between the mounting plate 31 and the base 11.
Is locked. The coarse moving table B and the moving mechanism C constitute one set, and three sets are attached so that the glass electrodes 24 can be moved in the X, Y, and Z directions, respectively.

As shown in FIG. 6, the operation unit E is a Z-axis operation mechanism.
34, having an X-axis operation mechanism 35 and a Y-axis operation mechanism 36,
When the operation knobs 34a to 36a are turned to the same structure, the piston 37 advances and retreats to press and depress the diaphragm of the hydraulic cylinder 38.

The hydraulic cylinder 38 is connected to the corresponding hydraulic cylinder 10 via the pressure-resistant tube 7.

Although the bracket 39 is interposed between the adjusting table 2 and the Z-axis coarse moving table 6, the bracket 39 is not necessarily required to be interposed. The bracket 39 may be screwed to the Z-axis coarse moving table 6.

And, the manipulator such as the glass electrode of the above configuration,
First, when the glass electrode 24 is largely moved or when the glass electrode 24 is roughly positioned, the Z-axis coarse moving table 6, X
By turning any of the coarse adjustment knobs D of the shaft coarse adjustment table 13 and the Y-axis coarse adjustment table 15, the base 11 is moved relative to the coarse adjustment table B in the X direction and the Y direction by the engagement of the pinion 8 and the rack 9. The glass electrode or the like 24 largely moves in the direction or the Z direction.

A coarse movement range of about 2 to 3 cm is sufficient, but the coarse movement range can be arbitrarily set according to the purpose of use. To move the glass electrode 24 in units of microns, the operation unit E
By turning any of the operation knobs 34a to 36a, the diaphragm of the corresponding hydraulic cylinder 38 of any of the Z-axis operation mechanism 34, the X-axis operation mechanism 35, and the Y-axis operation mechanism 36 is pressed or depressurized. When the hydraulic pressure of the hydraulic cylinder 10 of the corresponding hydraulic cylinder 10 connected by the pressure-resistant tube 7 of the moving part A is reduced by the above-mentioned hydraulic pressure change of the hydraulic cylinder 38, the slider 12 is moved backward by the return spring 33. I do.

[Effects of the Invention] As described above, according to the manipulator integrated with a coarse moving table such as a glass electrode according to the present invention, not only the moving unit finely moves the glass electrode and the like by the operation unit but also the coarse electrode incorporated in the moving unit. Since the glass electrode and the like are largely moved by the moving table and the rack and the pinion with the coarse moving knob that meshes with the rack to perform rough positioning and the like, the shape of the coarse moving mechanism is large. Since only the coarse motion table largely affects the tension, the movable table can be omitted from the conventional coarse motion table, and a bracket for coupling the moving mechanism and the coarse motion mechanism is not required. In addition, the number of parts can be greatly reduced and the size can be reduced. Compared with the conventional mechanism in which the moving mechanism and the coarse moving mechanism are installed vertically, the coarse moving mechanism is incorporated in the moving mechanism. , Coarse operation is easy and It is very convenient because it is easy to handle.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a left side view of a moving part showing one embodiment of a coarse moving table integrated manipulator such as a glass electrode according to the present invention, and FIG. 2 is a front view of the manipulator of FIG. FIG. 3 is a rear view of the manipulator of FIG. 1, FIG. 4 is an exploded perspective view of one moving mechanism of a moving unit, FIG. 5 is a sectional view of a hydraulic cylinder, and FIG. It is a left side view. A: moving section, B: coarse moving table C: moving mechanism, D: coarse moving knob E: operating section, 4: Z-axis moving mechanism 8: pinion, 9: rack 10: liquid Pressure cylinder, 11 Base 12 Slider 14 X-axis moving mechanism 16 Y-axis moving mechanism 32 Piston

Claims (1)

(57) [Scope of request for utility model registration] 1. A moving unit having three sets of moving mechanisms for moving a glass electrode and the like in the forward and backward, right and left, and up and down directions, and an operating unit for controlling each of the above moving mechanisms. A base, a slider that slides on the base, a hydraulic cylinder provided with a piston and a diaphragm pressed by the piston, and interposed between the base and the slider. A manipulator such as a glass electrode connected to a hydraulic cylinder of an operation unit in which each of the above-mentioned hydraulic cylinders changes an internal pressure by a pressing operation, wherein a pinion orthogonal to a traveling direction of a mounted moving mechanism is axially supported. A coarse moving table is provided, the pinion shaft is protruded out of the coarse moving table to fix the coarse moving knob, and a moving mechanism having a lower surface provided with a rack meshing with the coarse moving table pinion is provided. Move to platform Freely mounted, coarse stage integrated manipulator such as glass electrode, characterized in that the movement mechanism on the coarse stage and the coarse movement stage integral to flutter by operating the coarse knob.