A soybean seed feeding and sorting device and its sorting method

Abstract

A soybean seed feeding and sorting device includes a main frame, a detection system and a feeding system arranged vertically thereon. A material taking system is provided on one side above the feeding system. The feeding system includes a hopper with an open upper end and a chassis that can be lifted and lowered below the hopper. A plurality of openings are provided at the bottom of the hopper, and a top column is vertically slidably arranged in the openings, and the lower end of the top column is connected to the chassis. The detection system is configured to be able to collect the image information of the soybean seeds at the upper end of the top column and automatically identify whether the germ side of the soybean seeds faces upward and / or obliquely upward. The material taking system is configured to be able to pick up the soybean seeds with the germ side facing upward and / or obliquely upward. When the sorting device is in use, only a certain amount of soybean seeds need to be added to the hopper, and the soybean seeds can be lifted by the lifting of the top column without additional operation steps. With the setting of the monitoring system, it is ensured that the direction of the taken soybean seeds can accurately meet the subsequent sampling conditions. The structure is simple, and the sorting and sampling operation of the soybean seeds can be more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field, and specifically to a soybean seed feeding and sorting device and its sorting method. Background Art

[0002] The slicing and sampling of seeds is a delicate and important task, usually used for seed quality detection, variety identification, physiological and biochemical research, etc. At present, most of the automated sampling work of seeds requires the following steps:

[0003] 1), Seed arrangement: Arrange the seeds in a straight line or other order to facilitate subsequent positioning and grasping;

[0004] 2), Seed grasping: Grasp the seeds with a mechanical gripper;

[0005] 3), Seed orientation: Orient the germ of the seeds in a fixed direction through the rotation of the mechanical gripper or other means for subsequent slicing operations.

[0006] Among them, the seed orientation work is the most complex and important step. Especially when the seeds to be sampled are soybean seeds, due to their small particle size and oval shape that cannot quickly and stably orient itself, a complex motion mechanism needs to be designed to cooperate with each other to complete the seed orientation step alone.

[0007] The application document with the application number CN201010601808.7 in the patent library discloses a method and process for orienting, sampling, and collecting seed tissues from single seeds. Among them, the operation method for seed orientation is to first "apply an iron-based coating 2 (for example, by brushing or spraying) on the outside of the ear 1 of corn. Subsequently, the ear is shelled to release single seeds 3. Since the seeds are coated on the ear 1, the iron-based coating 2 basically only covers the outside or the crown part of the single seed 3". After that, the movement of a "magnet 34" is driven by the movement of the conveyor belt to adsorb the seeds to complete the seed orientation work. For the above method, on the one hand, its operation process is relatively complex. Only relying on the method of coating the iron-based coating, the sampling angle of some seeds will still shift. On the other hand, when the seeds to be sampled are soybean seeds, the coating work of the iron-based coating still needs to be carried out one by one, resulting in certain limitations in the subsequent orientation and sampling work of soybean seeds. Summary of the Invention

[0008] To solve the technical problems existing in the above background art, the present invention provides a soybean seed feeding and sorting device and its sorting method.

[0009] The technical solution of the present invention is as follows:

[0010] The present invention first provides a bean seed feeding and sorting device, including a main frame, a detection system and a feeding system arranged vertically thereon. A picking system is further provided on one side above the feeding system. The feeding system is used for feeding bean seeds. The detection system is configured to detect the state of bean seeds. The picking system is configured to pick up the qualified bean seeds for subsequent sampling work.

[0011] Regarding the structure of the feeding system, which is the core technical concept of the present invention, it includes a hopper fixedly arranged on the main frame, with an open upper end and capable of containing bean seeds inside. A chassis is provided below the hopper in a liftable manner. A plurality of top columns are arranged vertically on the upper side of the chassis. A plurality of openings corresponding to the top columns one by one are further provided at the bottom of the hopper. The top columns are vertically slidably arranged in the corresponding openings, and the upper ends are configured to lift a single bean seed inside the hopper.

