Up-and-down collaborative unmanned autonomous precise quality-preserving cotton picking robot and its cotton picking method

Abstract

The present invention provides an up-and-down collaborative unmanned autonomous high-quality cotton picking robot and a cotton picking method thereof, which mainly consists of a vehicle frame, an image recognition module, a cotton supporting mechanism, a cotton straightening mechanism, a cotton bin, and a multi-axis cotton picking mechanism. The steps are as follows: the cotton supporting mechanisms on both sides gather the cotton branches and leaves of the cotton seedlings that have blossomed towards the middle; the image recognition module takes pictures and calculates to obtain the position of the upper-layer cotton; the arc-shaped track slides on the side-arm track to the position of the cotton, and the straightening comb teeth slide along the inner arc track to adjust the posture of the cotton; the image recognition module continues to take pictures and obtains the position of the cotton after adjusting the posture, and classifies the cotton of different qualities; the cotton picking gripper moves in space on the three-axis track to grab the cotton, and then puts the grabbed cotton into the cotton bin. The present invention adjusts the posture of the cotton first and then picks it, improves the picking quality of the cotton, reduces the cotton residue remaining on the cotton bolls, and the picking is more thorough.

Description

Technical Field

[0001] The present invention relates to cotton picking, and particularly to an up-and-down collaborative unmanned autonomous precision quality-preserving cotton picking robot and a cotton picking method thereof. Background Art

[0002] When the cotton picking season arrives, cotton farmers are busy picking cotton manually, which is time-consuming and laborious. Not only is the labor intensity high, but the picking efficiency is extremely low. When encountering continuous rainy weather, the cotton cannot be harvested in time, seriously affecting the quality grade of the cotton. Although the traditional large cotton pickers have high picking efficiency, the quality of the picked cotton is uneven, mixed with a large amount of impurities such as branches, leaves, and soil, and it is difficult to harvest high-quality cotton. At the same time, the branches and leaves of the cotton plants are lush, and the positions and orientations of the cotton are different, which brings no small trouble to the precise collection of cotton.

[0003] Therefore, the present invention hopes to provide a new type of cotton picking robot here, which can overcome the above problems and precisely pick high-quality cotton. Summary of the Invention

[0004] The present invention provides an up-and-down collaborative unmanned autonomous precision quality-preserving cotton picking robot, comprising:

[0005] The cotton picking robot is provided with a frame, and the frame is provided with support frames spaced apart on the left and right sides. There is a gap for cotton plants to pass through between the left and right support frames. At the front and rear ends of the bottom of the support frames, walking wheels and steering wheels are respectively provided;

[0006] A number of image recognition modules are installed at different positions of the frame and on the cotton picking claws, for collecting and calculating to obtain the position of the cotton and classifying cottons of different qualities;

[0007] Reed pushing mechanisms are installed on both the left and right support frames. The reed pushing mechanism includes vertical rails provided on the support frames, and the vertical rails are distributed along the front and rear directions of the frame. Reed pushers are provided on the front side of the vertical rails;

[0008] On each reed pushing mechanism, a cotton straightening mechanism is provided. The cotton straightening mechanism includes a side arm track, an arc track, and a straightening comb. The side arm track is vertically installed on the outside of the vertical rail. The arc track is slidably installed up and down on the side arm track. The arc track is vertically arranged and the openings of the two arc tracks are opposite to each other. The arc track is provided with an inner arc track. One end of the straightening comb is slidably installed on the arc track and the other end of the straightening comb crosses the vertical rail, and the straightening comb is always tangent to the inner side surface of the arc track;

[0009] A cotton bin and a multi-axis cotton picking mechanism are installed on the top of the frame. The multi-axis cotton picking mechanism consists of a three-axis track and cotton picking grippers installed on the three-axis track;

[0010] After the cotton seedlings are vertically gathered in the middle by the reel mechanisms on both sides, the arc-shaped track slides on the side arm track and the cotton is adjusted in posture by the upright comb teeth passing through the vertical railing, so that the cotton faces upward, and the cotton is picked by the multi-axis cotton picking mechanism and put into the cotton bin.

