A crop breeding leaf sampling device

Abstract

The utility model discloses a kind of crop breeding leaf sampling device, including sampling joint robot, the execution end of sampling joint robot is connected with sampler, sampler includes two cutters capable of moving oppositely or oppositely, the opposite end of two cutters is equipped with docking groove, the bottom of two cutters is equipped with docking block, two docking blocks can be partially or completely inserted into deep hole and form guiding channel communicated with docking groove and deep hole by surrounding together.The utility model in the present application, by setting docking block in the bottom of two cutters, two docking blocks can form guiding channel communicated with docking groove and deep hole by surrounding together, thereby improve the accuracy of sampling tube and transfer equipment docking.

Description

Technical Field

[0001] This utility model relates to the field of agricultural equipment technology, and more specifically to a crop breeding leaf sampling device. Background Technology

[0002] In crop breeding accelerator platforms, it is necessary to sample and test leaves from plants with different hybrid gene seeds to monitor crop growth and development and identify superior varieties. Traditional manual sampling involves removing leaf samples from each plant and storing the detached leaf samples in labeled tubes. This sampling process is repetitive, tedious, time-consuming, labor-intensive, and physically demanding. Furthermore, crop leaves grow in a variety of shapes and postures, and current agricultural harvesting equipment suffers from misalignment between the deep holes and the transfer equipment when transferring the cut leaves into the deep holes of a deep-hole plate. Utility Model Content

[0003] The technical problem to be solved by this invention is how to improve the accuracy of the docking between the sampling tube and the transfer device.

[0004] This utility model solves the above-mentioned technical problems through the following technical means: a crop breeding leaf sampling device, including a sampling joint robot, the execution end of the sampling joint robot is connected to a sampler, the sampler includes two blades that can move relative to or away from each other, each blade has a docking groove at one end, and each blade has a docking block at the bottom, the two docking blocks can partially or completely extend into a deep hole and surround to form a guide channel communicating with the docking groove and the deep hole.

[0005] As a preferred technical solution, each of the two cutting tools has two blades fixedly connected to one end of its opposite side, and the mating 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 that can extend into the docking groove and guide channel is fixedly connected to the telescopic end of the sampler cylinder.

[0007] As a preferred technical solution, the sampling joint robot is also fixedly connected to a positioning camera at its actuator.

[0008] As a preferred technical solution, a cleaning machine is also included. The cleaning machine includes a brush cleaning device, which includes a motor, a water tank, gears, and brushes. Multiple brush rollers are rotatably connected inside the water tank. Brushes are arranged circumferentially on the brush rollers. Adjacent brush rollers are connected by gear transmission. A motor is fixedly connected to the water tank, and the output end of the motor is connected to a gear transmission.

[0009] As a preferred technical solution, the cleaning machine also includes a ring-washing spray device. The brush cleaning device and the ring-washing spray device are arranged side by side, and the ring-washing spray device has an annular nozzle fixedly connected to its inner cavity.

[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 housing, and the drying housing is provided with at least one drying air knife.

[0011] As a preferred technical solution, it also includes a handling joint robot and a worktable, with the sampling joint robot and the handling joint robot located on opposite sides of the worktable.

[0012] As a preferred technical solution, the actuator of the handling joint robot is fixedly connected to a suction cup assembly, a second electric actuator, and gripping claws. The suction cup assembly includes a suction cup mounting frame and multiple negative pressure suction cups fixedly connected to one side of the lower mounting frame. The negative pressure suction cups are connected to an external air source. A second electric actuator is fixedly connected to the suction cup mounting frame, and two gripping claws that can move towards or away from each other are fixedly connected to one end of the second electric actuator.

[0013] As a preferred technical solution, the small refrigeration chamber and pneumatic capping device include a small refrigeration storage chamber and a pneumatic capping device. The top of the small refrigeration storage chamber is provided with an opening. The small refrigeration storage chamber is fixed with an upper deep hole plate fixing cylinder and a right deep hole plate fixing cylinder. 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. The output shaft of the capping cylinder is fixedly connected to the capping cover plate.

