JPH051713B2 - - Google Patents

Abstract

PURPOSE:To use, as a cell receiver, a container which has a depression for receiving plant tissue cells and slits which are cut on the walls surrounding the depression in the X and Y axis directions until they reach the bottom of the depression, thus plant cells are held in the depression with high stability. CONSTITUTION:Plant tissue cells are placed in the depression 42 in the containers 10, and sent to the container feeder. One of the containers is held with the holding head of the robot in the holding position and transferred onto the container bed and released thereon. Then, one of cutter heads are is held from the cutter-waiting bed and transferred to the container on its bed. The cutter is reciprocated into the slits 44 of the container 10 according to the cutting pattern and allowed to go down gradually. Thus, the cells in the depression 42 are cut in the X- and Y-axes into small cubes. Then, the container bed is turned up-side-down to disperse the cut cells into the plant box.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention provides a method for automatically shredding plant tissue cells to a certain size when culturing plant tissue cells. This invention relates to an automatic plant tissue cell shredding device.

(Prior art) Conventionally, the growth points of plants, such as embryos, buds, roots, and leaves, are shredded, and the shredded tissue cells are seeded in a culture medium and grown to increase the number of plants. Various attempts have been made to cultivate large quantities of .

However, all of the above-mentioned shredding of plant tissue cells is done manually using a sharp knife such as a scalpel.

(Problems to be solved by the invention) However, when manually shredding plant tissue cells,
Shredding a large amount of plant tissue cells requires an extremely large amount of manpower, which is not only inefficient, but also causes too much variation in size during shredding, and because shredding is done manually, tissue cells are susceptible to microorganisms. There was a problem in that there was a high risk of contamination, and in consideration of this, extremely advanced skill was required.

In view of this, the present invention provides
The object of the present invention is to provide an automatic plant tissue cell shredding device that can homogeneously shred plant tissue cells without microbial contamination.

[Structure of the invention]

(Means for Solving the Problems) In order to solve the above-mentioned problems of the prior art, the present invention provides a robot that is installed on a machine stand and has a gripping head at the lower end of the rotating shaft at the tip of the arm, and a robot that has a plant on the top. It has a tissue cell storage recess for storing tissue cells, and a large number of containers in which a plurality of slits are formed in the X-axis and Y-axis directions from the peripheral wall forming the recess to the inner bottom surface of the recess, and the recess is cut into pieces. a container feeding device section that sequentially supplies a large number of containers containing plant cells to be removed to a gripping position by the gripping head of the robot; and a plant box that transports a plant box with a lid constituting a culture medium and determines a stopping position at a fixed position. a cutter head having a vertical cutter which is gripped by the gripping head of the robot and which enters into the slit of the container and vertically cuts the plant tissue cells in the recess in a shredding pattern; and the plant box. A container mounting section is provided near the fixed position where the robot is stopped, and fixes and places the container gripped and conveyed by the gripping head of the robot. It has an inversion mechanism for releasing severed tissue cells, and a cutter head holding part for receiving the cutter head after cutting,
A cutter head standby stand is equipped with a sterilizer that sequentially moves the cutting head to a grasping position by a robot's grasping head and sterilizes the cutter during that time; and a cutter head standby stand that is equipped with a sterilizer that sterilizes the cutter during the time when the cutter head is sequentially moved to a grasping position by a robot's grasping head; The device is characterized in that it is equipped with a lid opening/closing device that opens the lid to receive cells and closes the lid after inputting the cells, and each of the device parts including the robot is covered with a clean box forming cover.

(Function) With the above configuration, the plant tissue cells to be shredded are stored in the storage recess of the container and supplied to the container supply device, and one of them is gripped by the gripping head of the robot at the gripping position, and placed on the container. The cutter head is brought to the container placement section and placed in the release position, and then one cutter head is grasped from the cutter standby table and moved to the container position fixed on the container placement section, and the cutter head is moved to the container position fixed on the container placement section, and the cutter head is placed in a shredding pattern. The cutter is sequentially moved back and forth into the slit of the container and cut in the X-axis and Y-axis directions, and the plant tissue cells in the storage recess are shredded into dice shapes. After shredding, the cutter head is placed on standby. After returning it to the table and opening the lid of the empty plant box that is stopped at the fixed position of the plant box supply device section, the container placement section is reversed and the shredded plant tissue cells in the storage recess are placed into the plant box. The container is sprayed and deposited, the lid is closed after loading, the gripping head grips the empty container again, transfers it to the container collecting section, and discharges it. A decision is made.

