A cotton-picking robot

Abstract

This invention discloses an automatic cotton picking robot, including a walking chassis with a ground clearance greater than the height of the cotton plant. A picking arm is installed at the front end of the walking chassis, and a suction-type picking head is provided at the end of the picking arm. An interception and clamping component is installed inside the picking head. When the suction picks cotton, it intercepts and clamps the cotton inside the picking head, and positive pressure pulse blowing is performed. A machine box is fixed on the chassis, and the machine box contains a cotton collection box, a negative pressure fan, a positive pressure fan, valve a, and valve b. This invention uses a "suction-clamp-blowing-suction" pre-impurity removal process to blow away most of the impurities before the cotton enters the conveying pipeline. This avoids impurities from entering the pipeline, cotton collection box, and getting entangled with the cotton fibers again during packaging and transportation, thereby reducing the impurity content from the source, improving the grade of lint cotton, and greatly reducing the impurity removal costs in the subsequent factory.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment, and in particular to an automatic cotton harvesting robot. Background Technology

[0002] Cotton is an important economic crop in my country, but its harvesting is labor-intensive and time-consuming. Traditional manual harvesting methods are inefficient and can no longer meet the needs of large-scale cotton cultivation. With the rapid development of agricultural intelligence, large cotton harvesters are becoming increasingly common. These machines are suitable for large-scale, flat-planted cotton fields in regions like Xinjiang, allowing for one-time harvesting. However, for the vast majority of small and medium-sized cotton fields in my country, existing large cotton harvesters have many shortcomings.

[0003] First, the large size of cotton harvesters makes them unsuitable for cotton fields with narrow row spacing and small plots, resulting in poor adaptability. Second, the harvesting methods are incompatible; large cotton harvesters use a one-time full-harvest mode, which cannot achieve the refined operation of "daily inspection + batch harvesting according to maturity," leading to the accidental harvesting of some immature bolls and affecting the overall quality of the cotton. Most importantly, large spindle-type cotton harvesters are prone to breaking cotton bolls. Cotton, boll fragments, dead leaves, and other impurities become further entangled during transportation and baling. For subsequent processing, this means more steps are needed to clean these impurities, leading to greater difficulty and cost in subsequent cleaning, ultimately affecting the grade of the lint. The impurity content in lint is a core indicator for grading and pricing; the presence of boll fragments will lower the cotton grade, and the price for cotton farmers will drop significantly. This is a significant problem. Summary of the Invention

[0004] To address the aforementioned shortcomings, this invention provides a cotton-harvesting robot specifically designed for small and medium-sized cotton fields, capable of automated inspection and harvesting, and real-time impurity removal. This invention is achieved through the following technical solution: An automated cotton-harvesting robot includes: A walking chassis, wherein the ground clearance of the chassis is greater than the height of the cotton plant; At least one set of harvesting arms is installed at the front end of the walking chassis, and the end of the harvesting arm is provided with a wind-suction harvesting head; The interception and clamping component is installed inside the picking head. When the cotton is picked by the wind suction, it intercepts and clamps the cotton inside the picking head, and works in conjunction with positive pressure pulse blowing. The machine casing is fixed on the chassis and has a cotton collection box inside, which is used to collect cotton. A negative pressure fan has its air inlet connected to the cotton collection box, which is connected to the picking head via a pipeline. The negative pressure fan is used to generate negative pressure suction at the picking head. A positive pressure blower, whose outlet is connected in parallel to the pipeline connecting the cotton collection box and the picking head through a pipeline and a tee connector, is used to generate positive pressure blowing force at the picking head; Valve a is installed on the pipeline connecting the cotton collection box and the tee connector, and is used to control the opening and closing of the cotton collection box and the picking head; Valve b is installed on the pipeline connecting the positive pressure fan and the tee joint, and is used to control the on / off state of the positive pressure fan and the picking head.

[0005] Further optimized, the picking arm is provided in four sets, suspended and fixed at the front of the walking chassis. Each picking arm includes three linear slide modules for the X, Y, and Z axes, with the picking head fixed at the bottom of the Z-axis linear slide module. The three-axis slide module enables precise positioning of the picking head in three-dimensional space, meeting the boll picking needs at different heights and positions of cotton plants.

[0006] In a further optimized configuration, the interception and clamping assembly includes an interception mechanism and a clamping mechanism, with the clamping mechanism located on the front side of the interception mechanism, i.e., the side closest to the air inlet. The clamping mechanism can clamp and secure the cotton from the front after the interception mechanism intercepts it, preventing the cotton from being blown away during subsequent pulsed air blowing for impurity removal.