[0014] The beneficial effects of this utility model are as follows:

[0015] (1) In this utility model, by setting docking blocks at the bottom of both cutters, the two docking blocks can enclose and form a guide channel that communicates with the docking groove and the deep hole, thereby improving the accuracy of docking between the sampling tube and the transfer device.

[0016] (2) In this utility model, by setting two blades on the opposite sides of the two blades, the blade can be sheared when the two blades are closed. By setting the docking groove between the two blades, a space is provided for the sheared blade.

[0017] (3) In this utility model, by setting up the sampler cylinder and the push rod, the sheared blade can be directly pushed into the deep hole, which improves the transfer effect.

[0018] (4) In this utility model, by setting up a brush cleaning device, a ring washing and spraying device and a drying device, the sampler after shearing can be cleaned, sprayed and dried, avoiding cross-contamination caused by subsequent sampling. Attached Figure Description

[0019] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model;

[0020] Figure 2 This is a schematic diagram of the sampling joint robot structure provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the blade positioning camera assembly structure provided in an embodiment of the present utility model;

[0022] Figure 4 A schematic diagram of the small refrigeration chamber and pneumatic capping device provided for an embodiment of this utility model;

[0023] Figure 5 This is a schematic diagram of the handling joint robot provided in an embodiment of the present utility model;

[0024] Figure 6 This is a schematic diagram of the brush cleaning device provided in an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the brush structure provided in this embodiment of the utility model;

[0026] Figure 8 A schematic diagram of the annular nozzle structure provided in an embodiment of this utility model;

[0027] Reference numerals: 1. Sampling articulated robot; 101. Articulated robot; 102. Leaf positioning camera assembly; 1021. Positioning camera; 103. Sampler; 1031. Push rod; 1032. Right cutter; 1033. Left cutter; 1034. Sampler cylinder; 1035. First electric actuator; 2. Small refrigeration chamber and pneumatic capping device; 201. Small refrigeration storage chamber; 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. 1. Capping plate; 2. Capping cylinder; 3. Deep hole plate cooling chamber; 4. Handling articulated robot; 401. Suction cup assembly; 402. Second electric actuator; 403. Gripping claw; 5. Capping plate feeding chamber; 6. Pipe hole positioning camera assembly; 7. Sample cooling chamber; 8. Worktable; 9. Cleaning machine; 901. Brush cleaning device; 9011. Motor; 9012. Water tank; 9013. Lifter; 9014. Gear; 9015. Brush; 902. Circular washing and spraying device; 9021. Circular nozzle; 903. Drying device; 9031. Drying air knife. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0029] See Figure 1 A crop breeding leaf sampling device includes a sampling articulated robot 1, a small refrigeration chamber and pneumatic capping device 2, a deep-hole plate refrigeration chamber 3, a transport articulated robot 4, a cover plate feeding chamber 5, a measuring camera and support 6, a sample refrigeration chamber 7, a worktable 8, and a cleaning machine 9. The transport articulated robot 4 is located on one side of the worktable 8. The transport articulated robot 4 is used to pick up the soft rubber cover plate from the cover plate feeding chamber 5 and place it on the deep-hole plate 2012 in the small refrigeration storage chamber 201. Alternatively, it can take the empty deep-hole plate 2012 from the deep-hole plate refrigeration chamber 3 and place it in the small refrigeration storage chamber 201 for further sampling. The sampling articulated robot 1 and the cleaning machine 9 are located on the other side of the worktable 8. The execution end of the sampling articulated robot 1 is connected to a leaf guide. The leaf positioning camera assembly 102 and sampler 103 are used to identify the position of the leaves of seedlings on the production line. The sampler 103 performs sampling, i.e., cutting and clamping the cut leaf fragments. The cleaning machine 9 includes a brush cleaning device 901, a ring washing spray device 902, and a drying device 903. The sampling articulated robot 1 drives the sampler 103 after sampling to sequentially enter the cleaning station of the brush cleaning device 901, the spray washing station of the ring washing spray device 902, and the drying station of the drying device 903. The cleaning machine 9 is used to clean the sampler 103. The small refrigeration chamber and pneumatic capping device 2, the deep hole plate refrigeration chamber 3, the cover plate feeding chamber 5, the pipe hole positioning camera assembly 6, and the sample refrigeration chamber 7 are all fixedly connected to the workbench 8.