(Example) The present invention will be described below with reference to an example shown in the drawings.

FIG. 1 shows a plan view of an embodiment of the plant tissue cell shredding device according to the present invention, and FIG. 2 is installed, and a plant box supplying device section 3 that supplies an empty plant box (cultivation container) B to one end in the longitudinal direction of the machine 1 is installed, and a plant box supplying device section 3 that supplies an empty plant box (cultivation container) B to one end of the machine 1 in the longitudinal direction is installed, and a plant box supplying device section 3 that supplies an empty plant box (culture container) B to one end of the machine 1 in the longitudinal direction is installed, and a plant box supplying device section 3 that supplies an empty plant box (culture container) B to the other end of the machine 1 in the longitudinal direction is installed therein. Plant box recovery sections 4 for recovering the plant boxes B' are respectively arranged.

Along one side of the machine 1 extending from the plant box supply device section 3 to the recovery section 4, a conveyor belt 5 constituting a part of the plant box supply device section 3 is provided at both ends in the longitudinal direction of the machine 1. The belt is wound around pulleys 6 and 7, and is arranged so as to be freely movable endlessly by the drive of a motor M. Guide parts 8 and 9 for guiding the sides of the plant box B are provided on both sides of the upper running surface of the conveyor belt 5.

The plant box B is formed into a rectangular box shape made of transparent plastic, the upper opening is sealed with a lid Ba, and a culture bed suitable for the plant tissue to be shredded is provided on the bottom of the plant box B. It's decorated.

On the machine stand 1 around the robot 2, there is a container supply device section 11 for supplying a container 10 containing plant tissue cells to be shredded;
Container placement section 12 for fixing and placing the container 1
a cutter head standby stand 14 for waiting and holding a cutter head 13 for shredding plant tissue cells in a container;
A suction head standby stand 16 for holding a suction head 15 on standby as a lid opening/closing device for opening and closing the lid Ba of the plant box B, etc., are arranged.

The robot 2 is of a three-axis type, as shown in FIG. 3, and is operated according to a predetermined program under the control of a microcomputer. A vertical first shaft 1 rotatably supported on a machine base 17
8, the base of a first arm 19 is rotatably supported in a horizontal plane, and the base of a second arm 21 is rotatably supported in a horizontal plane by a second shaft 20 at the tip of this first arm 19. A vertical rotating shaft 22 is supported on the tip of the arm 21, and each of these shafts is connected to a motor M ₁ for the first arm and a motor for the second arm.
Rotation of each arm and vertical position control of the rotary shaft 22 are performed by driving each arm according to a program by the motor M ₂ and the rotary shaft motor M ₃ , and the rotation shaft 22 is controlled by the attitude control motor M ₄ .
A predetermined rotation is applied to the

The gripping head 23 attached to the lower end of the rotating shaft 22 has a pair of right and left claws 24, as shown in FIG.
24, and the bases of these claws 24, 24 are connected to the head body 25 by shafts 26, 26.
The head body 25 is supported to be swingable in the direction of opening and closing, and the head body 25 is provided with holes 27, 27 (elongated holes may be used) cut at the ends of the portions extending inwardly from the bases of the claws 24, 24. A pin 29 of a spindle 28 supported so as to be movable up and down is mixed, and the claws 24, 24 are opened and closed about shafts 26, 26 by the up and down movement of the spindle 28.

In this embodiment, pressurized air is used to move the spindle 28 up and down, as shown in cross section in FIG. That is, the upper part of the spindle 28 is inserted from the lower end of the head main body 25 into the air chamber 31 through the O-ring 30 in an airtight manner by being given a downward movement by the spring 32, and the piston 33 provided on the spindle 28 is inserted into the air chamber 31. 31 through a gasket 34 in an airtight manner. A pressure air supply/discharge pipe 35 communicating with a pressure air source is connected to the air chamber below the piston 33, and an air vent hole 36 is opened in the air chamber 31 above the piston 33. By supplying pressurized air through the supply/discharge pipe 35, the piston 33 rises, the spindle 28 rises and closes the pawls 24, 24 via the pin 29, and when the pressurized air is stopped, the spring 32 is biased to move the spindle 28 upward. It is configured so that the claws 24, 24 open when lowered.

