CN106217432B - Sorting equipment and seed auto slice sample devices - Google Patents

Sorting equipment and seed auto slice sample devices Download PDF

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Publication number
CN106217432B
CN106217432B CN201610575472.9A CN201610575472A CN106217432B CN 106217432 B CN106217432 B CN 106217432B CN 201610575472 A CN201610575472 A CN 201610575472A CN 106217432 B CN106217432 B CN 106217432B
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China
Prior art keywords
seed
conduit
sorting equipment
fixed disk
sorting
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CN201610575472.9A
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CN106217432A (en
Inventor
卢洪
景润春
宋桂宣
翟晨光
刘龙飞
卢红霞
郭仁峻
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In Jade Standard Record (beijing) Biotechnology Ltd By Share Ltd
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In Jade Standard Record (beijing) Biotechnology Ltd By Share Ltd
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Priority to CN201610575472.9A priority Critical patent/CN106217432B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B26HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26DCUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01Means for holding or positioning work
    • B26D7/02Means for holding or positioning work with clamping means

Abstract

The present invention relates to a kind of sorting equipments comprising:Storage bin hopper, for storing a certain amount of seed, bottom is made of the storage bin hopper a fixed disk, and the fixed disk is obliquely arranged and upper edge region tool is there are one opening, and the aperture position is higher than the seed height stored in the storage bin hopper;Blanking conduit, the opening in communication of one end of the blanking conduit and the fixed disk, the other end are directly or indirectly led to above hoistable platform;It is characterized in that, further including:Sort turntable, the sorting turntable is arranged in the bottom of the storage bin hopper and sticks on the upside of the fixed disk, its fringe region is evenly distributed with several notches along perimeter, each notch that is designed and sized to of the notch is only capable of accommodating a seed, the sorting turntable can stepwise be rotated relative to the storage bin hopper so that the notch can be rotated to there are one always is mutually aligned the position being connected to the opening of the fixed disk.The invention further relates to a kind of seed auto slice sample devices.

Description

Sorting equipment and seed auto slice sample devices
Technical field
A kind of seed auto slice sample devices the present invention relates to sorting equipment and with the sorting equipment.
Background technology
In plant is developed and is improved, genetic improvement is carried out to plant by selection breeding or genetic manipulation.Wherein, it plants Son is through non-destructive or destructive test.For this purpose, first have to the seed sorting for inspection be simple grain, it then could be to every Seed is handled.Wish that the sorting to seed can be carried out quickly, efficiently.
Chinese invention patent application CN103118527A discloses a kind of seed sampling system, which has automation kind Sub- charging assembly, automation seed sampling component, automation seed transfer assembly.Wherein, pass through two separation in seed-box The aperture of wheel captures simultaneously keeps independent seed with pull of vacuum, then seed due to the reduction of pull of vacuum or the effect of curette and Leave multiple lift units that aperture is assigned to seed charging assembly via a conduit in the transfer chamber of steering gear, manifold In one.
Chinese invention patent CN203426069U, CN204448619U disclose traditional sorting mode, that is, through vibrating disk Treated one arrayed in columns of seed.What is disclosed in Chinese invention patent application CN104890905A sorts with by seed The relevant technical solution of action for simple grain includes vibrating motor, the frame that impulses, sum number grain channel.The vibration of vibrating motor, which drives, to swash Shake frame vibration, to drive the vibration of several channels so that seed can along several channels movements and finally at simple grain be arrange to Preceding movement.
Above-mentioned seed sorting equipment cannot meet the requirement to sorting function in terms of quick and accuracy.
Invention content
In view of the above-mentioned problems, technical problem to be solved by the invention is to provide a kind of sorting equipment, the sorting equipment energy Enough quick and precisely sortings realized to seed, and make seed that can by one one be handled in subsequent handling.
