A seed cutting device

Abstract

This invention discloses a seed cutting device, comprising a seed feeding system for breaking down and separating seeds into individual seeds, and fixing the seeds on a seed positioning system after confirming the position of the embryo and endosperm. The seed cutting system is used to cut the fixed seeds into a first part and a second part. The first part and the second part are respectively placed in a large material tray and a small material tray of a material tray system through a seed tray system. A seed traceability system traces the first part in the large material tray, enabling a seed selection system to select target seeds from the first part in the large material tray. This invention automates the seed processing after the seeds are manually fed into the seed feeding system in batches. The seeds undergo vibration, gripping, fixing, positioning, non-destructive cutting, tray placement, material tray collection, traceability, and selection, replacing traditional manual operation. The seed cutting can be performed consistently, quickly, and effectively, and the target seeds can be selected.

Description

Technical Field

[0001] This invention relates to the field of seed cutting equipment technology, and specifically to a seed cutting device. Background Technology

[0002] In plant breeding, genetic improvement of plants is carried out through molecular breeding methods. The basic process is as follows: collect samples, test genotypes, obtain genotypes, and then conduct targeted hybridization, backcrossing, and self-pollination based on the genotypes of the plants to obtain superior varieties.

[0003] Traditionally, there are two ways to collect samples. The first way is to cultivate the seeds into seedlings and then take samples from the seedlings for gene testing to obtain the genotype information of the plants. The second way is to use scissors to cut a small amount of the endosperm of the seeds in the laboratory, then test the genotype information of the seeds, and then plant the seeds carrying the target gene in the field. Compared with the first method, this can reduce the use of land and field labor.

[0004] The first method requires manual sampling and a large area of ​​farmland, and the sampling cannot guarantee consistency. The second method also requires a lot of manpower to collect samples, the quality of the cut endosperm is inconsistent, and the manual control of the cutting force is not good, which may cut the embryo of the seed, making the seed unsuitable for planting. At the same time, it will also generate dust, which will fall into other samples and cause sample contamination. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention provides a seed cutting device that solves the problems in existing plant breeding where manual cutting of plant samples results in inconsistent endosperm quality and difficulty in controlling the cutting force manually.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A seed cutting device is provided, comprising a seed feeding system, a seed positioning system, a seed cutting system, a seed tray system, a material tray system, a seed traceability system, and a seed selection system, all mounted on a base and controlled by a PLC control system. The seed feeding system feeds seeds in batches, breaks them down into individual seeds, identifies the embryo and endosperm positions, and then places the seeds on the seed positioning system for fixation. The seed cutting system cuts the fixed seeds into a first part and a second part. The first and second parts are placed in the large and small material trays of the material tray system, respectively, by the seed tray system. The seed traceability system traces the first part in the large material tray, enabling the seed selection system to select target seeds from the first part in the large material tray.

[0008] The seed cutting device of this invention performs fully automated processing on the seeds after they are manually fed into the seed feeding system in batches. The seeds go through vibration, gripping, fixing, positioning, non-destructive cutting, tray placement, tray collection, tracing and selection in sequence, replacing the traditional manual operation. The seed cutting can be carried out consistently, quickly and effectively, and the target seeds can be selected.

[0009] Furthermore, the seed feeding system includes a flexible vibrating plate and a four-axis robot. A first vision component and a second vision component are respectively arranged on both sides of the flexible vibrating plate. A material picking component is arranged on the four-axis robot, and a third vision component is arranged on the material picking component.

[0010] Furthermore, the four-part divider and the fourth vision component; the four-part divider is connected to the geared motor via a synchronous pulley and a synchronous belt. A rotating disk and a fixed disk are arranged sequentially from bottom to top on the four-part divider. A rotating auxiliary disk is arranged on the fixed disk via a pneumatic slip ring, so that the rotating auxiliary disk rotates simultaneously with the rotating disk.

[0011] Furthermore, a seed placement clamp is provided on the rotating disk, and a clamp opening device acting on the seed placement clamp is provided on the fixed disk; the seed placement clamp includes a first mounting plate mounted on the rotating disk, a seed placement plate is provided on the first mounting plate, a seed placement cavity is provided on the seed placement cavity, and a notch is provided through the seed placement plate; a clamping cylinder is provided behind the seed placement plate, and the clamping arm of the clamping cylinder acts on the seed placement cavity; a support plate is slidably provided on one side of the seed placement plate, and a pressing cylinder is provided at the top of the support plate, and the pressing block of the pressing cylinder acts on the seed placement cavity; a first pull rod is provided on the support plate, and the first pull rod is connected to the fixed block in front of the support plate by a tension spring; the clamp opening device includes a clamp opening cylinder mounted on the fixed disk, and a second pull rod is provided on the output end of the clamp opening cylinder, and the second pull rod can pull the first pull rod.

[0012] Furthermore, the seed cutting system includes an XY servo shifting device, a small piece receiving device, and a large piece receiving device; the XY servo shifting device is equipped with a carbon dioxide laser cutter; the small piece receiving device includes a receiving misalignment cylinder mounted on the base via a column, the inlet of the receiving misalignment cylinder is equipped with a receiving hopper, and the outlet of the receiving misalignment cylinder is equipped with a first pneumatic conveyor, which is connected to the seed tray system via an air pipe; the large piece receiving device includes a large piece receiving upper and lower cylinder mounted on the base via a column, and a second pneumatic conveyor is equipped at the output end of the large piece receiving upper and lower cylinder, which is connected to the seed tray system via an air pipe.

[0013] Furthermore, the seed placement system includes an X-axis servo robot I and a Y-axis servo robot I; a second mounting plate is provided on the moving end of the Y-axis servo robot I, and a large material feeding device and a small material feeding device are respectively provided on the second mounting plate; a third mounting plate is provided on the moving end of the X-axis servo robot I, and a large material tray placement position and a small material tray placement position are provided on the third mounting plate, and a first clamping component for fixing the large material tray and the small material tray is provided at both the large material tray placement position and the small material tray placement position.

