Soybean seed laser sample cutting system and sample cutting method thereof

Abstract

The soybean seed laser sample cutting system comprises a main body frame, and a sorting device, a clamping device, a sample cutting device and a transfer device which are arranged on the main body frame, the sorting device comprises a storage barrel, a plurality of open holes are formed in the bottom of the storage barrel, jacking columns are vertically arranged in the open holes in a sliding mode, the lower ends of the jacking columns are integrally connected to a chassis capable of ascending and descending, and a recognition mechanism capable of judging bean seed orientation information is arranged above the storage barrel. The clamping device can clamp bean seeds with the germ side at the upper end of the top column facing upwards or obliquely upwards through a clamping jaw and send the bean seeds to the sample cutting device to complete sample cutting work, the body and sample collection work can be completed in cooperation with the action of the transfer device, the sample cutting system is simpler in overall structure and more convenient to debug, the directional sorting work of the seeds is achieved, and the working efficiency is improved. And the sample cutting work can be displayed more intuitively.

Description

Technical Field

[0001] The present invention relates to the technical field, in particular to a field of Background Art

[0002] Molecular breeding is a modern breeding method that applies molecular biology technology to breeding. It operates at the molecular level and aims to improve the traits and yields of crops to meet the needs of agricultural production. It directly analyzes seed genes to determine whether they contain excellent traits, which has significant advantages of high efficiency and safety. In molecular breeding operations, an important process is seed slicing. In order to maintain the vitality of the seed embryo after slicing, the usual slicing sampling is carried out on the back of the seed (the end away from the embryo), and the fragmented samples are used for genetic analysis.

[0003] Currently, the most common sampling method is manual sampling. However, manual slicing is slow and can easily destroy embryo activity, resulting in unsatisfactory sampling efficiency and seed survival rate.

[0004] The application document with application number CN201010601808.7 in the patent library discloses a method and process for orienting, sampling and collecting seed tissue from a single seed. In order to ensure that the activity of the embryo is not destroyed after sampling, the method first "applies (for example, with a brush or spray) an iron-based coating 2 to the outside of the corn ear 1", and then uses a "magnet 34" to adsorb the seeds to ensure the directional slicing work. The above-mentioned operation method is relatively complicated to operate, and when the sampled seeds are bean seeds, this work of orienting by coating the iron-based coating and coordinating with the magnetic adsorption will be difficult to achieve.

[0005] Another example is the application document with application number CN201210217218.3 in the patent library, which discloses an automatic seed sampler and a method for sampling, testing and bulking seeds. This patent document is the same as the above-mentioned application document. Its sampling structure and the sampling method implemented by the sampling structure are relatively complicated, resulting in the inability to intuitively realize manual monitoring of the sampling process, which ultimately leads to great limitations in the entire slicing sampling process. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a soybean seed laser cutting system and a cutting method thereof.

[0007] The technical solution of the present invention is as follows:

[0008] The present invention first provides a soybean seed laser cutting system, including a main frame and a sorting device, a clamping device, a cutting device and a transport device arranged thereon, wherein the sorting device is configured to complete the directional sorting of the bean seeds, and the clamping device is configured to clamp the bean seeds provided by the sorting device to the position of the cutting device, and implement the slicing sampling of the bean seeds through the cutting device, and the cut samples and the main body of the bean seeds after sampling can be collected and transported one by one through the transport device.

[0009] As one of the core technical concepts of the present invention, the sorting device includes a feeding mechanism and an identification mechanism. The feeding mechanism includes a storage cylinder fixed on the main frame and capable of holding bean seeds. The bottom of the storage cylinder is provided with a plurality of openings, and top columns are vertically slidably arranged in the openings. The lower ends of the top columns are integrated and connected to a chassis that can be lifted and lowered, and the upper ends are configured to be able to lift up a single bean seed. The identification mechanism is arranged above the storage cylinder, and is configured to be able to collect image information of the bean seeds at the upper end of the top column and determine the orientation of the germ side of the bean seeds. On the basis of this structure, the bean seeds in the storage cylinder are lifted up by lifting the top column, and then the identification mechanism is used to identify the orientation of the bean seeds, so that the directional sorting of the bean seeds can be simpler, and the accuracy of the directional work of the bean seeds is ensured.

[0010] Furthermore, the clamping device includes a three-axis driving mechanism and a clamping jaw that can be driven to move thereby, and the clamping jaw is configured to complete the clamping work of the bean seeds with the germ side of the upper end of the top column facing upward or obliquely upward.

[0011] As another core technical concept of the present invention, the transfer device includes two groups of storage mechanisms that are arranged opposite to each other and can store the main body tray and the sample tray. A conveying mechanism is provided below the two groups of storage mechanisms. The upper side of the conveying mechanism is provided with a consignment mechanism that can be driven by the conveying mechanism to move laterally between the two groups of storage mechanisms, and the consignment mechanism is configured to complete the transfer of the main body tray and the sample tray between the two groups of storage mechanisms. The sample cutting device includes a laser cutter, which is located above the transfer trajectory of the sample tray and is configured to complete the sample cutting of the bean seeds on the clamping jaws. In conjunction with the action of the transfer device, it can automatically complete the collection of the samples cut from the bean seeds and the body of the bean seeds after sampling.