[0012] Furthermore, the detection system includes a processor and an acquisition camera arranged above the hopper and communicatively connected to the processor. The acquisition camera is configured to complete the acquisition of image information of the bean seeds at the upper ends of the top columns from top to bottom. The processor is configured to automatically identify whether the germ side of the bean seeds faces upward and / or obliquely upward.

[0013] Still further, the picking system includes an X-axis driving mechanism, on which a Y-axis driving mechanism is drivingly connected and can be driven by it to move along the horizontal X-axis. A picking mechanism is drivingly connected to the Y-axis driving mechanism and can be driven by it to move along the horizontal Y-axis. The picking mechanism includes a liftable slide seat, and a clamping jaw capable of picking up the bean seeds with the germ side facing upward and / or obliquely upward is installed on one side of the slide seat.

[0014] Based on the above structure, when the sorting device is in use, only a fixed amount of bean seeds need to be added to the hopper. The vertical lifting of the chassis driving the top columns can lift the bean seeds, without additional operation steps. The picking mechanism can complete the picking of the oriented bean seeds on the top columns for the subsequent sampling work. With the setting of the monitoring system, it is ensured that the direction of the picked bean seeds can accurately meet the subsequent sampling conditions. The overall structure is simpler, the sorting and sampling operation of bean seeds can be more easily realized, and the debugging and maintenance work can also be more convenient.

[0015] A bean seed feeding and sorting device as described above. As another core inventive point of the present invention, specifically regarding the structure of the hopper, it includes a columnar barrel body and a bottom of the barrel rotatably arranged at its lower end, and the openings are arranged on the bottom of the barrel; the feeding system further includes a stirring drive motor drivingly connected to the chassis, which is arranged to be able to drive the chassis to rotate around the axis of the barrel body. On the basis of the above structure, the rotation of the chassis can drive the top column to rotate, and then drive the bottom of the barrel to rotate, which can play a good stirring role for the bean seeds in the barrel, prevent the bean seeds in the vicinity from having a long-term unchanged orientation, and thereby improve the feeding efficiency.

[0016] As a preferred embodiment, a rotation drive motor drivingly connected to the clamping jaw is arranged on the sliding seat, which is arranged to be able to drive the clamping jaw to rotate around a horizontal axis. When the clamping jaw rotates to the downward position, the clamping of the bean seeds can be completed more accurately. After the clamping work is completed, the clamping jaw can drive the bean seeds to rotate to one side to ensure that the sampling work can be carried out on one side of the clamping jaw, preventing interference between the setting of the clamping jaw and the sampling work.

[0017] As a further preference, to make it easier to determine the clamping position of the clamping jaw after it rotates under the drive of the rotation drive motor when the clamping jaw moves to the sampling position driven by the X-axis drive mechanism, the Y-axis drive mechanism and the sliding seat, the rotation axis of the clamping jaw driven by the rotation drive motor is parallel to the X-axis.

[0018] A bean seed feeding and sorting device as described above. Specifically regarding the structure of the clamping jaw, it includes a clamping cylinder and mounting blocks that can be driven by it to approach or move away from each other. A clamping rod is arranged on one side of the mounting block, and the clamping of the bean seeds can be completed through the clamping rod.

[0019] On the basis of the above structure, to prevent the setting of the mounting block and the clamping rod itself after clamping the bean seeds from affecting the subsequent sampling work of the bean seeds, the clamping rod is arranged to include a connecting section connected to the mounting block at one end, a avoiding section is vertically arranged at a section of the connecting section away from the mounting block, and a clamping section is vertically arranged at a section of the avoiding section away from the connecting section; the clamping section is perpendicular to the connecting section, and the connecting sections and avoiding sections of the two clamping rods are respectively parallel, and the ends of the clamping sections of the two clamping rods away from the avoiding sections face each other.

[0020] As a preferred embodiment, to facilitate the maintenance and replacement of the clamping rod, the clamping rod is detachably connected to the mounting block.

