JPH0481427B2 - - Google Patents

Description

Detailed Description of the Invention "Field of Industrial Application" The present invention is used in the field of bionics, such as basic medicine, to use glass electrodes, etc. for moving glass electrodes, etc. by remote control in order to perform treatments on cells. Regarding manipulators.

``Prior Art'' As a conventional manipulator of this type, a hydraulic type manipulator described in Japanese Patent Application Laid-Open No. 14559/1983 is already known. As shown in FIG. 7, the manipulator includes a remote control section 1, a glass electrode, etc.
It consists of a moving part 3 that is operated. The remote control unit 1 includes an X-axis linear drive mechanism 12 and a Y-axis linear drive mechanism 13, which are equipped with hydraulic cylinders 10 and 11 with diaphragms 8 and 9 that are pressed by pistons 6 and 7 when knobs 4 and 5 are turned, respectively. When the lever 14 is tilted, the hydraulic cylinder 1 equipped with a diaphragm corresponds to the direction and amount of the tilt.
5 and 16 are equipped with an X-Y axis drive mechanism 17 which is pressurized by pistons 17a and 17b, and a hydraulic cylinder 21 with a diaphragm 20 which is installed inside the lever 14 and is pressed by a piston 19 when the knob 18 is turned. and a Z-axis drive mechanism 22. The X-Y axis drive mechanism 17 includes a Y-axis slider 1 that reciprocates in the vertical direction (Y-axis direction) on a fixed base 17c.
7d, and an X-axis slider 17e to which a pin ball 17f that reciprocates in the lateral direction (X-axis direction) and is coupled to the lever 14 is attached to the Y-axis slider 17d, and the base 17c and Y axis slider 1
7d, the piston 17b and the hydraulic cylinder 1
6, and a piston 17a and a hydraulic cylinder 15 are interposed between the Y-axis slider 17d and the X-axis slider 17e, respectively. On the other hand, the moving unit 3 includes an X-axis moving table 23, a Y-axis moving table 24, and a Z-axis moving table 25, each of which has the same configuration, and are arranged vertically with respect to each other. Each movable table 23 to 25 has a main body 2
The sliders 29 to 31 are attached to the main bodies 26 to 28 so as to be able to slide back and forth, and the piston 3 is attached to the main bodies 26 to 28.
2 to 34 are provided, and each slider 29 to 31 is provided with a hydraulic cylinder 38 to 40 with a diaphragm that constantly contacts the pistons 32 to 34 with return springs 35 to 37. The return springs 35 to 37 are interposed between the main bodies 26 to 28 and the sliders 29 to 31, and have the function of keeping the pistons 32 to 34 in constant contact with the diaphragms of the hydraulic cylinders 38 to 40. Others, slider 2 for main bodies 26 to 28
It also has a function for round trips from 9 to 31. Above X
The hydraulic cylinder 10 of the axis linear drive mechanism 12 is connected to the hydraulic cylinder 38 of the X-axis moving table 23 via pressure tubes 41 and 42, and the hydraulic cylinder 10,
38 spaces are filled with oil. The hydraulic cylinder 11 of the Y-axis linear drive mechanism 13 is connected to the hydraulic cylinder 39 of the Y-axis moving table 24 via pressure-resistant tubes 43 and 44, and the space between the hydraulic cylinders 11 and 39 is filled with oil. Also, the X-Y axis drive mechanism 17
Also, the hydraulic cylinder 38 of the X-axis moving platform 23 is connected to the hydraulic cylinder 15 via the pressure-resistant tube 42, oil is filled between the hydraulic cylinders 15 and 38, and the hydraulic cylinder 16 is connected to the Y-axis moving via the pressure-resistant tube 44. The hydraulic cylinder 39 of the stand 24 is connected, and oil is filled between the hydraulic cylinders 16 and 39. The hydraulic cylinder 21 of the Z-axis drive mechanism 22 is connected to the hydraulic cylinder 4 of the Z-axis moving table 25 via a pressure tube 45.
0, and oil is filled between the hydraulic cylinders 21 and 40. Slider 31 of Z-axis moving table 25
It has a rod 25a for mounting on a stand or the like, and the main body 26 of the X-axis moving table 23 has a mounting fitting 23a for mounting a glass electrode or the like 2. Then, by turning each knob 4, 5, 18 of the X-axis linear drive mechanism 12, Y-axis linear drive mechanism 13, and Z-axis drive mechanism 22, the hydraulic cylinders 10, 1
The hydraulic pressure in the hydraulic cylinders 10, 11, 21 changes according to the change in the amount of pressure of the pistons 6, 7, 19 relative to the pistons 1, 21. The oil pressure in the hydraulic cylinders 38 to 40 also changes, and the amount of pressure the pistons 32 to 34 press against the hydraulic cylinders 38 to 40 changes, which causes the sliders 29 to 31 to slide against the main bodies 26 to 28, causing the glass to slide. The electrodes 2 move in the horizontal (X-axis), vertical (Y-axis), and height (Z-axis) directions. Furthermore, when the lever 14 of the X-Y axis drive mechanism 17 is tilted, the amount of pressure of the pistons 17a, 17b against the hydraulic cylinders 15, 16 changes depending on the direction and amount of tilting of the lever 14, and from this, the pressure tube Each hydraulic cylinder 3 of the X-axis moving table 23 and the Y-axis moving table 24 via 42 and 44
8 and 39, the amount of pressure by the pistons 32 and 33 changes, and as a result, the X-axis moving table 23 and the Y
The sliders 29 and 30 slide on the bodies 26 and 27 of the shaft moving table 24, and the glass electrodes 2 move in the X-axis direction and the Y-axis direction.