[0014] Furthermore, the large material feeding device includes a large material feeding upper and lower cylinder mounted on the second mounting plate, and a large material misalignment cylinder is provided on the output end of the large material feeding upper and lower cylinder via a connecting plate; the material receiving port on the large material misalignment cylinder is connected to the second pneumatic conveyor via an air pipe, and a large material unloading and pressing cylinder is provided on the large material misalignment cylinder to act on the material dropping port on the large material misalignment cylinder; the small material feeding device includes a small material feeding upper and lower cylinder mounted on the second mounting plate, and a small material misalignment cylinder is provided on the output end of the small material feeding upper and lower cylinder via a connecting plate; the material receiving port on the small material misalignment cylinder is connected to the first pneumatic conveyor via an air pipe, and a small material unloading and pressing cylinder is provided on the small material misalignment cylinder to act on the material dropping port on the small material misalignment cylinder.

[0015] Furthermore, the material tray system includes a material tray storage frame mounted on the base. From one side to the other, the material tray storage frame is sequentially equipped with a three-axis robot, a small material tray storage area for placing small material trays, a large material tray storage area for placing large material trays, and a selection storage area for placing selected large material trays. The end effector of the three-axis robot is equipped with a material tray clamping device. The material tray clamping device includes a fourth mounting plate mounted on the end effector of the three-axis robot. A material tray clamping cylinder is mounted on the fourth mounting plate. An upper clamping plate is mounted on the output end of the material tray clamping cylinder. A lower clamping plate is mounted on the fourth mounting plate below the upper clamping plate. The upper and lower clamping plates cooperate to clamp the large or small material trays.

[0016] Furthermore, the seed sorting system includes an X-axis servo robot II and a Y-axis servo robot II; a sixth mounting plate is provided on the moving end of the X-axis servo robot II, and the sixth mounting plate is provided with a full material tray placement position and an empty material tray placement position, and a second clamping component is provided at both the full material tray placement position and the empty material tray placement position to fix two large material trays; a fifth mounting plate is provided on the moving end of the Y-axis servo robot II, and the fifth mounting plate is provided with a sorting and picking device and a sorting and placing device.

[0017] Furthermore, the sorting and suction device includes sorting and suction upper and lower cylinders mounted on the fifth mounting plate. A third pneumatic conveyor is provided on the output end of the sorting and suction upper and lower cylinders. The suction port of the third pneumatic conveyor faces the full material tray placement position, and the discharge port of the third pneumatic conveyor is connected to the sorting and placement device through an air pipe. The sorting and placement device includes sorting and placement upper and lower cylinders mounted on the fifth mounting plate. A sorting and placement misalignment cylinder is provided on the output end of the sorting and placement upper and lower cylinders through a connecting plate. The receiving port on the sorting and placement misalignment cylinder is connected to the third pneumatic conveyor through an air pipe. A sorting and placement downward pressure cylinder is provided on the sorting and placement misalignment cylinder, which acts on the dropping port of the sorting and placement misalignment cylinder. The dropping port of the sorting and placement misalignment cylinder faces the empty material tray placement position.

[0018] This invention discloses a seed cutting device, the beneficial effects of which are:

[0019] The seed cutting device of this invention performs fully automated processing on seeds after they are manually fed into the seed feeding system in batches. The seeds go through vibration, grasping, fixing, positioning, non-destructive cutting (without damaging the seed's germination ability), tray placement, tray collection, traceability, and selection in sequence. This replaces traditional manual operation and allows for consistent, rapid, and efficient seed cutting, enabling quick sample collection. Furthermore, after the seed's genotype information is imported into the system, the target seeds can be quickly selected. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a seed cutting device according to the present invention.

[0021] Figure 2 This is a schematic diagram of the seed feeding system of the present invention.

[0022] Figure 3 This is a schematic diagram of the seed positioning system of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the four-part divider of the present invention.

[0024] Figure 5 This is a schematic diagram of the seed placement clamp of the present invention.

[0025] Figure 6 This is a schematic diagram of the clamp opening device of the present invention.

[0026] Figure 7 This is a schematic diagram of the seed cutting system of the present invention.

[0027] Figure 8 This is a schematic diagram of the structure of the large material receiving device of the present invention.

[0028] Figure 9This is a schematic diagram of the seed placement system of the present invention.

[0029] Figure 10 This is a schematic diagram of the structure of the large material feeding device and the small material feeding device of the present invention.

[0030] Figure 11 This is a schematic diagram of the seed selection system of the present invention.

[0031] Figure 12 This is a schematic diagram of the structure of the selection and suction device and the selection and placement device of the present invention.

[0032] Figure 13 This is a schematic diagram of the material tray system of the present invention.

[0033] Figure 14 This is a schematic diagram of the material tray clamping device of the present invention.

[0034] Figure 15 This is a schematic diagram of the structure of the large material tray and the small material tray of the present invention.

[0035] Among them, 1. Base;

[0036] 2. Seed feeding system; 21. Flexible vibrating plate; 22. Four-axis robot; 23. First vision component; 24. Second vision component; 25. Material handling assembly; 26. Third vision component;

[0037] 3. Seed positioning system; 31. Quarter divider; 32. Fourth vision component; 33. Gear motor; 34. Rotary disk; 35. Fixed disk; 36. Pneumatic-electric slip ring; 37. Rotary secondary disk; 38. Seed placement fixture; 381. First mounting plate; 382. Seed placement plate; 383. Seed placement cavity; 384. Notch; 385. Clamping cylinder; 386. Support plate; 387. Pressing cylinder; 388. Fixing block; 389. Tension spring; 39. Fixture opening device; 391. First pull rod; 392. Fixture opening cylinder; 393. Second pull rod;

[0038] 4. Seed cutting system; 41. XY servo shifting device; 42. Small piece receiving device; 43. Large piece receiving device; 44. Carbon dioxide laser cutting machine; 45. Receiving misalignment cylinder; 46. Receiving hopper; 47. First pneumatic conveyor; 48. Large piece receiving upper and lower cylinder; 49. Second pneumatic conveyor;