The container 10, an example of which is shown in FIGS. 6 to 10, is made of a metal material such as stainless steel or plastic, and has an annular peripheral wall 41 on the upper surface of a rectangular base 40. is established, and the inside surrounded by the peripheral wall 41 is used as a plant tissue cell storage recess 42.

A plurality of slits 4 are cut in the X-axis and Y-axis directions from the upper end of the peripheral wall 41 constituting the storage recess 42 to the bottom surface 43 of the storage recess 42.
4 and 44 are cut, and the shape of the slits 44 and 44 defines the bottom portion 43 of the storage recess 42 in a protruding island shape.

The container 10 shown in FIGS. 6 to 8 is provided with three slits 44 in each of the X- and Y-axis directions, and the container 10' shown in FIGS. 9 and 10 is provided with two slits 44. These are selected depending on the size of the plant tissue cells to be shredded and the number of shredded cells.

In order to distinguish between the two types of containers 10, 10' described above, in this embodiment, the pedestals 40, 40' are used.
The planar shape and size of the pedestal 4 are the same, and the pedestal 4
It can be identified by changing the heights H and H' of 0 and 40', and this can be done by changing the heights H and H' of the container feeder section 3 by the gripping head 23 and the sensors S and S' (nearby switch in the illustrated example). The container type is detected and the cutting position and number of pieces to be cut by the cutter head 13 are instructed to the control section of the robot 2.

In this embodiment, the container feeding device section 11 adopts a rotating feeding structure using a turntable, and the container 10 containing the plant tissue cells is placed on the turntable 45 by an appropriate means. By placing an arcuate guide on a part of the inner side of the peripheral guide 46 surrounding the turntable 45, the guide forms an entrance path 47 having an inner width that allows the pedestal 40 of one container 10 to enter. A member 48 is arranged. The inner end of this approach path 47 is a stopper 49 against which the pedestal 40 of the container 10 abuts to position the container 10 at a predetermined position where it will be gripped by the gripping head 23 of the robot 2. In this embodiment, a stopper 49 is formed by bending the base of the guide member 48 in a right angle direction, and the guide member 49 at the stopper 49 portion
The sensors S and S' are provided on the top surface of 8,
They are arranged above and below corresponding to the heights of the pedestals 40, 40' of the containers 10, 10' for identifying the two types of containers 10, 10' mentioned above, and when only the lower sensor S is activated, the container 10, and when both the upper and lower sensors S and S' are activated, it is determined that the container is 10'. Note that in the following description, the container 10 will be explained as a representative.

The container mounting section 12 is installed on the machine base 1 at a position corresponding to the fixed position stop position A of the plant box B of the plant box supplying section 3 in the vicinity of the container gripping position of the container supplying section 11. There is. This container placement part 12 is the 11th
As shown in the side view in the figure, there is an arm 52 whose one end is supported by a bracket 50 installed on the machine base 1 so as to be vertically rotatable by a shaft 51, and this arm 52.
It has a container fixing base 53 fixed at the tip of the machine, and a rotary solenoid 54 as a driving means for rotating the shaft 51 over a range of approximately 90 degrees. A height-adjustable support rod 55 is erected to hold the container fixing table 53 in a standby position (state shown in the eleventh figure).

As shown in plan in FIG. 12, the container fixing base 53 has guide pieces 56, 56 having an L-shaped horizontal cross section erected at opposite corners for positioning the two corners of the pedestal 40 of the container 10. When the container 10 is placed on the container fixing base 53, the position of the opposite corner of the base 40 is defined so that the slit 44 is in the correct position, that is, the slit 44 is directly facing the movement trajectory of the cutter head 13, which will be described later. It is becoming regulated and placed.

In this embodiment, the fixing means of the container 10 uses vacuum pressure. That is, an air suction port 57 is provided on one side of the container fixing table 53.
An air passage 58 communicating with a vacuum pump is connected to this, and a container fixing table 53 is connected thereto.
It is configured to suction and hold the container 10 placed thereon using vacuum pressure. Note that this fixing means may be fixed by electromagnetic force in addition to vacuum pressure, and further may be by appropriate gripping means.

