WO2018014589A1

WO2018014589A1 - Sorting apparatus and automatic seed slicing and sampling apparatus

Info

Publication number: WO2018014589A1
Application number: PCT/CN2017/079195
Authority: WO
Inventors: 卢洪; 宋桂宣; 翟晨光; 刘龙飞; 任利波
Original assignee: 中玉金标记（北京）生物技术股份有限公司
Priority date: 2016-07-19
Filing date: 2017-04-01
Publication date: 2018-01-25
Also published as: CN106217432B; CN106217432A

Abstract

A sorting apparatus (7) comprising: a material storage hopper (23), the material storage hopper being used for storing a certain amount of seeds (5), the base of the hopper consisting of one fixed plate (24), the fixed plate being obliquely arranged and provided on the upper peripheral area thereof with one opening (25), and the position of the opening being higher than the height of the seeds stored in the material storage hopper; a material dropping guide pipe (26), one extremity of the material dropping guide pipe being in communication with the opening (25) of the fixed plate (24), and the other extremity running directly or indirectly over a lifting/lowering platform (8); a sorting turntable (27), the sorting turntable being arranged at the bottom of the material storage hopper and affixed to the upper side of the fixed plate, several notches (28) being evenly distributed along the circumference of the peripheral area of the turntable, the size of the notches being designed so that each notch can accommodate only one seed, the sorting turntable can rotate in steps relative to the material storage hopper, so that there is always one notch (28) being rotated to the position aligned and in communication with the opening (25) of the fixed plate (24). Also provided is an automatic seed slicing and sampling apparatus comprising the sorting apparatus.

Description

Sorting device and seed automatic slicing and sampling equipment

Technical field

The present invention relates to a sorting apparatus and a seed automatic slicing and sampling apparatus having the sorting apparatus.

Background technique

In plant development and improvement, plants are genetically modified by selective breeding or genetic manipulation. Among them, the seeds are tested non-destructively or destructively. To do this, the seeds used for the test are first sorted into single pieces before each seed can be processed. It is hoped that the sorting of seeds can be carried out quickly and efficiently.

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. Wherein, the individual seeds are captured by the orifices of the two separation wheels in the seed box and the individual seeds are held by vacuum suction, and then the seed leaves the orifice through the transfer chamber of the diverter, in the manifold, due to the reduction of vacuum suction or the action of the scraper One of the conduits is assigned to one of the plurality of lifting units of the seed loading assembly.

The Chinese invention patents CN203426069U and CN204448619U disclose the conventional sorting method, that is, the seeds treated by the vibrating plate are arranged in a row and a grain. The technical solution related to the action of sorting seeds into single particles disclosed in Chinese Patent Application No. CN104890905A includes a vibration motor, a shock mount, and a number of channels. The vibration of the vibration motor drives the vibration of the shock frame, which drives the vibration of the several channels, so that the seeds can move along the several channels and finally move into a single grain.

The seed sorting device described above does not meet the requirements for speed and accuracy of the sorting function.

Summary of the invention

In view of the above problems, the technical problem to be solved by the present invention is to provide a sorting device capable of realizing rapid and accurate sorting of seeds and enabling the seeds to be processed one by one in a subsequent process.

This technical problem is achieved by a sorting device according to the invention. The sorting device comprises: a storage hopper for storing a quantity of seeds, the bottom of which is composed of a fixed disc, the fixed disc is arranged obliquely and the upper edge region has an opening, the opening position being higher than a seed height stored in the storage hopper; a blanking conduit, one end of the blanking conduit is in communication with the opening of the fixed tray, and the other end is directly or indirectly connected to the lifting platform; the sorting turntable, The sorting turntable is disposed at the bottom of the storage hopper and abuts against the upper side of the fixed plate, and the edge region of the sorting turntable is evenly distributed with a plurality of notches along the circumference, and the notch is designed to be capable of each notch. To accommodate the seed, the sorting carousel is designed to be stepwise rotatable relative to the hopper such that there is always one of the notches that will rotate to a position in alignment with the opening of the fixed disk.

According to a preferred embodiment of the sorting device of the present invention, the sorting turntable has beveled projections inclined toward the notch on both sides of each of the notches, so that seeds in the storage hopper can be guided to the gap.