[0039] 5. Seed tray system; 51. X-axis servo robot I; 52. Y-axis servo robot I; 53. Second mounting plate; 54. Large material feeding device; 541. Large material feeding cylinder; 542. Large material misalignment cylinder; 543. Large material unloading cylinder;

[0040] 55. Small material feeding device; 551. Small material feeding upper and lower cylinder; 552. Small material misalignment cylinder; 553. Small material unloading lowering cylinder;

[0041] 56. Third mounting plate; 57. Large material tray placement position; 58. Small material tray placement position; 59. First clamping assembly;

[0042] 6. Material tray system; 61. Material tray storage frame; 62. Three-axis robot; 63. Small material tray storage area; 64. Large material tray storage area; 65. Sorting and storage area; 66. Material tray clamping device; 661. Fourth mounting plate; 662. Material tray clamping cylinder; 663. Upper clamping plate; 664. Lower clamping plate;

[0043] 7. Seed sorting system; 71. X-axis servo robot II; 72. Y-axis servo robot II; 73. Sixth mounting plate; 74. Full material tray placement position; 75. Empty material tray placement position; 76. Second clamping assembly; 77. Fifth mounting plate; 78. Sorting and suction device; 781. Sorting and suction upper and lower cylinders; 782. Third pneumatic conveyor;

[0044] 79. Select the placement device; 791. Select the placement of the upper and lower cylinders; 792. Select the placement of the staggered cylinder; 793. Select the placement of the lowering cylinder;

[0045] 8. Large material tray; 9. Small material tray. Detailed Implementation

[0046] The present invention is described in detail with reference to specific embodiments to enable those skilled in the art to understand the invention. However, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0047] Example 1

[0048] refer to Figure 1 and Figure 2 This is a schematic diagram of a seed cutting device according to this embodiment. Its purpose is to solve the problem in existing plant breeding where the quality of the endosperm obtained by manual cutting of plant samples is inconsistent, and the cutting force cannot be well controlled manually. The specific structure of this embodiment will be described in detail below.

[0049] A seed cutting device includes a seed feeding system 2, a seed positioning system 3, a seed cutting system 4, a seed tray system 5, a material tray system 6, a seed traceability system, and a seed selection system 7, which are mounted on a base 1 and controlled by a PLC control system.

[0050] Specifically, the seed feeding system 2 is used to feed seeds in batches and break them apart into individual seeds, and to identify the embryo and endosperm positions of the seeds. The seeds are then placed on the seed positioning system 3 for fixation. The seed cutting system 4 cuts the fixed seeds into a first part and a second part. The first part and the second part are placed in the large material tray 8 and the small material tray 9 of the material tray system 6 respectively through the seed tray system 5. After the second part in the small material tray 9 is inspected, the first part in the large material tray 8 can be traced through the seed traceability system, so that the seed selection system 7 can select target seeds from the first part in the large material tray 8.

[0051] In this embodiment, the seeds to be cut are manually placed in batches into the seed feeding system 2. The seed feeding system 2 uses vibration to break up the placed seeds into individual seeds. After confirming the position of the embryo and endosperm of the seed, the seeds are transferred to the seed positioning system 3 for fixation. Then, the fixed seeds are cut into a first part and a second part by the seed cutting system 4. The first part is the large piece of the seed after cutting, and the second part is the small piece of the seed after cutting.

[0052] Simultaneously, the seed cutting system 4 receives the first and second parts of the cut seeds and transfers them to the large material tray 8 and small material tray 9 in the seed tray system 5 for traying. At the same time, the tray system 6 can change the empty and full states of the large material tray 8 and small material tray 9 in the seed tray system 5. Finally, through the seed traceability system, the seed selection system 7 traces and selects the first part in the full large material tray 8 to select the target seeds.

[0053] Specifically, the seed feeding system 2 includes a flexible vibrating plate 21 and a four-axis robot 22. The flexible vibrating plate 21 is provided with a first vision component 23 and a second vision component 24 on both sides. The four-axis robot 22 is provided with a material picking component 25, and the material picking component 25 is provided with a third vision component 26.

[0054] In this embodiment, the first vision component 23, the second vision component 24 and the third vision component 26 are all existing Hikrobots, model MV-C5050-10GM.

[0055] The material handling component 25 is a vacuum suction device: the vacuum suction device uses a standard SMC vacuum suction cup (model: ZP3-Y04BNK10-B5) and a direct-acting solenoid valve (CKD:3pa119) in conjunction with a vacuum generator (SMC:ZH10BS-06-06) to suck up the seeds.

[0056] The seed feeding system 2 includes a flexible vibrating plate 21 and a four-axis robot 22. Seeds to be cut are placed in batches manually into the storage bin of the flexible vibrating plate 21. The storage bin vibrates the seeds into the flexible vibrating plate 21, and then the vibration of the flexible vibrating plate 21 breaks up and separates multiple seeds into individual seeds.

[0057] Then, the seeds in the flexible vibrating plate 21 are photographed by the first vision component 23, and the embryo and endosperm of the seed are confirmed by the third vision component 26 driven by the four-axis robot 22. After the embryo and endosperm are confirmed, the four-axis robot 22 drives the material picking component 25 (vacuum suction) to pick up the material and place it in the seed positioning system 3.

[0058] Furthermore, if it is necessary to cut soybeans, the four-axis robot 22 will pick up the soybeans from the flexible vibrating plate 21 and then move them to the second vision component 24 to rotate and find the location of the soybean hilum. After finding the location of the soybean hilum, the soybeans will be placed into the seed positioning system 3.

[0059] Example 2

[0060] refer to Figures 3-6 This is a schematic diagram of a seed cutting device according to this embodiment. Its purpose is to position and fix the seeds to be cut by the device, so as to facilitate subsequent cutting. Based on embodiment 1, this embodiment provides a further solution for the seed positioning system 3. The specific structure of the seed positioning system 3 in this embodiment will be described in detail below.