[0012] On the basis of the above structure, when sampling bean seeds, it is only necessary to add a sufficient amount of bean seeds into the storage tube, and place a sufficient amount of main body trays and sample trays in one of the storage mechanisms in advance. Through the lifting and lowering of the top column and the monitoring of the identification mechanism, the positions of several bean seeds on the top of the top column that meet the sampling conditions can be accurately determined, and then the sampling of bean seeds can be achieved through the cooperation of the clamping device and the laser cutter. With the participation of the transfer device, the removed samples and main bodies can be classified and collected into sample trays and main body trays. The overall structure of the cutting system is simpler and easier to debug. The directional sorting of seeds and the progress of cutting can also be more intuitively displayed.

[0013] As described above, a soybean seed laser cutting system is a preferred core technical concept of the present invention. The storage cylinder is configured to include a fixed cylindrical cylinder and a cylinder bottom plate rotatably arranged at the bottom thereof, the opening is arranged on the cylinder bottom plate, and the loading mechanism also includes a first rotary drive machine connected to the chassis in a transmission manner, which is configured to drive the chassis to rotate around the axis of the cylinder. On the basis of this structure, after the top column has worked for a period of time, or when the number of soybean seeds that meet the sampling conditions lifted by the top column is small, the top column can be driven to rotate through the chassis, and then the cylinder bottom plate can be driven to rotate, thereby realizing the stirring of the soybean seeds in the storage cylinder, thereby preventing the orientation of the soybean seeds from remaining unchanged for a long time, thereby ensuring the efficiency of loading.

[0014] As a further preference, in order to ensure that the samples and the sampling bodies can be placed one-to-one in the sample tray and the main body tray, and at the same time ensure that the shipping mechanism can more smoothly dock with the storage mechanism to complete the transfer of the sample tray and the main body tray, the shipping mechanism includes a base frame and an upper part thereof which can be raised and lowered, and a bracket which can slide horizontally in a direction perpendicular to the moving direction of the shipping mechanism, and the bracket is configured to complete the supporting and transporting work of the main body tray and the sample tray.

[0015] The soybean seed laser cutting system as described above is provided with a sink groove at the upper end of the top column in order to enable the top column to move more smoothly to lift the soybean seeds and prevent the soybean seeds at the upper edge of the top column from rolling down, while enabling the lifted soybean seeds to be quickly stabilized at the upper end of the top column.

[0016] In order to facilitate the replacement of the storage mechanism, the storage mechanism is configured to include two storage racks capable of storing the main body tray and the sample tray, and the two storage racks are detachably connected to the main body rack.

[0017] As for the structure of the storage rack, its lower end is open, and a stop block is movably provided in the opening to stop the main plate or the sample plate. By coordinating the action of the stop block with the action of the shipping mechanism, the transfer of the sample plate and the main plate between the shipping mechanism and the storage rack can be achieved more easily.

[0018] As a preferred embodiment, in order to facilitate the transfer of the storage rack, that is, to facilitate the installation of empty sample trays and main body trays, or to transport the main body trays and sample trays full of bodies and samples, the storage rack is placed on the main body rack, and the lower end is clamped and fixed to the main body rack, and a handle is provided at the upper end.

[0019] In the soybean seed laser cutting system as described above, in order to improve the sampling efficiency, the clamping device is provided with two groups on both sides of the storage tube, and the laser cutter is located above the two groups of clamping devices, so that the two groups of clamping devices can better complete the clamping and cutting sampling work of the soybean seeds.

[0020] As described above, a soybean seed laser cutting system, in order to make the cutting system to operate more efficiently and automatically, the cutting system also includes a control device, and the sorting device, clamping device, cutting device and transfer device are all communicatively connected to the control device and are configured to be controlled and operated by the control device.

[0021] The present invention also provides a sample cutting method. Based on the above-mentioned sample cutting system, the sample cutting method specifically comprises the following steps:

[0022] S1. A sufficient amount of bean seeds are stored in the storage tube, and a sufficient amount of body disks and sample disks are stored in one set of storage mechanisms, and a sample cutting system is started through a control device;

[0023] S2, loading preparation;

[0024] S2.1. The chassis drives the top column to rise to the top to push the bean seeds out of the storage cylinder;

[0025] S2.2, the recognition mechanism collects the image information of the bean seeds at the top of the top column, and transmits the position information and quantity information of the bean seeds with the germ side facing upward or obliquely upward to the control system;

[0026] S2.3, the shipping mechanism docks with the storage mechanism containing the body tray and the sample tray, and transfers the body tray and the sample tray to the bottom of the laser cutter;

[0027] S3, cutting and dividing materials;

