Crop breeding leaf sampling device

Abstract

The invention discloses a crop breeding leaf sampling device which comprises a controller, and a sampling joint robot, a cleaning machine, a carrying joint robot, a deep hole plate refrigeration bin, a pipe hole positioning camera assembly and a small refrigeration storage bin which are electrically connected with the controller, the sampler comprises two tubular cutters capable of moving oppositely or oppositely. According to the device, the joint robot, the sampler, the refrigeration bin and the cleaning machine form an independent integrated device, and the device does not need to be changed, so that automatic sampling of crop breeding leaves in most laboratories can be realized, automatic sampling operation of different types of crop leaves can be completed, and the crop breeding experiment efficiency is effectively improved; the butt joint blocks are arranged at the bottoms of the two cutters, and the two butt joint blocks can define a guide channel communicated with the butt joint groove and the deep hole, so that the butt joint accuracy of the sampling pipe and the transfer equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and more particularly to a crop breeding leaf sampling device. Background Art

[0002] In the crop breeding accelerator platform, leaf sampling and testing is required on plants with different hybrid gene seeds to monitor crop growth and development and identify improved varieties. Traditional manual sampling methods involve removing leaf samples from each plant and placing the isolated leaf samples into labeled tubes for storage. This sampling operation is repetitive, tedious, time-consuming, and labor-intensive. Crop leaves grow in a crisscross pattern, have different postures, and are not uniform in shape. Currently available agricultural harvesting equipment cannot achieve the leaf sampling requirements of autonomous identification and positioning of crop leaves, and automated sampling and storage without cross-contamination. Summary of the Invention

[0003] The technical problem to be solved by the present invention is how to realize the automation of crop breeding leaf sampling in the laboratory and prevent cross contamination during sampling.

[0004] The present invention solves the above technical problems through the following technical means: a crop breeding leaf sampling device, including a controller and a sampling joint robot electrically connected to the controller, a cleaning machine, a handling joint robot, a deep-hole plate refrigeration bin, a pipe hole positioning camera assembly, and a small refrigeration storage bin. The execution end of the sampling joint robot is connected to a sampler, and the sampler includes two tubular tools that can move relative to or back to each other. The opposite ends of the two tools are provided with docking grooves, and the bottoms of the two tools are provided with docking blocks. The two docking blocks can partially or completely extend into the deep hole and enclose to form a guide connected to the docking groove and the deep hole. The camera field of view of the channel and the tube hole positioning camera assembly can cover the deep-well plate in the small refrigeration storage bin; the cleaning machine includes a brush cleaning device, a ring-washing spray cleaning device, and a blow-drying device. The sampling joint robot drives the sampler after sampling to flow into the cleaning station of the brush cleaning device, the spray cleaning station of the ring-washing spray cleaning device, and the blow-drying station of the blow-drying device in sequence. The handling robot is used to transfer the empty deep-well plates in the deep-well plate refrigeration bin to the small refrigeration storage bin; the handling robot is also used for the circulation and transportation of deep-well plates between the deep-well plate refrigeration bin, the small refrigeration storage bin, and the sample refrigeration bin, and the soft rubber cover plates between the cover plate supply bin and the small refrigeration storage bin.

[0005] As a preferred technical solution, two blades are fixedly connected to opposite ends of the two cutters, and the docking groove is located between the two blades.

[0006] As a preferred technical solution, a sampler cylinder is fixedly connected to the sampler, and a push rod capable of extending into the docking groove and the guide channel is fixedly connected to the telescopic end of the sampler cylinder.

[0007] As a preferred technical solution, the execution end of the sampling joint robot is also fixedly connected to a positioning camera.

[0008] As a preferred technical solution, the brush cleaning device includes a motor, a water tank, a gear, and a brush. A plurality of brush rollers are rotatably connected in the water tank. Brushes are arranged circumferentially of the brush rollers. Adjacent brush rollers are connected by gear transmission. A motor is fixedly connected to the water tank. The output end of the motor is connected to a gear transmission and can drive the adjacent gear to rotate in the opposite direction.

[0009] As a preferred technical solution, the brush cleaning device and the annular washing and spraying device are arranged side by side, and an annular nozzle is fixedly connected to the inner cavity of the annular washing and spraying device, and the annular nozzle is used for circumferential annular spraying of the sampler.