[0007] Further optimized, the clamping mechanism adopts a clamping structure, including symmetrically arranged support plates and a first electric push rod fixed to the outer wall of the picking head. A first frame groove is formed on the side wall of the picking head, and the support plates are embedded within the first frame groove. The output end of the first electric push rod is fixedly connected to the support plates. Several symmetrical clamping rods are fixed on the two support plates. The output of the first electric push rod drives the clamping rods to clamp and close within the picking head, thereby clamping or releasing the cotton. The clamping rods adopt a thin rod-like structure, which reduces obstruction to airflow, and the smaller clamping surface minimizes the trapping of debris and other impurities on the cotton.

[0008] The interception mechanism adopts a clamp-type structure, including symmetrically arranged support frames and a second electric push rod fixed to the outer wall of the picking head. A second frame groove is formed on the side wall of the picking head, and the support frame is embedded within the second frame groove. The output end of the second electric push rod is fixedly connected to the support frame. A filter screen is fixed inside the support frame. The output of the second electric push rod drives the support frame to open and close within the picking head, thereby opening or closing the filter screen. When suctioning cotton, the filter screen closes, intercepting cotton and cotton boll fragments and other impurities in front of the filter screen. When blowing away impurities, the clamping rod clamps the cotton, blowing away the cotton and impurities on the filter screen. When releasing cotton, the filter screen and clamping rod open, and the cotton is sucked into the cotton collection box.

[0009] Furthermore, the picking head is further optimized by incorporating a spiral-shaped vane located at the air intake. This vane, guided by the airflow, creates a rotating vortex, generating a twisting force to assist in separating the cotton from the boll. This reduces mechanical damage to the cotton plant and prevents the boll from being broken and producing debris.

[0010] Further optimized, valves a and b are electromagnetic butterfly valves, with the valve diameter matching the inner diameter of the cotton conveying pipeline, allowing cotton to pass smoothly and preventing blockages. The tee connector is a Y-type tee with a branch angle of 30° and a smooth, stepless inner wall, which helps reduce airflow resistance and cotton clogging. An airlock is installed at the inlet of the cotton collection box to prevent backflow of external air and maintain a stable negative pressure within the box. An isolation mesh is installed inside the cotton collection box, dividing it into a cotton settling chamber connected to the inlet and an airflow buffer chamber connected to the negative pressure fan inlet, allowing only air to pass through and preventing cotton fibers from entering the fan.

[0011] Further optimized, a swing motor is fixed on the bottom side wall of the z-axis linear slide module, and the picking head is fixed on the output shaft of the swing motor. The output of the swing motor drives the picking head to tilt 30°, which can make the picking head better adapt to different growth angles of cotton bolls and improve the picking success rate.

[0012] Furthermore, the chassis is equipped with four-way drive wheels at its bottom. The independent drive of these four wheels, combined with the steering mechanism, enables the robot to turn in place and perform crab-like maneuvers, allowing it to flexibly adapt to complex working environments.

[0013] Further optimization includes a control module, a power supply module, and an image recognition module. The control module is electrically connected to the power supply module, the image recognition module, the interception and clamping assembly, the swing motor, the positive pressure fan, the negative pressure fan, valve a, and valve b. The image recognition module is used to identify the maturity and location of the cotton bolls. The power supply module supplies power to the entire machine through photovoltaic power generation-energy storage-range extension. The control module drives the harvesting arm to position itself, controls the air path switching, and executes the harvesting and impurity removal process based on the recognition results, realizing automated daily inspections and batch harvesting according to maturity.

[0014] Further optimized, the control method for the automatic flower-picking robot includes the following steps: S1. Close the filter screen, open valve a, close valve b, and the picking head will suck the cotton into the filter screen; S2. Close valve a, close the clamping rod, and clamp the cotton intercepted by the filter screen; S3. Open valve b to generate a positive pressure pulse airflow that blows away impurities from the cotton. S4. Close valve b, open the filter screen, open valve a, and extend the clamping rod to suck the cotton into the cotton collection box. Through the above steps, a pre-processing real-time impurity removal procedure of "suction-clamping-blowing-suction" is achieved. Before the cotton enters the pipeline and gets entangled with impurities, pulse blowing is performed, which improves the cleanliness of the cotton from the source and improves the grade of the lint.