In addition, electric manipulators as shown in FIGS. 1 and 6 are also known. As shown in FIG. 1, this manipulator has an X-axis electric mechanism 46, a Z-axis electric mechanism 48, and a Y-axis electric mechanism 47 installed vertically with the same configuration, and the X-axis electric mechanism 46 is attached to a stay 49 fixed to a stand or a microscope. Attach it to Y
The shaft electric mechanism 47 is provided with a mounting fitting 50 for mounting the glass electrode etc. 2 thereon. As shown in FIG. 6, each electric mechanism 46 to 48 has a motor 53 housed in a housing hole 52 of a main body 51, and a screw shaft 56 rotatably connected to the rotating shaft of the motor 53 via gears 54, 55. , the slider 5 is attached to the screw shaft 56.
7 is screwed into a female threaded cylinder 58 which is vertically installed. The screw shaft 56 has its base end inserted into the holding cylinder 59a of one first end plate 59, and its other end rotatably exposed into the storage recess 60 of the main body 51. A gear 55 is screwed onto the proximal end of the screw shaft 56 that protrudes from the holding cylinder 59a, and a screw 63 is inserted into the gear 55 from the opposite position to the screwed side.
A is screwed together to fix the gear 55 to the base end of the screw shaft 56 in a double screw manner. Further, the slider 57 is slidably mounted above the storage recess 60 of the main body 51 with a Nilia motion bearing 61 interposed therebetween. One first end plate 59 and motor 53
The second end plate 62 to which is fixed is fixed to one end of the main body 51 with screws 63. The other end plate 64 is similarly fixed to the other end of the main body 51 with screws 63. The gears 54 and 55 are surrounded by a gear case 65 that is fixed to one end of the main body 51 with a screw 66. When the motor 53 is driven, the screw shaft 56 rotates via the gears 54 and 55.
Since the female screw cylinder 58 is screwed onto the screw shaft 56, the slider 57 can slide back and forth. The sliding limit of the slider 57 is detected when an engaging element 67 integrated with the slider 57 comes into contact with each actuator of micro switches 68 and 69, and the motor 53 is stopped. Therefore, the X-axis electric mechanism 46, Y-axis electric mechanism 47, and Z-axis electric mechanism 48 are arranged vertically by connecting the main body 51 and the slider 57, respectively.

``Problems to be solved by the invention'' However, since the former hydraulic manipulator uses hydraulic pressure to move the glass electrodes 2, etc., when the ambient temperature changes, the thermal expansion state of the oil also changes. Then, the pressure tubes 41~
Each hydraulic cylinder 10, 11, 1 connected by 45
5, 16, 21, 38 to 40 may change, causing so-called thermal drift in which the position of the glass electrode, etc. 2 changes inadvertently, and the position of the glass electrode, etc. 2 should be adjusted each time. There were some problems that needed to be redone.