[0021] As a further preference, to make the clamping of the bean seeds by the clamping rod more stable and prevent it from falling during the sampling process, a clamping groove is opened at the end of at least one clamping rod's clamping section away from the avoiding section.

[0022] A soybean seed feeding and sorting device as described above. To prevent the soybean seeds lifted by the ejector pins from falling off the ejector pins when they are located near the edge of the top of the ejector pins, ensure that the ejector pins can complete the lifting work of the soybean seeds more smoothly and accurately, and at the same time ensure that the soybean seeds lifted by the ejector pins can be more quickly stabilized at the upper end of the ejector pins, a sunk groove is provided at the upper end of the ejector pins.

[0023] Furthermore, to prevent the soybean seeds from getting stuck between the upper ends of two adjacent ejector pins and ensure that the lifted soybean seeds can only be located at the top of the ejector pins, the minimum distance between two adjacent ejector pins is greater than the maximum width specification of the soybean seeds to be fed.

[0024] The present invention also provides a sorting method. Based on the above-mentioned soybean seed feeding and sorting device, the sorting device further includes a control system communicatively connected to the detection system, the feeding system, and the picking system. The sorting method specifically includes the following steps:

[0025] S1. Preparation;

[0026] Manually place the soybean seeds into the hopper.

[0027] S2. Seed picking;

[0028] S2.1. The control system controls the chassis to rise, and the soybean seeds are lifted by the ejector pins.

[0029] S2.2. The acquisition camera works, and the acquired images are sent to the processor. The processor generates the position information of the soybean seeds with the germ side facing upward and / or obliquely upward, and the quantity information of the soybean seeds with the germ side facing upward and / or obliquely upward according to the received image information, and sends them to the control system.

[0030] S2.3. The control system completes the clamping process of the soybean seeds one by one according to the received position information.

[0031] S2.4. The chassis descends until the ejector pins are completely immersed in the soybean seeds.

[0032] S3. Repeated seed picking;

[0033] S3.1. The control system compares the received quantity information with the first threshold, and at least includes the following results:

[0034] A: If the quantity information is greater than or equal to the first threshold, directly execute steps S2.1 - S2.4 once and generate new quantity information.

[0035] B: If the quantity information is less than the first threshold, control the chassis to rotate a preset angle and then execute steps S2.1 - S2.4 once and generate new quantity information.

[0036] S3.2. Repeat step S3.1.

[0037] The beneficial effects of the present invention are as follows: The present invention is a soybean seed feeding and sorting device and its sorting method. When the sorting device is in use, only a fixed amount of soybean seeds need to be added to the hopper. The vertical lifting of the top column driven by the chassis can lift the soybean seeds, without the need for additional operating steps. The picking mechanism can complete the picking of the oriented soybean seeds on the top column for subsequent sampling work. With the setting of the monitoring system, it is ensured that the direction of the picked soybean seeds can accurately meet the subsequent sampling conditions. The overall structure is simpler, the sorting and sampling operation of soybean seeds can be more easily achieved, and the debugging and maintenance work can also be more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] By reading the detailed description of the preferred embodiments below, the solutions and advantages of the present application will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention.

[0039] In the drawings:

[0040] Figure 1 is a schematic structural diagram of the sorting device in the embodiment;

[0041] Figure 2 is a schematic structural diagram of the feeding system in the embodiment;

[0042] Figure 3 is a schematic diagram of the cooperation picking method of the top column and the hopper in the embodiment;

[0043] Figure 4 is a schematic structural diagram of the picking system in the embodiment;

[0044] Figure 5 is a schematic structural diagram of the picking mechanism in the embodiment;

[0045] Figure 6 is Figure 5 a partial enlarged structural diagram at A in

[0046] Figure 7 is a schematic structural diagram of the detection system in the embodiment;

[0047] The components represented by the reference numerals in the drawings are:

[0048] 1. Main frame; 11. Main body frame; 12. Support plate; 13. Vertical rod; 14. Top plate; 15. Universal wheel; 2. Feeding system; 21. Hopper; 211. Fixed plate; 212. Cylinder body; 213. Bottom of cylinder; 22. Feeding mechanism; 221. First lifting cylinder; 222. Lifting plate; 223. Stirring drive motor; 224. Chassis; 225. Top column; 226. Vertical plate; 227. Slide block; 23. Feeding chute; 3. Material taking system; 31. X-axis drive mechanism; 32. Y-axis drive mechanism; 33. Material taking mechanism; 331. Second lifting cylinder; 332. Slide seat; 333. Rotation drive motor; 334. Adapter plate; 335. Claw; 3351. Clamping cylinder; 3352. Mounting block; 3353. Clamping rod; 4. Detection system; 41. Fixed frame; 42. Acquisition camera; 43. Lens; 44. Area light source. Detailed implementation manners

[0049] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0050] Embodiment

[0051] This embodiment first provides a soybean seed feeding and sorting device. Refer to Figure 1 , which includes a main frame 1, a detection system 4 and a feeding system 2 arranged up and down thereon. One side above the feeding system 2 is also provided with a material taking system 3. The feeding system 2 is used for the feeding work of soybean seeds. The detection system 4 is configured to be able to detect the state of soybean seeds. The material taking system 3 is configured to be able to pick up the qualified soybean seeds for subsequent sampling work. The structure of the sorting device (the above-mentioned soybean seed feeding and sorting device) will be described in more detail below with reference to the accompanying drawings.

[0052] In this embodiment, the main frame 1 includes a main body frame 11 with a frame structure. A support plate 12 is horizontally arranged on the upper side of the main body frame 11. The material taking system 3 is arranged on the upper side of the support plate 12. The feeding system 2 is arranged below the support plate 12. Above the support plate 12, a top plate 14 is also horizontally arranged through a vertical rod 13. The detection system 4 is arranged below the top plate 14 and is vertically opposite to the feeding system 2.

[0053] To make the transfer work of the sorting device more convenient, universal wheels 15 are also provided at the bottom of the main body frame 11.

[0054] In this embodiment, in combination with Figure 2 , the feeding system 2 includes a hopper 21 and a feeding mechanism 22. The hopper 21 is configured to be able to hold soybean seeds, and the feeding mechanism 22 is configured to be able to send out the soybean seeds in the hopper 21 in batches.

[0055] Specifically, in combination with Figure 3The upper end of the barrel 21 is open and fixed on the main frame 11 of the main frame 1, and the support plate 12 is provided with a first opening at a position corresponding to the upper end of the barrel 21; the feeding mechanism 22 includes a first lifting cylinder 221 arranged on one side of the barrel 21 and fixed to the main frame 1 at the upper end, and a lifting plate 222 is provided on one side of the first lifting cylinder 221, and a chassis 224 is provided on the upper side of the lifting plate 222, and the chassis 224 is located below the barrel 21 and can be lifted up and down driven by the lifting plate 222, and a plurality of top columns 225 are vertically provided on the upper side of the chassis 224, and a plurality of openings corresponding to the top columns 225 are also provided at the bottom of the barrel 21, and the top columns 225 are vertically slidably arranged in the openings corresponding thereto, and the upper ends are configured to be able to lift up a single bean seed inside the barrel 21, and then send the bean seeds out of the barrel 21.

[0056] As a preferred embodiment of the present invention, with regard to the structure of the barrel 21, it includes a columnar barrel body 212 and a barrel bottom 213 rotatably arranged at its lower end, and the opening is arranged on the barrel bottom 213. Specifically, the barrel 21 includes a horizontally arranged fixed plate 211 fixed to the upper side of the fixed plate 211, and a circular opening is provided in the middle of the fixed plate 211 corresponding to the position of the barrel body 212, and the barrel bottom 213 is rotatably arranged in the circular opening.