According to a preferred embodiment of the sorting device of the present invention, the sorting device comprises a plurality of lifting platforms, and each of the lifting platforms is provided with a discharge conduit corresponding to the lifting platform. A pneumatic reversing valve is disposed between the blanking conduit and the discharge conduit, and the blanking conduit is in communication with one of the discharge conduits according to the action of the pneumatic reversing valve.

According to a preferred embodiment of the sorting device according to the invention, the sorting device further comprises an air flow acting device, which is designed for the opening of the fixed disk and the sorting carousel The indentations provide an air flow to the seeds within the gap when in communication with each other, causing the seed to fall through the opening of the fixed disk into the blanking conduit under the action of the gas stream.

According to a preferred embodiment of the sorting device of the invention, the sorting device further comprises a detecting device designed to continuously detect and record the moment when the seed passes the upper end of the blanking conduit, The airflow acting device is directed to the seed in the gap after the opening of the fixed disk communicates with the notch of the sorting carousel for a predetermined period of time if no seed is detected to pass through the upper end of the blanking conduit Provides an air flow. In this embodiment, the detecting device is an optical detecting device.

According to a preferred embodiment of the sorting device according to the invention, the air flow actuating device is an air blowing device which is arranged above the opening of the fixed disk.

According to a preferred embodiment of the sorting device of the invention, the sorting device further comprises a visual recognition device, preferably comprising a CCD camera for visually detecting whether the seed on the lifting platform is suitable Cutting.

According to a preferred embodiment of the sorting device of the present invention, the sorting device further includes a waste rejecting mechanism for dropping the seed when the visual recognition device determines that the seed is unsuitable for cutting Go to the waste collection container.

According to another aspect of the present invention, the present invention also provides a seed automatic slice sampling device. The seed automatic slice sampling device includes: the above sorting device designed to transport seeds in a storage hopper to a lifting platform in a single grain; a moving picking device designed to be used from the lifting platform Picking up the seed and moving it to the slice sampling station; a clamping mechanism consisting of a first clamping member and a second clamping member movable relative to the first clamping member, the clamp The holding mechanism is designed to clamp the picked-up seed in cooperation with the seed carrying surface of the slice sampling station, and the first clamping member and the second clamping member can be integrally moved; the sampling cutting device The sampling and cutting device cuts a seed held by the clamping mechanism at the slice sampling station; a sample collection device including a sample collection conduit and disposed under the sample collection conduit a sample collection container designed to move underneath the cut seed to cause the sample slice to fall into the sample through the sample collection conduit Collection vessel, wherein said The sample collection conduit is always moved to the same position below the slice sampling station, and the sample collection container is designed to move in mutually perpendicular XY directions in a horizontal plane to make the sample collection container different a storage site is aligned with the sample collection conduit; a seed collection device comprising a seed collection conduit and a seed collection container disposed below the seed collection conduit, the inlet of the seed collection conduit being arranged with the slice Openings in the bearing surface of the sampling station are in communication and are selected such that the cut seed can fall into the seed collecting conduit during the retraction by the clamping mechanism, thereby falling into In the seed collection container, wherein the seed collection container is always moved to the same position below the slice sampling station, and the seed collection conduit is designed to be XY perpendicular to each other in a horizontal plane. The direction is moved so that different storage locations of the seed collection container can be loaded sequentially.

According to a preferred embodiment of the seed automatic slice sampling device of the present invention, the seed automatic slice sampling device further comprises a visual recognition system for identifying the 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 cut by the rotary cutting member remains constant. Constant sample volume helps to improve the accuracy of the test.

According to a preferred embodiment of the automatic seed slicing and sampling device according to the invention, the clamping mechanism is designed to carry lateral movement of the seed but does not provide an upward support for the seed. For example, at least one of the first clamping member and the second clamping member has a downwardly concave clamping surface. Such 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. Here, 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.

Due to the small mass and volume of the sample slice, it is desirable to pass it when it falls. The product collection catheter remains stationary, otherwise it is easy to get stuck in the catheter and cause 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.