The cutter head 13 is shown in FIG.
As shown in FIG. 4, since it is gripped by the gripping head 23, recesses 60, 6 are formed at diametrically symmetrical positions.
0 is formed, a flange portion 62 that is located lower than this grip portion 61 and projects outward,
The container 10 is provided with a vertical cutter 63 attached to protrude from one side of the lower part, and in the illustrated example, the plant tissue cells stored in the storage recess 42 of the container 10 may protrude upward from the recess 42. Taking this into consideration, a horizontal cutter 64 is installed in the opposite direction to the cutter 63. The flange portion 62 has a guide hole 6 for holding the cutter in a correct posture on the cutter standby stand 14, which will be described in detail later.
Two numbers 5 and 65 are provided at diametrically symmetrical positions.

The cutter head standby stand 14 has a rotating disk 66, as shown partially in cross section in FIG. Cutter head holding parts 68, 68, . . . are formed of a plurality of (six in the illustrated example) cut holes, and recesses 69, 69, . . . for positioning are formed between these holding portions. Further, on both upper surfaces of the cutter head holding portion 68 of the rotary disk 66, positioning protrusions 70, 70 that can be fitted as closely as possible into the guide holes 65, 65 of the flange portion 62 of the cutter head 13 are provided. The guide hole 65,
By fitting the cutter head 65, the standby posture of the cutter head 13 is determined, and the recesses 60, 60 of the gripping portion 61 are placed in positions directly facing the claws 24, 24 of the gripping head 23.

The rotary disc 66 has a shaft 71 at its center rotatably inserted into a bearing 72 fixed to the machine base 1 via a bush 73, and the lower end of the shaft 71 and the machine base 1 side are connected to each other. A compression spring 74 is interposed between them, and when the rotating disk 66 receives an excessive pressing force for some reason, the spring 74 bends and absorbs the force, and the rotating disk 66 is rotated. It is designed to perform a braking action in the event of an accident.

This rotation of the rotary disk 66 occurs when the gripping head 23 of the robot 2 places the cutter head 13 on the cutter head holder 68 of the cutter head standby stand 14 and moves to the next operation.
By pressing the grip portion 61 of No. 3, the rotation is made by one pitch (1/6 rotation in the illustrated example) in the direction of the arrow in FIG.

A notch-type stopper 75 for positioning is provided on the side of the rotating disk 66, and when this stopper 75 fits into one recess 69, the stopping position of the rotating disk 66 is determined. This ensures that the two cutter heads 13 remain stationary in the grasping position by the robot 2.

A cutter 6 is disposed on the side of the rotary disk 66 at a position on the downstream side in the rotational direction of the rotary disk 66 from the gripping position.
A sterilizer 76 is installed to sterilize the cells 3 and 64. This sterilizer 76 uses ultraviolet lamps 77, 77 in this embodiment, and the cutters 63, 64 are irradiated with ultraviolet rays from the ultraviolet lamps 77, 77 while the cutter head 13 is on standby.
are now being disinfected. The sterilizing device 76 may be one that uses ultraviolet rays, but also one that uses a sterilizing disinfectant, or one that uses a sterilizing disinfectant, or the like.

As shown in FIG. 1, the means for stopping the plant box B to the fixed position A is a pneumatically operated stopper 78 that moves in and out of the path of the plant box B at a position above the conveyor belt 5 perpendicular to the direction of movement. It is designed to position and stop the progress of plant box B, and on the upstream side there are two selectors as shown in FIG. 79 and 80 are arranged with a distance between them so that at least one plant box B can fit therebetween.

The lid opening/closing device for opening/closing the lid Ba of the plant box B uses a robot 2 in the illustrated example, and a suction head 15 for opening/closing the lid is provided for this purpose. The suction head 15 is attached to the gripping head 23 of the robot 2, as shown in FIGS. 16 and 17.
Since it is gripped by the recess 8 at a diametrically symmetrical position,
0, 80 is formed, and a flange portion 8 that is located lower than this grip portion 81 and projects outward.
2 and a suction cup 83 provided at the lower end, and guide holes 84, 84 for holding and waiting in the correct posture on the suction head standby stand 16, which will be described in detail later, are arranged in linearly symmetrical positions in the flange portion 82. There are two. A suction passage 85 communicating with a vacuum pump is connected to the air passage in the head 15, so that vacuum pressure can be applied to the suction cup 83.

The suction head standby stand 16 is installed on the machine stand 1 near the fixed stop position A of the plant box B, and this standby stand 16 has an engagement edge 86 with which the flange portion 82 engages. A pair of positioning protrusions 8 are provided on the upper surface of the engagement edge 86 so as to fit into the guide holes 84, 84 of the flange portion 82 as closely as possible.
7 and 87 are provided in a protruding manner to ensure that the recessed portions 80 and 80 of the gripping portion 81 are held in the correct orientation as in the case of the cutter head 13. This engaging edge 86 is supported by a spring 89 in a cushioning manner against a column 88 that supports it, so that in the event that the engaging edge 86
When 6 is pressed with an excessive pressing force, it descends to provide a buffer.