[0015] The beneficial effects of this invention are: Highly adaptable: The ground clearance of the chassis is greater than the height of the cotton plants. It adopts an elevated cross-row design to avoid damaging the cotton plants. The four-way drive wheels can turn on the spot and crab-walk, flexibly adapting to the narrow row spacing and small plot operation environment of small and medium-sized cotton fields.

[0016] Flexible harvesting modes: Multiple sets of rectangular coordinate harvesting arms can achieve precise three-dimensional spatial positioning, and the harvesting head has a tilting function to improve the harvesting success rate. With the support of the image recognition module, it supports daily inspection and batch harvesting operation modes according to maturity, avoiding the accidental harvesting of immature cotton bolls.

[0017] The pre-positioned real-time impurity removal effect is remarkable: The pioneering "suction-clamp-blowing impurity removal" process blows away most impurities before the cotton enters the conveying pipeline, avoiding secondary entanglement of impurities with cotton fibers during pipeline, cotton collection box and packaging and transportation. This reduces the impurity content from the source, improves the grade of lint, and greatly reduces the impurity removal cost in the subsequent factory.

[0018] Stable system operation: The system uses an electromagnetic butterfly valve to control the air circuit opening and closing, combined with positive and negative pressure airflow, to effectively prevent cotton from clogging the pipeline and ensure the long-term stable operation of the pipeline system.

[0019] Auxiliary twisting function: The spiral blades at the air inlet of the picking head can generate a rotating vortex to peel the cotton off the cotton boll, improving picking efficiency. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0021] Figure 2 This is a schematic diagram of the cotton conveying pipeline connection in this invention.

[0022] Figure 3 for Figure 1 Enlarged diagram of point A in the middle.

[0023] Figure 4 This is a three-dimensional structural diagram of the harvesting head in this invention.

[0024] Figure 5 for Figure 4 The front view.

[0025] Figure 6 This is a schematic diagram showing the state of the interception and clamping component inside the picking head in this invention when it is open.

[0026] Figure 7 for Figure 6 Enlarged diagram of point B in the middle.

[0027] Figure 8 This is a schematic diagram showing the state of the interception and clamping component inside the picking head of the present invention when it is closed.

[0028] Figure 9 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0029] In the diagram: 1. Walking chassis; 2. Chassis; 21. Photovoltaic panel; 22. Cotton collection box; 23. Unloading plate; 24. Isolation net; 25. Cotton settling chamber; 26. Airflow buffer chamber; 3. Picking arm; 4. Four-way drive wheel; 5. Picking head; 51. Air inlet; 52. Wing; 53. Sealing shell; 54. Swing motor; 61. Clamping mechanism; 611. First electric push rod; 612. Support plate; 613. Clamping rod; 614. First frame slot; 62. Interception mechanism; 621. Second electric push rod; 622. Support frame; 623. Filter screen; 624. Second frame slot; 63. Fixing plate; 71. Negative pressure fan; 72. Airlock; 73. Valve a; 74. T-joint; 81. Positive pressure fan; 82. Valve b; 91. First depth camera; 92. Second depth camera. Detailed Implementation

[0030] To clearly illustrate the technical features of this solution, the invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. In the description of this invention, it should be noted that the terms "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0031] like Figures 1-9 As shown in the figure, this embodiment provides an automated cotton harvesting robot.

[0032] Its overall structure includes a walking chassis 1, a housing 2, a picking arm 3, four-way drive wheels 4, a picking head 5, a negative pressure fan 71, a positive pressure fan 81, as well as a control module, a power supply module, and an image recognition module.

[0033] The walking chassis 1 adopts a frame structure, and its ground clearance is greater than the height of the cotton plant, preferably 80cm-150cm, which can meet the growth height of most cotton varieties. The bottom of the walking chassis 1 is equipped with four independently driven four-way drive wheels 4. Each four-way drive wheel 4 is equipped with an independent steering mechanism in the chassis. Under the control of the control module, it can realize three modes: Ackerman steering, lateral steering, and parallel movement, to meet the complex operation needs in small and medium-sized cotton fields.

[0034] Four harvesting arms 3 are provided, suspended and fixed on the front crossbeam of the walking chassis 1. Each harvesting arm 3 includes X-axis, Y-axis, and Z-axis linear slide modules. The harvesting head is fixed to the bottom of the Z-axis linear slide module, and the harvesting arm controls the free movement of the harvesting head 5 in three-dimensional space. A swing motor 54 is fixed on the bottom side wall of the Z-axis slide, and the harvesting head 5 is fixed on the output shaft of the swing motor 54. The swing motor 54 can drive the harvesting head 5 to tilt 30° to adapt to cotton bolls at different angles, facilitating harvesting. It should be noted that the connection method of the X, Y, and Z-axis linear slide modules is a common existing technology in this field and will not be described in detail here.