[0028] S3.1. The control system controls the gripper to clamp the qualified bean seeds on the top of the top column to the bottom of the laser cutter one by one according to the received position information, and cooperates with the action of the bracket to sample and cut the bean seeds one by one through the laser cutter, and completes the batch collection of different samples and bodies;

[0029] When cutting a single bean seed, the cut sample of the bean seed falls directly into the sample tray, and then the remaining body after cutting is placed into the corresponding position of the body tray by the clamping claw;

[0030] S3.2, the bottom plate drives the top column down to the top and immerses it in the bean seeds;

[0031] S4. The control system compares the received quantity information with the preset quantity threshold, and specifically includes the following results:

[0032] A. If the quantity information is greater than or equal to the preset quantity threshold:

[0033] AS4.1. Run steps S2.1 and S2.2 once in sequence to update the location information and quantity information;

[0034] AS4.2. Run step S3 once;

[0035] B. If the quantity is less than the preset quantity threshold;

[0036] BS4.1, the first rotary drive motor drives the chassis to rotate by a preset angle;

[0037] BS4.2. Run steps S2.1 and S2.2 once in sequence to update the location information and quantity information;

[0038] BS4.3. Run step S3 once;

[0039] S5, repeat step S4;

[0040] It should be noted that when step S4 or S5 is executed, if the main body tray and the sample tray are full, the shipping mechanism will dock with another set of storage mechanisms, and after the main body tray and the sample tray are transferred to the storage mechanism, step S2.3 will be automatically executed once.

[0041] The beneficial effects of the present invention are as follows: the present invention is a soybean seed laser cutting system and a cutting method thereof. When performing the sampling operation of the soybean seeds, it is only necessary to add a sufficient amount of soybean seeds into the storage tube, and place a sufficient amount of main body disks and sample disks in advance in one group of storage mechanisms. Through the lifting and lowering of the top column and the monitoring of the identification mechanism, the positions of the soybean seeds at the upper ends of several top columns that meet the sampling conditions can be accurately determined, and then through the cooperation of the clamping device and the laser cutter, the sampling of the soybean seeds can be realized. With the participation of the transfer device, the removed samples and main bodies can be classified and collected into the sample disk and the main body disk. The overall structure of the cutting system is simpler and more convenient to debug. The directional sorting of seeds and the progress of the cutting work can also be more intuitively displayed. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0043] In the attached picture:

[0044] Figure 1 It is a structural schematic diagram of the sample cutting system in the embodiment;

[0045] Figure 2 It is a structural schematic diagram of the feeding mechanism in the embodiment;

[0046] Figure 3 Schematic diagram of the loading method of the top column in the embodiment;

[0047] Figure 4 It is a structural schematic diagram of the identification mechanism in the embodiment;

[0048] Figure 5 It is a structural schematic diagram of the clamping device in the embodiment;

[0049] Figure 6 It is a schematic diagram of the structure of the transfer device in the embodiment;

[0050] Figure 7 It is a structural schematic diagram of the consignment mechanism in the embodiment;

[0051] Figure 8 This is a schematic diagram of the structure of the first storage rack in the embodiment;

[0052] Fig. 9 It is a structural schematic diagram of the sample guiding unit in the embodiment;

[0053] Fig.10 It is a structural schematic diagram of the main body material guiding unit in the embodiment;

[0054] The components represented by the reference numerals in the figure are:

[0055] 1. Main frame; 11. Support frame; 12. Middle plate; 13. Top plate; 14. Universal wheel; 2. Sorting device; 21. Feeding mechanism; 211. Storage cylinder; 2111. Fixing plate; 2112. Cylinder bottom plate; 2113. Cylinder body; 212. Feeding trough; 213. Feeding unit; 2131. Lifting drive; 2132. Lifting plate; 2133. First rotating drive; 2134. Chassis; 2135. Top column; 2136. Guide plate; 2137. Guide block; 22. Identification mechanism; 221. Connecting frame; 222, sampling camera; 223, array light source; 3, clamping device; 31, three-axis driving mechanism; 311, X-axis driving unit; 312, Y-axis driving unit; 313, Z-axis driving unit; 32, second rotary driving machine; 33, clamping claw; 4, sample cutting device; 5, transfer device; 51, conveying mechanism; 52, shipping mechanism; 53, storage mechanism; 531, first storage rack; 532, second storage rack; 54, material guiding mechanism; 541, sample material guiding unit; 542, main body material guiding unit. DETAILED DESCRIPTION

[0056] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0057] Example

[0058] This embodiment first provides a soybean seed laser cutting system, see Figure 1 , including a main frame 1 and a sorting device 2, a clamping device 3, a sample cutting device 4 and a transport device 5 arranged thereon, wherein the sorting device 2 is configured to complete the directional sorting of bean seeds, and the clamping device 3 is configured to clamp the bean seeds provided by the sorting device 2 to the position of the sample cutting device 4, and implement the slicing sampling of the bean seeds through the sample cutting device 4, and the cut samples and the body of the sampled bean seeds can be collected and transported one by one through the transport device 5. The structure of the sample cutting system (the above-mentioned soybean seed laser cutting system) is described in detail below in conjunction with the accompanying drawings.