[0057] On the basis of the above-mentioned barrel 21 structure, the feeding mechanism 22 also includes a stirring driving machine 223 arranged on the lifting plate 222 and connected to the chassis 224. The stirring driving machine 223 is fixed to the lifting plate 222, and the chassis 224 is connected to its upper side and is configured to be able to rotate around the axis of the barrel 212 under the driving action of the stirring driving machine 223. The rotation of the chassis 224 can drive the top column 225 to rotate, and then drive the bottom 213 of the barrel to rotate, which can have a better stirring effect on the bean seeds in the barrel 212, prevent the nearby bean seeds from remaining in the same direction for a long time, and thereby improve the feeding efficiency.

[0058] To ensure the stability of the lifting plate 222, the feeding mechanism 22 also includes a vertical plate 226 arranged on the side of the barrel 21 away from the first lifting cylinder 221, and the upper end of which is fixed to the fixed plate 211. A slider 227 is vertically slidably provided on one side of the vertical plate 226, and the lifting plate 222 is fixedly connected to the slider 227.

[0059] As a further preferred embodiment, in order to prevent the bean seeds lifted by the top column 225 from falling off the top column 225 when they are located at the top of the top column 225 close to the edge of the top column 225, to ensure that the top column 225 can complete the lifting work of the bean seeds more smoothly and accurately, and at the same time to ensure that the bean seeds lifted by the top column 225 can be stabilized on the upper end of the top column 225 more quickly, a sink groove is opened at the upper end of the top column 225.

[0060] More preferably, to prevent the bean seeds from getting stuck between the upper ends of two adjacent top columns 225 and ensure that the lifted bean seeds can only exist at the top positions of the top columns 225, the minimum distance between two adjacent top columns 225 is greater than the maximum width specification of the bean seeds to be fed.

[0061] To facilitate the feeding operation in the barrel 21, a feeding port is provided on one side of the barrel body, and a feeding groove 23 communicated with the feeding port is provided outside the feeding port. The feeding groove 23 is located below the pallet 12, and the pallet 12 is provided with a feeding port corresponding to the end of the feeding groove 23 far from the barrel body 212. A gate (not shown in the figure) is further provided between the feeding groove 23 and the feeding port, and the addition of bean seeds from the feeding groove 23 into the barrel 21 can be controlled through the gate.

[0062] In this embodiment, in combination with Figure 4 , the picking system 3 includes an X-axis driving mechanism 31 arranged horizontally, on the upper side of which a Y-axis driving mechanism 32 capable of being driven by it to move along the horizontal X-axis is connected in a transmission manner. A picking mechanism 33 capable of being driven by it to move along the horizontal Y-axis is connected in a transmission manner on the Y-axis driving mechanism 32, and the picking of the bean seeds at the top of the top column 225 can be completed through the picking mechanism 33.

[0063] Specifically, the X-axis driving mechanism 31 includes a strip-shaped X-axis frame horizontally fixed on the upper side of the pallet 12. One end of the X-axis frame is located outside the upper end of the barrel 21. An X-axis threaded rod is arranged inside along its length direction, and an X-axis sliding frame screwed to the X-axis threaded rod is slidably arranged along the length direction on the upper part of the X-axis frame. An X-axis driving machine connected in a transmission manner with the X-axis threaded rod is further provided at one end of the X-axis frame; the Y-axis driving mechanism 32 includes a strip-shaped Y-axis frame horizontally fixed on the upper side of the X-axis sliding frame and perpendicular to the X-axis frame. A Y-axis threaded rod is arranged inside the Y-axis frame along its length direction, and a Y-axis sliding frame screwed to the Y-axis threaded rod is slidably arranged along the length direction on the upper part of the Y-axis frame. A Y-axis driving machine connected in a transmission manner with the Y-axis threaded rod is further provided at the end of the Y-axis frame far from the barrel 21. The picking mechanism 33 is located at the end of the Y-axis frame close to the barrel 21 and is fixedly connected with the Y-axis sliding frame.