[0061] The seed positioning system 3 includes a four-part divider 31 and a fourth vision component 32. The four-part divider 31 is rotatably connected to the geared motor 33 via a synchronous pulley and a synchronous belt. A rotating disk 34 and a fixed disk 35 are arranged sequentially from bottom to top on the four-part divider 31. A rotating auxiliary disk 37 is arranged on the fixed disk 35 via a pneumatic slip ring 36, so that the rotating auxiliary disk 37 and the rotating disk 34 rotate simultaneously.

[0062] In this embodiment, the seed positioning system 3 includes a quadrature divider 31. The quadrature divider 31 is rotatably connected to the geared motor 33 via a synchronous pulley and a synchronous belt, so that the geared motor 33 drives the quadrature divider 31 to rotate intermittently via the synchronous pulley and the synchronous belt, thereby driving the fixture to run and stop at each station. The quadrature divider 31 divides the seed fixing and cutting into four stations, namely the placement station, the confirmation station, the cutting station, and the large piece receiving station. The fourth vision component 32 adopts the existing Hikvision robot, model MV-C5050-10GM. The fourth vision component 32 is located at the confirmation station and is used to reconfirm the position and posture of the seed and send the confirmation result to the PLC control system.

[0063] The rotating disk 34 is mounted on the rotating shaft of the quadrature divider 31 and the fixed disk 35 is mounted on the fixed shaft of the quadrature divider 31. When the quadrature divider 31 is running, the fixed disk 35 is kept stationary and the rotating disk 34 rotates relative to the fixed disk 35. The rotating auxiliary disk 37 rotates together with the rotating disk 34 through the pneumatic slip ring 36.

[0064] Specifically, a seed placement clamp 38 is provided on the rotating disk 34, and a clamp opening device 39 that acts on the seed placement clamp 38 is provided on the fixed disk 35.

[0065] In this embodiment, four sets of seed placement fixtures 38 are provided on the rotating disk 34. The four sets of seed placement fixtures 38 are evenly arranged on the rotating disk 34, and the placement positions of the four sets of seed placement fixtures 38 are matched with the four equal division divider 31, so that the four equal division divider 31 rotates intermittently, thereby driving the four sets of seed placement fixtures 38 to run and stop at each workstation.

[0066] A clamp opening device 39 is provided on the fixed plate 35 to act on the seed placement clamp 38. The number of clamp opening devices 39 corresponds to the number of seed placement clamps 38, which is also four sets.

[0067] A seed placement fixture 38 is provided on the rotating disk 34, so that the four-axis robot 22 drives the material picking component 25 (vacuum suction) to pick up the material and place it on the seed placement fixture 38.

[0068] The fixed plate 35 is provided with a clamp opening device 39 that acts on the seed placement clamp 38. The fixed plate 35 is used to fix the clamp opening device 39 so that it does not rotate. Before the seeds are placed, the clamp opening device 39 needs to act on the seed placement clamp 38 to open the seed placement clamp 38, and then the seeds can be placed.

[0069] Specifically, the seed placement fixture 38 includes a first mounting plate 381 mounted on the rotating disk 34, a seed placement plate 382 disposed on the first mounting plate 381, a seed placement cavity 383 formed on the seed placement plate 382, ​​and a notch 384 penetrating through the seed placement plate 382 formed on the seed placement cavity 383.

[0070] In this embodiment, the seed placement fixture 38 includes a first mounting plate 381, which is mounted on the side of the rotating disk 34. A seed placement plate 382 is provided on the first mounting plate 381, and a seed placement cavity 383 is provided on the seed placement plate 382. After the four-axis robot 22 drives the material picking component 25 (vacuum suction) to pick up the seeds, the seeds are placed in the seed placement cavity 383. The seed placement cavity 383 extends outside the first mounting plate 381. A notch 384 is provided on the extended seed placement cavity 383, which penetrates the seed placement plate 382. The notch 384 is used so that when the seeds are cut into a first part and a second part, the second part can fall into the seed cutting system 4 through the notch 384.

[0071] Specifically, a clamping cylinder 385 is provided behind the seed placement plate 382, ​​and the clamping arm of the clamping cylinder 385 acts on the seed placement cavity 383. A support plate 386 is slidably provided on one side of the seed placement plate 382, ​​and a pressing cylinder 387 is provided at the top of the support plate 386. The pressing block of the pressing cylinder 387 acts on the seed placement cavity 383. A first pull rod 391 is provided on the support plate 386, and the first pull rod 391 is connected to the fixing block 388 in front of the support plate 386 through a tension spring 389.

[0072] In this embodiment, a clamping cylinder 385 is provided behind the seed placement plate 382. The seeds are clamped and fixed in the seed placement cavity 383 by the clamping arm of the clamping cylinder 385.

[0073] A support plate 386 is provided on one side of the seed placement plate 382. The support plate 386 can slide on the first mounting plate 381. The support plate 386 is an L-shaped plate. A slider is provided on the lower surface of the L-shaped plate. The slider is slidably mounted on the slide rail of the first mounting plate 381. Through the cooperation of the slide rail and the slider, the L-shaped plate can slide relative to the first mounting plate 381.

[0074] Above the seed placement plate 382, ​​a pressure cylinder 387 is installed on the support plate 386. The pressure block of the pressure cylinder 387 further fixes the seeds and prevents the seeds from shifting.

[0075] A first pull rod 391 is provided on the L-shaped plate, and a fixing block 388 is provided in front of the support plate 386 and mounted on the first mounting plate 381. One end of the first pull rod 391 is connected to the fixing block 388 through a tension spring 389, so that the fixing block 388 provides a reaction force, causing the tension spring 389 to pull the first pull rod 391 and drive the support plate 386 to slide, so that the pressing block of the pressing cylinder 387 on the support plate 386 is located directly above the seed placement cavity 383, so that the pressing cylinder 387 drives the pressing block to press down and press on the seeds in the seed placement cavity 383.

[0076] Specifically, the clamp opening device 39 includes a clamp opening cylinder 392 mounted on the fixed plate 35. A second pull rod 393 is provided on the output end of the clamp opening cylinder 392, and the second pull rod 393 can pull the first pull rod 391.