[0010] As a preferred technical solution, the cleaning machine also includes a drying device, which is arranged adjacent to the ring-washing and spraying device. The drying device includes a drying shell, and the drying shell is provided with at least one drying air knife.

[0011] As an optimal technical solution, the workbench, pneumatic capping device, sample refrigeration chamber, small refrigeration chamber, pneumatic capping device, cover plate feeding chamber, and sample refrigeration chamber are all fixed on the workbench, the sampling joint robot and the handling joint robot are respectively located on both sides of the workbench, the pneumatic capping device is used to cap the fully loaded deep-well plate, and the handling joint robot can move the capped deep-well plate to the sample refrigeration chamber.

[0012] As a preferred technical solution, the execution end of the handling joint robot is fixedly connected to a suction cup assembly, a second electric driver, and a clamping claw. The suction cup assembly includes a suction cup fixing frame and multiple negative pressure suction cups fixedly connected to one side of the lower plate fixing frame. The negative pressure suction cup is connected to an external air source. The suction cup fixing frame is fixedly connected to a second electric driver. One end of the second electric driver is fixedly connected to two clamping claws that can move toward or away from each other.

[0013] As an optimal technical solution, a small refrigeration bin and a pneumatic capping device include a small refrigeration storage bin and a pneumatic capping device. An opening is provided on the top of the small refrigeration storage bin. An upper deep hole plate fixing cylinder and a right deep hole plate fixing cylinder are fixed in the small refrigeration storage bin. The pneumatic capping device includes a push rod cylinder, a capping cover plate, and a capping cylinder. The push rod cylinder can be a commercially available linear module. The output end of the push rod cylinder is fixedly connected to a connecting plate, the top of the connecting plate is fixedly connected to the capping cylinder, and the output shaft of the capping cylinder is fixedly connected to the capping cover plate.

[0014] The beneficial effects of the present invention are:

[0015] (1) In the present invention, an independent integrated device is formed by an articulated robot, a sampler, a refrigeration chamber and a cleaning mechanism. Without any modification, the automated sampling of crop breeding leaves in most laboratories can be realized, and the automated sampling of leaves of different types of crops can be completed, effectively improving the efficiency of crop breeding experiments. By arranging docking blocks at the bottom of both tools, the two docking blocks can be combined to form a guide channel connected to the docking groove and the deep hole, thereby improving the accuracy of the docking between the sampling tube and the transfer equipment.

[0016] (2) In the present invention, by arranging two blades on the opposite surfaces of the two cutters, the blades can be sheared when the two cutters are closed together, and by arranging a docking groove between the two blades, a storage space is provided for the sheared blades.

[0017] (3) In the present invention, the sheared blades can be directly pushed into the deep hole through the arrangement of the sampler cylinder and the push rod, thereby improving the transfer effect.

[0018] (4) In the present invention, by setting up a brush cleaning device, a ring washing and spraying device, and a drying device, the sheared sampler can be cleaned, sprayed, and dried, thereby avoiding cross contamination caused by subsequent sampling.

[0019] (5) In the present invention, the brushing speed is adjusted by the motor and the brushing direction is adjusted by the gear. For example, the middle brush roller rotates forward and reverses, which is beneficial to the separation of pollutants with different adhesion degrees and improves the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0021] Figure 2 A schematic structural diagram of a sampling joint robot provided in an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the structure of a blade positioning camera assembly provided in an embodiment of the present invention;

[0023] Figure 4 A schematic structural diagram of a small refrigeration bin and a pneumatic capping device provided in an embodiment of the present invention;

[0024] Figure 5 A schematic structural diagram of a handling joint robot provided in an embodiment of the present invention;

[0025] Figure 6 A schematic structural diagram of a brush cleaning device provided in an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the brush structure provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the annular nozzle structure provided in an embodiment of the present invention;