[0035] The casing 2 is fixed on the traveling chassis 1, and a cotton collection box 22 is installed inside. The rear side wall of the cotton collection box is equipped with a hydraulically opened and closed unloading door 23 for unloading cotton from the cotton collection box. A negative pressure fan 71 is installed inside the casing 2, and its air inlet is connected to the cotton collection box 22. A positive pressure fan 81 is also installed inside the casing 2.

[0036] Furthermore, its harvesting head structure is as follows: Figures 3-8 As shown, the picking head 5 adopts a wind suction structure, with an air intake 51 at its front end and an interception and clamping assembly inside. The interception and clamping assembly includes a clamping mechanism 61 and an interception mechanism 62. The clamping mechanism 61 is located in front of the interception mechanism 62 (on the side closer to the air intake 51). When the wind suction picks cotton, it intercepts and clamps the cotton in the picking head 5, and cooperates with positive pressure pulse blowing to reduce the impurity content from the source and improve the grade of the cotton.

[0037] The clamping mechanism 61 adopts a clamping structure, including symmetrically arranged support plates 612 and a first electric push rod 611 fixed to the outer wall of the picking head 5. A first frame groove 614 is formed on the side wall of the picking head 5, and the support plates 612 are embedded in the first frame groove 614. The output end of the first electric push rod 611 is fixedly connected to the support plate 612. Several symmetrical clamping rods 613 are fixed on the two support plates 612. The ends of the clamping rods 613 are wrapped with silicone sleeves to prevent damage to the cotton fibers. When the first electric push rod 611 outputs, it drives the support plate 612 to slide along the first frame groove 614, thereby causing the clamping rods 613 to open and close in the picking head 5, i.e., to clamp or release the cotton.

[0038] The interception mechanism 62 adopts a clamp-type structure, including symmetrically arranged support frames 622 and a second electric push rod 621 fixed to the outer wall of the picking head 5. A second frame groove 624 is formed on the side wall of the picking head 5, and the support frame 622 is embedded in the second frame groove 624. The output end of the second electric push rod 621 is fixedly connected to the support frame 622. A filter screen 623 is fixed inside the support frame 622. The filter screen 623 has a pore size of 3mm, which can effectively intercept cotton and cotton boll debris. When the second electric push rod 621 outputs, it drives the support frame 622 to slide along the second frame groove 624, realizing the opening and closing of the filter screen 623 within the picking head 5.

[0039] It should be noted that the electric push rods in the clamping mechanism 61 and the intercepting mechanism 62 are fixed to the outer wall of the clamping head by the fixing plate 63 and covered and fixed with a sealing shell 53 to avoid air pressure loss from the picking head.

[0040] A spiral blade 52 is fixed at the air inlet 51 of the picking head 5, and the blade 52 is spirally arranged along the inner wall of the air inlet 51. When the airflow passes through, a rotating vortex is formed under the guiding action of the blade 52, generating a twisting force to help peel the cotton off the cotton boll.

[0041] Furthermore, its conveying system, such as Figure 2 As shown, it includes a negative pressure fan 71, a positive pressure fan 81, valve a73, valve b82, a tee connector 74, and several cotton conveying pipelines. The air inlet of the negative pressure fan 71 is connected to the air outlet of the cotton collection box 22. The inlet of the cotton collection box 22 is connected to one outlet of the tee connector 74 via a pipeline, and valve a73 is installed on this section of the pipeline. The air outlet of the positive pressure fan 81 is connected to the other outlet of the tee connector 74 via a pipeline, and valve b82 is installed on this section of the pipeline. The inlet end of the tee connector 74 is connected to the picking head 5 via a flexible pipeline. The negative pressure fan 71 can generate negative pressure suction at the picking head 5 to collect cotton, and the positive pressure fan can generate positive pressure blowing at the picking head 5 to remove impurities. Valve a73 is used to control the on / off connection between the cotton collection box 22 and the picking head 5, and valve b82 is used to control the on / off connection between the positive pressure fan 81 and the picking head 5.

[0042] Valves a73 and b82 are electromagnetic butterfly valves, and the diameter of the electromagnetic butterfly valve is the same as the inner diameter of the cotton conveying pipeline. The tee 74 connector is a Y-type tee 74 with a branch angle of 30° and a smooth inner wall without steps to reduce airflow resistance and cotton clogging.