Although not directly related to the present invention, the plant box supply section 90 of the plant box supply device section 3
To explain the outline of the recovery section 4, the plant box replenishment section 90 has a mounting space 9 in which a large number of empty plant boxes B with lids can be mounted.
1, and in this mounting space 91 there are guides 92, 92, .
and a pusher 93 for pushing these plant boxes B all at once, and this pusher 93
has a self-propelled motor _M5 with a pinion (not shown) meshed with a rack 94 disposed along the side of the mounting space 91, and the conveyor belt at the exit of the mounting space 91. When optical sensors S ₁ and S ₂ arranged oppositely above 5 detect that the plant box B is no longer on the conveyor belt 5 in the above portion, the motor M ₅ is driven to push and move the pusher 93. (moved downward in FIG. 1). Then, when the front row of plant boxes B is transferred onto the conveyor belt 5 at the exit of the mounting space 91 and the optical path between the optical sensors S ₁ and S ₂ is interrupted, the motor M ₅ is stopped. It's summery.

The plant box collection section 4 has a collection space 9
a pusher 9 which detects and pushes when a predetermined number of plant boxes B' in which shredded plant tissue cells are seeded has reached the end of the conveyance belt 5;
6 is provided.

The automatic plant tissue cell shredding device configured as described above is covered with a clean box forming cover 97, as only the outline of which is shown by the two-dot chain line in FIG. Although not shown in detail, an inspection door 98 is airtightly provided approximately at the center of the machine base 1 in the longitudinal direction.

In the figure, 99 is a container recovery port for dumping and recovering the empty container B, and 100 is the container 1 on the rotating disk 45 of the container supply device section 11.
A scraping member for preventing accumulation of zero is shown.

Next, the operation of the above embodiment will be explained with reference to the flowchart shown in FIG.

A large number of empty plant boxes B are placed on the mounting space 90 between their guides 92, 92..., and are also placed on the conveyance belt 5 at the exit of the mounting space 90, while the container feeding device Container 10,1 containing plant tissue cells to be shredded in storage recess 42 onto turntable 45 of section 11
0'... is supplied.

When both the device parts 3 and 11 are driven in this way, the empty plant box B is carried on the conveyor belt 5, the foremost plant box B hits the stopper 78 and stops at the fixed position A, and the next plant box B is moved. The containers 10 are sequentially waited by the selectors 79 and 80, and as the turntable 45 rotates in the direction of the arrow in FIG. It has stopped. At this stop, sensors S and S' detect which type of container it is, and if it is container 10, a signal is sent to the control unit of robot 2, which shreds the container 10 corresponding to the number of slits. Operated by a program.

According to the above program, the gripping head 23 of the robot 2 descends and grips the container 10 with its claws 24, 24. This gripping is achieved by supplying pressurized air to the lower part of the air chamber 31 in the head body 25 of the gripping head 23, and the piston 33 being raised by the pressure, the spindle 28 is pulled up and its pin 2 is
The pawls 24, 24 are rotated in the closing direction via 9 to grip the container 10.

After gripping the container 10, the gripping head 23 rises and turns counterclockwise in FIG. The container 10 is placed in a normal position. At this time, air is sucked through the suction passage 58 and the container 10
Adsorb the bottom surface of the paper and fix it so that it does not move around.

After fixing is completed, the supply of pressurized air to the gripping head 23 is cut off, and the piston 33 is lowered by the force of the spring 32, so that the claws 24 and 2 are moved through the pin 29.
4 is opened and the grip on the container 10 is released.

Next, the gripping head 23 moves up, moves to the cutter head standby stand 14, and grips the recesses 60, 60 of the gripping portion 61 of one cutter head 13 in the fixed position with the claws 2.
4 and 24 are gripped by the same action as described above, and after being gripped, they are pulled out from the cutter holding portion 68 of the rotary disk 66 and transferred to the container placement portion 12. During this transition, first, the horizontal cutter 64 is used to horizontally cut the excess portion of the plant tissue cells protruding upward from the storage recess 43 of the container 10, and then the vertical cutter 63 is used to cut the excess portion of the plant tissue cells horizontally into the slits 44, 44, . . . in the X-axis direction. Therefore, it is pulled out sequentially, and then the gripping head 23
Rotate 90° and make slits 44, 44 in the Y-axis direction.
By sequentially pulling the plant tissue cells according to ..., the plant tissue cells are shredded into dice shapes, and the shredded plant tissue cells are placed at the island-shaped bottom 4 of the container 10.
3. They are placed on top of each other.