[0011] Further, both the traveling wheels and the steering wheels are star-shaped wheels and the traveling wheels are equipped with hub motors, and the cotton picking robot steers by the speed difference between the two traveling wheels.

[0012] Further, gantry frames are respectively fixedly installed on the left and right support frames for installing the vertical railings, and the reel is installed at the front end of the gantry frame, and the reel is a guide plate in the shape of a triangular plate.

[0013] Further, a first synchronous belt and a first motor for driving the first synchronous belt to drive up and down are installed on the side arm track, and a through groove for the first synchronous belt to pass through is provided in the middle of the outer arc of the arc-shaped track.

[0014] Further, a second synchronous belt is provided inside the arc-shaped track, and a second motor for driving the second synchronous belt to drive along the inner arc direction of the arc-shaped track is provided on the arc-shaped track;

[0015] One end of the upright comb teeth is provided with a slider fixedly connected to the second synchronous belt.

[0016] Further, the three-axis track is composed of a horizontal X track, a Y track and a vertical Z track.

[0017] Two X tracks are provided with an X-axis synchronous belt and an X-axis synchronous belt motor, and a first slider is provided on the X-axis synchronous belt. The two ends of the Y track are connected to the first slider, and the X-axis synchronous belt motor drives the X-axis synchronous belt to drive so as to drive the first slider to drive the Y track to slide along the X axis;

[0018] The Y track is provided with a Y-axis synchronous belt and a Y-axis synchronous belt motor, and a second slider is provided on the Y-axis synchronous belt. The Y-axis synchronous belt motor drives the Y-axis synchronous belt to drive so as to drive the second slider to slide along the Y axis. The Y track is also provided with a guide rod for the second slider to pass through;

[0019] The Z track is installed on the second slider. The Z track is a vertical rack and a cotton picking gripper is installed at the bottom. A rack lifting motor is installed on the second slider, and a driving gear meshing with the vertical rack is installed on the rotating shaft of the rack lifting motor.

[0020] Further, the cotton picking gripper is composed of a fifth motor, a wrist arm connector, a cotton picking claw wrist and a cotton picking claw.

[0021] The fifth motor is installed on the motor base. The cotton picking claw wrist is in a "cross" shape. A rotatable wrist arm connector is installed in the middle of the cotton picking claw wrist. The wrist arm connector is a nut that is threadedly engaged with the rotating shaft of the fifth motor. Four cotton picking claws are connected to the cotton picking claw wrist. Each cotton picking claw is a two-joint claw. The first joint claw is hingedly connected to the wrist arm connector, and the second joint claw is hingedly connected to the motor base and the first joint claw.

[0022] Furthermore, cotton bins are installed on both the front and rear sides of the multi-axis cotton picking mechanism. Cotton separating comb teeth are provided at the upper opening of the cotton bin. The cotton picking gripper holding cotton moves to the cotton separating comb teeth and then moves upward, and the cotton separating comb teeth are used to strip the cotton hanging on the cotton picking gripper.

[0023] A cotton picking method for the above cotton picking robot includes the following steps:

[0024] S1. The cotton branches and leaves of the cotton seedlings that are unfolded are gathered towards the middle by the two-sided cotton holding mechanisms.

[0025] S2. The image recognition module takes a photo and calculates to obtain the position of the upper-layer cotton.

[0026] S3. The arc track slides on the side arm track to the position of the cotton. The cotton straightening comb teeth slide along the inner arc track, and the cotton straightening comb teeth are inserted into the root of the cotton at the bottom to adjust the posture of the cotton.

[0027] S4. The image recognition module takes a photo again to classify the cotton and obtains the position of the cotton.

[0028] S5. The cotton picking gripper moves in space on the three-axis track to grab the cotton, and then puts the grabbed cotton into the cotton bin.

[0029] Furthermore, after the cotton picking gripper grabs the cotton, the corresponding cotton straightening comb teeth slide upward on the arc track to the uppermost end so that the cotton straightening comb teeth are perpendicular to the ground, reducing the lateral occupied space.