[0064] In combination with Figure 5Specifically speaking, the structure of the material-picking mechanism 33 includes a second lifting cylinder 331 fixedly connected to the Y-axis sliding frame, and a slide 332 vertically slidingly arranged on the side of the second lifting cylinder 331 away from the Y-axis sliding frame. The slide 332 is transmission-connected to the second lifting cylinder 331, and is configured to be able to be vertically lifted and lowered under the drive of the second lifting cylinder 331. A clamp 335 is provided on the side of the slide 332 away from the second lifting cylinder 331, and through the clamp 335, and in coordination with the actions of the X-axis driving mechanism 31, the Y-axis driving mechanism 32 and the second lifting cylinder 331, the bean seeds on the top column 225 Shandong Hall can be clamped.

[0065] As a preferred embodiment, a rotating drive machine 333 which is transmission-connected to the clamp 335 is further provided on the side of the slide 332 away from the second lifting cylinder 331, and the rotating drive machine 333 passes through, and the clamp 335 is connected to the side of the rotating drive machine 333 away from the slide 332 through an adapter plate 334. The rotating drive machine 333 is configured to drive the clamp 335 to rotate around a horizontal axis, so that when the clamp 335 rotates to a downward position, the bean seeds can be clamped more accurately. When the clamping work is completed, the clamp 335 can drive the bean seeds to rotate to one side to ensure that the sampling work can be carried out on one side of the clamp 335, thereby preventing interference between the setting of the clamp 335 and the sampling work.

[0066] As a further preference, in order to enable the clamping position of the clamping jaw 335 to be more easily determined after it is moved to the sampling position driven by the X-axis drive mechanism 31, the Y-axis drive mechanism 32 and the slide 332 and the rotation axis of the clamping jaw 335 driven by the rotation drive mechanism 333 is parallel to the X-axis.

[0067] Combination Figure 6 Specifically, the structure of the clamping claw 335 includes a clamping cylinder 3351 fixed to the adapter plate 334, and a mounting block 3352 that can be driven by the clamping cylinder 3351 to move closer to or away from each other. A clamping rod 3353 is also provided on one side of the mounting block 3352, and the clamping rod 3353 can be used to clamp the bean seeds.

[0068] As a preferred embodiment, in order to prevent the setting of the mounting block 3352 and the clamping rod 3353 itself after clamping the bean seeds from affecting the subsequent sampling of the bean seeds, the clamping rod 3353 is configured to include a connecting section connected to the mounting block 3352 at one end, and an avoidance section is vertically provided at a section of the connecting section away from the mounting block 3352, and a clamping section is vertically provided at a section of the avoidance section away from the connecting section; the clamping section is perpendicular to the connecting section, and the connecting sections and avoidance sections of the two clamping rods 3353 are respectively parallel, and the ends of the clamping sections of the two clamping rods 3353 away from the avoidance sections face each other.

[0069] As a further preference, for facilitating the maintenance and replacement of the clamping rod 3353, the clamping rod 3353 is detachably connected to the mounting block 3352.

[0070] More preferably, in order to make the clamping of the soybean seeds by the clamping rod 3353 more stable and prevent them from falling during the sampling process, a clamping groove is provided at one end of the clamping section of at least one clamping rod 3353 away from the avoidance section.

[0071] In this embodiment, in combination with Figure 7 , the detection system 4 includes a fixing frame 41 connected to the lower side of the top plate 14. A collection camera 42 is further provided on the fixing frame 41, and the collection camera 42 is located directly above the hopper 21. The detection system 4 further includes a processor. The collection camera 42 is communicatively connected to the processor and is configured to be able to complete the acquisition of the image information of the soybean seeds at the upper end of the ejector pin 225 from top to bottom. The processor is configured to be able to automatically identify whether the germ side of the soybean seeds faces upward and / or obliquely upward, and then cooperate with the action of the clamping jaw 335 to clamp the soybean seeds with the germ side facing upward and / or obliquely upward for subsequent sampling work.