[0059] In this embodiment, the main frame 1 includes a support frame 11 of a frame structure, a rectangular middle plate 12 is horizontally provided in the middle, and a rectangular top plate 13 is horizontally provided in the upper part. In order to facilitate the position movement of the sample cutting system, a universal wheel 14 is also provided at the lower part of the support frame 11.

[0060] In this embodiment, as one of the core technical concepts of the present invention, the sorting device 2 includes an identification mechanism 22 and a feeding mechanism 21 which are respectively arranged on the lower side of the top plate 13 and the middle plate 12, and are relatively arranged up and down, and the identification mechanism 22 and the feeding mechanism 21 are respectively located on one side of the middle part of the top plate 13 and the middle plate 12, the feeding mechanism 21 is configured to complete the feeding work of the bean seeds, and the identification mechanism 22 is configured to complete the identification work of the orientation of the bean seeds.

[0061] As for the structure of the feeding mechanism 21, Figure 2 and Figure 3The invention relates to a storage cylinder 211 which is fixed on a support frame 11 of a main frame 1 and can hold bean seeds. The upper end of the storage cylinder 211 is flush with the middle plate 12. The middle plate 12 is provided with a first opening at a position corresponding to the storage cylinder 211. The bottom of the storage cylinder 211 is provided with a plurality of openings. A feeding unit 213 which can feed the bean seeds in the storage cylinder 211 is provided below the storage cylinder 211. The feeding unit 213 includes a plurality of top columns 2135 which are vertically slidably arranged in the openings. The lower ends of the plurality of top columns 2135 are integrated and connected to a On the chassis 2134 that can be lifted up, the upper end is configured to be able to lift up a single bean seed, and the identification mechanism 22 is arranged directly above the storage cylinder 211, and is configured to be able to collect image information of the bean seeds at the upper end of the top column 2135, and determine the orientation of the germ side of the bean seeds. On the basis of this structure, the bean seeds in the storage cylinder 211 are lifted up by lifting the top column 2135, and the identification mechanism 22 is used to identify the orientation of the bean seeds, so that the directional sorting of the bean seeds can be simplified, and the accuracy of the directional work of the bean seeds is ensured.

[0062] Specifically speaking, regarding the lifting and lowering driving structure of the chassis 2134, the feeding unit 213 also includes a lifting driving motor 2131 which is vertically arranged on one side of the storage tube 211 and the upper end of which is fixedly connected to the middle plate 12. A lifting plate 2132 is horizontally arranged on one side of the lower end of the lifting driving motor 2131. The lifting plate 2132 is located below the storage tube 211. The chassis 2134 is arranged on the upper side of the lifting plate 2132. Through the action of the lifting driving motor 2131, the lifting and lowering of the lifting plate 2132 can be driven, and then the vertical lifting of the top column 2135 is driven through the chassis 2134.

[0063] Furthermore, in order to ensure the stability of the lifting and lowering of the lifting plate 2132, the feeding unit 213 also includes a guide plate 2136 vertically arranged on the side of the lower part of the storage tube 211 away from the lifting drive machine 2131, and the guide plate 2136 is vertically slidable on the side close to the lifting drive machine 2131. The side of the lifting plate 2132 away from the lifting drive machine 2131 is connected to the guide block 2137.

[0064] As a preferred core technical concept in this embodiment, the storage barrel 211 is configured to include a fixed cylindrical barrel 2113 and a barrel bottom plate 2112 rotatably arranged at the bottom thereof, the opening is opened on the barrel bottom plate 2112, specifically, the storage barrel 211 includes a horizontally arranged fixed plate 2111 fixed to the support frame 11, the barrel 2113 is fixed to the upper side of the fixed plate 2111, the fixed plate 2111 is provided with a circular opening at a position corresponding to the barrel 2113, and the barrel bottom plate 2112 is rotatably arranged in the circular opening. On the basis of the above structure, the feeding unit 2 13 also includes a first rotary drive machine 2133 arranged on the upper side of the lifting plate 2132 and connected to the chassis 2134. The chassis 2134 can be driven to rotate around the axis of the cylinder 2113 through the first rotary drive machine 2133. After the top column 2135 has been working for a period of time, or when the number of bean seeds that meet the sampling conditions lifted by the top column 2135 is small, the top column 2135 can be driven to rotate through the chassis 2134, and then the bottom plate 2112 of the cylinder can be driven to rotate, thereby achieving the stirring of the bean seeds in the storage cylinder 211, so as to prevent the orientation of the bean seeds from remaining unchanged for a long time, thereby ensuring the efficiency of feeding.

[0065] As a further preferred embodiment, in order to enable the top column 2135 to lift the bean seeds more smoothly and prevent the bean seeds at the upper edge of the top column 2135 from rolling down, and at the same time enable the lifted bean seeds to be quickly stabilized on the upper end of the top column 2135, a sink groove is also opened at the upper end of the top column 2135.