Moreover, the latter electric manipulator has a motor 5.
When the rotation speed of 3 is reduced by gears 54 and 55,
Due to limitations, it is not easy to move the glass electrode 2 in micron units, and usually the mounting bracket 5
Currently, the above-mentioned hydraulic manipulator is used in combination with the above-mentioned hydraulic manipulator, and since the above-mentioned hydraulic manipulator is combined, the above-mentioned problem of thermal drift still exists. Ta.

In view of the above circumstances, the present invention eliminates the occurrence of so-called thermal drift, in which glass electrodes, etc. move inadvertently due to temperature changes in the atmosphere, allows the glass electrodes, etc. to be moved in micron units, and allows for remote control. To provide a manipulator for glass electrodes, etc., which not only enables easy and accurate positioning but also is small and lightweight and can be mounted facing above the stage of a microscope, and is extremely convenient in use.

"Means to be Solved by the Invention" In order to achieve the above-mentioned object, the present invention provides for mutually connecting an X-axis electric mechanism for the horizontal direction, a Y-axis electric mechanism for the vertical direction, and a Z-axis electric mechanism for the vertical direction. A manipulator such as a glass electrode that is installed vertically and has a mounting bracket on the most advanced of each electric mechanism, and each electric mechanism has a slider that slides back and forth with respect to the main body by an internal motor and a gear mechanism. , the above mounting bracket is equipped with an X-axis electric mechanism for the horizontal direction and a Y-axis electric mechanism for the vertical direction.
The axial fine movement mechanism and the Z-axis fine movement mechanism for the height direction are installed vertically, and the most advanced one of each fine movement mechanism is provided with a second mounting bracket for fixing a glass electrode, etc. A glass electrode, etc., consisting of a rocking plate, a piezoelectric element that can press a position close to the rocking base end of the rocking plate, and a finely moving plate that can freely move back and forth depending on the distance that the tip of the rocking plate moves. It features a manipulator.

"Operation" In the above means, the present invention first roughly positions the glass electrode etc. by moving it to a desired position using the X-axis electric mechanism, Y-axis electric mechanism, and Z-axis electric mechanism, and then When treating cells with a glass electrode or the like while observing them with a microscope, a voltage is applied to the piezoelectric element of one of the X-axis fine movement mechanism, Y-axis fine movement mechanism, and Z-axis fine movement mechanism, and the piezoelectric element The extension presses the rocking plate and swings the rocking plate to move the fine movement plate, thereby freely finely moving the glass electrode etc. to a desired position in the vertical and horizontal directions.

"Embodiment" An embodiment of a manipulator such as a glass electrode according to the present invention will be described below with reference to the drawings. first,
In FIG. 1, A is the previously used electric manipulator mentioned above. Connect the rod 70 to the mounting bracket 50 of the electric manipulator A.
A Z-axis fine movement mechanism 71 is fixed to the tip of the connecting rod 70. The Z-axis fine movement mechanism 71 has an X-axis fine movement mechanism 72 and a Y-axis fine movement mechanism 73 installed vertically. A glass electrode or the like 2 is attached to the Y-axis fine movement mechanism 73 via a second attachment fitting 74, a ball joint mechanism 75, a third attachment fitting 76, and a holder 77, which have well-known configurations.