[0072] As a preferred implementation manner, in order to ensure the clarity of the images collected by the collection camera 42, a lens 43 is additionally provided on its lower side.

[0073] As a further preference, in order to further ensure the clarity of the images collected by the collection camera 42, the detection system 4 further includes a surface vibration light source horizontally connected to the lower side of the fixing frame 41. A through hole is provided in the middle of the surface vibration light source, and the lower end of the lens 43 is located in the through hole.

[0074] In this embodiment, the sorting device further includes a control system communicatively connected to the detection system 4, the feeding system 2, and the material taking system 3, and the control and sorting work can be automatically carried out through the control system. When the sorting device is in use, only a fixed amount of soybean seeds need to be added to the hopper 21, and the vertical lifting of the ejector pin 225 driven by the chassis 224 can lift the soybean seeds. No additional operation steps are required. The clamping of the oriented soybean seeds on the ejector pin 225 can be completed through the material taking mechanism 33 for subsequent sampling work. With the setting of the monitoring system, it is ensured that the direction of the sampled soybean seeds can accurately meet the subsequent sampling conditions. The overall structure is simpler, the sorting and sampling operations of the soybean seeds can be more easily realized, and the debugging and maintenance work can also be more convenient.

[0075] This embodiment also provides a sorting method. Based on the above sorting device, the sorting method specifically includes the following steps:

[0076] S1. Preparation;

[0077] Manually place the soybean seeds into the cylinder body 212 of the hopper 21 through the feeding trough;

[0078] S2. Seed picking;

[0079] S2.1. The control system controls the first lifting cylinder 221 to act, thereby driving the chassis 224 to rise through the lifting plate 222, and finally pushing up the soybean seeds through the ejector pin 225;

[0080] S2.2. The acquisition camera 42 works, sends the acquired images to the processor. The processor generates the position information of the soybean seeds with the germ side facing upward and / or obliquely upward, and the quantity information of the soybean seeds with the germ side facing upward and / or obliquely upward according to the received image information, and sends them to the control system;

[0081] S2.3. The control system controls the material taking system 3 to work according to the received position information, and completes the clamping process of the soybean seeds one by one;

[0082] S2.4. The chassis 224 descends until the ejector pin 225 is completely immersed in the soybean seeds;

[0083] S3. Circular seed picking;

[0084] S3.1. The control system compares the received quantity information with the first threshold, including at least the following results:

[0085] A: If the quantity information is greater than or equal to the first threshold, directly execute steps S2.1 - S2.4 once and generate new quantity information;

[0086] B: If the quantity information is less than the first threshold, control the chassis 224 to rotate a preset angle, and then execute steps S2.1 - S2.4 once and generate new quantity information;

[0087] It should be noted that to ensure the sampling efficiency, there are 25 - 35 ejector pins 225, the value range of the first threshold is 5 - 12, and the value range of the preset angle is 360° - 1080°, preferably 720°;

[0088] S3.2. Repeat step S3.1.