[0066] In order to prevent the setting of the identification mechanism 22 from affecting the loading work on the upper part of the storage cylinder 211 and to facilitate the loading work, the loading mechanism 21 also includes a loading trough 212 arranged on the lower side of the middle plate 12 and located on one side of the storage cylinder 211, and the storage cylinder 211 is provided with a feeding port at a position corresponding to the feeding trough 212, and a gate that can be opened and closed is provided at the feeding port, and the middle plate 12 is also provided with a second opening at a position corresponding to the feeding trough 212 away from one end of the storage cylinder 211.

[0067] As for the structure of the identification mechanism 22, Figure 4 It includes a connecting frame 221 suspended on the lower side of the top plate 13, and a sampling camera 222 arranged on the machine. The sampling camera 222 can complete the collection of bean seed image information at the top of the top column 2135. To ensure the clarity of the image information, the recognition mechanism 22 also includes a planar array light source 223 horizontally arranged on the connecting frame 221, and a through hole is provided in the middle of the planar array light source 223, and the lower end of the sampling camera 222 is located in the through hole.

[0068] In this embodiment, combined with Figure 5The clamping device 3 includes a three-axis driving mechanism 31 and a clamping jaw 33 that can be driven to move. The clamping jaw 33 is configured to complete the clamping work of the bean seeds with the germ side of the upper end of the top column 2135 facing upward or obliquely upward.

[0069] Specifically, the three-axis drive mechanism 31 includes an X-axis drive unit 311, a Y-axis drive unit 312, and a Z-axis drive unit 313 connected to each other, wherein the X-axis drive unit 311 includes a strip-shaped X-axis frame disposed on the upper side of the middle plate 12 and disposed along the width direction of the middle plate 12, one end of the X-axis frame is located on one side of the first through opening, and an X-axis motor is disposed at the other end, an X-axis screw rod connected to the X-axis motor is disposed inside the X-axis frame along its length direction, and an X-axis support rod connected to the X-axis screw rod is disposed on the upper part of the X-axis frame along its length direction. Plate; the Y-axis driving unit 312 includes a Y-axis telescopic cylinder fixed to the upper side of the X-axis support plate and arranged along the length direction of the middle plate 12, the driving end of the Y-axis telescopic cylinder is arranged toward the side of the X-axis frame close to the first opening, and a Y-axis support plate is vertically arranged; the Z-axis driving unit 313 includes a Z-axis telescopic cylinder vertically fixed to the side of the Y-axis support plate away from the Y-axis telescopic cylinder, the side of the Z-axis telescopic cylinder away from the Y-axis support plate is vertically slidably provided with a Z-axis support plate transmission connected to the Z-axis telescopic cylinder, and the clamp 33 is arranged on the side of the Z-axis support plate away from the Z-axis telescopic cylinder.

[0070] As a preferred embodiment, in order to ensure that the bean seed clamping work can be completed smoothly by the clamping jaws 33, while making the cutting work by the cutting device 4 smoother, the clamping device 3 also includes a second rotary drive motor 32 arranged on the side of the Z-axis support plate away from the Z-axis telescopic cylinder, and the clamping jaws 33 are transmission-connected to the second rotary drive motor 32, and the rotation axis is parallel to the moving trajectory of the Y-axis support plate.

[0071] As a further preferred embodiment, specifically speaking, the structure of the clamping jaw 33 includes a clamping drive motor which is transmission-connected to the second rotary drive motor 32, and a clamping block which can be driven by the clamping drive motor to move closer to or away from each other. A clamping bent rod is also provided on one side of the clamping block, and the clamping bent rod can be used to clamp the bean seeds. In order to prevent the setting of the clamping bent rod and the clamping bent rod itself after clamping the bean seeds from affecting the subsequent cutting of the bean seeds, the clamping bent rod is configured to include a connecting rod connected to the clamping block at one end, a avoidance rod is vertically provided at one end of the connecting rod away from the clamping block, and a clamping rod is vertically provided at one end of the avoidance rod away from the connecting rod; the clamping rod is perpendicular to the connecting rod, and the connecting rod and the avoidance rod of the two clamping bent rods are respectively parallel, and the ends of the clamping rods of the two clamping bent rods away from the avoidance rod face each other.

[0072] More preferably, in order to improve the sampling efficiency, the clamping device 3 is provided with two groups on both sides of the storage tube 211, and the sample cutting device 4 is located above the two groups of clamping devices 3, so that the two groups of clamping devices 3 can better complete the clamping and cutting sampling work of the bean seeds.