This technical problem is achieved by a kind of sorting equipment according to the present invention.The sorting equipment includes:Storing Bucket, for storing a certain amount of seed, bottom is made of the storage bin hopper a fixed disk, the fixed disk obliquely arrange and There are one opening, the aperture positions to be higher than the seed height stored in the storage bin hopper for upper edge region tool;Blanking conduit, The opening in communication of one end of the blanking conduit and the fixed disk, the other end directly or indirectly lead to hoistable platform Top;Turntable is sorted, the sorting turntable is arranged in the bottom of the storage bin hopper and sticks on the upside of the fixed disk, described point The fringe region of turntable is selected to be evenly distributed with several notches along perimeter, each notch that is designed and sized to of the notch is only capable of accommodating One seed, the sorting turntable are configured to rotate stepwise relative to the storage bin hopper so that always there are one institutes It states notch and can rotate to and be mutually aligned the position being connected to the opening of the fixed disk.
A kind of preferred implementing form of sorting equipment according to the present invention, the sorting turntable is the two of each notch Side has towards the inclined inclined-plane protrusion of the notch so that the seed in storage bin hopper can be directed to the notch.
A kind of preferred implementing form of sorting equipment according to the present invention, the sorting equipment include multiple hoistable platforms, It is equipped with a material outlet canal led to above the hoistable platform for each hoistable platform correspondence, in the blanking conduit Be disposed with air operated reversing valve between the material outlet canal, the blanking conduit according to the action of the air operated reversing valve with it is described One of material outlet canal is connected.
A kind of preferred implementing form of sorting equipment according to the present invention, the sorting equipment further include airflow function dress It sets, the airflow function device is designed to the notch phase in the opening and the sorting turntable of the fixed disk Seed when intercommunicated into the notch provides an airflow function, so that the seed is passed through under the airflow function described solid The opening of price fixing and fall into the blanking conduit.
A kind of preferred implementing form of sorting equipment according to the present invention, the sorting equipment further include detection device, institute State detection device be designed to continue detection and record seed by the blanking conduit upper end at the time of, in the fixed disk The opening with it is described sorting turntable the notch be interconnected the latter predetermined time in if seed has been not detected By blanking conduit upper end, then seed of the airflow function device into the notch provides an airflow function. In the present embodiment, the detection device is a kind of optical detection apparatus.
A kind of preferred implementing form of sorting equipment according to the present invention, the airflow function device be disposed in it is described solid The blowning installation of the overthe openings of price fixing.
A kind of preferred implementing form of sorting equipment according to the present invention, the sorting equipment further include device for visual identification, The device for visual identification preferably includes CCD camera, for whether detecting the seed on hoistable platform in a manner of visual identity Suitable for cutting.
A kind of preferred implementing form of sorting equipment according to the present invention, the sorting equipment further include waste material rejecting mechanism, The waste material rejecting mechanism is used to dial this seed when the device for visual identification judges that this seed is unsuitable for cutting and fall on In waste collection reservoirs.
According to another aspect of the present invention, the present invention also provides a kind of seed auto slice sample devices.The seed is certainly Moving Slice Sampling equipment includes:Be designed to the above-mentioned sorting seed simple grain in storage bin hopper being transported on hoistable platform Device;Mobile pick device, the mobile pick device are designed to pick up seed from the hoistable platform and be moved To Slice Sampling station;Clamping device, the clamping device is by the first clamping member and can be moved relative to the first clamping member The second clamping piece composition, the clamping device be designed to the Slice Sampling station carrying seed loading end phase Picked up seed is ordinatedly clamped, and the first clamping member and the second clamping piece can be moved integrally;Sampling cutting dress It sets, the sampling cutter device cuts the seed by the gripper mechanism grips in the Slice Sampling station;Sample Collection device, the sample collection device include that sample collection conduit and the sample being arranged in below the sample collection conduit are received Collect container, the sample collection conduit, which is designed to be suitable, moves to the lower section of cut seed to make the sample slice It is dropped into the sample collection container by the sample collection conduit, wherein the sample collection conduit always moves to Same position below the Slice Sampling station, and the sample collection container is then designed to be suitable in the horizontal plane along phase The mutually vertical directions XY movement, to make the different storage positions of the sample collection container be directed at the sample collection conduit; Seed collection device, the seed collection device include seed collection conduit and the kind that is arranged in below the seed collection conduit The entrance of sub- collection vessel, the seed collection conduit is arranged in the loading end of the Slice Sampling station and position quilt It is selected as, so that the seed after cutting is fallen into the seed collection during being retracted by the gripper mechanism grips and lead Pipe, to fall into the seed collection container, wherein the seed collection container always moves to the Slice Sampling station The same position of lower section, and the outlet of the seed collection conduit is then designed to be suitable in the horizontal plane along orthogonal XY Direction is moved, to make the different storage part potential energies of the seed collection container are enough to be loaded successively.