[0077] In this embodiment, a clamp opening device 39 is provided on the fixed plate 35. The clamp opening device 39 includes a clamp opening cylinder 392 installed on the fixed plate 35. A second pull rod 393 is provided on the output end of the clamp opening cylinder 392. The first pull rod 391 and the second pull rod 393 are both L-shaped and are staggered. When the output shaft of the clamp opening cylinder 392 extends or retracts, the second pull rod 393 pulls the first pull rod 391 backward, thereby overcoming the tension of the tension spring 389 and causing the support plate 386 to move backward, so that the pressing cylinder 387 leaves the seed placement cavity 383.

[0078] Example 3

[0079] refer to Figures 7-8 This is a schematic diagram of a seed cutting device according to this embodiment. Its purpose is to cut seeds that are positioned and fixed. Based on embodiment 1, this embodiment provides a further solution for the seed cutting system 4. The specific structure of the seed cutting system 4 in this embodiment will be described in detail below.

[0080] Specifically, the seed cutting system 4 includes an XY servo shifting device 41, a small piece receiving device 42, and a large piece receiving device 43. A carbon dioxide laser cutter 44 is installed on the XY servo shifting device 41.

[0081] In this embodiment, a carbon dioxide laser cutting machine 44 is installed on the XY servo shifting device 41, and the carbon dioxide laser cutting machine 44 is located at the cutting station.

[0082] The PLC control system receives the seed posture and position confirmed by the confirmation station, and moves the carbon dioxide laser cutter 44 through the XY servo shifting device 41 so that the cutting end of the carbon dioxide laser cutter 44 is located on the seed cutting part in the seed placement cavity 383, so that the carbon dioxide laser cutter 44 can be used to cut the seed.

[0083] The small piece receiving device 42 is also located at the cutting station, below the seed placement clamp 38, so as to receive the second part that falls after the seed is cut.

[0084] The large material receiving device 43 is located at the large material receiving station and is used to pick up the first part after the seed is cut.

[0085] Specifically, the small material receiving device 42 includes a receiving misalignment cylinder 45 mounted on the base 1 via a column. The receiving misalignment cylinder 45 has a receiving hopper 46 at its inlet and a first pneumatic conveyor 47 at its outlet. The first pneumatic conveyor 47 is connected to the seed tray system 5 via an air pipe.

[0086] In this embodiment, the small material receiving device 42 includes a receiving misalignment cylinder 45, which is mounted on the base 1 via a column. A receiving hopper 46 is provided at the inlet of the receiving misalignment cylinder 45, which is located below the notch 384. The receiving hopper 46 is used to receive the second part that falls after the seeds are cut. After the second part falls into the receiving hopper 46, the receiving misalignment cylinder 45 is activated to misalign the second part to the outlet. Then, the first pneumatic conveyor 47 transports the second part after the seeds are cut to the seed tray system 5 through an air pipe.

[0087] Specifically, the large material receiving device 43 includes a large material receiving upper and lower cylinder 48 mounted on the base 1 via a column. A second pneumatic conveyor 49 is provided on the output end of the large material receiving upper and lower cylinder 48. The second pneumatic conveyor 49 is connected to the seed tray system 5 via an air pipe.

[0088] In this embodiment, the large material receiving device 43 includes a large material receiving upper and lower cylinder 48. The large material receiving upper and lower cylinder 48 is mounted on the base 1 via a column. A second pneumatic conveyor 49 is provided at the output end of the large material receiving upper and lower cylinder 48. The second pneumatic conveyor 49 can move up and down through the large material receiving upper and lower cylinder 48, so that the second pneumatic conveyor 49 can approach the seed placement cavity 383, thereby picking up the first part of the cut seed and conveying the first part to the seed tray system 5 through the air pipe.

[0089] Example 4

[0090] refer to Figures 9-10 This is a schematic diagram of the structure of a seed cutting device in this embodiment. Its purpose is to arrange the first and second parts of the seed after cutting on a tray. Based on embodiment 1, this embodiment provides a further solution for the seed tray system 5. The specific structure of the seed tray system 5 in this embodiment will be described in detail below.

[0091] The seed tray system 5 includes an X-axis servo robot I51 and a Y-axis servo robot I52. A second mounting plate 53 is provided on the moving end of the Y-axis servo robot I51. A large material feeding device 54 and a small material feeding device 55 are respectively provided on the second mounting plate 53.

[0092] Specifically, the moving end of the X-axis servo robot I51 is provided with a third mounting plate 56, and the third mounting plate 56 is provided with a large material tray placement position 57 and a small material tray placement position 58. The large material tray placement position 57 and the small material tray placement position 58 are both provided with a first clamping component 59 for fixing the large material tray 8 and the small material tray 9.

[0093] In this embodiment, the seed placement system 5 includes an X-axis servo robot I51 and a Y-axis servo robot I52. A third mounting plate 56 is provided on the moving end of the X-axis servo robot I51 for placing a large material tray 8 and a small material tray 9. The large material tray 8 and the small material tray 9 are respectively placed at the large material tray placement position 57 and the small material tray placement position 58, and a first clamping component 59 is provided at the large material tray placement position 57 and the small material tray placement position 58.

[0094] The first clamping component 59 can be a limiting block and a push cylinder arranged opposite to the limiting block. Through the cooperation of the limiting block and the push cylinder, the large material tray 8 or the small material tray 9 can be fixedly clamped. The number of limiting blocks and push cylinders can be set according to actual needs.

[0095] Specifically, the large material feeding device 54 includes a large material feeding cylinder 541 mounted on the second mounting plate 53. A large material misalignment cylinder 542 is provided on the output end of the large material feeding cylinder 541 via a connecting plate. The receiving port on the large material misalignment cylinder 542 is connected to the second pneumatic conveyor 49 via an air pipe. A large material unloading and pressing cylinder 543 is provided on the large material misalignment cylinder 542 to act on the material dropping port on the large material misalignment cylinder 542.