After the shredding is completed, the gripping head 23 moves toward the cutter head standby stand 14, is stored in the cutter head holding part 68, and is attached to the flange 62 of the cutter head 13.
The protrusions 70, 70 fit into the guide holes 65, 65 and are held in the correct position.

After storing the used cutter head 13 in the cutter head holding part 68, the gripping head 23 moves the cutter head 13 into the gripping part 6 by the movement of the robot 2.
1 is pressed to rotate the rotary disk 66 by one pitch, and the cutter head 13 held in the next cutter head holder 68 is moved to the position where it is ready for next use.

Next, the gripping head 23 is placed on the suction head standby stand 1
6, grip the suction head 15 supported therein in the same way as the cutter head 13, and move it to the position of the plant box B which is stopped at the fixed position A of the plant box supplying device section 3. The suction cup 83 at the lower end of the suction head 15 is pressed against the top surface of the lid Ba of the plant box B.
By suctioning air through the suction passage 85, the interior of the suction cup 83 is evacuated, and the suction cup 83 is suctioned to the lid Ba.

Thereafter, by raising the gripping head 23, the suction head 15 lifts the lid Ba, and when the lid Ba is retracted upward from the side, the solenoid 54 of the container placement section 12 is energized, and the arm 52 is moved upward by approximately 90 degrees. (Position shown by the chain line in Figure 11) rotates, and the container fixing base 5
Storage recess 4 of container 10 fixed on 3
Scatter the shredded plant tissue cells from inside 2 into plant box B and allow them to settle.

Thereafter, the arm 52 is rotated back and returned to its normal position by the support rod 55, and the suction head 15 is brought back onto the plant box B and lowered, and the lid Ba is closed.

When the lid Ba is completely closed, the stopper 78 is retracted and the plant box B containing the plant tissues and cells is removed.
is transported to the plant box collection section 4 by the conveyance belt 5, while suction to the container fixing table 53 is cut off in the container mounting section 12, and the container 10 is gripped by the gripping head 23 and moved to the container collection port 99.
Move to the position, release the grip here, and open the collection port 99.
drop it inside. Thereafter, the gripping head 23 returns to its starting position, which is the gripping position of the container feeder section 11.

The above action is repeated and containers 10
or shredding of plant tissue cells within 10′ is carried out;
The plant box B containing the shredded plant tissue cells is sent to the recovery section 4, and when the plant box B is full on the conveyor belt 5 in this part, the pusher 96 moves forward (as shown in FIG. 1). (upward movement) and collect plant box B in space 95.
Push it into. In addition, the plant box supply device section 3
When the optical sensors S ₁ and S ₂ detect that there is no empty plant box B on the conveyor belt 5 at the exit of the box, the motor M ₅ is started and the pusher 93 moves forward (downward movement in Fig. 1). Then, one row of plant boxes B is pushed out onto the conveyor belt 5 and replenished.

In addition, in the event that trouble occurs in any operating part, please open the door 9 of the clean box forming cover 97.
8 can be opened and repaired.

Plant tissue cells to be shredded using the shredding device of the present invention include plants of the Araceae family (zingonium, wyrodendron, monstera, caladium, konnyaku, dadalia, kashiwa gum, centpaulia, lily, ginger, etc.) It can be applied to any plant that causes no problem in culturing even if it is randomly shredded during the culturing process.

Further, the specific configuration of each part in the present invention is not limited to the above-mentioned embodiments, and design changes may be made arbitrarily within the scope of the technical idea of the present invention.

〔Effect of the invention〕

As explained above, in the present invention, as a container for supplying plant tissue cells to be shredded, a plurality of slits extending to the inner bottom surface of the recess are formed on the peripheral wall forming the storage recess for storing the plant tissue cells along the X axis. Since a container formed in the Y-axis direction is used, the tissue cells can be stably held within the storage recess, and since the container is gripped and transported by the robot, the tissue cells can be held and transported reliably. Furthermore, since the cutter is cut according to the slits in the container, the plant tissue cells can be shredded uniformly and uniformly in size. In addition, a different cutter head is used to shred the cutlets each time, which prevents the cutlets from becoming contaminated with microorganisms, etc. Since the plant is sterilized by the process, microbial contamination from the plant is removed, and the plant can be reused effectively throughout its lifespan.