A kind of preferred implementing form of seed auto slice sample devices according to the present invention, the sampling of seed auto slice are set Standby further includes the visual identifying system of the 3D shape of seed for identification, and the mobile pick device is known according to by the vision The seed 3D shape that other system identification goes out determines riding position of the seed on the loading end so that the seed quilt The volume that the rotary cutting cutter member is cut down is kept constant.The constant precision for helping to improve detection of sample volume.
A kind of preferred implementing form of seed auto slice sample devices according to the present invention, clamping device are designed to fit Upward supporting force can not be provided in carrying seed transverse shifting but for seed.For example, the first clamping member and the second clamping piece At least one of the two has the clamping face to concave downwards.Such clamping face is capable of providing side holding power, but cannot Seed is prevented to fall in the supporting force for losing loading end.Exist here, the clamping face of the first clamping member is designed as two splicings Triangular ramp together, as shown in Figure 6, Figure 7, it will be apparent to those skilled in the art that it is also contemplated that other shapes of bearing Face, such as bearing surface that is arc-shaped, or being spliced by more triangular ramps.
Due to the quality and small volume of sample slice, thus when wishing its whereabouts by sample collection conduit keep not It is dynamic, it is otherwise easy to be stuck in conduit to cause thrashing.And the seed quality after cutting is larger, collects its seed collection container Also thus larger, it is desirable that seed collection container remains stationary as.Therefore, this above that collection containers and seed is required to receive The design for collecting catheter movement just has particularly advantageous technique effect.
Description of the drawings
Fig. 1 is the side sectional view of sorting equipment according to the present invention;
Fig. 2 is the stereogram of sorting equipment according to the present invention;
Fig. 3 is the partial side view of sampling cutter device lower part according to the present invention, and it is pneumatic to show that blanking conduit passes through The arrangement that reversal valve is connected with two material outlet canals;
Fig. 4 is the vertical view of seed auto slice sample devices according to the present invention;
Fig. 5 is the stereogram of the clamping device of seed auto slice sample devices according to the present invention;
Fig. 6 is the stereogram of the first clamping device in clamping device shown in Fig. 5;
Fig. 7 is stereogram of first clamping device from another direction shown in Fig. 6;
Fig. 8 is the stereogram of sampling cutter device according to the present invention;
Fig. 9 is the side view of sampling cutter device according to the present invention;
Figure 10 is the front view of the sample collection device of seed auto slice sample devices according to the present invention;
Figure 11 is the stereogram of the sample collection device of seed auto slice sample devices according to the present invention;
Figure 12 is the front view of the seed collection device of seed auto slice sample devices according to the present invention;
Figure 13 is the stereogram of the seed collection device of seed auto slice sample devices according to the present invention;
Figure 14 is the side view of seed auto slice sample devices according to the present invention;
Figure 15 is the front view of seed auto slice sample devices according to the present invention;
Figure 16 is the stereogram of seed auto slice sample devices according to the present invention;
Figure 17 is the side view of the mobile pick device of seed auto slice sample devices according to the present invention, there is shown with The suction nozzle that one seed is moved pick device is picked up from a hoistable platform, and another seed is located at another lifting On platform;
Figure 18 shows the space bit between blanking conduit, air operated reversing valve and hoistable platform in the form of partial perspective view Set relationship;
Figure 19 is the stereogram of blanking units, while the seed collection duct entry being also shown on loading end.
Specific implementation mode
Fig. 1 is the partial simplified three-dimensional view of sorting equipment 7 according to the present invention.For clarity, in figure shown schematically only Show necessary component.A certain amount of seed 5 is stored in storage bin hopper 23, concentrate under the effect of gravity storage bin hopper 23 by The bottom that fixed disk 24 forms.The obliquely arrangement and there are one opening 25, the openings 25 for upper edge region tool of fixed disk 24 Position is higher than the seed height stored in the storage bin hopper 23 and is connected with blanking conduit 26 in downside.Turntable 27 is sorted to arrange In the bottom of the storage bin hopper 23 and 24 upside of the fixed disk is sticked on, fringe region is evenly distributed with several lack along perimeter The each notch 28 that is designed and sized to of mouth 28, the notch is only capable of accommodating a seed 5.Sorting turntable 27 is configured to phase The storage bin hopper 23 is rotated stepwise so that always can rotate to and held with the fixed disk 24 there are one the notch 28 Mouth 25 is mutually aligned the position of connection.Seed 5 is constantly moved to each notch 28 of the sorting turntable 27 under the effect of gravity, And it is transported to the position being connected to the opening 25 of fixed disk 24 with the stepping rotary motion of sorting turntable 27.Such as figure Shown, the both sides for sorting each notch 28 of 27 edge region of turntable have towards the 28 inclined inclined-plane protrusion of notch 29, these inclined-plane protrusions play the role of guiding the seed 5 in storage bin hopper 23 to be moved to the notch 28.
As shown in Fig. 2, only there are one openings 25 for the fringe region of fixed disk 24, and center has through-hole.It is unshowned The drive shaft of the stepper motor passes through through-hole driving sorting turntable 27.
One end of blanking conduit 26 is connected with the opening 25 of fixed disk 24, in the stepper motor driven rotary motion Sorting turntable 27 always rotates to the position being mutually aligned with the opening 25 of fixed disk 24 there are one notch 28 in the process, to make This notch 28 of sorting turntable 27 is connected with blanking conduit 26 and directly or indirectly leads to 8 top of hoistable platform, such as Fig. 1 It is shown.
A kind of form of implementation according to the present invention, blanking conduit 26 can directly lead to 8 top of hoistable platform.And another In outer form of implementation, can also equipped with multiple hoistable platforms 8 by the selection of air operated reversing valve 31 by more One of material outlet canal 30 is led to above one of multiple hoistable platforms 8.In the latter case, it is that the correspondence of each hoistable platform 8 is matched If a material outlet canal 30.Multiple hoistable platforms 8 are provided, concurrent working may be implemented, effectively improves production efficiency.Such as Fig. 3 institutes Show, seed 5 enters the first material outlet canal via the air operated reversing valve 31 according to the action of air operated reversing valve 31 or the second discharging is led Pipe, and each material outlet canal 30 corresponds respectively to a hoistable platform 8, is worked alternatively to make two hoistable platforms 8 realize.
After seed falls on hoistable platform 8, hoistable platform 8 rises, in order to which four axis robots suction nozzle picks up seed.
In order to avoid more seeds 5 are stuck in the upper end of blanking conduit 26 or the opening 25 of fixed disk or sort turntable 27 At notch 28, airflow function device 32 is additionally provided, the airflow function device is designed to the institute in the fixed disk 24 It states the seed 5 when opening 25 is interconnected with the notch 28 for sorting turntable 27 into the notch 28 and a gas is provided Stream acts on, and the seed 5 is made to fall into the blanking conduit 26 across the opening 25 of the fixed disk 24 under the airflow function In.This airflow function device 32 can be the blowning installation of the top for the opening 25 for being disposed in the fixed disk 24, It can be the device that negative pressure can be provided into blanking conduit 26.Seed 5 airflow function device 32 blow or swabbing action It is lower to enter blanking conduit 26 and eventually fall on hoistable platform 8.
To coordinate the function of airflow function device 32, superior technique effect is made up to, sorting equipment 7 further includes continuing Detection device at the time of upper end of the seed 5 by the blanking conduit 26 is detected and records, described in the fixed disk 24 If the notch 28 of opening 25 and the sorting turntable 27 is interconnected in the latter predetermined time and seed 5 has been not detected By the upper end of the blanking conduit 26, then airflow function device 32 (being blowning installation in this embodiment) is just to the notch Seed 5 in 28 provides an airflow function, to enable seed 5 to enter blanking conduit 26.
It since sorting turntable 27 and fixed disk 24 are obliquely arranged, thus suitably arranges the opening 25 of fixed disk 24, makes Its position is higher than the seed height stored in the storage bin hopper 23.In this way, just ensureing as much as possible by airflow function device 32 via only have when blowing or aspirate seed 5 seed 5 be located at fixed disk 24 opening 25 or sorting turntable 27 it is corresponding scarce In mouth 28, so that it may to avoid blowing or being drawn into more seeds 5 out of storage bin hopper 23.
Whether shape and position to identify seed 5 are suitable for cutting, which further includes device for visual identification, excellent Choosing is CCD camera 35, for detecting whether the seed 5 on hoistable platform 8 is suitable for cutting in a manner of visual identity.For well It realizes this visual identity, hoistable platform 8 is illuminated equipped with adaptable light source.
Waste material rejecting mechanism is additionally provided, is provided in pushing away for the lifting position side of hoistable platform 8 in the present embodiment Plate is used for the platform of the inswept hoistable platform of transverse movement 8 when the device for visual identification judges that this seed 5 is unsuitable for cutting Face and this seed 5 is dialled and is fallen in waste collection reservoirs.
A kind of seed auto slice sample devices with above-mentioned sorting equipment 7, the equipment are shown in Figure 14 to Figure 16 It is main including sorting equipment 7, mobile pick device 9, sampling cutter device 14, sample collection device 15, seed collection device 18 etc. Part is wanted, for picking up 5 simple grain of seed in storage bin hopper 23, and is picked up in the case where its shape and position meet the requirements It takes and is moved to Slice Sampling station to be cut, the sample slice and remaining seed after cutting are respectively by sample collection device 15 and seed collection device 18 collect correspondingly.
The storage bin hopper 23 of above-mentioned sorting equipment 7 ensures equipment continuous running for storing a certain amount of seed 5.Above-mentioned point Picking device 7 ensures only have a seed 5 to be transported on a hoistable platform 8 every time.Two hoistable platforms 8 are according to pneumatic commutation The action of valve replaces working in reciprocating mode.Fig. 3 then shows what the blanking conduit 26 of 31 upper end of air operated reversing valve connection was connect with lower end Two material outlet canals 30.Seed is after blanking conduit 26, air operated reversing valve 31 are fallen, by two hoistable platforms 8 to take turns to operate One of jack up to the height for being suitable for CCD camera and carrying out visual identity, hoistable platform is arranged in air operated reversing valve as illustrated in fig. 18 By in the of 31.
Seed 5 on hoistable platform 8 carries out visual identity by CCD camera 35, according to the image analysis of typical sample, utilizes Intelligent vision identification software, shape center and the deflection angle that seed is positioned, identified with platform shape, to quickly determine seed 5 position and direction;If it find that this seed 5 be unsuitable for cutting (such as:The axis of seed grain is can not find, seed grain is too small, Length-width ratio is too big and cutting position is too thin etc.), then this seed 5 is pushed to waste collection reservoirs by waste material rejecting mechanism It is interior.
As shown in Fig. 4 and Figure 17, it is identified as being adapted for the seed 5 of cutting by mobile 9 (four axis machines of pick device People, such as Epson robots) according to the crawl of the feedback of CCD camera 35 and adjustment direction, seed 5 is then transported to slice and is adopted Sample station, wherein the manipulator grasp mode of mobile pick device is by the way of vacuum cup absorption, suction nozzle and manipulator master Axis center is coaxial.Identify whether seed 5 falls in the handling process by the way of negative pressure monitoring, such as falling system will alarm.
In Slice Sampling station, according to the direction of the data point reuse seed 5 of the transmission of CCD camera 40 and position and clamping machine The position of structure makes clamping device that seed 5 to be fixedly clamped.Fig. 5 shows that seed 5 is clamped the first clamping member 12 and of mechanism Two clamping pieces 13 are clamped in the state on loading end 1 jointly.The clamping face of the first clamping member 12 is then shown in detail in Fig. 6 and Fig. 7 Shape.After seed 5 is clamped, it is identified and is judged by another set of CCD camera, if it is decided that seed is stretched out by cutting position The size of platform reaches requirement, then so that laser range sensor is moved to above cutting position and measure above seed cutting line position Height, to control the depth of cut of rotary cutting cutter member.
As shown in figure 8, a part for the seed 5 being arranged on platform 2 stretches out platform when cutting.Rotary cutting cutter member 2 is along holding The edge of section 1 rotates into seed 5 from side, controls its depth of cut less than measured thickness of seed to as one Degree so that seed 5 is cut out a gap in the lower part of endosperm fraction, but 5 tops of seed still keep complete, and there are about 1-2 The connection of millimeter, in this way, sample is just unlikely to fall.
Fig. 9 has been shown ... in a side view blanking units 3 are how to be punched clamped mechanism from top to bottom to be clamped on loading end Seed 5.The just cutting of punch 4 is shown in Fig. 2 on seed 5, and the sample collection conduit 16 of lower section is then aligned under seed Side is to collect the seed 5 for being punched.
As shown in figure 5, clamping device by the first clamping member 12 and can be moved relative to the first clamping member 12 second Clamping piece 13 forms.The loading end 1 of it and the carrying seed 5 of Slice Sampling station cooperatively clamps picked up seed 5, and The first clamping member 12 and the second clamping piece 13 can be moved integrally.
First and second clamping pieces 12, at least one of 13 have the clamping face 22 to concave downwards.Such clamping face Suitable for carrying 5 transverse shifting of seed but can not be that seed 5 provides upward supporting force.For example, Fig. 6 and Fig. 7 are with stereogram Form shows the clamping face 22 to concave downwards that the first clamping member 12 is made of two triangle clamping faces.Such clamping face Seed can be clamped when the first and second clamping pieces 12,13 are close to each other, it also can be when seed loses the bearing of loading end 1 Enable seed free-falling.
Seed collection duct entry 20 is provided on loading end 1 as illustrated in fig. 19, thus in the first clamping member 12 and Clamping seed retracts when far from loading end edge two clamping pieces 13 jointly, and seed can be made to lose the feelings of the bearing of loading end 1 Condition occurs, to collect the seed fallen by seed collection duct entry 20.
The powder that cutting process generates is collected in cutting process, while using the aspiration of negative pressure.The depth root of cutting gap High result is surveyed according to seed laser to be adjusted, and is realized by stepper motor and cam mechanism.
Figure 10 and Figure 11 shows sample collection device 15.After cutting terminates, sample collection conduit 16 moves to seed 5 Lower section, while sample collection conduit 16 port open, then be punched cylinder move downward, the endosperm that will be only partially cut Partial die cut gets off, and is passed through sample collection conduit 16, drops into special sample collection container 17 (96 orifice plate of sample) In.Wherein, the position of sample collection conduit 16 is directed at the lower section of seed 5 always, and 96 orifice plate of sample then can be in horizontal plane It is moved on the interior orthogonal directions XY.
Figure 12 and Figure 13 shows separately seed collection device 18.After punching is completed, after gripper mechanism grips cutting Seed 5 is retreated along rollback direction, and seed 5 is made to fall into seed collection conduit 19 in fallback procedures, is received to fall into special seed Collect in container 21 (96 orifice plate of seed).Wherein, it after the movement in place of 96 orifice plate of seed, is positioned by Pneumatic clamping jaw, it is fixed It is motionless.Seed collection conduit 19 is placed on XY motion platforms, and the cell exported against in 96 orifice plates loads successively.
Describe the preferred embodiment of the present invention above, but the spirit and scope of the present invention be not limited to it is disclosed herein Particular content.Those skilled in the art can it is according to the present invention introduction and make more embodiments and application, these realities It applies mode and application would be within the spirit and scope of the present invention.The spirit and scope of the present invention are not limited by specific embodiment, And it is defined by the claims.
Reference numerals list
1 loading end
2 rotary cutting cutter member
3 blanking units
4 punches
5 seeds
7 sorting equipments
8 hoistable platforms
9 movement pick devices
12 the first clamping members
13 second clamping pieces
14 sampling cutter devices
15 sample collection devices
16 sample collection conduits
17 sample collection containers
18 seed collection devices
19 seed collection conduits
20 seed collection duct entries
21 seed collection containers
22 clamping faces
23 storage bin hoppers
24 fix disk
25 openings
26 blanking conduits
27 sorting turntables
28 notches
29 inclined-plane protrusions
30 material outlet canals
31 air operated reversing valves
32 airflow function devices
35 CCD cameras
38 switch boards
39 air pumps
40 CCD cameras

Claims (8)

1. a kind of sorting equipment (7), the sorting equipment include:
Storage bin hopper (23), the storage bin hopper is for storing a certain amount of seed (5), and bottom is made of a fixed disk (24), institute State fixed disk (24) obliquely arrange and upper edge region tool there are one be open (25), described opening (25) position be higher than described in The seed height stored in storage bin hopper (23);
Blanking conduit (26), one end of the blanking conduit (26) are connected with the opening (25) of the fixed disk (24), The other end is directly or indirectly led to above hoistable platform (8);
It is characterized in that, the sorting equipment further includes:
Turntable (27) is sorted, the sorting turntable is arranged in the bottom of the storage bin hopper (23) and sticks on the fixed disk (24) The fringe region of upside, the sorting turntable (27) is evenly distributed with several notches (28) along perimeter, and the size of the notch is set It is calculated as each notch (28) to be only capable of accommodating a seed (5), the sorting turntable (27) is configured to relative to the storage Hopper (23) rotates stepwise so that always can rotate to the opening with the fixed disk (24) there are one the notch (28) (25) it is mutually aligned the position of connection,
Wherein, the sorting turntable (27) has inclined tiltedly towards the notch (28) in the both sides of each notch (28) Face protrusion (29) so that the seed (5) in storage bin hopper (23) can be directed to the notch (28),
Also, the sorting equipment (7) further includes airflow function device (32), and the airflow function device is designed in institute It is lacked to described when the opening (25) and the interconnected notch (28) of the sorting turntable (27) of stating fixed disk (24) Seed (5) in mouth (28) provides an airflow function, and the seed (5) is made to pass through the fixed disk under the airflow function (24) opening (25) and fall into the blanking conduit (26).
2. sorting equipment (7) according to claim 1, which is characterized in that the sorting equipment (7) includes that multiple liftings are flat Platform (8), for the corresponding material outlet canal for being equipped with the top that one leads to the hoistable platform (8) of each hoistable platform (8) (30), air operated reversing valve (31) is disposed between the blanking conduit (26) and the material outlet canal (30), the blanking is led Pipe (26) is connected according to one of the action of the air operated reversing valve (31) and described material outlet canal (30).
3. sorting equipment (7) according to claim 1, which is characterized in that the sorting equipment (7) further includes detection dress Set, the detection device be designed to continue detection and record seed (5) by the upper end of the blanking conduit (26) when It carves, is interconnected in the opening (25) of the fixed disk (24) and the notch (28) of the sorting turntable (27) latter If upper end of the seed (5) by the blanking conduit (26) is not detected in a predetermined time, the airflow function dress It sets the seed (5) of (32) into the notch (28) and an airflow function is provided.
4. sorting equipment (7) according to claim 1 or 3, which is characterized in that the airflow function device (32) is to be arranged Blowning installation in the top of the opening (25) of the fixed disk (24).
5. sorting equipment (7) according to claim 1 or 3, which is characterized in that the sorting equipment (7) further includes that vision is known Whether other device, the seed (5) that the device for visual identification is used to detect in a manner of visual identity on hoistable platform (8) are suitable for Cutting.
6. sorting equipment (7) according to claim 5, which is characterized in that the device for visual identification includes CCD camera.
7. sorting equipment (7) according to claim 5, which is characterized in that the sorting equipment (7) further includes waste material rejecting machine Structure, the waste material rejecting mechanism are used for this seed when the device for visual identification judges that this seed (5) is unsuitable for cutting (5) it dials and falls in waste collection reservoirs.
8. a kind of seed auto slice sample devices, the seed auto slice sample devices include:
Sorting equipment (7) as described in any one of claim 1 to 7, the sorting equipment are designed to storage bin hopper (23) it is transported on hoistable platform (8) to seed (5) simple grain in;
Mobile pick device (9), the mobile pick device are designed to from the hoistable platform (8) pickup seed (5) simultaneously It is moved into Slice Sampling station;
Clamping device, the clamping device by the first clamping member (12) and can be moved relative to the first clamping member (12) the Two clamping pieces (13) form, and the clamping device is designed to the carrying with the carrying seed of the Slice Sampling station (5) Face cooperatively clamps picked up seed (5), and the first clamping member (12) and the second clamping piece (13) can be integrally Movement;
Sample cutter device (14), the sampling cutter device to by the gripper mechanism grips in the Slice Sampling station Seed (5) is cut;
Sample collection device (15), the sample collection device include sample collection conduit (16) and are arranged in the sample collection The sample collection container (17) of the lower section of conduit (16), the sample collection conduit (16), which is designed to be suitable to move to, is cut Seed lower section to make the sample slice drop into the sample collection container by the sample collection conduit (16) (17) in, wherein the sample collection conduit (16) always moves to the same position of the lower section of the Slice Sampling station, and The sample collection container (17) is then designed to be suitable moves along the orthogonal directions XY in the horizontal plane, described to make The different storage positions of sample collection container (17) are directed at the sample collection conduit (16);
Seed collection device (18), the seed collection device include seed collection conduit (19) and are arranged in the seed collection The seed collection container (21) of the lower section of conduit (19), seed collection duct entry (20) cloth of the seed collection conduit (19) It is placed in the loading end of the Slice Sampling station and position is selected as, enable the seed after cutting by the folder It holds during mechanism clamping retracts and falls into the seed collection conduit (19), to fall into the seed collection container (21) In, wherein the seed collection container (21) always moves to the same position of the lower section of the Slice Sampling station, and described The outlet of seed collection conduit (19) is then designed to be suitable moves along the orthogonal directions XY in the horizontal plane, to make The different storage part potential energies for stating seed collection container (21) are enough loaded successively.
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CN106737898B (en) * 2017-01-19 2018-09-14 河南农业大学 A kind of corn breeding automatic sampler directional slicing device
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CN108257136A (en) * 2018-02-09 2018-07-06 天津海达奥普光电技术股份有限公司 A kind of image partition method of corn seed Shape Feature Extraction
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