Pick-up and delivery system and associated methods

Abstract

The present disclosure relates to a pick-up and delivery system including a pick-up assembly and a delivery assembly. The pick-up assembly includes a robotic arm, a pick-up device rotatably mounted on the robotic arm, and a first vacuum pressure supply port operably connected to the pick-up device. The delivery assembly includes an insertion device. The insertion device may include an insertion member having a tip and a release assistance piston arranged inside the insertion member. The release piston is moveable between an extended position and a retracted position. When the release assistance piston is in the extended position, a proximal end of is substantially flush with an end of the insertion member. Further aspects are directed towards methods for grasping and releasing an object with a pick-up and delivery system.

What is claimed: 
     
         1 . An apparatus for inserting plant material into a receptacle comprising:
 an insertion member having a tip moveable between a first position and a second position, the tip configured to receive plant material from a pick up device; and   a release assistance piston arranged inside the insertion member, the release assistance piston having a proximal end configured to release the plant material into the receptacle when the release assistance piston is in an extended position.   
     
     
         2 . The apparatus as recited in  claim 1  wherein the plant material comprises an embryo. 
     
     
         3 . The apparatus as recited in  claim 1  wherein the tip comprises a diameter having a size that is approximately the size of a width of the receptacle. 
     
     
         4 . The apparatus as recited in  claim 1  wherein the receptacle comprises a seed shell. 
     
     
         5 . The apparatus as recited in  claim 1  wherein the tip comprises an opening in a sidewall, the opening configured to allow the insertion member to capture the plant material without contacting the pick up device. 
     
     
         6 . The apparatus as recited in  claim 1  wherein the tip of the insertion member is configured to move vertically with respect to an opening in the receptacle. 
     
     
         7 . The apparatus as recited in  claim 1  wherein the insertion member has a tubular shape. 
     
     
         8 . A plant material production system, comprising:
 a retainer for a plant material receptacle; and   a plant material insertion apparatus configured to insert plant material into the plant material receptacle, the plant material insertion apparatus comprising an elongated insertion member having a tip, the elongated insertion member configured to move toward and away from the retainer in a substantially vertical direction, the tip configure to receive the plant material from a pick up device to insert the plant material into the plant material receptacle.   
     
     
         9 . The plant material production system as recited in  claim 9  wherein the plant material comprises an embryo. 
     
     
         10 . The plant material production system as recited in  claim 9  wherein the retainer is configured to retain the receptacle comprising a manufactured seed shell. 
     
     
         11 . The plant material production system as recited in  claim 9  wherein the tip comprises a diameter having a size that is approximately the size of a width of the receptacle. 
     
     
         12 . The plant material production system as recited in  claim 9  wherein the tip comprises an opening in a sidewall, the opening configured to allow the insertion member to capture the plant material from the pick-up device while allowing the pick-up device to retract. 
     
     
         13 . The plant material production system as recited in  claim 9  further comprising the pick-up device, wherein the pick-up device is configured to move the plant material horizontally relative to the receptacle. 
     
     
         14 . A plant material production method, comprising:
 retaining a plant material receptacle;   moving the plant material over the receptacle using a pick up device; and   inserting plant material into the plant material receptacle using an elongated insertion member having a tip by moving the elongated insertion member toward and away from the plant material receptacle in a substantially vertical direction.   
     
     
         15 . The plant material production method as recited in  claim 14  wherein the plant material comprises precursor tissue. 
     
     
         16 . The plant material production method as recited in  claim 14  wherein the plant material receptacle comprises a manufactured seed shell. 
     
     
         17 . The plant material production method as recited in  claim 14  wherein the tip comprises a diameter having a size that is approximately the size of a width of the plant material receptacle so that the tip captures the plant material from the pick-up device. 
     
     
         18 . The plant material production method as recited in  claim 14  further comprising:
 trapping the plant material within the insertion member; and 
 removing the pick-up device through an opening in a sidewall of the insertion member. 
 
     
     
         19 . The plant material production method as recited in  claim 9  further comprising moving the plant material horizontally relative to the plant material receptacle into a position over the plant material receptacle and releasing the plant material from the pick-up device. 
     
     
         20 . The plant material production method as recited in  claim 9  further comprising moving the plant material into the plant material receptacle by moving a piston disposed within the insertion member into an extended position.