[0043] Furthermore, such as Figure 2 As shown, an airlock 72 should be installed at the inlet of the cotton collection box 22. The airlock 72 is used to prevent backflow of external air and maintain a stable negative pressure inside the cotton collection box 22. An isolation net 24 is installed inside the cotton collection box 22, dividing the interior into a cotton settling chamber 25 connected to the inlet and an airflow buffer chamber 26 connected to the air inlet of the negative pressure fan 71. The isolation net 24 only allows air to pass through, preventing cotton fibers from entering the negative pressure fan 71 and collecting the cotton in the cotton settling chamber. A hydraulically operated discharge door is installed on the rear wall of the cotton collection box for easy unloading of cotton. It should be noted that the discharge door should be sealed tightly to the cotton collection box when closed to ensure a stable negative pressure is maintained inside the cotton collection box 22.

[0044] Furthermore, the control module is electrically connected to the power supply module, image recognition module, interception and clamping assembly, positive pressure fan 81, swing motor 54, negative pressure fan 71, valve a73, and valve b82. The control module uses an AMD processor, a domestic Ascend series processor, a PLC controller, or a microcontroller; its position is set by the operator according to the actual situation. The power supply module includes a photovoltaic panel 21 fixed to the top of the chassis and a range extender generator and energy storage battery pack integrated within the chassis, enabling a "photovoltaic power generation - energy storage - range extender replenishment" energy supply method to meet the robot's long-term continuous operation needs. The image recognition module includes two first depth cameras 91 mounted on the chassis 2 for a panoramic view and a second depth camera 92 mounted above each picking head 5, used to identify the maturity and spatial location of the cotton bolls.

[0045] The more specific work process includes the following steps: S1. Cotton Suction: The robot stops at a certain position in the cotton field. The image recognition module identifies the mature cotton bolls in that area, and the control module drives the picking arm 3 to move the picking head 5 to the target position. At this time, the filter screen 623 closes, valve a73 opens, valve b82 closes, the negative pressure fan 71 works, and suction is generated at the picking head 5, sucking the cotton on the cotton bolls into the picking head 5. The cotton is intercepted in front of the filter screen 623.

[0046] S2. Clamping: Close valve a to cut off the negative pressure airflow. The first electric push rod 611 drives the clamping rod 613 to close, clamping the cotton intercepted on the filter screen 623.

[0047] S3, Pulse blowing: Open valve b82, positive pressure fan 81 generates 2-4 pulse airflows, each pulse lasting 0.5 seconds. The pulse airflow blows out from inside the picking head 5, blowing away impurities such as cotton boll fragments and dead leaves on the filter screen and clamped on the cotton. The cotton is clamped by clamping rod 613 and will not be blown away.

[0048] S4. Re-absorption of cotton: Close valve b82, the second electric push rod 621 drives the filter screen 623 to open, and valve a73 reopens. At this time, the negative pressure fan 71 works. Subsequently, the first electric push rod 611 drives the clamping rod 613 to open, and the cotton enters the pipeline through the filter screen 623 under negative pressure, and enters the cotton collection box 22 through the three-way connector 74 and valve a73.

[0049] After the cotton enters the cotton collection box 22, it naturally accumulates in the cotton settling chamber 25. Air passes through the isolation net 24 and enters the airflow buffer chamber 26, and is then discharged by the negative pressure fan 71. The above steps are repeated until the harvesting of the entire row of cotton is completed.

[0050] Through the above steps, a pre-processing impurity removal procedure of "suction-clamping-blowing-suction" is achieved. Cotton becomes entangled with impurities as it enters the pipeline, collects in the cotton box, and is subsequently packaged and transported, leading to difficulties and high costs in subsequent impurity removal. This invention performs an initial impurity removal process—pulse blowing—before the cotton enters the pipeline. This is expected to reduce the impurity content of the cotton by 40%-60% compared to traditional pneumatic suction cotton harvesters. This improves cotton cleanliness from the source, increases the grade and price of the lint, and significantly reduces subsequent impurity removal costs in the factory.

[0051] All aspects not detailed herein are well-known to those skilled in the art. Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of this invention and not intended to limit it. Although the invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this invention without departing from the spirit and scope of the invention, and all such modifications and substitutions should be covered within the scope of the claims of this invention.