Furthermore, the present invention has the advantage that all operations related to shredding plant tissue cells are performed by robots in a clean box, eliminating the need for any manual intervention during the process, thereby preventing microbial contamination of plants through the human body. At the same time, work efficiency is doubled and high-quality shredding can be achieved.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing one embodiment of the present invention, and FIG.
3 is a side view of the robot in FIG. 1, FIG. 4 is an enlarged side view of the gripping head of the robot in FIG. 3, and FIG. 5 is a view of the head body of the gripping head in FIG. 6 is a plan view showing an example of the container used in the present invention, FIG. 7 is a front view of the same, FIG. 8 is a perspective view of the same, and FIG.
10 is a front view of the same modification, FIG. 11 is an enlarged side view of the container placement section in FIG. 1, and FIG. 12 is an enlarged plan view of the container fixing base in FIG. 11. , FIG. 13 is an enlarged front view with a part of the cutter head standby stand in FIG. 1 in cross section, FIG. 14 is a plan view of the cutter head, and FIG.
The figure is an enlarged sectional view of the selector part of the plant box supply device in Fig. 1, Fig. 16 is an enlarged front view showing the suction head as the lid opening/closing device and its standby stand in Fig. 1, and Fig. 17 is the suction head. 18 is a flowchart showing the operating sequence of FIG. 1. DESCRIPTION OF SYMBOLS 1... Machine base, 2... Robot, 3... Plant box supply device section, 4... Plant box collection section, 5... Conveyance belt, 8, 9... Guide member, 1
0, 10'...Container, 11...Container supply device section, 12...Container placement section, 13...Cut head, 14...Cut head standby stand, 15...
...Suction head, 16...Suction head standby stand, 23
... Grip head, 24 ... Claw, 25 ... Head main body, 40 ... Pedestal, 41 ... Peripheral wall, 42 ... Storage recess, 43 ... Bottom surface, 44 ... Slit, 45 ...
... Turnable, 47 ... Approach path, 49 ... Stopper, 53 ... Container fixing stand, 63 ... Vertical cutter, 64 ... Horizontal cutter, 66 ... Rotating disk, 68 ... Cutter head holding part, 76 ... ... Sterilizer, 77 ... Ultraviolet lamp, 78 ... Stopper for stopping plant box in fixed position, 79, 80 ...
Selector, 83... Suction cup, 90... Plant box supply section.

Claims (1)

[Scope of Claims] 1. A robot installed on a machine base and having a gripping head at the lower end of a rotating shaft at the tip of an arm, a tissue cell storage recess for storing plant tissue cells in the upper part, and a peripheral wall forming this recess. The gripping head of the robot grips a large number of containers in which multiple slits are formed in the X-axis and Y-axis directions extending from the slits to the inner bottom surface of the recess, and a large number of containers containing plant tissue cells to be shredded in the recess are held by the gripping head of the robot. a container feeding device unit that sequentially supplies plants to different locations; a plant box feeding device unit that transports a plant box with a lid constituting a culture medium and determines a stopping position at a fixed position; a cutter head having a vertical cutter that enters into the recess and vertically cuts the plant tissue cells in a shredding pattern; and a gripping head of the robot, which is provided near a fixed position where the plant box is stopped; a container placement section that fixes and places the container gripped and conveyed by the container, an inversion mechanism that inverts the container placement section and releases the shredded tissue cells in the recess of the container, and a cutter head that has finished cutting. a cutter head standby stand which has a cutter head holding section for receiving the cutters, and is attached with a sterilizer that sequentially moves the cutter heads to the gripping position by the gripping head of the robot and sterilizes the cutters during that time; A lid opening/closing device that opens the lid to receive the shredded tissue cells by a reversing operation of the cell phone and closes the lid after inputting the tissue cells, and each of the device parts including the robot is covered with a clean box forming cover. Cell shredding device. 2. The sterilizer comprises an ultraviolet lamp that is disposed on the side of the cutter head standby and irradiates ultraviolet rays to the cutters of the cutter head held in the cutter head holding part of the cutter head standby. The automatic plant tissue cell shredding device described in Section 1.