[0073] In this embodiment, combined with Figure 6 The transfer device 5 includes two groups of storage mechanisms 53 relatively arranged at the two ends of the upper side of the middle plate 12. The two groups of storage mechanisms 53 can be used for storing the main body plate and the sample plate. A conveying mechanism 51 is also provided under the middle plate 12. The upper side of the conveying mechanism 51 is connected to a conveying mechanism 52 which can be driven by it and move laterally along the length direction of the middle plate 12. The conveying mechanism 51 is configured to drive the conveying mechanism 52 to move laterally between the two groups of storage mechanisms 53, and the conveying mechanism 52 can complete the transfer of the main body plate and the sample plate between the two groups of storage mechanisms 53.

[0074] Specifically, the conveying mechanism 51 includes a belt conveying unit arranged along the length direction of the middle plate 12, and the consignment mechanism 52 is slidably arranged on the upper side of the belt conveying unit and is transmission-connected to the belt conveying unit.

[0075] To facilitate replacement of the storage mechanism 53 , the storage mechanism 53 is configured to include a first storage rack 531 and a second storage rack 532 that can store the body disk and the sample disk respectively, and both storage racks are detachably connected to the middle plate 12 of the main frame 1 .

[0076] Specifically speaking, with respect to the structure of the two storage racks, Figure 8 Taking the structure of the first storage rack 531 as an example, its lower end is open, and a stop block capable of stopping the main body tray is movably provided in the opening. The lower end of the second storage rack 532 is also an open structure, and a stop block capable of stopping the sample tray is movably provided in the opening. The stop fast transmission is connected to a stop motor capable of driving it to slide. Through the action of the stop block coordinated with the action of the consignment mechanism 52, the transfer of the sample tray and the main body tray between the consignment mechanism 52 and the storage rack can be more easily achieved.

[0077] As a preferred embodiment, in order to facilitate the transfer of the storage racks, that is, to facilitate the installation of empty sample trays and main body trays, or to facilitate the transportation of main body trays and sample trays filled with main bodies and samples, the middle plate 12 is provided with a third opening and a fourth opening corresponding to the positions of the first storage rack 531 and the second storage rack 532, and the lower ends of the first storage rack 531 and the second storage rack 532 are detachably placed in the third opening and the fourth opening respectively, and the lower ends are clamped and fixed to the middle plate 12 of the main frame 1, and a handle is provided at the upper end.

[0078] As a further preferred method, in order to ensure that the sample and the sample body can be placed in the sample tray and the main body tray in a one-to-one correspondence, and at the same time ensure that the shipping mechanism 52 can more smoothly dock with the storage mechanism 53 to complete the transfer of the sample tray and the main body tray, combined with Figure 7 The shipping mechanism 52 includes a base frame and an upper portion thereof which can be raised and lowered, and a bracket which can slide horizontally in a direction perpendicular to the moving direction of the shipping mechanism 52, and the bracket is configured to complete the supporting and transporting work of the main body tray and the sample tray.

[0079] In this embodiment, the sample cutting device 4 includes a laser cutter, which is located above the transfer track of the sample plate and is configured to complete the sample cutting work of the bean seeds on the clamp 33. In conjunction with the action of the transfer device 5, it can automatically complete the sample cutting of the bean seeds and the collection of the main body of the bean seeds after sampling.

[0080] As a preferred embodiment, the sample cutting device 4 further comprises a smoke exhaust pipe arranged at the lower end of the top plate 13, and the laser cutter is arranged in the smoke exhaust pipe to ensure that smoke and dust generated by laser ablation can be discharged in time.

[0081] Based on the above structure, combined with Fig. 9 and Fig.10 The transfer device 5 also includes a material guiding mechanism 54 arranged in the middle part of the middle plate 12, and the material guiding mechanism 54 includes a sample material guiding unit 541 and a main body material guiding unit 542 arranged along the width direction of the middle plate 12, wherein the sample material guiding unit 541 is arranged close to the storage tube 211, and the middle plate 12 is provided with a fifth opening and a sixth opening at positions corresponding to the sample material guiding unit 541 and the main body material guiding unit 542, wherein the fifth opening is located directly below the laser cutter, that is, directly above the middle part of the sample disk transfer trajectory, and the sixth opening is located directly above the middle part of the main body disk transfer trajectory, and the sample material guiding unit 541 and the main body material guiding unit 542 are respectively arranged in the fifth opening and the sixth opening.

[0082] Both material guide units include a material guide block, a through material guide port is vertically opened in the middle of the material guide block, and the sample and the main body can fall from the material guide port. In order to ensure that the sample can fall off the main body smoothly after cutting, a scraping blade that can be driven by the scraping motor is also provided on one side of the material guide block of the sample material guide unit 541, and the sample on the main body after cutting can be scraped into the material guide port of the material guide block of the sample material guide unit 541 through the scraping blade.

[0083] In this embodiment, in order to enable the sample cutting system to operate more efficiently and automatically, the sample cutting system also includes a control device disposed in the support frame 11 and located in the middle and lower part. The sorting device 2, the clamping device 3, the sample cutting device 4 and the transfer device 5 are all communicatively connected to the control device and are configured to be controlled and operated by the control device.