[0096] In this embodiment, the receiving port on the large material misalignment cylinder 542 in the large material feeding device 54 is connected to the second pneumatic conveyor 49 through an air pipe, thereby transporting the first part of the seed cut by the large material receiving device 43 to the large material misalignment cylinder 542. The large material misalignment cylinder 542 operates to unload the first part of the seed cut, and pushes the first part into the small material tray 9 through the large material unloading pressing cylinder 543. At the same time as unloading, the X-axis servo robot I51 provides X-axis adjustment, the Y-axis servo robot I52 provides Y-axis adjustment, and the large material feeding up and down cylinder 541 provides Z-axis adjustment, thereby making the unloading more accurate.

[0097] Specifically, the small material feeding device 55 includes a small material feeding cylinder 551 mounted on the second mounting plate 53. A small material misalignment cylinder 552 is provided on the output end of the small material feeding cylinder 551 through a connecting plate. The receiving port on the small material misalignment cylinder 552 is connected to the first pneumatic conveyor 47 through an air pipe. A small material unloading and pressing cylinder 553 is provided on the small material misalignment cylinder 552 to act on the material dropping port on the small material misalignment cylinder 552.

[0098] In this embodiment, the receiving port on the small material misalignment cylinder 552 in the small material feeding device 55 is connected to the first pneumatic conveyor 47 through an air pipe, thereby transporting the second part of the seed cut by the small material receiving device 42 to the small material misalignment cylinder 552. The small material misalignment cylinder 552 operates to unload the second part of the seed cut, and pushes the second part into the small material tray 9 through the small material unloading pressing cylinder 553. At the same time as unloading, the X-axis servo robot I51 provides X-axis adjustment, the Y-axis servo robot I52 provides Y-axis adjustment, and the small material feeding up and down cylinder 551 provides Z-axis adjustment, thereby making the unloading more accurate.

[0099] Example 5

[0100] refer to Figures 13-15 This is a schematic diagram of the structure of a seed cutting device in this embodiment. Its purpose is to collect the large and small material trays that have been arranged in the first and second parts. Based on embodiment 1, this embodiment provides a further solution for the material tray system 6. The specific structure of the material tray system 6 in this embodiment will be described in detail below.

[0101] The material tray system 6 includes a material tray storage frame 61 set on the base 1. The material tray storage frame 61 is provided with a three-axis robot 62, a small material tray storage area 63 for placing small material trays 9, a large material tray storage area 64 for placing large material trays 8, and a selection storage area 65 for placing the selected large material trays 8 from one side to the other. The execution end of the three-axis robot 62 is provided with a material tray clamping device 66.

[0102] In this embodiment, the material tray system 6 includes a material tray storage frame 61, which is mounted on the base 1 and has a frame structure. From one side to the other, a three-axis robot 62, a small material tray storage area 63 for placing small material trays 9, a large material tray storage area 64 for placing large material trays 8, and a selection storage area 65 for placing selected large material trays 8 are arranged sequentially. A material tray clamping device 66 is provided at the execution end of the three-axis robot 62. The three-axis robot 62 drives the material tray clamping device 66 to pick up or put down the large material trays 8 or small material trays 9 on the material tray storage frame 61.

[0103] Specifically, the tray clamping device 66 includes a fourth mounting plate 661 disposed at the end of the three-axis robot 62. A tray clamping cylinder 662 is disposed on the fourth mounting plate 661. An upper clamping plate 663 is disposed on the output end of the tray clamping cylinder 662. A lower clamping plate 664 is disposed below the upper clamping plate 663 and mounted on the fourth mounting plate 661. The upper clamping plate 663 and the lower clamping plate 664 cooperate to clamp the large tray 8 or the small tray 9.

[0104] In this embodiment, the tray clamping device 66 includes a fourth mounting plate 661, which is disposed at the end of the three-axis robot 62. The three-axis robot 62 adjusts the orientation of the tray clamping device 66.

[0105] A material tray clamping cylinder 662 is provided on the fourth mounting plate 661. An upper clamping plate 663 is provided on the output end of the material tray clamping cylinder 662, and a lower clamping plate 664 is installed on the fourth mounting plate 661. The lower clamping plate 664 is located below the upper clamping plate 663 and cooperates with it to clamp the large material tray 8 or the small material tray 9.

[0106] A material tray positioning block is provided on the material tray storage frame 61, and the large material tray 8 or the small material tray 9 is fixed by the material tray positioning block.

[0107] Example 6

[0108] refer to Figure 15 Based on Example 1, this example provides a further solution for the seed traceability system. The specific structure of the seed traceability system in this example will be described in detail below.

[0109] The seed traceability system includes corresponding barcodes or QR codes set in either the large material tray 8 or the small material tray 9. In this device, both the large material tray 8 and the small material tray 9 are 96-hole blister trays. The holes in the large material tray 8 and the small material tray 9 correspond one-to-one. Each corresponding hole is equipped with a corresponding barcode or QR code. During the tray arrangement process, the first part of the seed after cutting is placed in the large material tray 8, and the second part of the seed after cutting is placed in the small material tray 9. The two are arranged separately, and the order of tray arrangement must correspond one-to-one. That is, the seed in hole 1 of the small material tray 9 and the seed in hole 1 of the large material tray 8 must be cut from the same seed. The subsequent hole positions correspond in the same way.

[0110] Furthermore, after the second part of the seeds in the small feed tray 9 is subjected to DNA testing, the test data of the target gene is obtained. The test data is sent back to the PLC control system of this device via QR code or barcode for traceability. The PLC control system of this device sorts the first part of the seeds in the large feed tray 8 according to the traced content, selects the seeds containing the target gene, and then puts the seeds containing the target gene back into the tray for storage.

[0111] Example 7

[0112] refer to Figures 11-12This is a schematic diagram of a seed cutting device according to this embodiment. Its purpose is to trace the seeds that have been detected and select target seeds. Based on embodiment 1, this embodiment provides a further solution for the seed selection system 7. The specific structure of the seed selection system 7 in this embodiment will be described in detail below.

[0113] The seed sorting system 7 includes an X-axis servo robot II 71 and a Y-axis servo robot II 72. A sixth mounting plate 73 is provided on the moving end of the X-axis servo robot II 71. The sixth mounting plate 73 is provided with a full material tray placement position 74 and an empty material tray placement position 75. A second clamping assembly 76 for fixing two large material trays 8 is provided at both the full material tray placement position 74 and the empty material tray placement position 75. A fifth mounting plate 77 is provided on the moving end of the Y-axis servo robot II 72. The fifth mounting plate 77 is provided with a sorting and picking device 78 and a sorting and placing device 79.

[0114] In this embodiment, the seed selection system 7 includes an X-axis servo robot II 71 and a Y-axis servo robot II 72. A sixth mounting plate 73 is provided on the moving end of the X-axis servo robot II 71 for placing a full-load large material tray 8 and an empty tray 8. The full-load large material tray 8 and the empty tray 8 are respectively placed on the full material tray placement position 74 and the empty tray placement position 75, and a second clamping component 76 is provided at the full material tray placement position 74 and the empty tray placement position 75, respectively.

[0115] The second clamping component 76 can be a limiting block and a push cylinder arranged opposite to the limiting block. Through the cooperation of the limiting block and the push cylinder, the large material tray 8 is fixedly clamped. The number of limiting blocks and push cylinders can be set according to actual needs.

[0116] Specifically, the sorting and suction device 78 includes a sorting and suction upper and lower cylinder 781 mounted on the fifth mounting plate 77. A third pneumatic conveyor 782 is provided on the output end of the sorting and suction upper and lower cylinder 781. The suction port of the third pneumatic conveyor 782 faces the full material tray placement position 74. The discharge port of the third pneumatic conveyor 782 is connected to the sorting and placement device 79 through an air pipe.

[0117] In this embodiment, the suction port of the third pneumatic conveyor 782 in the selection and suction device 78 is aligned with the full material tray placement position 74. The X-axis servo manipulator II 71 is adjusted to adjust the X-axis, the Y-axis servo manipulator II 72 is adjusted to adjust the Y-axis, and the selection and suction upper and lower cylinders 781 are adjusted to adjust the Z-axis, so that the suction port of the third pneumatic conveyor 782 is aligned with each hole of the full material tray 8 in sequence. After the suction is completed, the first part of the seed after cutting is transported to the selection and placement device 79 through the air pipe.

[0118] Specifically, the sorting and placement device 79 includes a sorting and placement upper and lower cylinder 791 mounted on the fifth mounting plate 77. The output end of the sorting and placement upper and lower cylinder 791 is provided with a sorting and placement misalignment cylinder 792 through a connecting plate. The receiving port on the sorting and placement misalignment cylinder 792 is connected to the third pneumatic conveyor 782 through an air pipe. The sorting and placement misalignment cylinder 792 is provided with a sorting and placement lowering cylinder 793 that acts on the dropping port on the sorting and placement misalignment cylinder 792. The dropping port of the sorting and placement misalignment cylinder 792 faces the empty tray placement position 75.

[0119] In this embodiment, the receiving port on the selection and placement misalignment cylinder 792 in the selection and placement device 79 is connected to the third pneumatic conveyor 782 through an air pipe, thereby transporting the first part of the seeds after cutting, which is picked up by the selection and suction device 78, to the selection and placement misalignment cylinder 792. The selection and placement misalignment cylinder 792 is activated to place the first part of the seeds after cutting, and the first part is pushed into each hole of the large material tray 8 in the empty tray state in the empty tray placement position 75 by the selection and placement pressing cylinder 793. At the same time, the X-axis servo robot II 71 is adjusted to adjust the X direction, the Y-axis servo robot II 72 is adjusted to adjust the Y direction, and the selection and suction lifting cylinder 781 is adjusted to adjust the Z direction, so as to place it more accurately.

[0120] Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A seed cutting device, characterized in that: It includes a seed feeding system (2), a seed positioning system (3), a seed cutting system (4), a seed tray system (5), a material tray system (6), a seed traceability system, and a seed selection system (7) that are set on the base (1) and controlled by a PLC control system; The seed feeding system (2) is used to feed the seeds in batches and break them apart into individual seeds, identify the position of the embryo and endosperm of the seed, and then place the seeds on the seed positioning system (3) for fixation. The seed cutting system (4) cuts the fixed seeds into a first part and a second part; The first part and the second part are placed in the large material tray (8) and the small material tray (9) of the material tray system (6) respectively by the seed tray system (5); The seed tracing system traces the first part within the large material tray (8), enabling the seed selection system (7) to select target seeds from the first part within the large material tray (8).

2. The seed cutting device according to claim 1, characterized in that: The seed feeding system (2) includes a flexible vibrating plate (21) and a four-axis robot (22); a first vision component (23) and a second vision component (24) are respectively provided on both sides of the flexible vibrating plate (21); a material picking component (25) is provided on the four-axis robot (22), and a third vision component (26) is provided on the material picking component (25).

3. The seed cutting device according to claim 1, characterized in that: The seed positioning system (3) includes a quadrature divider (31) and a fourth vision component (32); the quadrature divider (31) is rotatably connected to the geared motor (33) via a synchronous pulley and a synchronous belt; a rotating disk (34) and a fixed disk (35) are arranged sequentially from bottom to top on the quadrature divider (31), and a rotating sub-disc (37) is arranged on the fixed disk (35) via a pneumatic slip ring (36), so that the rotating sub-disc (37) and the rotating disk (34) rotate simultaneously.

4. The seed cutting device according to claim 3, characterized in that: The rotating disk (34) is provided with a seed placement clamp (38), and the fixed disk (35) is provided with a clamp opening device (39) that acts on the seed placement clamp (38); The seed placement clamp (38) includes a first mounting plate (381) mounted on a rotating disk (34), a seed placement plate (382) is provided on the first mounting plate (381), a seed placement cavity (383) is provided on the seed placement plate (382), and a notch (384) penetrating the seed placement plate (382) is provided on the seed placement cavity (383); A clamping cylinder (385) is provided behind the seed placement plate (382), and the clamping arm of the clamping cylinder (385) acts on the seed placement cavity (383); a support plate (386) is slidably provided on one side of the seed placement plate (382), and a pressing cylinder (387) is provided at the top of the support plate (386), and the pressing block of the pressing cylinder (387) acts on the seed placement cavity (383); a first pull rod (391) is provided on the support plate (386), and the first pull rod (391) is connected to the fixing block (388) in front of the support plate (386) by a tension spring (389); The clamp opening device (39) includes a clamp opening cylinder (392) mounted on a fixed plate (35). A second pull rod (393) is provided on the output end of the clamp opening cylinder (392), and the second pull rod (393) can pull the first pull rod (391).

5. The seed cutting device according to claim 4, characterized in that: The seed cutting system (4) includes an XY servo shifting device (41), a small piece receiving device (42), and a large piece receiving device (43); a carbon dioxide laser cutting machine (44) is installed on the XY servo shifting device (41); The small material receiving device (42) includes a receiving misaligned cylinder (45) mounted on the base (1) via a column. The receiving misaligned cylinder (45) has a receiving hopper (46) at its inlet and a first pneumatic conveyor (47) at its outlet. The first pneumatic conveyor (47) is connected to the seed tray system (5) via an air pipe. The large material receiving device (43) includes a large material receiving upper and lower cylinder (48) mounted on the base (1) via a column. A second pneumatic conveyor (49) is provided on the output end of the large material receiving upper and lower cylinder (48). The second pneumatic conveyor (49) is connected to the seed tray system (5) via an air pipe.

6. The seed cutting device according to claim 5, characterized in that: The seed placement system (5) includes an X-axis servo robot I (51) and a Y-axis servo robot I (52); The moving end of the Y-axis servo manipulator I (51) is provided with a second mounting plate (53), and the second mounting plate (53) is provided with a large material feeding device (54) and a small material feeding device (55). The X-axis servo manipulator I (51) has a third mounting plate (56) on its moving end. The third mounting plate (56) has a large material tray placement position (57) and a small material tray placement position (58). The large material tray placement position (57) and the small material tray placement position (58) are each provided with a first clamping component (59) for fixing the large material tray (8) and the small material tray (9).

7. The seed cutting device according to claim 6, characterized in that: The large material feeding device (54) includes a large material feeding cylinder (541) mounted on the second mounting plate (53). A large material misalignment cylinder (542) is provided on the output end of the large material feeding cylinder (541) through a connecting plate. The receiving port on the large material misalignment cylinder (542) is connected to the second pneumatic conveyor (49) through an air pipe. A large material unloading and pressing cylinder (543) is provided on the large material misalignment cylinder (542) to act on the material dropping port on the large material misalignment cylinder (542). The small material feeding device (55) includes a small material feeding cylinder (551) mounted on the second mounting plate (53). A small material misalignment cylinder (552) is provided on the output end of the small material feeding cylinder (551) through a connecting plate. The receiving port on the small material misalignment cylinder (552) is connected to the first pneumatic conveyor (47) through an air pipe. A small material unloading and pressing cylinder (553) is provided on the small material misalignment cylinder (552) to act on the material dropping port on the small material misalignment cylinder (552).

8. The seed cutting device according to claim 1, characterized in that: The material tray system (6) includes a material tray storage frame (61) set on the base (1). The material tray storage frame (61) is provided with a three-axis robot (62), a small material tray storage area (63) for placing small material trays (9), a large material tray storage area (64) for placing large material trays (8), and a selection storage area (65) for placing the selected large material trays (8) from one side to the other. The end effector of the three-axis manipulator (62) is equipped with a material tray clamping device (66); The tray clamping device (66) includes a fourth mounting plate (661) disposed at the execution end of the three-axis manipulator (62). A tray clamping cylinder (662) is disposed on the fourth mounting plate (661). An upper clamping plate (663) is disposed on the output end of the tray clamping cylinder (662). A lower clamping plate (664) is disposed below the upper clamping plate (663) and mounted on the fourth mounting plate (661). The upper clamping plate (663) and the lower clamping plate (664) cooperate to clamp a large tray (8) or a small tray (9).

9. The seed cutting device according to claim 1, characterized in that: The seed selection system (7) includes an X-axis servo manipulator II (71) and a Y-axis servo manipulator II (72); The X-axis servo manipulator II (71) has a sixth mounting plate (73) on its moving end. The sixth mounting plate (73) has a full material tray placement position (74) and an empty material tray placement position (75). The full material tray placement position (74) and the empty material tray placement position (75) are each provided with a second clamping component (76) for fixing two large material trays (8). The moving end of the Y-axis servo manipulator II (72) is provided with a fifth mounting plate (77), and the fifth mounting plate (77) is provided with a picking and picking device (78) and a picking and placing device (79).

10. The seed cutting device according to claim 9, characterized in that: The sorting and suction device (78) includes a sorting and suction upper and lower cylinder (781) mounted on the fifth mounting plate (77). A third pneumatic conveyor (782) is provided on the output end of the sorting and suction upper and lower cylinder (781). The suction port of the third pneumatic conveyor (782) faces the full material tray placement position (74). The discharge port of the third pneumatic conveyor (782) is connected to the sorting and placement device (79) through an air pipe. The sorting and placement device (79) includes a sorting and placement upper and lower cylinder (791) mounted on the fifth mounting plate (77). The output end of the sorting and placement upper and lower cylinder (791) is provided with a sorting and placement misalignment cylinder (792) through a connecting plate. The receiving port on the sorting and placement misalignment cylinder (792) is connected to the third pneumatic conveyor (782) through an air pipe. The sorting and placement misalignment cylinder (792) is provided with a sorting and placement lowering cylinder (793) that acts on the dropping port on the sorting and placement misalignment cylinder (792). The dropping port of the sorting and placement misalignment cylinder (792) faces the empty tray placement position (75).

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