[0030] The cover plate feeding chamber 5 is located between the deep hole plate cooling chamber 3 and the sample cooling chamber 7. The cover plate feeding chamber 5, the deep hole plate cooling chamber 3, and the sample cooling chamber 7 are arranged side by side. The small cooling chamber and the pneumatic capping device 2 are also arranged side by side. The small cooling chamber and the pneumatic capping device 2 include a small cooling storage chamber 201 and a pneumatic capping device 202. The small cooling storage chamber 201 is used to store the deep hole plate 2012 containing the sample. The pneumatic capping device 202 is used to press the soft rubber cover plate onto the deep hole plate 2012. The deep hole plate cooling chamber 3 is used to place the unloaded deep hole plate 2012. The cover plate feeding chamber 5 is used to store the soft rubber cover plate. The tube hole positioning camera assembly 6 is used to photograph and position the deep hole plate 2012. Its camera field of view can cover the entire deep hole plate 2012. The sample cooling chamber 7 is used to store the deep hole plate 2012 with the cap plate pressed on.

[0031] The sampling articulated robot 1 uses its end-mounted camera to identify and locate the position of crop leaves, and the pipe hole positioning camera assembly 6 identifies and locates the position of the deep-hole plate 2012 pipe hole in the small refrigeration chamber 2. The sampler at the end-mounted sampling articulated robot 1 picks up the crop leaves and places them in the pipe hole of the deep-hole plate in the small refrigeration chamber. The cleaning machine cleans the blades on the sampler. The transport articulated robot uses a suction cup assembly to pick up a soft rubber cover from the cover plate feeding bin and place it above the deep-hole plate in the small refrigeration chamber. The capping device presses down the soft rubber cover to seal the deep-hole plate. The transport articulated robot uses an electrically driven gripper to pick up the deep-hole plate full of leaf samples from the small refrigeration storage chamber and place it in the large sample refrigeration chamber. It also takes an empty deep-hole plate from the large deep-hole plate refrigeration chamber and places it in the small refrigeration chamber to continue sampling and collect crop leaf samples.

[0032] See Figure 2 , Figure 3 The sampling articulated robot 1 also includes an articulated robot 101, which can be a commercially available multi-degree-of-freedom robot. The actuator of the articulated 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 actuator of the articulated robot 101. The leaf positioning camera assembly 102 includes a positioning camera 1021, which is used to identify the position of the seedling leaves on the production line. The sampler 103 includes a first electric actuator 1035, a sampler cylinder 1034, a left cutter 1033, a right cutter 1032, and a push rod 1031. The two output ends of the first electric driver 1035 are fixedly connected to the left tool 1033 and the right tool 1032, respectively. The driving end of the first electric driver 1035 can drive the left tool 1033 and the right tool 1032 to move towards each other or away from each other. The sampler cylinder 1034 is fixedly connected to the outside of the first electric driver 1035. 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 towards 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 gripper of model HEPG50-100 can be selected.

[0033] See Figure 3The left and right cutting tools 1033 and 1032 have the same structure. Two cutting edges are fixedly connected to opposite ends of the left and right cutting tools 1033 and 1032. A semi-circular arc-shaped docking groove is formed between the two cutting edges. When the left and right cutting tools 1033 and 1032 are closed together, they can form a vertically penetrating cylindrical groove, which can cut the blade and clamp the cut blade in the cylindrical groove. The sampler cylinder 1034 can drive the push rod 1031 to push the blade in the cylindrical groove into the deep hole plate 2012. The bottom of the left and right cutting tools 1033 and 1032 are provided with protruding semi-annular docking blocks. When the left and right cutting tools 1033 and 1032 are closed together, they form an annular docking block, which forms a guide channel communicating with the cylindrical groove. The docking block can be fully or partially inserted into the deep hole of the deep hole plate 2012, which facilitates the accurate docking of the deep hole plate 2012 with the left and right cutting tools 1033 and 1032.