DRAWINGS

Figure 1 is a side cross-sectional view of a sorting apparatus in accordance with the present invention;

Figure 2 is a perspective view of a sorting 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 perspective view of a sampling and cutting device in accordance with the present invention;

Figure 9 is a side elevational view of a sampling and cutting device in accordance with 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 front elevational view of a seed collecting device of a seed automatic slice sampling device in accordance with 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 picking apparatus of the automatic seed slicing and sampling apparatus according to the present invention, wherein one seed is picked up by a suction head of the moving pick-up device from one lifting platform, and the other seed is located in another On the lifting 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.

detailed description

Figure 1 is a partially simplified perspective view of a sorting device 7 in accordance with the present invention. For the sake of clarity, only the necessary components are shown schematically in the figures. A quantity of seed 5 is stored in the hopper 23 and concentrated by gravity on the bottom of the hopper 23 consisting of the fixed disk 24. The fixed disk 24 is arranged obliquely and the upper edge region has an opening 25 which is positioned higher than the seed height stored in the hopper 23 and which communicates with the blanking duct 26 on the lower side. The sorting turntable 27 is disposed at the bottom of the hopper 23 and abuts against the upper side of the fixed plate 24. The edge region is evenly distributed along the circumference with a plurality of notches 28, and the notches are sized to each notch 28 only Can hold a seed 5 . The sorting turntable 27 is designed to be stepwise rotatable relative to the hopper 23 such that there is always one of the notches 28 that is rotated to a position in alignment with the opening 25 of the fixed disk 24. The seed 5 is continuously moved to the respective notches 28 of the sorting turntable 27 by gravity, and is conveyed to a position communicating with the opening 25 of the fixed disk 24 in accordance with the stepwise rotational movement of the sorting turntable 27. As shown, the sorting turntable 27 has beveled projections 29 that slope toward the indentations 28 on either side of each of the indentations 28 of the edge region, the beveled projections that serve to guide the seed 5 in the hopper 23 toward the gap The role of 28 sports.

As shown in Fig. 2, the edge portion of the fixed disk 24 has only one opening 25 and has a through hole at the center. A drive shaft of a stepping motor not shown drives the sorting turntable 27 through the through holes.

One end of the blanking duct 26 communicates with the opening 25 of the fixed disk 24, and the sorting turntable 27 always has a notch 28 rotated to be aligned with the opening 25 of the fixed disk 24 during the rotary motion of the stepping motor drive. The position, such that the notch 28 of the sorting carousel 27 is in communication with the blanking conduit 26, passes directly or indirectly over the lifting platform 8, as shown in FIG.

According to an embodiment of the invention, the blanking duct 26 can be passed directly above the lifting platform 8. In a further embodiment, the selection of the pneumatic reversing valve 31 can also be carried out by one of the plurality of discharge conduits 30 above one of the plurality of lifting platforms 8 in the case of a plurality of lifting platforms 8 . In the latter case, a discharge conduit 30 is provided for each lifting platform 8. Providing a plurality of lifting platforms 8 can realize parallel work and effectively improve production efficiency. As shown in FIG. 3, the seed 5 enters the first discharge conduit or the second discharge conduit via the pneumatic reversing valve 31 according to the action of the pneumatic reversing valve 31, and each of the discharge conduits 30 corresponds to a lifting platform respectively. 8, so that the two lifting platforms 8 work alternately.

After the seed falls on the lifting platform 8, the lifting platform 8 is raised to facilitate the four-axis robot picking up the seed with the suction head.

In order to prevent the multi-seed 5 from being caught at the upper end of the blanking duct 26 or the opening 25 of the fixed disc or the notch 28 of the sorting disc 27, an air flow acting device 32 is also provided, said air flow acting device being designed for said The opening 25 of the fixed disk 24 and the notch 28 of the sorting carousel 27 are in communication with each other to provide an air flow to the seed 5 in the notch 28, allowing the seed 5 to pass through the air stream. The opening 25 of the fixed disk 24 is dropped into the blanking conduit 26. The air flow applying device 32 may be an air blowing device disposed above the opening 25 of the fixed disk 24, or may be a device capable of providing a negative pressure into the blanking pipe 26. The seed 5 is blown by the air flow acting device 32 It enters the blanking conduit 26 by suction or suction and eventually falls onto the lifting platform 8.

In order to cope with the function of the airflow acting device 32 to achieve a better technical effect, the sorting device 7 further comprises detecting means for continuously detecting and recording the time at which the seed 5 passes the upper end of the blanking conduit 26, in the fixed disk If the opening 25 of the 24 is in communication with the notch 28 of the sorting carousel 27, if no seed 5 is detected to pass through the upper end of the blanking duct 26 for a predetermined time, the air flow acting device 32 (here In the embodiment, the air blowing means) provides an air flow to the seed 5 in the gap 28 to enable the seed 5 to enter the blanking conduit 26.

Since the sorting turntable 27 and the fixed disk 24 are arranged obliquely, the opening 25 of the fixed disk 24 is appropriately arranged to be positioned higher than the seed height stored in the storage hopper 23. Thus, as far as possible, it is ensured that only one seed 5 is located in the opening 25 of the fixed disk 24 or the corresponding notch 28 of the sorting disk 27 when the seed 5 is blown or sucked by the air flow acting device 32, and the hopper 23 can be avoided. Blow or draw into multiple seeds 5 internally.

In order to identify whether the shape and position of the seed 5 is suitable for cutting, the sorting device 7 further comprises a visual recognition device, preferably a CCD camera 35, for visually detecting whether the seed 5 on the lifting platform 8 is suitable for cutting. In order to achieve such visual recognition well, an appropriate light source is provided to illuminate the lifting platform 8.

A scrap rejection mechanism is also provided, which in this embodiment is a push plate disposed on a side of the lifting position of the lifting platform 8 for laterally moving across the lifting platform when the visual recognition device determines that the granular seed 5 is unsuitable for cutting The table 5 of the table 8 is dropped into the waste collection container.

14 to 16 show a seed automatic slice sampling device with the sorting device 7 described above, which device comprises a sorting device 7, a moving pick-up device 9, a sampling and cutting device 14, a sample collecting device 15, and a seed collection. The main part of the device 18 and the like is used for picking up the seed 5 sorted from the storage hopper 23, and picking and moving it to the slice sampling station 10 for cutting and cutting if its shape and position meet the requirements. The subsequent sample section and the remaining seeds are respectively taken by the sample collection device 15 and the seed collection device 18 Collected accordingly.

The storage hopper 23 of the above sorting device 7 is used for storing a certain amount of seeds 5 to ensure continuous operation of the equipment. The above 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. 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. After the seed is dropped by the blanking conduit 26 and 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, based on image analysis of typical samples, using intelligent visual recognition software, positioning according to the shape of the platform, identifying the shape center of the seed and the angle of deflection, thereby quickly determining the position of the seed 5 and Direction; if the seed 5 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.

As shown in FIGS. 4 and 17, 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. To the slice sampling station 10, wherein 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.

At the slicing sampling station 10, the direction and position of the seed 5 and the position of the gripping mechanism 11 are adjusted in accordance with the data transmitted from the CCD camera 35, so that the gripping mechanism 11 clamps and fixes the seed 5. 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. After the seed 5 is clamped, it is identified and judged by another set of CCD cameras 40, and if it is determined that the seed is extended by the cutting position, the size of the bearing surface is up to Upon request, the laser ranging sensor is moved to a height above the cutting position to measure the position above the cutting line of the seed to control the cutting depth of the rotating cutting member.

When cutting, as shown in Fig. 8, a part of the seed 5 disposed on the carrying surface 1 protrudes from the bearing surface. The rotary cutting member 2 is rotated from the side along the edge of the bearing surface 1 into the seed 5 to control the depth of the feed to be less than the measured seed thickness to such an extent that the seed 5 is cut into a gap in the lower portion of the endosperm portion, but The upper part of the seed 5 remains intact, with a connection of about 1-2 mm so that the sample does not fall.

Figure 9 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 comprises a punch 4 as an upper die, under The mold is formed by the bearing surface 1. The punch 4 is shown cutting on the seed 5 in Figure 9, while the lower sample collection conduit 16 is positioned below the seed to collect the punched seed 5.

As shown in FIG. 5, the clamping mechanism 11 is composed of a first clamping member 12 and a second clamping member 13 movable relative to the first clamping member 12. 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. Such a gripping surface is adapted to carry the seed 5 laterally but does not provide an upward support for the seed 5. For example, Figures 6 and 7 show, in a partially enlarged 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 Figure 19, which communicates with the seed collection conduit inlet 20 (shown in Figures 12-13) of the seed collection conduit 19, thus at the first clamp 12 and the second clamp When the holder 13 holds the seed together to retreat away from the edge of the bearing surface, it is possible to cause the seed to lose support of the bearing surface 1 to collect the fallen seed through the seed collecting conduit inlet 20.

During the cutting process, 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.

10 and 11 show the sample collection device 15. 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 die cutting is completed, the gripping mechanism 11 grips the cut seed 5 to retreat in the retracting direction, so that the seed 5 falls into the seed collecting duct 19 during the retracting process, thereby falling into the special seed collecting container 21 (seed 96 holes) Board). 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.

The preferred embodiments of the present invention have been described above, but the spirit and scope of the present invention are not limited to the specific details disclosed herein. Those skilled in the art can make further embodiments and applications in accordance with the teachings of the present invention, and such embodiments and applications are within the spirit and scope of the present invention. The spirit and scope of the present invention are not limited by the specific embodiments, but are defined by the claims.

List of reference signs

1 bearing surface

2 rotating cutting parts

3 punching device

4 punch

5 seeds

7 sorting device

8 lifting platform

9 mobile pick-up device

10 slice sampling station

11 clamping mechanism

12 first clamping member

13 second clamping member

14 sampling and cutting device

15 sample collection device

16 sample collection catheter

17 sample collection container

18 seed collection device

19 seed collection catheter

20 seed collection catheter inlet

21 seed collection container

22 clamping surface

23 storage hopper

24 fixed disk

25 openings

26 blanking conduit

27 sorting turntable

28 gap

29 beveled protrusion

30 discharge conduit

31 pneumatic reversing valve

32 air flow device

34 visual identification device

35 CCD camera

38 control cabinet

39 air pump

40 CCD camera

Claims

A sorting device (7), the sorting device comprising:

a storage hopper (23) for storing a quantity of seeds (5), the bottom of which consists of a fixed disk (24), the fixed disk (24) being arranged obliquely and having an opening in the upper edge region (25) The opening (25) is positioned higher than the seed height stored in the storage hopper (23);

a blanking conduit (26), one end of the blanking conduit (26) is in communication with the opening (25) of the fixed disk (24), and the other end is directly or indirectly connected to the lifting platform (8);

The utility model is characterized in that the sorting device further comprises:

a sorting turntable (27), the sorting turntable is arranged at the bottom of the storage hopper (23) and abuts against the upper side of the fixed plate (24), and the edge region of the sorting turntable (27) is circumferential The length is evenly distributed with a plurality of notches (28) sized such that each notch (28) can accommodate a seed (5), the sorting carousel (27) being designed to be capable of being relative to the storage hopper (23) The stepwise rotation is such that there is always one of the notches (28) rotated to a position in alignment with the opening (25) of the fixed disk (24).
The sorting device (7) according to claim 1, characterized in that the sorting turntable (27) has a beveled projection inclined toward the notch (28) on both sides of each of the notches (28) The portion (29) enables the seed (5) in the hopper (23) to be directed to the gap (28).
The sorting device (7) according to claim 1 or 2, characterized in that the sorting device (7) comprises a plurality of lifting platforms (8), correspondingly arranged for each of the lifting platforms (8) There is a discharge conduit (30) leading to the upper portion of the lifting platform (8), and a pneumatic reversing valve (31) is disposed between the blanking conduit (26) and the discharge conduit (30) The blanking conduit (26) is in communication with one of the discharge conduits (30) in accordance with the action of the pneumatic diverter valve (31).
Sorting device (7) according to claim 1, characterized in that the sorting device (7) further comprises an air flow acting device (32), which is designed for The opening (25) of the fixed disk (24) and the notch (28) of the sorting carousel (27) provide an air flow to the seed (5) in the notch (28) when communicating with the notch (28) of the sorting carousel (27). The seed (5) is allowed to fall through the opening (25) of the fixed disk (24) under the action of the air stream into the blanking conduit (26).
Sorting device (7) according to claim 4, characterized in that said sorting device (7) further comprises detection means designed to continuously detect and record seeds (5) through said The timing of the upper end of the blanking conduit (26), if the opening (25) of the fixed disk (24) and the notch (28) of the sorting turntable (27) are in communication with each other for a predetermined time No seed (5) is detected through the upper end of the blanking conduit (26), and the airflow acting device (32) provides an air flow to the seed (5) within the gap (28).
Sorting device (7) according to claim 4 or 5, characterized in that the air flow acting means (32) is blown over the opening (25) of the fixed disk (24) Gas device.
A sorting device (7) according to claim 4 or 5, characterized in that the air flow acting means (32) is a device capable of providing a negative pressure into the blanking duct (26).
The sorting device (7) according to any one of claims 1 to 7, characterized in that the sorting device (7) further comprises a visual recognition device for detecting in a visually recognizable manner Whether the seed (5) on the lifting platform (8) is suitable for cutting.
A sorting device (7) according to claim 8, characterized in that the visual recognition device comprises a CCD camera.
The sorting device (7) according to any one of claims 1 to 7, characterized in that the sorting device (7) further comprises a waste rejecting mechanism for determining at the visual recognition device The seed (5) is not suitable for cutting the seed (5) into the waste collection container.
The sorting device (7) according to claim 10, wherein the waste rejecting mechanism is a push plate disposed at a side of the lifting platform lifting position.
Sorting device (7) according to any of claims 1-11, characterized in that The sorting carousel is driven by a stepper motor drive shaft that passes through the center hole of the fixed plate.
A seed automatic slice sampling device, the seed automatic slice sampling device comprising:

A sorting device (7) according to any one of claims 1 to 12, the sorting device being designed to transport the seed (5) in the hopper (23) to the lifting platform in a single grain (8) )on.
Seed automatic slice sampling device according to claim 13, characterized in that the device further comprises a mobile pick-up device (9) designed to pick up seeds (5) from the lifting platform (8) and It moves to the slice sampling station (10).
A seed automatic slice sampling device according to claim 14, further comprising a clamping mechanism (11), said clamping mechanism being comprised by said first clamping member (12) and movable relative to said first clamping member The second clamping member (13) of the moving member (12) is designed to be clamped with the bearing surface of the seed carrying seed (5) of the slicing sampling station (10) The picked-up seed (5) is pressed, and the first clamping member (12) and the second clamping member (13) are movable integrally.
A seed automatic slice sampling device according to claim 15, characterized in that the apparatus further comprises a sampling cutting device (14), said pair of sampling cutting devices being held by said clamping mechanism (11) at said slice sampling station The seed (10) of (10) was cut.
A seed automatic slice sampling device according to claim 16, characterized in that the device further comprises a sample collection device (15), the sample collection device comprising a sample collection conduit (16) and a sample collection conduit (16) disposed thereon a sample collection container (17) below, the sample collection conduit (16) being designed to move underneath the cut seed to cause the sample slice to fall through the sample collection conduit (16) into the Sample collection container (17).
Seed automatic slice sampling apparatus according to claim 17, wherein said sample collection conduit (16) is always moved to the same position below the slice sampling station (10), and said sample collection container (17) Designed to move in mutually perpendicular XY directions in a horizontal plane to allow for different storage locations of the sample collection container (17) The sample collection conduit (16) is intended.
Seed automatic slice sampling device according to claim 18, characterized in that it further comprises a seed collecting device (18), said seed collecting device comprising a seed collecting conduit (19) and a seed collecting conduit (19) arranged a seed collection container (21) below, the seed collection conduit inlet (20) of the seed collection conduit (19) being arranged to communicate with an opening in the bearing surface of the slice sampling station (10) and at a location It is selected such that the cut seed falls into the seed collecting conduit (19) during the retraction by the clamping mechanism (11), thereby falling into the seed collecting container (21).
Seed automatic slice sampling apparatus according to claim 19, wherein said seed collecting container (21) is always moved to the same position below said slice sampling station (10), and said seed collecting conduit ( 19) is then designed to be moved in mutually perpendicular XY directions in a horizontal plane so that different storage locations of the seed collecting container (21) can be loaded sequentially.
A seed automatic slice sampling apparatus according to claim 14, wherein the moving pickup device (9) is a four-axis robot movable between a plurality of slice sampling stations, each of the slice sampling stations including a sampling cutting device.
A seed automatic slice sampling device according to claim 21, wherein the robot of the moving pickup device (9) employs a vacuum chuck.