[0084] Based on the above structure, when sampling bean seeds, it is only necessary to add a sufficient amount of bean seeds into the storage tube 211, and place a sufficient amount of main body trays and sample trays in one group of storage mechanisms 53 in advance. Through the lifting and lowering of the top column 2135 and the monitoring of the identification mechanism 22, the positions of the bean seeds at the upper ends of several top columns 2135 that meet the sampling conditions can be accurately determined, and then the sampling of bean seeds can be achieved through the cooperation of the clamping device 3 and the laser cutter. With the participation of the transfer device 5, the removed samples and main bodies can be classified and collected into sample trays and main body trays. The overall structure of the sampling system is simpler and more convenient to debug. The directional sorting of seeds and the progress of the sampling work can also be more intuitively displayed.

[0085] This embodiment also provides a sample cutting method. Based on the above-mentioned sample cutting system, the sample cutting method specifically includes the following steps:

[0086] S1, storing a sufficient amount of bean seeds in the storage tube 211, storing a sufficient amount of body disks and sample disks in one set of storage mechanisms 53, and starting the sample cutting system through the control device;

[0087] S2, loading preparation;

[0088] S2.1. The bottom plate 2134 drives the top column 2135 to rise to the top to push the bean seeds out of the storage tube 211;

[0089] S2.2, the recognition mechanism 22 collects the image information of the bean seeds at the top of the top column 2135, and transmits the position information and quantity information of the bean seeds with the germ side facing upward or obliquely upward to the control system;

[0090] S2.3, the shipping mechanism 52 docks with the storage mechanism 53 containing the body tray and the sample tray, and transfers the body tray and the sample tray to the bottom of the laser cutter;

[0091] S3, cutting and dividing materials;

[0092] S3.1. The control system controls the clamp 33 to clamp the qualified bean seeds on the top of the top column 2135 to the bottom of the laser cutter one by one according to the received position information, and cooperates with the action of the bracket to sample and cut the bean seeds one by one through the laser cutter, and completes the batch collection of different samples and bodies;

[0093] When a single bean seed is cut, the sample cut from the bean seed directly falls into the sample tray, or is scraped to the sample tray by a scraper, and then the remaining body after cutting is placed into the corresponding position of the body tray by the clamping claw 33;

[0094] S3.2, the bottom plate 2134 drives the top column 2135 to descend to the top and immerse into the bean seeds;

[0095] S4. The control system compares the received quantity information with the preset quantity threshold, and specifically includes the following results:

[0096] A. If the quantity information is greater than or equal to the preset quantity threshold:

[0097] AS4.1. Run steps S2.1 and S2.2 once in sequence to update the location information and quantity information;

[0098] AS4.2. Run step S3 once;

[0099] B. If the quantity is less than the preset quantity threshold;

[0100] BS4.1. The first rotary drive machine 2133 drives the chassis 2134 to rotate by a preset angle;

[0101] BS4.2. Run steps S2.1 and S2.2 once in sequence to update the location information and quantity information;

[0102] BS4.3. Run step S3 once;

[0103] It should be noted that, in order to ensure the feeding efficiency, the top pillars 2135 are provided with thirty, and the value range of the preset number threshold is 5-12, so as to prevent the preset number threshold from being too large, resulting in the B result always occurring, thereby ensuring the feeding efficiency, and at the same time preventing the preset number threshold from being too small, affecting the feeding efficiency;

[0104] The preset angle has a value range of 360°-720°, which ensures that the bean seeds can be fully stirred while ensuring the feeding efficiency;

[0105] S5, repeat step S4;

[0106] It should be noted that when step S4 or S5 is executed, if the main body tray and the sample tray are full, the shipping mechanism 52 will dock with another set of storage mechanisms 53, and after the main body tray and the sample tray filled with the main body and samples are transferred to the set of storage mechanisms 53, step S2.3 will be automatically executed once.

Claims

1. A soybean seed laser cutting system, characterized in that: It comprises a main frame (1) and a sorting device (2), a clamping device (3), a sample cutting device (4) and a transport device (5) arranged thereon; The sorting device (2) comprises a feeding mechanism (21) and an identification mechanism (22), wherein the feeding mechanism (21) comprises a storage cylinder (211) fixed on the main frame (1) and capable of containing bean seeds, wherein a plurality of openings are provided at the bottom thereof, and a top column (2135) is vertically slidably provided in each of the openings, wherein the lower ends of the plurality of top columns (2135) are integrally connected to a liftable chassis (2134), and the upper ends are configured to lift a single bean seed, and the identification mechanism (22) is disposed above the storage cylinder (211), and is configured to collect image information of the bean seeds at the upper end of the top column (2135) and to determine the orientation of the germ side of the bean seeds; The clamping device (3) comprises a three-axis driving mechanism (31) and a clamping claw (33) that can be driven to move, and the clamping claw (33) is configured to complete the work of clamping the bean seeds with the germ side of the upper end of the top column (2135) facing upward or obliquely upward; The transfer device (5) comprises two sets of storage mechanisms (53) arranged opposite to each other and capable of storing the body tray and the sample tray. A conveying mechanism (51) is provided below the two sets of storage mechanisms (53). A transporting mechanism (52) is provided on the upper side of the transporting mechanism (51) and can be driven by the transporting mechanism to move laterally between the two sets of storage mechanisms (53). The transporting mechanism (52) is arranged to complete the transfer of the body tray and the sample tray between the two sets of storage mechanisms (53). The sample cutting device (4) comprises a laser cutter, which is located above the sample plate transfer track and is configured to complete the sample cutting work of the bean seeds on the clamping jaws (33).

2. The soybean seed laser cutting system according to claim 1, characterized in that: The storage cylinder (211) comprises a fixed cylindrical cylinder body (2113) and a cylinder bottom plate (2112) rotatably arranged at the bottom thereof, and the opening is arranged on the cylinder bottom plate (2112); The feeding mechanism (21) further comprises a first rotary driving machine (2133) which is transmission-connected to the chassis (2134) and is configured to drive the chassis (2134) to rotate around the axis of the cylinder (2113).

3. The soybean seed laser cutting system according to claim 2, characterized in that: The shipping mechanism (52) comprises a bottom frame and an upper portion thereof which can be raised and lowered and can slide horizontally in a direction perpendicular to the moving direction of the shipping mechanism (52), and the shipping mechanism (52) is configured to carry and transport the main body tray and the sample tray.

4. The soybean seed laser cutting system according to claim 3, characterized in that: The upper end of the top column (2135) is also provided with a sinking groove.

5. The soybean seed laser cutting system according to claim 3, characterized in that: The storage mechanism (53) comprises two storage racks capable of storing the main body tray and the sample tray, and both storage racks are detachably connected to the main body rack (1).

6. The soybean seed laser cutting system according to claim 5, characterized in that: The lower end of the storage rack is open, and a stop block capable of stopping the main body plate or the sample plate is movably arranged in the opening.

7. The soybean seed laser cutting system according to claim 5, characterized in that: The storage rack is placed on the main frame (1), and the lower end is fixedly connected to the main frame (1) by clamping, and the upper end is provided with a handle.

8. The soybean seed laser cutting system according to claim 3, characterized in that: The clamping devices (3) are located on two sides of the storage cylinder (211) and are arranged in two groups opposite to each other. The laser cutter is located above the two groups of clamping devices (3).

9. A soybean seed laser cutting system according to any one of claims 3 to 8, characterized in that: It also comprises a control device, wherein the sorting device (2), the clamping device (3), the sample cutting device (4) and the transport device (5) are all connected to the control device for communication and are configured to be able to be controlled and operated by the control device.

10. A sampling method, based on the soybean seed laser sampling system according to claim 9, characterized in that: The sample cutting method specifically comprises the following steps: S1, storing a sufficient amount of bean seeds in the storage cylinder (211), storing a sufficient amount of body plates and sample plates in one set of storage mechanisms (53), and starting the sample cutting system through the control device; S2, loading preparation; S2.

1. The bottom plate (2134) drives the top column (2135) to rise to the top to push the bean seeds out of the storage cylinder (211); S2.2, the recognition mechanism (22) collects image information of the bean seeds at the top of the top column (2135), and transmits position information and quantity information of the bean seeds with the germ side facing upward or obliquely upward to the control system; S2.3, the shipping mechanism (52) docks with the storage mechanism (53) containing the body tray and the sample tray, and transfers the body tray and the sample tray to the bottom of the laser cutter; S3, cutting and dividing materials; S3.

1. The control system controls the clamp (33) to clamp the bean seeds that meet the conditions on the upper end of the top column (2135) one by one to the bottom of the laser cutter according to the received position information, and cooperates with the action of the bracket to sample and cut the bean seeds one by one through the laser cutter, and completes the batch collection of different samples and bodies; When a single bean seed is cut, the sample cut from the bean seed falls directly into the sample tray, and then the remaining body after cutting is placed into the corresponding position of the body tray through the clamping claw (33); S3.2, the bottom plate (2134) drives the top column (2135) to descend to the top and immerse into the bean seeds; S4. The control system compares the received quantity information with the preset quantity threshold, and specifically includes the following results: A. If the quantity information is greater than or equal to the preset quantity threshold: AS4.

1. Run steps S2.1 and S2.2 once in sequence to update the location information and quantity information; AS4.

2. Run step S3 once; B. If the quantity is less than the preset quantity threshold; BS4.

1. The first rotary drive machine (2133) drives the chassis (2134) to rotate to a preset angle; BS4.

2. Run steps S2.1 and S2.2 once in sequence to update the location information and quantity information; BS4.

3. Run step S3 once; S5, repeat step S4; It should be noted that when step S4 or S5 is executed, if the main plate and the sample plate are full, the shipping mechanism (52) docks with another set of storage mechanisms (53), and after the main plate and the sample plate are transferred to the set of storage mechanisms (53), step S2.3 is automatically executed once.

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