[0034] See Figure 4 The small refrigeration storage compartment 201 is located on one side of the pneumatic capping device 202. The top of the small refrigeration storage compartment 201 has an opening. Inside the small refrigeration storage compartment 201, an upper deep-hole plate fixing cylinder 2011 and a right deep-hole plate fixing cylinder 2013 are fixed. Both the upper deep-hole plate fixing cylinder 2011 and the right deep-hole plate fixing cylinder 2013 are used to fix the deep-hole plate 2012. The pneumatic capping device 202 includes a push rod cylinder 2021, a capping plate 2022, and a capping 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 cap cylinder 2023. The output shaft of the cap cylinder 2023 is fixedly connected to a cap plate 2022, which can drive the cap plate to move toward the deep hole plate 2012. The bottom plane of the connecting plate and the initial position of the cap plate 2022 are both above the plane where the top of the small refrigeration storage compartment 201 is located.

[0035] See Figure 5The handling articulated robot 4 includes a multi-axis robotic arm. The actuator of the multi-axis robotic arm is fixedly connected to a suction cup assembly 401, a second electric actuator 402, and gripping claws 403. The suction cup assembly 401 includes a suction cup mounting frame and multiple negative pressure suction cups fixedly connected to one side of the lower mounting frame. The negative pressure suction cups are connected to an external air source, which can provide a negative pressure environment for the negative pressure suction cup system. The second electric actuator 402 is fixedly connected to the suction cup mounting frame. Two gripping claws 403 are fixedly connected to one end of the second electric actuator 402. The second electric actuator 402 can... The two gripping claws 403 are driven to move towards or away from each other. The setting direction of the negative pressure suction cup is perpendicular to the setting direction of the gripping claws 403. The suction cup assembly 401 is used to remove the soft rubber cover plate from the cover plate feeding chamber 5, move it above the small refrigeration storage chamber 201, and place it on the deep hole plate 2012. The gripping claws 403 are used to grip the deep hole plate 2012 that has been capped and move it to the large sample refrigeration chamber 7 for storage. It should be noted that the second electric drive 402 is a commercially available part, and an electric gripper of model HEPG-HP26-050 can be selected.

[0036] See Figure 6 , Figure 7 , Figure 8 The brush cleaning device 901 and the circumferential spray washing device 902 are arranged side by side, and the drying device 903 is arranged adjacent to the circumferential spray washing device 902. The brush cleaning device 901 includes a motor 9011, a water tank 9012, a lifter 9013, a gear 9014, and brushes 9015. The water tank 9012 is connected to the lifting end of the lifter 9013. Multiple brush rollers are rotatably connected inside the water tank 9012. Brushes 9015 are arranged circumferentially on each brush roller. Adjacent brush rollers are connected to each other through the gear 9014. One brush roller is connected to the output end of the motor 9011. The transmission connection enables multiple brush rollers to rotate; the circumferential washing spray device 902 includes another lifter 9013, another water tank 9012, and an annular nozzle 9021. The annular nozzle 9021 is fixedly connected to the top of the inner cavity of the water tank 9012; the drying device 903 includes a drying housing, and a cavity with an opening at the top is opened inside the drying housing. At least one drying air knife 9031 is fixedly connected inside the cavity. In this embodiment, four drying air knives 9031 are arranged circumferentially. The drying air knives 9031 are used to dry the left 1033 and right 1032 of the knife.

[0037] It should be noted that when adjacent brush rollers are driven by gear 9014, such as when there are three brush rollers, the output end of motor 9011 is connected to the middle brush roller. When the middle brush roller rotates clockwise, the brush rollers located to the left and right of the middle brush roller rotate counterclockwise respectively. For contaminants with different degrees of adhesion on the inner and outer surfaces of the right 1032 and left 1033 blades on the cleaning sampler, the brushing speed is adjusted by motor 9011 and the brushing direction is adjusted by gear. For example, the clockwise and counterclockwise rotation of the middle brush roller is conducive to the removal of contaminants with different degrees of adhesion.