[0030] The advantages of the present invention are as follows:

[0031] 1) The image recognition module is used to collect images and calculate the coordinate information of the cotton, providing coordinate information for the subsequent straightening and picking of the cotton posture.

[0032] 2) The cotton holding mechanisms on both sides of the vehicle frame can achieve a certain degree of gathering effect on the unfolded cotton branches and leaves. At the same time, the cotton picking gripper and the cotton holding mechanisms work together up and down, enabling more accurate cotton picking.

[0033] 3) A cotton righting mechanism is provided outside the grain - lifting mechanism. The arc - shaped track slides on the side - arm track to the corresponding position, and then the righting comb teeth slide on the inner - arc track. The comb teeth of the righting comb teeth cross - extend into the vertical railings. Through the arc - shaped sliding of the righting comb teeth, the posture of the cotton is adjusted, making the front side of the cotton face upward, which is convenient for subsequent quality evaluation and classification of the cotton, and also convenient for the subsequent cotton - picking gripper to pick the cotton better.

[0034] 4) The cotton - picking gripper picks the cotton according to the coordinate information of the image recognition module and then drops it into the cotton bin. At the opening of the cotton bin, there are cotton - separating comb teeth, which can force the cotton on the cotton - picking gripper to be peeled off. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is a three - dimensional view of an up - and - down collaborative unmanned autonomous precision cotton - quality - guaranteed picking robot provided by the present invention;

[0037] Figure 2 It is a structural diagram of a single - side frame of the cotton - picking robot and the grain - lifting mechanism and the cotton righting mechanism on the frame;

[0038] Figure 3 It is a combined structural diagram of the grain - lifting mechanism and the cotton righting mechanism;

[0039] Figure 4 It is a structural diagram of the cotton righting mechanism;

[0040] Figure 5 It is a structural diagram of the arc - shaped track and the righting comb teeth of the cotton righting mechanism;

[0041] Figure 6 It is a structural diagram of the three - axis track of the multi - axis cotton - picking mechanism;

[0042] Figure 7 It is a side - view structural diagram of the Z - track of the three - axis track;

[0043] Figure 8 It is a structural diagram of the second slider sliding on the Y - track;

[0044] Figure 9 It is a structural diagram of the cotton - picking gripper;

[0045] Figure 10 It is a schematic diagram of the gripper of the cotton - picking gripper in the open state;

[0046] Figure 11 Schematic diagram of the gripper of the cotton picking gripper in the closed state;

[0047] Figure 12 Structural diagram of the cotton bin with cotton separating comb teeth. Detailed implementation mode

[0048] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0049] In order to thoroughly understand the present invention, detailed steps and detailed structures will be proposed in the following description to explain the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention can also have other implementation manners.

[0050] Refer to Figure 1 As shown in the figure, the present invention provides an up-and-down collaborative unmanned autonomous precision quality-preserving cotton picking robot, which mainly consists of a vehicle frame 100, an image recognition module, a cotton supporting mechanism 200, a cotton straightening mechanism 300, a cotton bin 400, and a multi-axis cotton picking mechanism 500. The above structures will be specifically described below.

[0051] Vehicle frame 100

[0052] The vehicle frame 100 is provided with support frames 101 spaced apart on the left and right sides. There is a gap between the left and right support frames 101 for cotton plants to pass through. At the front and rear ends of the bottom of the support frame 101, a walking wheel 102 and a steering wheel 103 are respectively provided. Both the walking wheel 102 and the steering wheel 103 are star-shaped wheels, and the walking wheel 102 is configured with a hub motor. The power generated by the hub motor is used to realize the ability of the entire robot to move in the field. Its tire size is 400 mm. Through simulation calculation, combined with the motor it is equipped with, the power generated is greater than the overall weight of the robot, and it has a certain load capacity. The robot can pick and carry items of a certain weight to meet the requirements of continuous field operations. When the cotton picking robot turns, differential steering is performed by the speed difference between the two walking wheels 102.

[0053] The cotton picking robot is provided with a vehicle frame 100, and a number of image recognition modules (not marked in the figure) are installed at different positions of the vehicle frame 100 and the cotton picker (520) for collecting and calculating to obtain the position of the cotton, providing coordinate data for the subsequent cotton straightening mechanism 300 to straighten the cotton.

[0054] Cotton supporting mechanism 200

[0055] The cotton supporting mechanism 200 is installed on both the left and right supporting frames 101. The cotton supporting mechanism 200 includes vertical rails 201 (similar to fences) provided on the supporting frames 101. Each vertical rail 201 is distributed in the front-back direction of the vehicle frame 100, and a cotton support 202 is provided on the front side of the vertical rail 201. Gantry frames 203 are respectively and fixedly installed on the left and right supporting frames 101 for installing the vertical rails 201. The cotton support 202 is installed at the front end of the gantry frame. The cotton support 202 is a guide plate in the shape of a triangular plate.

[0056] The cotton supporting mechanism 200 is mainly used to gather cotton for convenient picking. Among them, the cotton support 202 can gather the scattered cotton from the bottom to a position half a meter above the ground, and the gantry frame 203 gathers the cotton at a position more than half a meter above the ground. After the gathered cotton enters the machine, it will then be blocked by the vertical rail 201. The straightening comb teeth 303 of the cotton straightening mechanism 300 can extend out from the vertical rail 201 to control the posture of the cotton.

[0057] Cotton straightening mechanism 300

[0058] The cotton straightening mechanism 300 is provided on each cotton supporting mechanism 200. The cotton straightening mechanism 300 includes a side arm track 301, an arc track 302, and straightening comb teeth 303. The side arm track 301 is vertically installed on the outer side of the vertical rail 201. The arc track 302 is slidably installed up and down on the side arm track 301. A first synchronous belt and a first motor 304 for driving the first synchronous belt to drive up and down are installed on the side arm track 301. A through groove 302-2 for the first synchronous belt to pass through is provided in the middle of the outer arc of the arc track 302.

[0059] The arc track 302 is vertically arranged and the openings of the two arc tracks 302 face each other. The arc track 302 is provided with an inner arc track 302-1. A second synchronous belt is provided inside the arc track 302. One end of the straightening comb teeth 303 is slidably installed on the arc track 302 and the other end of the straightening comb teeth 303 crosses through the vertical rail 201. A second motor 302-3 for driving the second synchronous belt to drive along the inner arc direction of the arc track 302 is provided on the arc track 302; a slider is provided at one end of the straightening comb teeth 303 and is fixedly connected to the second synchronous belt. No matter where the straightening comb teeth 303 slide on the inner arc track 302-1, the straightening comb teeth 303 are always tangent to the inner side surface of the arc track 302.

[0060] The working principle of the cotton straightening mechanism 300 is as follows: After the image recognition module captures an image and calculates the coordinates of the cotton, the arc track 302 slides on the side arm track 301 to the corresponding position. Subsequently, the straightening comb teeth 303 slide on the inner arc track 302-1. The comb teeth of the straightening comb teeth 303 cross and extend into the vertical railing 201. Through the arc sliding of the straightening comb teeth 303, the posture of the cotton is adjusted, making the front of the cotton face upward, which is convenient for subsequent classification of the cotton and also convenient for the subsequent cotton picking gripper 520 to pick the cotton better.

[0061] Multi-axis cotton picking mechanism 500

[0062] The multi-axis cotton picking mechanism 500 is composed of a three-axis track 510 and a cotton picking gripper 520 installed on the three-axis track 510. The three-axis track 510 drives the cotton picking gripper 520 to move three-dimensionally in space, picks the cotton with adjusted posture, and drops it into the cotton bin 400.

[0063] The three-axis track 510 is composed of a horizontal X track 511, a Y track 512, and a vertical Z track 513. Two X tracks 511 are provided with an X-axis synchronous belt 511-1 and an X-axis synchronous belt motor 511-2. A first slider 511-3 is provided on the X-axis synchronous belt 511-1. The two ends of the Y track 512 are connected to the first slider 511-3. The X-axis synchronous belt motor 511-2 drives the X-axis synchronous belt 511-1 to drive the first slider 511-3 to drive the Y track 512 to slide along the X axis.

[0064] The Y track 512 is provided with a Y-axis synchronous belt 512-1 and a Y-axis synchronous belt motor 512-2. A second slider 512-3 is provided on the Y-axis synchronous belt 512-1. The Y-axis synchronous belt motor 512-2 drives the Y-axis synchronous belt 512-1 to drive the second slider 512-3 to slide along the Y axis. In addition, the Y track 512 is also configured with a guide rod 512-4. The second slider 512-3 is provided with a guide hole 512-5 passing through the guide rod 512-4, which plays a role of guiding and limiting. The second slider 512-3 is provided with a belt groove 512-6 for the Y-axis synchronous belt 512-1 to pass through. The Z track 513 is installed on the second slider 512-3. The Z track 513 is a vertical rack 513-1 and a cotton picking gripper 520 is installed at the bottom. A rack lifting motor 512-7 is installed on the second slider 512-3, and a driving gear meshing with the vertical rack 513-1 is installed on the rotating shaft of the rack lifting motor 512-7.

[0065] The cotton picking gripper 520 is composed of a fifth motor 521, a wrist-arm connector 522, a cotton picking claw wrist 523, and a cotton picking claw 524. The fifth motor 521 is mounted on a motor base 525, the cotton picking claw wrist 523 is in a "cross" shape, a rotatable wrist-arm connector 522 is mounted in the middle of the cotton picking claw wrist 523, the wrist-arm connector 522 is a nut that is threadedly matched with the shaft of the fifth motor 521, and four cotton picking claws 524 are connected to the cotton picking claw wrist 523, each of which is a two-section joint claw, the first joint claw 524-1 is hingedly connected to the wrist-arm connector 522, and the second joint claw 524-2 is hingedly connected to the motor base 525 and the first joint claw 524-1.

[0066] The working principle of the cotton picking gripper 520 is as follows: the fifth motor 521 drives the wrist arm connector 522 to rotate and move up and down at the same time, and the wrist arm connector 522 drives the cotton picking claw wrist 523 to move up and down synchronously. The up and down movement of the cotton picking claw wrist 523 will pull the four cotton picking claws 524 to open or contract to pick cotton or loosen cotton.

[0067] Cotton warehouse 400

[0068] Cotton bins 400 are installed on both the front and rear sides of the multi-axis cotton picking mechanism 500. Cotton separation comb teeth 401 are provided on the upper opening of the cotton bin 400. The cotton picking gripper 520 grabbing the cotton moves to the cotton separation comb teeth 401 and then moves upward, and the cotton hanging on the cotton picking gripper 520 is peeled off by the cotton separation comb teeth 501. After releasing the cotton, the cotton picking gripper 520 moves to the cotton separation comb teeth 401, so that the cotton separation comb teeth 401 enter the middle of the four cotton picking claws 524, and the cotton picking gripper 520 rises, so that the cotton that has not fallen is separated from the cotton picking claws 524 under the obstruction of the cotton separation comb teeth 401 and falls into the cotton bin 400.

[0069] The steps of the cotton picking method using the cotton picking robot provided by the present invention are as follows:

[0070] S1, the cotton supporting mechanisms 200 on both sides gather the cotton branches and leaves of the cotton seedlings toward the middle;

[0071] S2, the image recognition module takes pictures and calculates to obtain the position of the upper cotton;

[0072] S3, the arc track 302 slides on the side arm track 301 to the cotton position, the straightening comb teeth 303 slide along the inner arc track 302-1, and the straightening comb teeth 303 are inserted into the root stem at the bottom of the cotton to adjust the posture of the cotton;

[0073] S4, the image recognition module continues to take pictures and obtain the position of the cotton after the posture is adjusted, and classifies the cotton of different qualities;

[0074] S5. The cotton picking gripper 520 moves in space on the three-axis track 510 to pick up cotton, and then drops the picked cotton into the cotton bin 400.

[0075] S6. Repeat steps S3 - S5 until the cotton picking in the cotton picking robot is completed, and then the cotton picking robot moves forward for the next round of picking.

[0076] Among them, after the cotton picking gripper 520 picks up the cotton, the corresponding side's aligning comb teeth 303 slide upward on the arc track 302 to the uppermost end so that the aligning comb teeth 303 are perpendicular to the ground, causing the aligning comb teeth 303 to withdraw from the area between the two vertical railings 201 on both sides, to prevent the aligning comb teeth 303 from catching the stems and leaves of the cotton during the up and down movement.

[0077] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and the equipment and structures not described in detail should be understood to be implemented in a common way in the art; any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above, or modify it into an equivalent embodiment with equivalent changes, which does not affect the essence of the present invention. Therefore, all simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An up-and-down collaborative unmanned autonomous precision cotton harvesting robot with guaranteed quality, characterized in that, Comprising: The cotton picking robot is provided with a frame (100), and the frame (100) is provided with support frames (101) spaced apart on the left and right sides. There is a gap between the left and right support frames (101) for cotton plants to pass through. At the front and rear ends of the bottom of the support frame (101), a driving wheel (102) and a steering wheel (103) are respectively provided. Both the driving wheel (102) and the steering wheel (103) are star-shaped wheels, and the driving wheel (102) is configured with a hub motor. The cotton picking robot steers by the speed difference between the two driving wheels (102); A number of image recognition modules are installed at different positions of the frame (100) and on the cotton picking gripper (520) for identifying cotton, classifying cotton by quality, and obtaining the position of the cotton. The cotton picking gripper (520) is composed of a fifth motor (521), a wrist arm connector (522), a cotton picking claw wrist (523), and cotton picking claws (524). The fifth motor (521) is installed on a motor base (525). The cotton picking claw wrist (523) is in a "cross" shape. A rotatable wrist arm connector (522) is installed in the middle of the cotton picking claw wrist (523). The wrist arm connector (522) is a nut threadedly engaged with the rotating shaft of the fifth motor (521). Four cotton picking claws (524) are connected to the cotton picking claw wrist (523). Each cotton picking claw (524) is a two-joint claw. The first joint claw (524-1) is hingedly connected to the wrist arm connector (522), and the second joint claw (524-2) is hingedly connected to the motor base (525) and the first joint claw (524-1); On both the left and right support frames (101), a cotton supporting mechanism (200) is installed. The cotton supporting mechanism (200) includes vertical rails (201) provided on the support frame (101). The vertical rails (201) are distributed along the front and rear directions of the frame (100). A cotton support (202) is provided on the front side of the vertical rails (201); On each cotton supporting mechanism (200), a cotton straightening mechanism (300) is provided. The cotton straightening mechanism (300) includes a side arm track (301), an arc track (302), and a straightening comb (303). The side arm track (301) is vertically installed on the outside of the vertical rail (201). The arc track (302) is slidably installed up and down on the side arm track (301). The arc track (302) is vertically arranged, and the openings of the two arc tracks (302) on both sides are oppositely arranged. The arc track (302) is provided with an inner arc track (302-1). One end of the straightening comb (303) is slidably installed on the arc track (302), and the other end of the straightening comb (303) crosses through the vertical rail (201). The straightening comb (303) is always tangent to the inner side surface of the arc track (302); On the top of the frame (100), a cotton bin (400) and a multi-axis cotton picking mechanism (500) are installed. The multi-axis cotton picking mechanism (500) is composed of a three-axis track (510) and a cotton picking gripper (520) installed on the three-axis track (510); After the cotton seedling supporting mechanisms (200) on both sides vertically gather the cotton seedlings in the middle, the arc-shaped track (302) slides on the side arm track (301) and is adjusted by the straightening comb teeth (303) passing through the vertical railing (201) to make the cotton face upward, and the multi-axis cotton picking mechanism (500) picks the cotton and drops it into the cotton bin (400).

2. The up-and-down collaborative unmanned autonomous precision cotton harvesting robot as claimed in claim 1, wherein Gantry frames (203) for installing the vertical railings (201) are respectively and fixedly installed on the left and right support frames (101), and the seedling lifters (202) are installed at the front ends of the gantry frames. The seedling lifters (202) are guide plates in the shape of triangular plates.

3. The up-and-down collaborative unmanned autonomous precision quality-preserving cotton picking robot according to claim 1, characterized in that, A first synchronous belt and a first motor (304) for driving the first synchronous belt to drive up and down are installed on the side arm track (301), and a through groove (302-2) for the first synchronous belt to pass through is provided in the middle of the outer arc of the arc-shaped track (302).

4. The up-and-down collaborative unmanned autonomous precise quality-preserving cotton picking robot according to claim 1, wherein A second synchronous belt is provided inside the arc-shaped track (302), and a second motor (302-3) for driving the second synchronous belt to drive along the inner arc direction of the arc-shaped track (302) is provided on the arc-shaped track (302); One end of the straightening comb teeth (303) is provided with a slider fixedly connected to the second synchronous belt.

5. The up-and-down collaborative unmanned autonomous precision cotton harvesting robot as claimed in claim 1, wherein The three-axis track (510) is composed of a horizontal X track (511), a Y track (512), and a vertical Z track (513). Two X tracks (511) are provided with an X-axis synchronous belt (511-1) and an X-axis synchronous belt motor (511-2). A first slider (511-3) is provided on the X-axis synchronous belt (511-1). The two ends of the Y track (512) are connected to the first slider (511-3). The X-axis synchronous belt motor (511-2) drives the X-axis synchronous belt (511-1) to drive so as to drive the first slider (511-3) to drive the Y track (512) to slide along the X axis; The Y track (512) is provided with a Y-axis synchronous belt (512-1) and a Y-axis synchronous belt motor (512-2). A second slider (512-3) is provided on the Y-axis synchronous belt (512-1). The Y-axis synchronous belt motor (512-2) drives the Y-axis synchronous belt (512-1) to drive so as to drive the second slider (512-3) to slide along the Y axis. The Y track (512) is also provided with a guide rod (512-4) for the second slider (512-3) to pass through; The Z track (513) is installed on the second slider (512-3). The Z track (513) is a vertical rack (513-1) and a cotton picking gripper (520) is installed at the bottom. A rack lifting motor (512-4) is installed on the second slider (512-3), and a driving gear meshing with the vertical rack (513-1) is installed on the rotating shaft of the rack lifting motor (512-4).

6. The up-and-down collaborative unmanned autonomous precise quality-preserving cotton picking robot according to claim 1, characterized in that, Cotton bins (400) are installed on both the front and rear sides of the multi-axis cotton picking mechanism (500). Cotton separating comb teeth (401) are provided at the upper part of the opening of the cotton bin (400). After the cotton picking gripper (520) holding cotton moves to the cotton separating comb teeth (401), it moves upward, and the cotton separating comb teeth (501) are used to strip the cotton hanging on the cotton picking gripper (520).

7. A cotton picking method for the cotton picking robot according to any one of claims 1-6, characterized in that, Including the following steps: S1, the cotton supporting mechanisms (200) on both sides gather the cotton branches and leaves of the cotton seedlings toward the middle; S2, the image recognition module takes pictures and calculates to obtain the location of the cotton; S3, the arc track (302) slides on the side arm track (301) to the position of the cotton, the straightening comb teeth (303) slide along the inner arc track (302-1), and the straightening comb teeth (303) are inserted into the root stem at the bottom of the cotton to adjust the posture of the cotton; S4, the image recognition module continues to take pictures and obtains the position of the cotton after the posture is adjusted, and classifies the cotton; S5, the cotton picking gripper (520) moves in space on the three-axis track (510) and grabs cotton, and then puts the grabbed cotton into the cotton bin (400); S6. Repeat steps S3-S5 until the cotton in the cotton picking robot is picked completely, and the cotton picking robot moves forward to carry out the next round of picking.

8. The cotton picking method according to claim 7, wherein, After the cotton picking gripper (520) has grasped the cotton, the straightening comb teeth (303) slide upwards to the uppermost end on the arc track (302) so that the straightening comb teeth (303) are perpendicular to the ground, thereby reducing the space occupied laterally.

Images