The Z-axis fine movement mechanism 71, the X-axis fine movement mechanism 72, and the Y-axis fine movement mechanism 73 have the same configuration, and when installed vertically, they are installed offset by 90 degrees from each other. That is, as shown in FIGS. 2 and 3, the block-shaped main body 78 has a storage hole 79 in the upper part, and recesses 80 in the lower and front ends.
81, and a rectangular bar-shaped piezoelectric element 84 made of ceramic is housed in the housing hole 79. Accommodating holes 82 and 83 are formed at the base end and pressing end of the piezoelectric element 84, and balls 85 and 9 are formed in the accommodating holes 82 and 83.
1 is fitted so that a portion thereof protrudes, and is fixed with adhesive so that it cannot fall off. An end plate 88 is fixed to the base end of the main body 78 with screws 86a. At this time, the base end of the piezoelectric element 84 is connected to the end plate 8 through the ball 85.
Make it contact the inner surface of 8. A receiving hole 87 for receiving the ball 85 is formed on the inner surface of the end plate 88. A pin 90 is provided in the concave portion 81 at the front end of the main body 78.
The swing plate 89 is fitted so as to be swingable about the fulcrum. The pin 90 is inserted into a pin hole 93a of the main body 78 and a pin hole 93b of the swing plate 89. The piezoelectric element 84 is always located at a position close to the pin 90 of the swing plate 89 via the ball 91.
In other words, it is brought into contact with a position close to the swinging base end. A portion of the ball 91 is adapted to fit into a receiving hole 92 formed on the inner surface of the rocking plate 89. A linear motion bearing 94 is interposed in the concave portion 80 at the bottom of the main body 78, and the slider 9 as the fine movement plate is slidable back and forth with respect to the main body 78.
Attach 5. An end plate 9 is provided on the end surface of the slider 95.
6 and 97 are fixed with screws 86. Also, springs 98, 9 are provided between the slider 95 and the end plate 88 and between the slider 95 and the tip of the swing plate 89.
Interpose 9. The springs 98 and 99 are housed in a through hole 100 that passes through the slider 95 and extends between the end plates 96 and 97, and are screwed into screw holes that extend from the lower surface of the slider 95 into the through hole 100 as shown in FIG. Attach the spring 98 to the screw 101,
Hook one end of 99. The other end of the spring 98 is hooked to a screw 103 that is threaded into a screw hole that is formed in a through hole 102 at the bottom of the end plate 88 and extends from the bottom end of the end plate 88 into the through hole 102 . The other end of the spring 99 has a through hole 10 in the lower part of the swing plate 89.
A screw 105 is screwed into a screw hole extending from the side end of the rocking plate 89 into the through hole 104.
Attach to. Storage hole 1 on the inner surface of the tip of the swing plate 89
17 is formed, and the ball 118 is fitted into the storage hole 117 with a portion of the ball 118 protruding from the inner surface of the rocking plate 89, and the protruding portion of the ball 118 is kept in contact with the end plate 97. The spring 99 uses its elastic force to bring the tip of the swing plate 89 and the end plate 97 of the slider 95 into constant contact with the ball 118 interposed therebetween. On the other hand, the spring 98 has a function as a return spring when the swing plate 89 returns to its original state due to the reduction of the piezoelectric element 84. From the piezoelectric element 84, a lead wire 107 is inserted through a hole 106 formed in the end plate 88 and drawn out to the outside. Furthermore, an escape recess 108 into which the lead wire 107 is inserted is formed in the hole wall of the storage hole 79 of the main body 78.

When assembling the Z-axis fine movement mechanism 71, Z-axis fine movement mechanism 72, and Y-axis fine movement mechanism 73, each fine movement mechanism 71
-73 adjacent sliders 95 and the main body 78 or the end plate 88 integral with the main body 78 are fixed vertically by fixing each other with screws, etc. In this case, the slider of the Z-axis fine movement mechanism 71 95
is in the Z-axis direction (height direction) with respect to the main body 78, the slider 95 of the X-axis fine movement mechanism 72 is in the X-axis direction (lateral direction) with respect to the main body 78, and the slider 95 of the Y-axis fine movement mechanism 73 is in the main body 78. It is positioned vertically so as to be slidable in the Y-axis direction (vertical direction). The slider 95 of the Y-axis fine movement mechanism 73 has a base 11 equipped with a chevron-shaped storage groove 109 for the second mounting bracket 74.
Fixed 0. The base rod 75a of the ball joint mechanism 75 is fitted into the storage groove 109 of the base 110, and the base rod 75a is tightened with the screw 112.
It is held between the base 110 and the presser seat 111.
In FIG. 1, the lead wire drawn out from the Z-axis fine movement mechanism 71 is 107Z, the lead wire drawn out from the X-axis fine movement mechanism 72 is 107X, and the lead wire drawn out from the Y-axis fine movement mechanism 73 is 107Y.
DC power is supplied from the control device 113 to each lead wire 107Z, 107X, 107Y. Further, each motor 53 of the X-axis electric mechanism 46, Y-axis electric mechanism 47, and Z-axis electric mechanism 48 is also supplied with DC power from the control device 114. Each control device 113, 114 is provided with an operating device 115, 116.

In the above configuration, first, the controller 114 operates the operating device 116 to energize and drive the motor 53 of any one of the X-axis electric mechanism 46, the Y-axis electric mechanism 47, and the Z-axis electric mechanism 48, Thereby, the glass electrode etc. 2 is moved to a predetermined close position of the cells etc. to be treated, and the rough positioning is performed. Next, while observing cells etc. with a microscope, operate the operating device 115 to control the Z-axis fine movement mechanism 71, the X-axis fine movement mechanism 72, and the Y-axis fine movement mechanism 7 from the control device 113.
DC power is applied to one of the piezoelectric elements 84 of 3, and the piezoelectric element 84 expands, causing the slider 95 to slide as the oscillating plate 89 swings. Cells, etc. are processed by freely moving the holder in any direction vertically or horizontally.