[0028] Figure numbers: 1. Sampling joint robot; 101. Joint robot; 102. Blade positioning camera assembly; 1021. Positioning camera; 103. Sampler; 1031. Push rod; 1032. Right tool; 1033. Left tool; 1034. Sampler cylinder; 1035. First electric drive; 2. Small refrigeration bin and pneumatic capping device; 201. Small refrigeration storage bin; 2011. Upper deep-hole plate fixing cylinder; 2012. Deep-hole plate; 2013. Right deep-hole plate fixing cylinder; 202. Pneumatic capping device; 2021. Push rod cylinder; 2022. Covering plate; 2023, covering cylinder; 3, deep-hole plate refrigeration chamber; 4, handling joint robot; 401, suction cup assembly; 402, second electric drive; 403, clamping claw; 5, cover feeding bin; 6, pipe hole positioning camera assembly; 7, sample refrigeration chamber; 8, workbench; 9, cleaning machine; 901, brush cleaning device; 9011, motor; 9012, water tank; 9013, lifter; 9014, gear; 9015, brush; 902, ring washing spray device; 9021, ring nozzle; 903, drying device; 9031, drying air knife. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] See Figure 1, a crop breeding leaf sampling device, including a sampling joint robot 1, a small refrigeration bin and a pneumatic capping device 2, a deep-well plate refrigeration bin 3, a transport joint robot 4, a cover feeding bin 5, a measuring camera and a bracket 6, a sample refrigeration bin 7, a workbench 8, and a cleaning machine 9. The transport joint robot 4 is arranged on one side of the workbench 8. The transport joint robot 4 is used to suck the soft rubber cover in the cover feeding bin 5 and place it on the deep-well plate 2012 in the small refrigeration storage bin 201. It can also take the empty deep-well plate 2012 in the deep-well plate refrigeration bin 3 and place it in the small refrigeration storage bin 201 to continue sampling. The sampling joint robot 1 and the cleaning machine 9 are arranged on the other side of the workbench 8. The execution end of the sampling joint robot 1 is connected to the leaf fixed The blade positioning camera assembly 102 and the sampler 103, the leaf positioning camera assembly 102 is used to identify the position of the leaves of the seedlings on the assembly line, the sampler 103 performs sampling, i.e., cuts and clamps the cut leaf segments, the cleaning machine 9 includes a brush cleaning device 901, a ring washing and spraying device 902, and a drying device 903, the sampling joint robot 1 drives the sampler 103 after sampling to flow into the cleaning station of the brush cleaning device 901, the spraying station of the ring washing and spraying device 902, and the drying station of the drying device 903 in sequence, the cleaning machine 9 is used to clean the sampler 103, the small refrigeration bin and the pneumatic pressure capping device 2, the deep hole plate refrigeration bin 3, the cover plate feeding bin 5, the pipe hole positioning camera assembly 6, and the sample refrigeration bin 7 are all fixedly connected to the workbench 8.

[0031] The cover plate feeding bin 5 is located between the deep-well plate refrigeration bin 3 and the sample refrigeration bin 7. The cover plate feeding bin 5, the deep-well plate refrigeration bin 3, and the sample refrigeration bin 7 are arranged side by side. The small refrigeration bin and the pneumatic pressing capping device 2 are arranged side by side. The small refrigeration bin and the pneumatic pressing capping device 2 include a small refrigeration storage bin 201 and a pneumatic pressing capping device 202. The small refrigeration storage bin 201 is used to store the deep-well plate 2012 for storing samples. The pneumatic pressing capping device 202 is used to press the soft rubber cover plate with the deep-well plate 2012. The deep-well plate refrigeration bin 3 is used to place the empty deep-well plate 2012. The cover plate feeding bin 5 is used to store the soft rubber cover plate. The tube hole positioning camera assembly 6 is used to shoot and locate the position of the deep-well plate 2012. Its camera field of view can cover the entire deep-well plate 2012. The sample refrigeration bin 7 is used to store the deep-well plate 2012 with the pressed cover plate.

[0032] The sampling joint robot 1 uses the camera at its execution end to identify and locate the position of the crop leaves, and the tube hole positioning camera assembly 6 identifies and locates the tube hole position of the deep-hole plate 2012 in the small and medium-sized refrigeration warehouses 2. The sampler at the execution end of the sampling joint robot 1 clamps the crop leaves and places them in the tube holes of the deep-hole plate in the small refrigeration warehouse, and the cleaning machine cleans the tool on the sampler; the transport joint robot uses the suction cup assembly to suck the soft rubber cover plate from the cover plate feeding bin and place it above the deep-hole plate in the small refrigeration warehouse, and the pressing device presses down the soft rubber cover plate to seal the deep-hole plate. The transport joint robot uses the electric-driven clamp to clamp the deep-hole plate full of leaf samples from the small refrigeration storage warehouse and place it in the large sample refrigeration warehouse, and takes the empty deep-hole plate from the large deep-hole plate refrigeration warehouse and places it in the small refrigeration warehouse to continue sampling and store crop leaf samples.