Claims

1. An automated cotton-harvesting robot, characterized in that, include: A walking chassis, wherein the ground clearance of the chassis is greater than the height of the cotton plant; At least one set of harvesting arms is installed at the front end of the walking chassis, and the end of the harvesting arm is provided with a wind-suction harvesting head; The interception and clamping component is installed inside the picking head. When the cotton is picked by the wind suction, it intercepts and clamps the cotton inside the picking head, and works in conjunction with positive pressure pulse blowing. The machine casing is fixed on the chassis and has a cotton collection box inside, which is used to collect cotton. A negative pressure fan has its air inlet connected to the cotton collection box, which is connected to the picking head via a pipeline. The negative pressure fan is used to generate negative pressure suction at the picking head. A positive pressure blower, whose outlet is connected in parallel to the pipeline connecting the cotton collection box and the picking head through a pipeline and a tee connector, is used to generate positive pressure blowing force at the picking head; Valve a is installed on the pipeline connecting the cotton collection box and the tee connector, and is used to control the opening and closing of the cotton collection box and the picking head; Valve b is installed on the pipeline connecting the positive pressure fan and the tee joint, and is used to control the on / off state of the positive pressure fan and the picking head.

2. The automatic cotton harvesting robot according to claim 1, characterized in that: The harvesting arm is provided in 4 sets and is suspended and fixed at the front of the walking chassis. Each harvesting arm includes three linear slide modules of X-axis, Y-axis and Z-axis. The harvesting head is fixed at the bottom of the Z-axis linear slide module.

3. The automatic cotton harvesting robot according to claim 1, characterized in that: The interception clamping assembly includes an interception mechanism and a clamping mechanism, with the clamping mechanism located on the front side of the interception mechanism.

4. The automatic cotton harvesting robot according to claim 3, characterized in that: The clamping mechanism adopts a clamping structure, including symmetrically arranged support plates and a first electric push rod fixed on the outer wall of the picking head. A first frame groove is opened on the side wall of the picking head, and the support plate is embedded in the first frame groove. The output end of the first electric push rod is fixedly connected to the support plate. Several symmetrical clamping rods are fixed on the two support plates. The output of the first electric push rod drives the clamping rods to clamp and open / close inside the picking head. The interception mechanism adopts a clamp-type structure, including a symmetrically arranged support frame and a second electric push rod fixed on the outer wall of the picking head. A second frame groove is opened on the side wall of the picking head, and the support frame is embedded in the second frame groove. The output end of the second electric push rod is fixedly connected to the support frame. A filter screen is fixed inside the support frame. The output of the second electric push rod drives the support frame to open and close inside the picking head.

5. The automatic cotton harvesting robot according to claim 1, characterized in that: The picking head is also equipped with a spiral blade, which is located at the air inlet of the picking head. Under the guiding action of the blade, a rotating vortex is formed, which peels the cotton off the cotton boll.

6. The automatic cotton harvesting robot according to claim 1, characterized in that: Valves a and b are electromagnetic butterfly valves, and the diameter of the electromagnetic butterfly valve is the same as the inner diameter of the cotton conveying pipeline. The tee connector is a Y-type tee with a branch angle of 30° and a smooth inner wall without steps. An airlock is provided at the inlet of the cotton collection box to prevent backflow of external air. An isolation net is provided inside the cotton collection box to divide the inside of the cotton collection box into a cotton settling chamber connected to the inlet and an airflow buffer chamber connected to the air inlet of the negative pressure fan.

7. The automatic cotton harvesting robot according to claim 1, characterized in that: A swing motor is fixed on the bottom side wall of the z-axis linear slide module, and the picking head is fixed on the output shaft of the swing motor. The output of the swing motor drives the picking head to tilt 30°.

8. The automatic cotton harvesting robot according to claim 7, characterized in that: The chassis is equipped with four-way drive wheels at the bottom.

9. The automatic cotton harvesting robot according to claim 8, characterized in that, Also includes: The system includes a control module, a power supply module, and an image recognition module. The control module is electrically connected to the power supply module, the image recognition module, the interception clamping assembly, the swing motor, the positive pressure fan, the negative pressure fan, valve a, and valve b.

10. The control method for the automatic cotton harvesting robot according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Close the filter screen, open valve a, close valve b, and the picking head will suck the cotton to the front of the filter screen; S2. Close valve a, close the clamping rod, and clamp the cotton intercepted by the filter screen; S3. Open valve b to generate a positive pressure pulse airflow that blows away impurities from the cotton. S4. Close valve b, open the filter screen, open valve a, and open the clamping rod to suck the cotton into the cotton collection box.

Images