Claims

1. A soybean seed feeding and sorting device, characterized in that, It comprises a main frame (1) and a detection system (4) and a feeding system (2) arranged above and below the main frame, wherein a material taking system (3) is also arranged on one side above the feeding system (2); The feeding system (2) comprises a barrel (21) fixedly mounted on the main frame (1) and having an upper end open and capable of containing bean seeds; a bottom plate (224) is provided below the barrel (21) in a manner that allows it to be raised and lowered; a plurality of top columns (225) are vertically provided on the upper side of the bottom plate (224); a plurality of openings corresponding to the top columns (225) are also provided at the bottom of the barrel (21); the top columns (225) are vertically slidably disposed in the openings corresponding thereto, and the upper ends are configured to be able to lift up a single bean seed inside the barrel (21); The material barrel (21) comprises a cylindrical barrel body (212) and a barrel bottom (213) rotatably arranged at the lower end thereof, the opening being arranged on the barrel bottom (213), and the material feeding system (2) further comprising a stirring driving machine (223) drivingly connected to the bottom plate (224), the stirring driving machine being arranged to be able to drive the bottom plate (224) to rotate around the axis of the barrel body (212); The detection system (4) comprises a processor and a collection camera (42) disposed above the barrel (21) and communicatively connected to the processor, the collection camera (42) being configured to complete image information collection of the bean seeds at the upper end of the top column (225) from top to bottom, and the processor being configured to automatically identify whether the germ side of the bean seeds is facing upward and / or obliquely upward; The material taking system (3) comprises an X-axis driving mechanism (31), to which a Y-axis driving mechanism (32) is transmission-connected and can be driven by the Y-axis to move along a horizontal X-axis, and the Y-axis driving mechanism (32) is transmission-connected and can be driven by the Y-axis to move along a horizontal Y-axis, and the material taking mechanism (33) comprises a sliding seat (332) which can be raised and lowered, and a clamping claw (335) capable of clamping bean seeds with the germ side facing upward and / or obliquely upward is installed on one side of the sliding seat (332); The sliding seat (332) is provided with a rotation driving machine (333) which is transmission-connected to the clamping claw (335) and is configured to drive the clamping claw (335) to rotate around a horizontal axis; The rotation axis of the clamping jaw (335) driven by the rotary drive machine (333) is parallel to the X-axis; The clamping jaw (335) comprises a clamping cylinder (3351) and a mounting block (3352) which can be driven by the clamping cylinder to move closer to or away from each other. A clamping rod (3353) is provided on one side of the mounting block (3352). The clamping rod (3353) comprises a connecting section connected to the mounting block (3352) at one end. A bypass section is vertically provided at a section of the connecting section away from the mounting block (3352). A clamping section is vertically provided at a section of the bypass section away from the connecting section. The clamping section is perpendicular to the connecting section. The connecting sections and the bypass sections of the two clamping rods (3353) are parallel to each other. The ends of the clamping sections of the two clamping rods (3353) away from the bypass sections face each other.

2. The bean seed feeding and sorting device according to claim 1, wherein The clamping rod (3353) is detachably connected to the mounting block (3352).

3. The bean seed feeding and sorting device according to claim 1, characterized in that, A clamping groove is provided at one end of the clamping section of at least one clamping rod (3353) away from the avoidance section.

4. The bean seed feeding and sorting device according to claim 1, wherein A sunken groove is formed at the upper end of the top column (225).

5. The bean seed feeding and sorting device according to claim 1, characterized in that, The minimum distance between two adjacent top columns (225) is greater than the maximum width specification of the to-be-fed soybean seeds.

6. A sorting method, based on a soybean seed feeding and sorting device according to any one of claims 1-5, characterized in that, The sorting device further includes a control system communicatively connected to the detection system (4), the feeding system (2), and the picking system (3). The sorting method specifically includes the following steps: S1. Preparation; Manually place the soybean seeds into the hopper (21). S2. Seed picking; S2.

1. The control system controls the chassis (224) to rise, and the top column (225) jacks up the soybean seeds. S2.

2. The acquisition camera (42) works, sends the acquired image to the processor. The processor generates the position information of the soybean seeds with the germ side facing upward and / or obliquely upward, and the quantity information of the soybean seeds with the germ side facing upward and / or obliquely upward according to the received image information, and sends them to the control system. S2.

3. The control system completes the clamping process of the soybean seeds one by one according to the received position information. S2.

4. The chassis (224) descends until the top column (225) is completely immersed in the soybean seeds. S3. Circular seed picking; S3.

1. The control system compares the received quantity information with the first threshold, and at least includes the following results: A: If the quantity information is greater than or equal to the first threshold, directly execute steps S2.1 - S2.4 once and generate new quantity information. B: If the quantity information is less than the first threshold, control the chassis (224) to rotate a preset angle, and then execute steps S2.1 - S2.4 once and generate new quantity information. S3.

2. Repeat step S3.1.

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