[0033] See Figure 2 、 Figure 3 The sampling joint robot 1 also includes a joint robot 101. The joint robot 101 can be a commercially available multi-degree-of-freedom robot. The execution end of the joint robot 101 is fixedly connected to a leaf positioning camera assembly 102 and a sampler 103. The axis of the sampler 103 is not coaxial with the axis of the execution end of the joint robot 101. The leaf positioning camera assembly 102 includes a positioning camera 1021. The positioning camera 1021 is used to identify the position of the leaves of the seedlings on the assembly line. The sampler 103 includes a first electric driver 1035, a sampler cylinder 1034, a left tool 1033, a right tool 1032, and a push rod 1031. The first electric driver The two output ends of the driver 1035 are respectively fixedly connected to the left tool 1033 and the right tool 1032. The driving end of the first electric driver 1035 can drive the left tool 1033 and the right tool 1032 to move toward or away from each other. The outer side of the first electric driver 1035 is fixedly connected to the sampler cylinder 1034. The output shaft of the sampler cylinder 1034 is fixedly connected to the push rod 1031 and can drive the push rod 1031 to move toward the axis of the left tool 1033 and the right tool 1032. It should be noted that the first electric driver 1035 is a commercially available part, and an electric clamp with model HEPG50-100 can be selected.

[0034] See Figure 3The left and right cutter 1033 and 1032 have the same structure. The opposite ends of the left and right cutter 1033 and 1032 are fixedly connected with two blades, and a semicircular docking groove is formed between the two blades. When the left and right cutter 1033 and 1032 are surrounded, a cylindrical groove that runs through the upper and lower parts can be formed, which can shear the blades and clamp the sheared blades in the cylindrical groove. The sampler cylinder 1034 can drive the push rod 1031 to push the blades in the cylindrical groove into the deep-hole plate 2012. The bottoms of the left and right cutter 1033 and 1032 are both provided with a protruding semi-annular docking block. When the left and right cutter 1033 and 1032 are surrounded, an annular docking block is formed, thereby forming a guide channel connected to the cylindrical groove. The docking block can be fully or partially inserted into the deep hole of the deep-hole plate 2012, which is convenient for the accurate docking of the deep-hole plate 2012 with the left and right cutter 1033 and 1032.

[0035] See Figure 4 The small refrigeration storage bin 201 is arranged on one side of the pneumatic pressing cover device 202. An opening is arranged on the top of the small refrigeration storage bin 201. An upper deep hole plate fixing cylinder 2011 and a right deep hole plate fixing cylinder 2013 are fixed in the small refrigeration storage bin 201. The upper deep hole plate fixing cylinder 2011 and the right deep hole plate fixing cylinder 2013 are both used to fix the deep hole plate 2012. The pneumatic pressing cover device 202 includes a push rod cylinder 2021, a pressing cover plate 2022, and a pressing cylinder. 2023, the push rod cylinder 2021 can be a commercially available linear module, the output end of the push rod cylinder 2021 is fixedly connected to a connecting plate, the top of the connecting plate is fixedly connected to a pressure cover cylinder 2023, the output shaft of the pressure cover cylinder 2023 is fixedly connected to a pressure cover plate 2022, and can drive the pressure cover plate to move toward the deep hole plate 2012, and the bottom plane of the connecting plate and the initial position of the pressure cover plate 2022 are both located above the plane where the top of the small refrigeration storage bin 201 is located.

[0036] See Figure 5The handling joint robot 4 includes a multi-axis robotic arm, the execution end of the multi-axis robotic arm is fixedly connected to a suction cup assembly 401, a second electric driver 402, and a clamping claw 403, the suction cup assembly 401 includes a suction cup fixing frame and a plurality of negative pressure suction cups fixedly connected to one side of the lower plate fixing frame, the negative pressure suction cup is connected to an external air source, and the external air source can be a negative pressure environment of the negative pressure suction cup system, the suction cup fixing frame is fixedly connected to a second electric driver 402, one end of the second electric driver 402 is fixedly connected to two clamping claws 403, and the second electric driver 402 can It can drive the two clamping claws 403 to move toward or away from each other. The setting direction of the negative pressure suction cup is perpendicular to the setting direction of the clamping claw 403. The suction cup assembly 401 is used to take out the soft rubber cover from the cover feed bin 5, move it to the top of the small refrigeration storage bin 201, and place it on the deep well plate 2012. The clamping claw 403 is used to clamp the deep well plate 2012 that has completed the pressing and move it to the large sample refrigeration bin 7 for storage; it should be noted that the second electric driver 402 is a commercially available part, and an electric clamp with model HEPG-HP26-050 can be used.

[0037] See Figure 6 、 Figure 7 、 Figure 8 The brush cleaning device 901 and the ring washing spraying device 902 are arranged side by side, and the drying device 903 is arranged adjacent to the ring washing spraying device 902. The brush cleaning device 901 includes a motor 9011, a water tank 9012, a lifter 9013, a gear 9014, and a brush 9015. The water tank 9012 is connected to the lifting end of the lifter 9013. A plurality of brush rollers are rotatably connected in the water tank 9012. Brushes 9015 are arranged on the circumference of the brush rollers. Adjacent brush rollers are connected by gears 9014. One brush roller is connected to the output end of the motor 9011. Transmission connection, thereby driving multiple brush rollers to rotate; the circular washing and spraying device 902 includes another lifter 9013, another water tank 9012, and an annular nozzle 9021, and the top of the inner cavity of the water tank 9012 is fixedly connected to the annular nozzle 9021; the drying device 903 includes a drying shell, and a cavity with an opening at the top is opened in the drying shell, and at least one drying air knife 9031 is fixedly connected in the cavity. In this embodiment, four drying air knives 9031 are arranged circumferentially, and the drying air knife 9031 is used to dry the left tool 1033 and the right tool 1032.

[0038] It should be noted that when adjacent brush rollers are transmitted through gears 9014, such as when there are three brush rollers, the output end of the motor 9011 is connected to the middle brush roller. When the middle brush roller rotates clockwise, the brush rollers on the left and right sides of the middle brush roller rotate counterclockwise respectively. For pollutants with different degrees of adhesion on the inner and outer surfaces of the right tool 1032 and the left tool 1033 on the cleaning sampler, the motor 9011 adjusts the brushing speed and the gears adjust the brushing direction for brushing. If the middle brush roller rotates forward and flips, it is beneficial to the separation of pollutants with different degrees of adhesion.

[0039] Working principle:

[0040] The sampling process is as follows: first, the positioning camera 1021 on the sampling joint robot 1 identifies and locates the position of the crop leaf, opens the left cutter 1033 and the right cutter 1032 on the sampler 103, and moves the sampler 103 so that the crop leaf is located between the left cutter 1033 and the right cutter 1032. The first electric driver 1035 on the sampler 103 drives the left cutter 1033 and the right cutter 1032 to cut and clamp the leaf sample segment; then the sampler 103 moves the leaf sample into the small cold storage 201, identifies the position of the deep-well plate tube hole through the tube hole positioning camera assembly 6, inserts the semi-circular docking fastener at the bottom of the upper left cutter 1033 and the right cutter 1032 into the tube hole of the deep-well plate 2012, slightly opens the upper left cutter 1033 and the right cutter 1032 to release the leaf sample segment, and the sampler cylinder 1034 drives the push rod 1031 to push the leaf sample segment into the tube hole of the deep-well plate 2012; the sampling joint robot 1 Move the sampler 103 to the cleaning machine 9, open the left tool 1033 and the right tool 1032 of the sampler 103 and extend them into the brush cleaning device 901, the brush 9015 is located between the left tool 1033 and the right tool 1032, and the sampler 103 moves up and down to brush the inside of the left tool 1033 and the right tool 1032; then move the sampler 103 so that the left tool 1033 and the right tool 1032 are placed between the two brushes 9015, and brush the left tool 1033 and the right tool 1032. 033 and the outside of the tool right 1032; move the sampler 103 to the annular nozzle 9021 in the ring washing spray device 902, and spray the inside and outside of the tool left 1033 and the tool right 1032; move the sampler 103 to the drying device 903, and use the drying air knife 9031 to dry the tool left 1033 and the tool right 1032, repeat the above sampling process, and complete the sampling and storage operations of all the tube holes of the deep hole plate 2012 in the small refrigeration storage bin 201.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A crop breeding leaf sampling device, characterized in that: The invention comprises a controller and a sampling joint robot electrically connected to the controller, a cleaning machine, a handling joint robot, a deep-well plate refrigeration bin, a tube hole positioning camera assembly, and a small refrigeration storage bin. The execution end of the sampling joint robot is connected to a sampler. The sampler comprises two tubular tools that can move relative to or away from each other. The opposite ends of the two tools are provided with docking grooves, and the bottoms of the two tools are provided with docking blocks. The two docking blocks can partially or completely extend into the deep hole and enclose to form a guide channel connected to the docking groove and the deep hole. The camera field of view of the tube hole positioning camera assembly can cover the deep-well plate in the small refrigeration storage bin; the cleaning machine comprises a brush cleaning device, a ring washing and spraying device, and a drying device. The sampling joint robot drives the sampler after sampling to flow into the cleaning station of the brush cleaning device, the spraying station of the ring washing and spraying device, and the drying station of the drying device in sequence. The handling robot is used to transport the empty deep-well plates in the deep-well plate refrigeration bin to the small refrigeration storage bin.

2. The crop breeding leaf sampling device according to claim 1, characterized in that: Two blades are fixedly connected to opposite ends of the two cutters, and the butt joint groove is located between the two blades.

3. The crop breeding leaf sampling device according to claim 1, characterized in that: The sampler is fixedly connected with a sampler cylinder, and the telescopic end of the sampler cylinder is fixedly connected with a push rod which can be extended into the docking groove and the guide channel.

4. The crop breeding leaf sampling device according to claim 1, characterized in that: The execution end of the sampling joint robot is also fixedly connected with a positioning camera.

5. The crop breeding leaf sampling device according to claim 1, characterized in that: The brush cleaning device includes a motor, a water tank, gears, and brushes. Multiple brush rollers are rotatably connected in the water tank. Brushes are arranged circumferentially of the brush rollers. Adjacent brush rollers are connected by gear transmission. A motor is fixedly connected to the water tank. The output end of the motor is connected to a gear transmission and can drive the adjacent gear to rotate in the opposite direction.

6. The crop breeding leaf sampling device according to claim 5, characterized in that: The brush cleaning device and the annular washing and spraying device are arranged side by side. The inner cavity of the annular washing and spraying device is fixedly connected with an annular nozzle, which is used for annular spraying of the sampler in the circumferential direction.

7. The crop breeding leaf sampling device according to claim 6, characterized in that: The drying device is arranged adjacent to the ring-washing and spraying device. The drying device comprises a drying shell, which is provided with at least one drying air knife.

8. The crop breeding leaf sampling device according to claim 1, characterized in that: It also includes a workbench, a pneumatic capping device, and a sample refrigeration bin. The small refrigeration bin, the pneumatic capping device, the cover plate feeding bin, and the sample refrigeration bin are all fixed on the workbench. The sampling joint robot and the handling joint robot are respectively located on both sides of the workbench. The pneumatic capping device is used to cap the fully loaded deep-well plates, and the handling joint robot can move the capped deep-well plates to the sample refrigeration bin.

9. The crop breeding leaf sampling device according to claim 1, characterized in that: The execution end of the handling joint robot is fixedly connected to a suction cup assembly, a second electric driver, and a clamping claw. The suction cup assembly includes a suction cup fixing frame and multiple negative pressure suction cups fixedly connected to one side of the lower plate fixing frame. The negative pressure suction cup is connected to an external air source. The suction cup fixing frame is fixedly connected to a second electric driver. One end of the second electric driver is fixedly connected to two clamping claws that can move toward or away from each other.

10. The crop breeding leaf sampling device according to claim 8, characterized in that: An opening is provided at the top of the small refrigeration storage bin, and an upper deep hole plate fixing cylinder and a right deep hole plate fixing cylinder are fixed in the small refrigeration storage bin. The pneumatic cover pressing device includes a push rod cylinder, a cover pressing plate, and a cover pressing cylinder. The push rod cylinder can be a commercially available linear module. The output end of the push rod cylinder is fixedly connected to a connecting plate, the top of the connecting plate is fixedly connected to the cover pressing cylinder, and the output shaft of the cover pressing cylinder is fixedly connected to the cover pressing plate.

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