In other words, the piezoelectric element 84 is of a type in which a large number of elements are laminated, and utilizes a piezoelectric longitudinal effect that extends in the direction of the electric field when an electric field is applied.
As mentioned above, the base end of the piezoelectric element 84 is in contact with the inner surface of the end plate 88 via the ball 85, and when a voltage is applied and the piezoelectric element 84 expands by a length proportional to the value of the applied voltage, the As shown in Figure 5, the ball 91
The oscillating plate 89 is pressed by the oscillating plate 89. By the way, the point at which the rocking plate 89 is pressed by the ball 91 is from the pin 90, which is the fulcrum of rocking, as shown in FIG.
It is set at a position extremely close to the pin 90 at a distance of l ₁ . On the other hand, the position where the slider 95 contacts the swing plate 89 via the end plate 97 and the ball 118 is separated from the pin 90 by l ₂ . Therefore, as shown in FIG. 5, the length that the piezoelectric element 84 extends to press the rocking plate 89 is defined as _l3 , and the distance that the slider 95 moves due to the rocking of the rocking plate 89 is defined as _l4 . Then, the relational expression l ₁ :l ₂ =l ₃ :l ₄ holds true. Therefore, the length that the piezoelectric element 84 extends
The distance l ₄ that the slider 95 moves with respect to l ₃ is
l ₁ /l Expanded by ₂ times. Normally, the maximum length l ₃ that the piezoelectric element 84 extends is about 15 μm. On the other hand, the slider 95 is set to be magnified by about 10 times and moved by about 150 μm.

"Effects of the Invention" As described above, according to the manipulator for glass electrodes, etc. according to the present invention, so-called thermal drift, in which the glass electrodes, etc. move inadvertently due to temperature changes in the atmosphere, does not occur, and moreover, Not only can the glass electrode etc. be moved and positioning can be done easily and accurately by remote control, but it is also small and lightweight and can be mounted facing above the stage of the microscope, making it very convenient to use.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of a manipulator such as a glass electrode according to the present invention assembled into a conventional electric manipulator, and Fig. 2 shows an X-axis fine movement mechanism, a Y-axis fine movement mechanism, and a Z-axis in the manipulator of the present invention. FIG. 3 is an assembled vertical sectional view of the fine movement mechanism in FIG. 2, and FIGS. 4 and 5 explain the operation of the fine movement mechanism in FIG. 2. FIG. 6 is an exploded perspective view of one electric mechanism that constitutes the X-axis electric mechanism, Y-axis electric mechanism, and Z-axis electric mechanism in a conventional electric manipulator, and FIG. 7 is an explanatory diagram of the conventional hydraulic manipulator. FIG. 2 is a configuration diagram of a type manipulator. A...Electric manipulator, 2...Glass electrode, etc., 50...Mounting metal fittings, 71...Z-axis fine movement mechanism, 72...X-axis fine movement mechanism, 73...Y-axis fine movement mechanism, 74...Second Mounting bracket, 78...Body,
84...piezoelectric element, 89...oscillating plate, 95...slider.

Claims (1)

[Claims] 1 The X-axis electric mechanism for the horizontal direction, the Y-axis electric mechanism for the vertical direction, and the Z-axis electric mechanism for the height direction are installed vertically, and the most advanced of each electric mechanism is equipped with mounting brackets. In a manipulator such as a glass electrode, in which each electric mechanism has a slider that slides back and forth with respect to the main body by an internal motor and a gear mechanism, the mounting bracket has an X-axis fine movement mechanism for the horizontal direction and an X-axis fine movement mechanism for the vertical direction. A Y-axis fine movement mechanism and a Z-axis fine movement mechanism for the height direction are installed vertically, and the most advanced of each fine movement mechanism is provided with a second mounting bracket for fixing a glass electrode, etc. The mechanism consists of a rocking plate, a piezoelectric element that can freely press a position close to the rocking base end of the rocking plate, and a fine movement plate that can freely move back and forth depending on the movement distance of the tip of the rocking plate. A manipulator for glass electrodes, etc., characterized by: