WO2018014586A1 - 采样切割装置及种子自动切片采样设备 - Google Patents

采样切割装置及种子自动切片采样设备 Download PDF

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Publication number
WO2018014586A1
WO2018014586A1 PCT/CN2017/078907 CN2017078907W WO2018014586A1 WO 2018014586 A1 WO2018014586 A1 WO 2018014586A1 CN 2017078907 W CN2017078907 W CN 2017078907W WO 2018014586 A1 WO2018014586 A1 WO 2018014586A1
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Prior art keywords
seed
sampling
cutting
cutting device
cut
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PCT/CN2017/078907
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English (en)
French (fr)
Inventor
卢洪
宋桂宣
翟晨光
刘龙飞
任利波
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中玉金标记（北京）生物技术股份有限公司
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Publication of WO2018014586A1 publication Critical patent/WO2018014586A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
    • G01N1/06—Devices for withdrawing samples in the solid state, e.g. by cutting providing a thin slice, e.g. microtome

Definitions

  • the invention relates to a sampling and cutting device and a seed automatic slice sampling device having the same.
  • plants are genetically modified by selective breeding or genetic manipulation.
  • the seeds are tested non-destructively or destructively.
  • seed samples have been tested for genetic, biochemical or phenotypic information.
  • the remaining parts of the seeds that have been sampled and cut remain viable and can germinate and grow into mature plants.
  • a one-to-one correspondence between the seed sample and the remaining planting portion of the sampling cut is recorded. In any case, it is desirable that the cutting of the seed can be performed consistently, quickly, and efficiently.
  • Chinese invention patent CN103238389A relates to a fully automatic corn breeding slicer, comprising a feeding mechanism, a detecting mechanism, a shearing mechanism and a sorting mechanism, the loading mechanism comprises a material box and a lifting device; the detecting mechanism comprises a light sensor, a direction controller and Corresponding slide; the shearing mechanism comprises a corn carrier with a infrared sensor and a cutter; the sorting mechanism comprises an inlay slide, a corn germ sorting box, a corn embryo blanking box; the cartridge is arranged at the lower end of the lifting device The upper end of the lifting device is in communication with the direction controller, and the direction controller is connected to the corn germ sorting box through the chute, and the corn germ sorting box is connected with the corn germ blanking box.
  • the corn carrier with the infrared sensor controls the magnetic device to suck the force bar by the sensing signal to actuate the cutter, thereby realizing shear sampling.
  • the collection of the endosperm after cutting is achieved by the flipping of the corn carrier.
  • Chinese invention patent application CN103118527A discloses a seed sampling system having an automated seed loading component, an automated seed sampling component, and an automated seed delivery component. Among them, each of the automated seed delivery components The pieces are capable of moving the sorted seeds relative to the automated seed loading assembly and the automated seed sampling assembly. As shown in Figure 9, the ends of the retaining members together with the two ramp surfaces of the channels of the sampler define the position of the seed. The cutting wheel removes the tissue sample from the seed by rotation. In terms of seed and sample collection after cutting, the cut seed is released by the retaining member and leaks into the catheter and eventually falls into the seed tray. The tissue sample leaks into the catheter after the clamping mechanism is released and eventually falls into the recess of the sample tray.
  • Chinese invention patent CN102686099A relates to an automated high throughput device, method and system for seed sampling.
  • the seed sampling system includes a cutting subsystem having a controlled cutting path, and a seed processing subsystem, wherein the seed processing subsystem further includes a grading system and a carrier system.
  • the cutting of the seed is achieved by a laser ablation device, and the portion of the sample remaining at the seed grading position after cutting is discharged or released under the action of a positive pressure field.
  • Chinese invention patent application CN101573602A discloses an apparatus for corn breeding slicing. Each seed moves through the laser beam of the laser to cut the cut. Samples can also be taken using cutting edges, drills or friction surfaces. The cut pieces are held attached to the joint by the iron-based coating, and the separated cutting seeds are retained in the V-shaped recess of the joint. The cut piece is then separated from the connector by the action of a blade, a brush or by the powering off of the electromagnet and falls into the sample collection funnel. The separated cutting seeds are dropped from the connector into the seed collecting funnel by gravity.
  • the seed cutting device described above does not meet the requirements for consistency, speed and effectiveness of the cutting function. In these respects, there is still room for improvement and improvement in the sampling and cutting device of the seed.
  • the technical problem to be solved by the present invention is to provide a sampling and cutting device capable of realizing rapid cutting of seeds and capable of Keep the seed always cut to a substantially constant volume or mass.
  • the sampling cutting device is configured to slice sample the seeds disposed on the bearing surface, the seeds are clamped by the clamping mechanism in cooperation with the bearing surface and a part of the seed protrudes from the bearing surface, the sampling cutting
  • the apparatus includes: a rotary cutter adapted to cut a portion of the seed that extends the load bearing surface along a rim of the load bearing surface at a lower portion of the seed, thereby forming a penetration of the seed a lower cutting slit; a punching device, the punch of the punching device is arranged above the seed, and the lower die is formed by the bearing surface, the punching device being designed to be adapted to face the cutting gap Cutting a portion of the seed that protrudes from the bearing surface from top to bottom; a distance measuring device designed to measure cutting of the seed in the rotary cutting member a thickness in a plane; wherein the cutting depth of the rotary cutting member against the seed is controlled according to the thickness measured by the distance measuring device such that an upper
  • the thickness of the upper portion of the seed remaining connected after being cut by the rotary cutter is selected such that the seed can be described by the punching device
  • the cutting gap is cut neatly.
  • the rotating cutting piece cuts a gap in the lower part of the seed, but the upper part of the seed is still 1-2 mm and remains intact.
  • the clamping mechanism determines the size of the seed protruding from the bearing surface according to the three-dimensional shape of the seed recognized in advance, so that the seed is cut by the punching device The punched volume remains constant.
  • the determination of the three-dimensional shape of the seed can be achieved in advance by a CCD camera.
  • the sampling and cutting device further has a negative pressure powder collecting device for collecting the powder produced by the cutting process by vacuum suction during the cutting process. .
  • the sampling and cutting device is a sampling and cutting device for sampling cut corn seeds.
  • the present invention also provides a seed automatic slice sampling device.
  • the seed automatic slice sampling device includes a sampling and cutting device as described above, which cuts a seed held by a clamping mechanism on a bearing surface of the slice sampling station.
  • the apparatus may also include a sorting device designed to transport the seeds in the hopper to the lifting platform in a single grain.
  • the apparatus can also include a mobile picking device designed to pick up seeds from the lifting platform and move them to a slicing sampling station.
  • the apparatus can also include a sample collection device including a sample collection conduit and a sample collection container disposed below the sample collection conduit, the sample collection conduit being designed to move underneath the cut seed The sample section is passed through the sample collection conduit into the sample collection container.
  • the sample collection conduit is always moved to the same position below the slice sampling station, and the sample collection container is designed to fit in mutually perpendicular XY directions in a horizontal plane. Moving to align different storage locations of the sample collection container with the sample collection conduit.
  • the apparatus can also include a seed collection device including a seed collection conduit and a seed collection container disposed below the seed collection conduit, the inlet of the seed collection conduit being disposed at the slice sampling station
  • the loading surface is positioned and positioned to enable the cut seed to fall into the seed collection conduit during the retraction by the clamping mechanism to fall into the seed collection container.
  • the seed collection container is always moved to the same position below the slice sampling station, and the outlet of the seed collection conduit is designed to be adapted to be perpendicular to each other in the horizontal plane.
  • the XY direction is moved so that different storage locations of the seed collection container can be loaded sequentially.
  • the sample collection conduit that passes through it fall remains intact, otherwise it can easily become stuck in the catheter causing system failure.
  • the quality of the seed after cutting is large, and the seed collecting container for collecting it is also large, so it is desirable that the seed collecting container be kept stationary. Therefore, the above design requiring the movement of the sample collection container and the seed collection conduit has a particularly advantageous technical effect.
  • the automatic slice sampling device further comprises a visual recognition system for identifying a three-dimensional shape of the seed, the mobile pickup device being identified according to the visual recognition system
  • the three-dimensional shape of the seed determines the placement of the seed on the load bearing surface such that the volume of the seed that is die cut by the punching device remains constant. Keeping the volume of the sample section constant helps subsequent measurements yield more subtle results.
  • a clamping mechanism comprising a first clamping member and a second clamping member movable relative to the first clamping member,
  • the clamping mechanism is designed to clamp the picked-up seed in cooperation with the seed-bearing bearing surface of the slice sampling station, and the first clamping member and the second clamping member are movable integrally.
  • the clamping mechanism is designed to carry lateral movement of the seed but does not provide an upward bearing force for the seed.
  • At least one of the first clamping member and the second clamping member has a downwardly concave clamping surface.
  • a gripping surface can provide a lateral clamping force, but does not prevent the seed from falling when it loses the supporting force of the bearing surface.
  • the clamping surface of the first clamping member is designed as two triangular inclined surfaces which are spliced together, as shown in FIG. 6 and FIG. 7, but it is obvious to those skilled in the art that other shapes of supporting surfaces, such as a circle, are also conceivable. Curved, or a bearing surface that is spliced by more triangular bevels.
  • the clamping mechanism clamps the cut seed along the retreating side. Backward, the seeds fall into the seed collection conduit during the retraction process and fall into the dedicated seed collection container.
  • An advantage of the sampling and cutting device and the seed automatic slice sampling device according to the present invention is that the cutting of the seed is achieved by the synergistic action of the rotary cutting member and the punching device, so that the sample slice is not affected by the rotation of the rotary cutting member in the tangential direction. Ejection, but will fall as the punching device is punched.
  • Figure 1 is a perspective view of a sampling and cutting device in accordance with the present invention.
  • Figure 2 is a side elevational view of a sampling and cutting device in accordance with the present invention.
  • Figure 3 is a partial side elevational view of the lower portion of the sorting apparatus in accordance with the present invention showing the arrangement of the blanking conduit connected to the two discharge conduits via a pneumatically reversing valve;
  • Figure 4 is a plan view of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 5 is a perspective view of a clamping mechanism of the automatic seed slicing and sampling apparatus according to the present invention.
  • Figure 6 is a partially enlarged perspective view of the first clamping member in the clamping mechanism of Figure 5;
  • Figure 7 is a partially enlarged perspective view of the first clamping member shown in Figure 6 as viewed from another direction;
  • Figure 8 is a side cross-sectional view of the sorting apparatus of the automatic seed slicing and sampling apparatus according to the present invention.
  • Figure 9 is a perspective view of a sorting device of the automatic seed slicing and sampling apparatus according to the present invention.
  • Figure 10 is a front elevational view of a sample collection device of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 11 is a perspective view of a sample collection device of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 12 is a seed collecting device for a seed automatic slice sampling device according to the present invention.
  • Figure 13 is a perspective view of a seed collecting device of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 14 is a side elevational view of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 15 is a front elevational view of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 16 is a perspective view of a seed automatic slice sampling device in accordance with the present invention.
  • Figure 17 is a side elevational view of the mobile pick-up apparatus of the automatic seed slicing and sampling apparatus according to the present invention, in which one seed is picked up by a suction head of the moving pick-up device from one lifting platform and the other seed is placed in another lifting on the platform;
  • Figure 18 shows, in a partial perspective view, the spatial positional relationship between the blanking conduit, the pneumatic reversing valve and the lifting platform;
  • Figure 19 is a perspective view of the blanking apparatus, also showing the seed collection conduit inlet on the load bearing surface.
  • FIG. 1 shows an embodiment of a sampling and cutting device 14 according to the invention, of which only the main components are shown schematically for the sake of clarity.
  • the seeding 5 to be cut is fastened to the bearing surface 1 by the cooperation of the clamping mechanism 11 and the bearing surface 1 .
  • a punching device 3 is arranged above the bearing surface 1 and a rotary cutting element 2 is arranged on the side below the bearing surface 1 .
  • the position and orientation of the seed 5 to be cut is determined by the gripping mechanism 11 in accordance with the three-dimensional shape of the seed 5 identified by an identification device (e.g., the CCD camera 35 in this embodiment).
  • the principle of determining the position and orientation of the seed 5 to be cut is such that the portion of the seed 5 that is critical for the activity is not destroyed, and the volume or mass of the portion of each seed 5 that is finally die-cut is substantially the same, Equivalent to a predetermined volume or mass.
  • the clamping mechanism 11 is comprised of a first clamping member 12 and is configurable relative to said The second clamping member 13 of the first clamping member 12 is formed. It clamps the picked seed 5 in cooperation with the carrying surface 1 of the seeding station 5 of the slicing station 10, and the first clamping part 12 and the second clamping part 13 are able to move integrally.
  • At least one of the first and second clamping members 12, 13 has a downwardly concave clamping surface 22.
  • a gripping surface is adapted to carry the seed 5 laterally but does not provide an upward support for the seed 5.
  • Figures 6 and 7 show, in perspective view, a downwardly concave clamping surface 22 of the first clamping member 12 which is comprised of two triangular clamping faces.
  • Such a gripping surface can clamp the seed when the first and second gripping members 12, 13 are close to each other, and can also freely drop the seed when the seed loses the support of the bearing surface 1.
  • An opening is provided on the bearing surface 1 as shown in Fig. 19, which communicates with the seed collecting duct inlet 20 of the seed collecting duct 19, thereby holding the seed retracting together at the first gripping member 12 and the second gripping member 13. While away from the edge of the load-bearing surface, it is possible to cause the seed to lose support of the load-bearing surface 1 so that the fallen seed is collected through the seed collection conduit inlet 20.
  • a distance measuring device which in the present embodiment is a laser distance measuring device for measuring the height of the seed 5 to be cut above the cutting position, that is to say in the rotary cutting member 2 The seed thickness at the cutting plane.
  • a portion of the seed 5 disposed on the carrying surface 1 projects beyond the bearing surface 1, and the amount of protrusion is determined by the CCD camera 40 (shown in Fig. 14).
  • the rotary cutting member 2 is rotated from the side along the edge of the bearing surface 1 into the seed 5, controlling its depth of penetration to be less than the measured seed thickness to such an extent that the lower portion of the seed 5 is cut by the rotary cutting member 2.
  • the gap, while the upper portion remains connected after being cut by the rotary cutting member 2.
  • Figure 2 shows in a side view how the punching device 3 punches the seed 5 held by the clamping mechanism on the bearing surface from top to bottom, the punching device 3 comprising a punch 4 as an upper die, under The mold is formed by the bearing surface 1.
  • Figure 2 shows that the punch 4 is being cut on the seed 5, while the lower sample collection conduit 16 is aligned below the seed for collection. Cut the seeds 5 .
  • the sample collection conduit 16 is moved below the seed 5 while its conduit port is in an open state.
  • the punching device 3 also moves above the seed 5 at this time.
  • the upper punching device 3 is moved downward, and the seed 5 is cut off against the cutting slit formed by the cutting, and the sample of the cut seed 5 is removed (for corn seeds)
  • the portion of the endosperm that has been partially cut falls into the sample collection conduit 16 and passes through the sample collection conduit 16 and falls into the sample collection container 17 (sample 96-well plate).
  • the sample collection conduit 16 is always moved to a position below the alignment seed 5, while the sample 96-well plate is moved in the XY direction under the grip of the robot.
  • the negative pressure powder collecting device disposed near the bearing surface 1 collects the powder generated by the cutting process by vacuum suction.
  • the clamping mechanism 11 carries the cut seed back, away from the cutting position, until it reaches the seed collecting conduit inlet 20 on the bearing surface 1 and falls into the seed collecting conduit 19, thereby passing through the seed collecting conduit. 19 falls into the seed collection container 21, which is, for example, a seed 96-well plate.
  • the seed collection container 21 which is, for example, a seed 96-well plate.
  • the seed 96-hole plate is in motion, it is positioned by the pneumatic jaw and fixed.
  • the seed collection conduit 19 is placed over the XY motion platform and the outlet is loaded sequentially into the cells in the 96-well plate of the seed.
  • a further embodiment of the sampling and cutting device 14 according to the invention differs from the embodiment described above in that the bearing surface 1 is not provided as an opening which is in direct communication with the inlet of the seed collecting conduit, on which the seed collecting duct 19 is arranged. 1 near the edge, and an additional putter.
  • the pusher sweeps across the bearing surface 1 and sweeps the cut seed 5 from the bearing surface 1 to the seed collecting conduit inlet 20 of the seed collecting conduit 19 near its edge. Inside, thereby falling into the seed collection container 21 (seed 96-well plate).
  • a seed automatic with sampling cutting device 14 is shown in Figures 14-16.
  • a slicing sampling device comprising a sorting device 7, a moving pick-up device 9, a sampling and cutting device 14, a sample collecting device 15, a seed collecting device 18, and the like for picking up the seed 5 in the hopper 23, and The shape and position are picked up and moved to the slice sampling station 10 for cutting, and the cut sample slice and the remaining seeds are collected one by one by the sample collection device 15 and the seed collection device 18, respectively.
  • the storage hopper 23 of the sorting device 7 is used to store a certain amount of seeds 5 to ensure continuous operation of the equipment.
  • the sorting device 7 ensures that only one seed 5 is delivered to one lifting platform 8 at a time.
  • the two lifting platforms 8 alternately reciprocate according to the action of the pneumatic reversing valve 31.
  • 8 and 9 show the sorting apparatus of the automatic seed slicing and sampling apparatus according to the present invention in a side sectional view and a perspective view, respectively.
  • Fig. 3 shows two discharge conduits 30 connected to the lower end of the blanking conduit 26 connected to the upper end of the pneumatic reversing valve 31.
  • one of the two lifting platforms 8 operating in turn acts at a height suitable for visual recognition by the CCD camera 35, and the lifting platform is arranged as shown in FIG. Next to the pneumatic reversing valve 31.
  • the seed 5 on the lifting platform 8 is visually recognized by the CCD camera 35, and the position of the seed 5 is quickly determined based on image analysis of typical samples, using intelligent visual recognition software, positioning in a platform shape, identifying the shape center of the seed 5, and the deflection angle. And direction; if the seed is found to be unsuitable for cutting (eg, the axis of the seed is not found, the seed is too small, the aspect ratio is too large, and the cutting position is too thin, etc.), the seed is removed by the waste rejection mechanism 5 Push into the waste collection container.
  • the seed 5 identified as being suitable for cutting is grasped and adjusted in accordance with the feedback of the CCD camera 35 by the moving pick-up device 9 (four-axis robot, for example, Epson robot), and then the seed 5 is carried.
  • the robot picking method of the moving picking device adopts a vacuum suction cup, and the suction head is coaxial with the spindle center of the robot.
  • Negative pressure monitoring is used to identify whether the seed 5 is dropped during handling. If the system is dropped, an alarm will be issued.
  • moving the pickup The picking device 9 sucks one seed 5 from the lifting platform 8 with a suction head while the other seed is on the other lifting platform 8.
  • Fig. 5 shows a state in which the seed 5 is clamped together on the carrying surface 1 by the first holding member 12 and the second holding member 13 of the holding mechanism.
  • 6 and 7 show the shape of the gripping surface of the first gripping member 12 in detail.
  • the height above the position of the seed cutting line is measured above the edge of the bearing surface 1, thereby controlling the cutting depth of the rotary cutting member such that the seed 5 is cut into a slit at the lower portion of the endosperm portion, but the upper portion of the seed 5 remains intact, about 1-2 mm connection so that the sample does not fall.
  • the powder produced by the cutting process is collected by vacuum suction at the same time.
  • the depth of the slit is adjusted according to the result of the seed laser height measurement, and is realized by a stepping motor and a cam mechanism.
  • sample collection conduit 16 After the end of the cutting, the sample collection conduit 16 is moved below the seed 5, while the port of the sample collection conduit 16 is opened, and then the die-cut cylinder is moved downward, and the partially cut endosperm portion is die-cut and passed through the sample collection conduit. 16. Fall into the dedicated sample collection container 17 (sample 96-well plate). Wherein, the position of the sample collection conduit 16 is always aligned below the seed 5, while the sample 96-well plate is movable in the XY direction perpendicular to each other in the horizontal plane.
  • the seed collection device 18 is shown separately in Figures 12 and 13. After the blanking is completed, the gripping mechanism 11 grips the cut seed 5 to retreat in the retracting direction, causing the seed to fall into the seed collecting duct 19 during the retracting process, thereby falling into the dedicated seed collecting container 21 (seed 96-well plate) )in.
  • Figure 19 shows the seed collection conduit 20 in a perspective view. The upper end is in the opening in the carrying surface 1 to clearly show how the cut seed falls into the seed collecting conduit 20 during the retraction process. Among them, after the seed 96-hole plate is in motion, it is positioned by the pneumatic jaw and fixed. The seed collection conduit 19 is placed over the XY motion platform and the outlet is loaded sequentially into the cells in the 96-well plate.

Abstract

一种采样切割装置（14），采样切割装置（14）用于对布置在承载面（1）上的种子（5）进行切片采样，种子（5）由夹持机构（11）与承载面（1）相配合地夹紧且使种子（5）的一部分伸出承载面（1），采样切割装置（14）包括：旋转切割件（2），旋转切割件（2）被设计为适于在种子（5）下部沿承载面（1）边沿对种子（5）的伸出承载面（1）的部分进行切割，从而形成穿透种子（5）下部的切割缝隙；冲切装置（3），冲切装置（3）的冲头（4）布置在种子（5）上方，而下模由承载面（1）构成，冲切装置（3）被设计为适于对着切割缝隙自上向下从种子（5）上冲切下已由旋转切割件（2）切割出缝隙的种子（5）的伸出承载面（1）的部分；测距装置，该测距装置被设计为适于测量种子（5）在旋转切割件（2）的切割平面内的厚度；其中，根据测距装置测得的厚度控制旋转切割件（2）对种子（5）的切割深度，使得种子（5）的上部在经旋转切割件（2）切割之后仍保持相连。一种具有所述采样切割装置（14）的种子自动切片采样设备，采样切割装置（14）对由夹持机构（11）夹持在切片采样工位（10）的承载面（1）上的种子（5）进行切割。所述采样切割装置（14）能够实现对种子（5）的快速切割，并能够保持种子（5）始终被切下基本恒定的体积或质量。

Description

采样切割装置及种子自动切片采样设备 技术领域
本发明涉及一种采样切割装置及具有该采样切割装置的种子自动切片采样设备。
背景技术
在植物开发和改良中，通过选择性育种或遗传操纵对植物进行遗传改良。其中，种子经非破坏性或破坏性检验。传统地，对种子样本进行检验得到遗传、生物化学或表型信息，种子被采样切割后的余下部分仍保持成活力而可以发芽并生长成成熟植物。相应地，要记录种子样本与采样切割所余下的种植部分之间的一一对应关系。无论如何，希望对种子的切割能够一致地、快速地、有效地进行。
中国发明专利CN103238389A涉及一种全自动玉米育种切片机，包括上料机构、检测机构、剪切机构和分拣机构，上料机构包括料盒和提升装置；检测机构包括光线传感器、方向控制器及相对应的滑道；剪切机构包括带有红外传感器的玉米承载台和切刀；分拣机构包括内嵌滑道、玉米胚分拣盒、玉米胚落料盒；料盒设在提升装置下端，提升装置上端与方向控制器连通，方向控制器通过滑道与玉米胚分拣盒连通，玉米胚分拣盒与玉米胚落料盒连通。其中，带有红外线传感器的玉米承载台通过传感信号控制磁力设备吸合传力棒而致动切刀，从而实现剪切取样。并且，切割后收集胚乳要通过玉米承载台的翻转实现。
中国发明专利申请CN103118527A披露了一种种子采样系统，该系统具有自动化种子加载组件、自动化种子采样组件、自动化种子传送组件。其中，自动化种子传送组件中的每个保持构 件能够相对于自动化种子加载组件和自动化种子采样组件移动经分拣的种子。如其图9所示，保持构件的端部与采样器的通道的两个斜坡表面共同限定种子的位置。切割轮通过旋转从种子上去除组织样本。在切割后的种子及样本收集方面，被切割后的种子由保持构件释放并漏进导管，而最终落入种子托盘。组织样本在夹持机构松开之后漏进导管并最终落入样本托盘的凹陷内。
中国发明专利CN102686099A涉及一种用于种子取样的自动化高通量设备、方法和系统。种子取样系统包括具有控切割路径的切除子系统、以及种子处理子系统，其中种子处理子系统又包括分级系统和载体系统。其中，对种子的切割通过激光切除装置实现，经切割后留在种子分级位置的样品部分在正压场的作用下排出或释放。
中国发明专利申请CN101573602A披露了一种用于玉米育种切片的设备。每粒种子移动通过激光器的激光束，从而切下剪片。也可以采用切削刃、钻孔机或摩擦表面等方式来取得样本。切下的剪片由于铁基涂层而被保持吸附在连接件上，而将分离的切削种子保留在连接件的V形凹部里。剪片然后在刮片、刷子的作用下或通过电磁铁的断电而与连接件分离，落入样本收集漏斗。而分离后的切削种子则在重力作用下从连接件落下到种子收集漏斗中。
上述种子切割装置不能满足对切割功能在一致性、快速性和有效性方面的要求。在这些方面，种子的采样切割装置仍有改进和提高的余地。
发明内容
针对上述问题，本发明所要解决的技术问题是提供一种采样切割装置，该采样切割装置能够实现对种子的快速切割，并能够 保持种子始终被切下基本恒定的体积或质量。
这一技术问题通过一种根据本发明的采样切割装置得以实现。该采样切割装置用于对布置在承载面上的种子进行切片采样，所述种子由夹持机构与承载面相配合地夹紧且使所述种子的一部分伸出所述承载面，所述采样切割装置包括：旋转切割件，所述旋转切割件被设计为适于在种子下部沿所述承载面的边沿对所述种子的伸出所述承载面的部分进行切割，从而形成穿透所述种子下部的切割缝隙；冲切装置，所述冲切装置的冲头布置在所述种子上方，而下模由所述承载面构成，所述冲切装置被设计为适于对着所述切割缝隙自上向下从所述种子上冲切下所述种子的伸出所述承载面的部分；测距装置，该测距装置被设计为适于测量所述种子在所述旋转切割件的切割平面内的厚度；其中，根据所述测距装置测得的所述厚度控制所述旋转切割件对种子的切割深度，使得所述种子的上部在经所述旋转切割件切割之后仍保持相连。
根据本发明的采样切割装置的一种优选实施形式，所述种子的上部在经所述旋转切割件切割之后保持相连的厚度被选择为，使得所述种子能够被所述冲切装置沿所述切割缝隙整齐地切断。对于玉米种子，旋转切割件在种子的下部切出一条缝隙，但种子上部仍有1-2毫米保持完整相连。
根据本发明的采样切割装置的一种优选实施形式，所述夹持机构根据事先识别出的种子三维形状确定所述种子伸出所述承载面的尺寸，使得所述种子被所述冲切装置冲切下来的体积保持恒定。对于种子三维形状的确定可事先通过CCD相机实现。
根据本发明的采样切割装置的一种优选实施形式，所述采样切割装置还具有负压粉末收集装置，该负压粉末收集装置用于在切割过程中利用负压吸尘收集切割过程产生的粉末。
根据本发明的采样切割装置的一种优选实施形式，所述采样切割装置是用于采样切割玉米种子的采样切割装置。
根据本发明的另一方面，本发明还提供了一种种子自动切片采样设备。该种子自动切片采样设备包括如上所述的采样切割装置，所述采样切割装置对由夹持机构夹持在所述切片采样工位的承载面上的种子进行切割。
该设备还可包括分拣装置，所述分拣装置被设计用于将储料斗中的种子单粒地运送到升降平台上。
该设备还可包括移动拾取装置，所述移动拾取装置被设计用于从所述升降平台拾取种子并将其移动到切片采样工位。
该设备还可包括样本收集装置，所述样本收集装置包括样本收集导管和布置在所述样本收集导管下方的样本收集容器，所述样本收集导管被设计为适于运动到所切割的种子的下方以便使所述样本切片经过所述样本收集导管落入到所述样本收集容器中。根据本发明的一优选实施方式，所述样本收集导管总是运动到所述切片采样工位下方的相同位置，而所述样本收集容器则被设计为适于在水平面内沿相互垂直的XY方向移动，以便使所述样本收集容器的不同存储部位对准所述样本收集导管。
该设备还可包括种子收集装置，所述种子收集装置包括种子收集导管和布置在所述种子收集导管下方的种子收集容器，所述种子收集导管的入口布置于所述切片采样工位的所述承载面内且位置被选择为，使切割后的种子能够在由所述夹持机构夹持回退的过程中落入所述种子收集导管，从而落入所述种子收集容器中。根据本发明的一优选实施方式，所述种子收集容器总是运动到所述切片采样工位下方的相同位置，而所述种子收集导管的出口则被设计为适于在水平面内沿相互垂直的XY方向移动，从而使所述种子收集容器的不同存储部位能够被依次装填。
由于样本切片的质量和体积较小，因而希望其下落时通过的样品收集导管保持不动，否则容易卡在导管里造成系统失效。而切割后的种子质量较大，收集它的种子收集容器也因而较大，所以希望种子收集容器保持不动。因此，上面这种要求样品收集容器和种子收集导管运动的设计就具有特别有益的技术效果。
根据本发明的种子自动切片采样设备的一种优选实施形式，所述自动切片采样设备还包括用于识别种子的三维形状的视觉识别系统，所述移动拾取装置根据由所述视觉识别系统识别出的种子三维形状确定所述种子在所述承载面上的安放位置，使得所述种子被所述冲切装置冲切下来的体积保持恒定。样本切片的体积保持恒定有助于后续检测得到更加精细的结果。
根据本发明的第三方面，本发明提供了一种夹持机构，所述夹持机构由第一夹持件和可相对于所述第一夹持件运动的第二夹持件组成，所述夹持机构被设计用于与所述切片采样工位的承载种子的承载面相配合地夹紧所拾取的种子，且所述第一夹持件和第二夹持件能够一体地运动。
根据本发明的夹持机构的一种优选实施形式，所述夹持机构被设计为适于携带种子横向移动但却无法为种子提供向上的支承力。
根据本发明的夹持机构的一种优选实施形式，所述第一夹持件和所述第二夹持件两者中的至少一个具有向下凹斜的夹持面。这样的夹持面能够提供侧向夹持力，但却不能阻止种子在失去承载面的支承力时下落。在此，将第一夹持件的夹持面设计为两个拼接在一起的三角形斜面，如图6、图7所示，但是本领域技术人员显然也可以考虑其它形状的支承面，例如圆弧形的，或者是由更多三角形斜面拼接而成的支承面。
这样，冲切完成之后，夹持机构夹持切割后的种子沿回退方 向后退，使种子在后退过程中落入种子收集导管，从而落入专用种子收集容器。
根据本发明的采样切割装置及种子自动切片采样设备的优点在于，对种子的切割通过旋转切割件和冲切装置的协同作用实现，因而使得样本切片不会受到旋转切割件旋转的影响沿切线方向抛射，而是会随着冲切装置的冲切下落。
附图说明
图1是根据本发明的采样切割装置的立体图；
图2是根据本发明的采样切割装置的侧视图；
图3是根据本发明的分拣装置下部的局部侧视图，示出了落料导管通过气动换向阀与两个出料导管相连的布置；
图4是根据本发明的种子自动切片采样设备的俯视图；
图5是根据本发明的种子自动切片采样设备的夹持机构的立体图；
图6是图5所示夹持机构中的第一夹持件的局部放大立体图；
图7是图6所示第一夹持件从另一个方向观察的局部放大立体图；
图8是根据本发明的种子自动切片采样设备的分拣装置的侧面剖视图；
图9是根据本发明的种子自动切片采样设备的分拣装置的立体图；
图10是根据本发明的种子自动切片采样设备的样本收集装置的正视图；
图11是根据本发明的种子自动切片采样设备的样本收集装置的立体图；
图12是根据本发明的种子自动切片采样设备的种子收集装 置的正视图；
图13是根据本发明的种子自动切片采样设备的种子收集装置的立体图；
图14是根据本发明的种子自动切片采样设备的侧视图；
图15是根据本发明的种子自动切片采样设备的正视图；
图16是根据本发明的种子自动切片采样设备的立体图；
图17是根据本发明的种子自动切片采样设备的移动拾取装置的侧视图，其中示出了一粒种子被移动拾取装置的吸头从一个升降平台上拾起而另一粒种子位于另一个升降平台上；
图18以局部立体图的形式示出了落料导管、气动换向阀和升降平台之间的空间位置关系；
图19是冲切装置的立体图，同时也示出了承载面上的种子收集导管入口。
具体实施方式
图1示出了根据本发明的采样切割装置14的一种实施形式，为清楚起见，图中仅示意地示出了主要的部件。待切割的种子5在夹持机构11和承载面1的配合下固定在承载面1上，承载面1上方布置有冲切装置3，而承载面1下方在侧面则布置有旋转切割件2。
待切割的种子5的位置和取向由夹持机构11根据由一个识别装置(例如，在此实施例中是CCD相机35)识别出的该种子5的三维形状确定。确定待切割的种子5的位置和取向的原则是使种子5的对于成活性有关键作用的部分不被破坏，并且每个种子5被最终冲切下的部分的体积或者说质量大致相同，都相当于一个预定的体积或质量。
如图5所示，夹持机构11由第一夹持件12和可相对于所述 第一夹持件12运动的第二夹持件13组成。它与切片采样工位10的承载种子5的承载面1相配合地夹紧所拾取的种子5，且所述第一夹持件12和第二夹持件13能够一体地运动。
第一和第二夹持件12、13中的至少一个具有向下凹斜的夹持面22。这样的夹持面适于携带种子5横向移动但却无法为种子5提供向上的支承力。例如，图6和图7以立体图的形式示出了第一夹持件12由两个三角形夹持面组成的向下凹斜的夹持面22。这样的夹持面能够在第一和第二夹持件12、13相互靠近时夹紧种子，亦能够在种子失去承载面1的支承时使种子能够自由下落。
承载面1上如图19所示地提供了开孔，其与种子收集导管19的种子收集导管入口20相通，因而在第一夹持件12和第二夹持件13共同夹持种子回退而远离承载面边沿时，能够使种子失去承载面1的支承的情况发生，从而通过种子收集导管入口20收集落下的种子。
在种子5上方还布置有一个未示出的测距装置，在本实施例中是一个激光测距装置，用于测量待切割的种子5在切割位置上方的高度，也就是在旋转切割件2的切割平面处的种子厚度。
如图1所示，布置在承载面1上的种子5的一部分伸出承载面1，伸出量由CCD相机40(如图14所示)来确定。旋转切割件2沿承载面1的边沿从侧面旋转进入种子5，控制其进刀深度小于所测得的种子厚度到一个这样的程度，以至于所述种子5的下部由旋转切割件2形成切割缝隙，而上部则在经旋转切割件2切割之后仍保持相连。
图2以侧视图示出了冲切装置3是如何自上而下冲切被夹持机构夹持在承载面上的种子5的，冲切装置3包括作为上模的冲头4，下模则由承载面1构成。图2中示出了冲头4正切割在种子5上，而下方的样本收集导管16则对准种子下方以便收集所冲 切下来的种子5。
在旋转切割件2的切割结束之后，样本收集导管16就运动到种子5的下方，同时其导管端口处于开口状态。冲切装置3此时也运动到种子5的上方。在旋转切割件2退回初始位置后，上方的冲切装置3向下运动，将这个种子5对着上述切割形成的切割缝隙冲切断开，被切下的种子5的样本(对于玉米种子而言是已被部分切割的胚乳部分)落入样本收集导管16，并经过样本收集导管16，落入到样本收集容器17(样本九十六孔板)中。在此，样本收集导管16总是运动到对准种子5的下方的位置，而样本九十六孔板则在机械手的夹持下在XY方向上移动。
在旋转切割件2和冲切装置3动作时，布置在承载面1附近的负压粉末收集装置利用负压吸尘收集切割过程产生的粉末。
冲切完成之后，夹持机构11携带着被切割后的种子向后退，远离切割位置，直到到达承载面1上的种子收集导管入口20上而顺势落入种子收集导管19，从而经由种子收集导管19落入种子收集容器21，该种子收集容器21例如为种子九十六孔板。其中，种子九十六孔板运动到位后，由气动夹爪定位，固定不动。种子收集导管19置于XY运动平台之上，出口对着种子九十六孔板内的单元格依次装填。
根据本发明的采样切割装置14的另一种实施形式，与上述实施形式的区别在于：承载面1上没有作为与种子收集导管入口直接连通的开孔，种子收集导管19布置在所述承载面1边沿附近，且额外设置了推杆。在冲切完成、夹持机构打开之后，所述推杆扫过所述承载面1，将切割后的种子5从承载面1上扫到其边沿附近的种子收集导管19的种子收集导管入口20内，从而落入种子收集容器21(种子九十六孔板)中。
图14至图16中示出了一种带有采样切割装置14的种子自动 切片采样设备，该设备包括分拣装置7、移动拾取装置9、采样切割装置14、样本收集装置15、种子收集装置18等主要部分，用于将储料斗23中的种子5单粒拾取，并在其形状和位置符合要求的情况下将其拾取和移动到切片采样工位10进行切割，切割后的样本切片和余下的种子分别由样本收集装置15和种子收集装置18一一对应地收集。
分拣装置7的储料斗23用于储存一定量的种子5，保证设备持续运转。分拣装置7确保每次只有一粒种子5被输送到一个升降平台8上。两个升降平台8根据气动换向阀31的动作交替往复工作。图8和图9分别以侧面剖视图和立体图的形式示出了根据本发明的种子自动切片采样设备的分拣装置。图3则示出了气动换向阀31上端连接的落料导管26与下端连接的两根出料导管30。种子经落料导管26、气动换向阀31落下后，由轮流工作的两个升降平台8之一顶起到适于CCD相机35进行视觉识别的高度，升降平台如图18所示地布置在气动换向阀31旁。
升降平台8上的种子5由CCD相机35进行视觉识别，根据典型样本的图像分析、利用智能视觉识别软件、以平台外形定位、识别种子5的外形中心和偏转角度，从而快速确定种子5的位置和方向；如果发现该粒种子不适于切割(比如：找不到种子粒的轴线，种子粒太小，长宽比太大，以及切割位置太薄等)，则由废料剔除机构将该粒种子5推送到废料收集容器内。
如图4及图17所示，被识别为适于进行切割的种子5由移动拾取装置9(四轴机器人，例如Epson机器人)根据CCD相机35的反馈抓取并调整方向，然后将种子5搬运到切片采样工位10，其中，移动拾取装置的机械手抓取方式采用真空吸盘吸取的方式，吸头与机械手主轴中心同轴。采用负压监控的方式识别种子5是否在搬运过程中掉落，如掉落系统将报警。如图17所示，移动拾 取装置9以吸头将一粒种子5从升降平台8上吸起，而另一粒种子则处在另一个升降平台8上。
在切片采样工位10，根据CCD相机35传递的数据调整种子5的方向和位置以及夹持机构11的位置，使夹持机构11在承载面1的配合下将种子5夹紧固定。图5示出了种子5被夹持机构的第一夹持件12和第二夹持件13共同夹持在承载面1上的状态。图6和图7则详细示出了第一夹持件12的夹持面形状。种子5被夹持之后，由另一套CCD相机40进行识别和判断，如果判定种子5被切割位置伸出承载面1的尺寸达到要求，则使激光测距装置(例如激光测距传感器)运动到承载面1的边沿上方测量种子切割线位置上方的高度，从而控制旋转切割件的切割深度，使得种子5在胚乳部分的下部被切出一条缝隙，但种子5的上部仍保持完整，约有1-2毫米的连接，这样，样本就不至于掉落。
在切割过程中，同时利用负压吸尘收集切割过程产生的粉末。切割缝隙的深度根据种子激光测高的结果进行调整，通过步进电机和凸轮机构实现。
图10和图11示出了样本收集装置15。切割结束之后，样本收集导管16运动到种子5的下方，同时样本收集导管16的端口打开，然后冲切气缸向下运动，将已被部分切割的胚乳部分冲切下来，使之经过样本收集导管16，落入到专用样本收集容器17(样本九十六孔板)中。其中，样本收集导管16的位置始终对准种子5的下方，而样本九十六孔板则可在水平面内相互垂直的XY方向上移动。
图12和图13单独示出了种子收集装置18。冲切完成之后，夹持机构11夹持切割后的种子5沿回退方向后退，使种子在后退过程中落入种子收集导管19，从而落入专用种子收集容器21(种子九十六孔板)中。图19以立体图的形式示出了种子收集导管20 上端在承载面1内的开口，从而清楚地表明了切割后的种子是如何在回退过程中落入种子收集导管20的。其中，种子九十六孔板运动到位后，由气动夹爪定位，固定不动。种子收集导管19置于XY运动平台之上，出口对着九十六孔板内的单元格依次装填。
以上记载了本发明的优选实施例，但是本发明的精神和范围不限于这里所公开的具体内容。本领域技术人员能够根据本发明的教导而做出更多的实施方式和应用，这些实施方式和应用都在本发明的精神和范围内。本发明的精神和范围不由具体实施例来限定，而由权利要求来限定。
附图标记列表
1承载面
2旋转切割件
3冲切装置
4冲头
5种子
7分拣装置
8升降平台
9移动拾取装置
10切片采样工位
11夹持机构
12第一夹持件
13第二夹持件
14采样切割装置
15样本收集装置
16样本收集导管
17样本收集容器
18种子收集装置
19种子收集导管
20种子收集导管入口
21种子收集容器
22夹持面
23储料斗
24固定盘
25开口
26落料导管
27分选转盘
28缺口
29斜面突起部
30出料导管
31气动换向阀
32气流作用装置
33检测装置
34视觉识别装置
35CCD相机
38控制柜
39气泵
40CCD相机

Claims (22)

  1. 一种采样切割装置(14)，所述采样切割装置(14)用于对布置在承载面(1)上的种子(5)进行切片采样，所述种子(5)由夹持机构(11)与承载面(1)相配合地夹紧且使所述种子(5)的一部分伸出所述承载面(1)，所述采样切割装置(14)包括：
    旋转切割件(2)，所述旋转切割件(2)被设计为适于在种子(5)的下部沿所述承载面(1)的边沿对所述种子(5)的伸出所述承载面(1)的部分进行切割，从而形成穿透所述种子(5)的下部的切割缝隙；
    其特征在于，所述采样切割装置(14)还包括：
    冲切装置(3)，所述冲切装置(3)的冲头(4)布置在所述种子(5)的上方，而下模由所述承载面(1)构成，所述冲切装置(3)被设计为适于对着所述切割缝隙自上向下从所述种子(5)上冲切下已由旋转切割件切割出缝隙的所述种子(5)的伸出所述承载面(1)的部分，测距装置，该测距装置被设计为适于测量所述种子(5)在所述旋转切割件(2)的切割平面内的厚度；
    其中，根据所述测距装置测得的所述厚度控制所述旋转切割件(2)对种子(5)的切割深度，使得所述种子(5)的上部在经所述旋转切割件(2)切割之后仍保持相连。
  2. 根据权利要求1所述的采样切割装置(14)，其特征在于，所述种子(5)的上部在经所述旋转切割件(2)切割之后保持相连的厚度被选择为，使得所述种子(5)能够被所述冲切装置(3)沿所述切割缝隙整齐地切断。
  3. 根据权利要求1或2所述的采样切割装置(14)，其特征在于，所述采样切割装置(14)根据事先识别出的种子三维形状确定所述种子(5)伸出所述承载面(1)的尺寸，使得每个种子(5)被所述冲切装 置(3)冲切下来的体积保持恒定。
  4. 根据权利要求1所述的采样切割装置(14)，其特征在于，所述采样切割装置(14)还具有负压粉末收集装置，该负压粉末收集装置用于在切割过程中以负压收集切割过程产生的粉末。
  5. 根据权利要求1所述的采样切割装置(14)，其特征在于，所述采样切割装置(14)是用于采样切割玉米种子的采样切割装置。
  6. 根据权利要求1所述的采样切割装置(14)，其特征在于，夹持机构(11)由第一夹持件(12)和可相对于所述第一夹持件(12)运动的第二夹持件(13)组成，所述夹持机构被设计用于与切片采样工位(10)的承载种子(5)的承载面(1)相配合地夹紧所拾取的种子(5)，且所述第一夹持件(12)和第二夹持件(13)能够一体地运动。
  7. 根据权利要求6的采样切割装置(14)，其特征在于，所述夹持机构(11)被设计为适于携带种子(5)横向移动但却无法为种子(5)提供向上的支承力。
  8. 根据权利要求7的采样切割装置(14)，其特征在于，所述第一夹持件(12)和所述第二夹持件(13)两者中的至少一个具有向下凹斜的夹持面(22)。
  9. 根据权利要求1的采样切割装置(14)，其特征在于，测距装置为激光测距传感器。
  10. 根据权利要求1的采样切割装置(14)，其特征在于，通过步进电机和凸轮机构来控制旋转切割件(2)的切割缝隙深度。
  11. 根据权利要求1的采样切割装置(14)，其特征在于，承载面(1)上设有开孔，其能够与种子收集导管相通，当冲切装置冲切采样完成后，夹持机构夹持种子回退，使种子落入种子收集导管而被收集。
  12. 根据权利要求1的采样切割装置(14)，其特征在于，种子收集导管布置在承载面(1)边沿外，当冲切装置冲切采样完成并 打开夹持机构后，利用推杆将种子扫落入种子收集导管。
  13. 一种种子自动切片采样设备，该种子自动切片采样设备包括
    如权利要求1至12中任一项所述的采样切割装置(14)，所述采样切割装置(14)对由夹持机构(11)夹持在切片采样工位(10)的承载面(1)上的种子(5)进行切割。
  14. 根据权利要求13的种子自动切片采样设备，其特征在于，该设备包括分拣装置(7)，所述分拣装置(7)被设计用于将储料斗(23)中的种子(5)单粒地运送到升降平台(8)上。
  15. 根据权利要求14的种子自动切片采样设备，其特征在于，该设备包括移动拾取装置(9)，所述移动拾取装置被设计用于从所述升降平台(8)拾取种子(5)并将其移动到切片采样工位(10)。
  16. 根据权利要求13的种子自动切片采样设备，其特征在于，样本收集装置(15)，所述样本收集装置包括样本收集导管(16)和布置在所述样本收集导管(16)的下方的样本收集容器(17)，所述样本收集导管(16)被设计为适于运动到所切割的种子(5)的下方以便使所述样本切片经过所述样本收集导管(16)落入到所述样本收集容器(17)中。
  17. 根据权利要求16的种子自动切片采样设备，其特征在于，所述样本收集导管(16)总是运动到所述切片采样工位(10)的下方的相同位置，而所述样本收集容器(17)则被设计为适于在水平面内沿相互垂直的XY方向移动，以便使所述样本收集容器(17)的不同存储部位对准所述样本收集导管(16)。
  18. 根据权利要求13的种子自动切片采样设备，其特征在于，该设备还包括种子收集装置(18)，所述种子收集装置包括种子收集导管(19)和布置在所述种子收集导管下方的种子收集容器(21)，所述种子收集导管(19)的种子收集导管入口(20)布置为，使切割后 的种子(5)能够落入所述种子收集导管(19)，从而落入所述种子收集容器(21)中。
  19. 根据权利要求18的种子自动切片采样设备，其特征在于，所述种子收集容器(21)总是运动到所述切片采样工位(10)的下方的相同位置定位，而所述种子收集导管(19)则被设计为适于在水平面内沿相互垂直的XY方向移动，从而使所述种子收集容器(21)的不同存储部位能够被依次装填。
  20. 根据权利要求15的种子自动切片采样设备，其特征在于，还包括用于识别种子(5)的三维形状的视觉识别系统，所述移动拾取装置(9)根据由所述视觉识别系统识别出的种子三维形状确定所述种子(5)在所述承载面(1)上的安放位置，使得所述种子(5)被所述冲切装置(3)冲切下来的体积保持恒定。
  21. 根据权利要求15的种子自动切片采样设备，其特征在于，移动拾取装置(9)为四轴机器人，能够在多个切片采样工位之间移动，每个切片采样工位包括所述采样切割装置。
  22. 根据权利要求21的种子自动切片采样设备，其特征在于，移动拾取装置(9)的机械手采用真空吸盘。
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