[0038] Working principle:

[0039] The sampling process is as follows: First, the positioning camera 1021 on the sampling articulated robot 1 identifies and positions the crop leaf. The left 1033 and right 1032 of the sampler 103 are opened, and the sampler 103 is moved so that the crop leaf is positioned between the left 1033 and right 1032. The first electric actuator 1035 on the sampler 103 drives the left 1033 and right 1032 to cut and clamp the leaf sample segment. Next, the sampler 103 carries the leaf sample to the small cooling chamber 201. The position of the deep-hole plate's tube hole is identified by the tube hole positioning camera assembly 6. The semi-annular connecting pieces at the bottom of the left 1033 and right 1032 are inserted into the tube hole of the deep-hole plate 2012. The left 1033 and right 1032 are slightly opened to release the leaf sample segment. The sampler cylinder 1034 drives the push rod 1031 to push the leaf sample segment into the tube hole of the deep-hole plate 2012. The sampling articulated robot 1... The sampler 103 is moved to the cleaning machine 9. The sampler 103 opens the left 1033 and right 1032 of the blade and extends into the brush cleaning device 901. The brush 9015 is positioned between the left 1033 and right 1032 of the blade. The sampler 103 moves up and down to brush the inside of the left 1033 and right 1032 of the blade. Then, the sampler 103 is moved so that the left 1033 and right 1032 of the blade are positioned between the two brushes 9015, brushing the left 1033... 033 and the outer side of the right 1032 of the cutter; move the sampler 103 to the annular nozzle 9021 in the annular spraying device 902 to spray and wash the inner and outer sides of the left 1033 and the right 1032 of the cutter; move the sampler 103 to the drying device 903, and the drying air knife 9031 dries the left 1033 and the right 1032 of the cutter. Repeat the above sampling process to complete the sampling and storage operation of all pipe holes in the deep hole plate 2012 in the small refrigeration storage chamber 201.

[0040] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A leaf sampling device for crop breeding, characterized in that, The sampler includes a sampling articulated robot. The sampling articulated robot has a sampler connected to its actuator. The sampler includes two cutting tools that can move relative to or away from each other. Each of the two cutting tools has a docking groove at one end and a docking block at the bottom of each cutting tool. The two docking blocks can partially or completely extend into a deep hole and enclose each other to form a guide channel that communicates with the docking groove and the deep hole.

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

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

4. The crop breeding leaf sampling device according to claim 1, characterized in that, The sampling joint robot is also fixedly connected to a positioning camera at its actuator.

5. The crop breeding leaf sampling device according to claim 1, characterized in that, It also includes a cleaning machine, which includes a brush cleaning device. The brush cleaning device includes a motor, a water tank, gears, and brushes. Multiple brush rollers are rotatably connected inside the water tank. Brushes are arranged circumferentially on 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.

6. A crop breeding leaf sampling device according to claim 5, characterized in that, The cleaning machine also includes a ring-shaped spray washing device. The brush cleaning device and the ring-shaped spray washing device are arranged side by side, and the inner cavity of the ring-shaped spray washing device is fixedly connected with a ring nozzle.

7. A crop breeding leaf sampling device according to claim 6, characterized in that, 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 housing, 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 handling joint robot and a workbench, with the sampling joint robot and the handling joint robot located on opposite sides of the workbench.

9. A crop breeding leaf sampling device according to claim 8, characterized in that, The actuator of the handling joint robot is fixedly connected to a suction cup assembly, a second electric actuator, and gripping claws. The suction cup assembly includes a suction cup mounting frame and multiple negative pressure suction cups fixedly connected to one side of the lower mounting frame. The negative pressure suction cups are connected to an external air source. The second electric actuator is fixedly connected to the suction cup mounting frame. One end of the second electric actuator is fixedly connected to two gripping claws that can move towards or away from each other.

10. A crop breeding leaf sampling device according to claim 8, characterized in that, The small refrigeration chamber and pneumatic capping device include a small refrigeration storage chamber and a pneumatic capping device. The small refrigeration storage chamber has an opening at the top. Inside the small refrigeration storage chamber, there are a top deep hole plate fixing cylinder and a right deep hole plate fixing cylinder. The pneumatic capping device includes a push rod cylinder, a capping cover plate, and a capping cylinder. 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. The output shaft of the capping cylinder is fixedly connected to the capping cover plate.

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