A track-mounted lotus seedpod harvesting robot

Abstract

This invention relates to agricultural harvesting machinery, with the aim of providing a track-mounted lotus pod harvesting robot. This robot should be adaptable to harvesting lotus pods of different shapes, have good terrain adaptability, and possess high work efficiency. The technical solution is a track-mounted lotus pod harvesting robot, characterized in that: the harvesting robot includes a frame, a robotic arm mounted on top of the frame via a rotating base and carrying an end effector, a shock-absorbing mechanism mounted on the upper part of the frame, and two assemblies symmetrically arranged in the lower part of the frame, each composed of a drive mechanism and an adjustment mechanism.

Description

Technical Field

[0001] This invention relates to an agricultural harvesting machine, and more particularly to a track-mounted lotus seedpod harvesting robot. Background Technology

[0002] Lotus seedpod harvesting is a crucial step in lotus seedpod agricultural production. Traditional methods rely primarily on manual labor, resulting in high labor intensity, low efficiency, and high costs. To address these issues, semi-automated and automated lotus seedpod harvesting mechanisms have been proposed in recent years. However, these mechanisms still have shortcomings in practical applications and struggle to meet the full requirements of automated lotus seedpod harvesting. First, the operating range of the harvesting mechanism is limited; second, the end effector cannot flexibly adapt to lotus seedpods of different shapes and sizes; and finally, the harvesting robot is easily affected by terrain and environment during movement, leading to low harvesting efficiency. Therefore, there is an urgent need for a new type of mobile platform-based lotus seedpod harvesting robot that can meet the current requirements for automated lotus seedpod harvesting, improving harvesting efficiency and terrain adaptability. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a track-type lotus seedpod harvesting robot. This robot should be able to adapt to the harvesting of lotus seedpods of different shapes, have good terrain adaptability, and have high work efficiency.

[0004] The technical solution provided by the present invention is: a track-type lotus seedpod harvesting robot, characterized in that: the harvesting robot includes a frame, a mechanical arm mounted on the top of the frame via a rotating base and carrying an end effector, a shock-absorbing mechanism mounted on the upper part of the frame, and two assemblies symmetrically arranged on the lower part of the frame and respectively composed of a drive mechanism and an adjustment mechanism;

[0005] The drive mechanism is mounted on two pneumatic slides of the adjustment mechanism; the drive mechanism includes a commutator driven by a pair of bevel gears and a stepper motor, and a friction wheel driven by the commutator and mounted vertically.

[0006] The adjustment mechanism includes two parallel wheel frame brackets connected by a slide table connecting platform. An upper pneumatic slide table is installed on the slide table connecting platform. Caster connecting plates with driven wheels are respectively hinged to the left and right sides of the two wheel frame brackets, and electric push rods for controlling the swing angle of the caster connecting plates are installed. A lower pneumatic slide table is also installed on the lower side of the two wheel frame brackets and connected to a C-shaped bracket via a connector.

[0007] The shock absorption mechanism includes an upper panel and a contact plate that are parallel to each other and connected to the frame by a number of stud shafts arranged vertically and vertically. An upper support spring and a lower support spring are sleeved on the stud shafts.

[0008] The rotary base includes a base mounted on the robotic arm connecting plate, a synchronous wheel drive shaft and a synchronous wheel driven shaft mounted on the base, a stepper motor that drives the keyless small synchronous wheel through the synchronous wheel drive shaft, and a keyless large synchronous wheel that transmits power to the keyless small synchronous wheel through a synchronous belt;

[0009] The robotic arm includes a vertical arm mounted on a base, a servo cylinder hinged to the vertical arm, a pulley mounted on the extension rod of the servo cylinder for moving the suspension rope, an electric push rod disposed between the vertical arm and the extension support of the servo cylinder, a stepper motor mounted on the side of the servo cylinder, and a winding wheel mounted on the output shaft of the stepper motor for winding the suspension rope.

[0010] The frame includes a rectangular frame composed of several profiles, a left panel and a right panel arranged vertically on the left and right sides of the rectangular frame, and a mechanical arm connecting plate installed horizontally on the top of the two panels; two crossbeams are parallel to each other and horizontally fixed to the upper part of the frame, and suspensions are horizontally fixed on the left and right sides of the bottom of the frame, with one end of the suspension fixed to the frame and the other end extending towards each other.

[0011] The two wheel frame supports include an outer wheel frame support and an inner wheel frame support.

[0012] The friction wheel is installed in the middle of the drive shaft; the upper and lower parts of the drive shaft are rotatably positioned on the horizontally arranged upper and lower supports, respectively; the upper and lower supports are also fixedly connected to the upper and lower pneumatic slides, respectively.

[0013] The drive mechanism and the adjustment mechanism are connected vertically to form a drive chain. The two drive chains are symmetrically installed on the suspensions on both sides of the frame and are located between the upper and lower wing plates on both sides of the H-shaped track. The suspension on each side is fixedly connected to the two wheel frame brackets by bolts and the suspension axis is perpendicular to the length direction of the wheel frame bracket.

[0014] Furthermore, the heads of the two electric push rods are respectively hinged to the outer bracket and the inner bracket of the wheel frame, and the tails of the two electric push rods are respectively transversely penetrated by pins. The two pins are inserted into the sliding grooves of the foot plate connectors on the left and right sides and then fixed with cotter pins.

[0015] Furthermore, the end effector includes two annular, coaxially arranged bases, each with a stepper motor mounted on it. Cylindrical seat rings on the inner rings of the two bases face each other, and each seat ring is equipped with a driven large gear that meshes with a driving small gear. The two driving small gears are respectively connected to the output shafts of the stepper motors passing through the end faces of the bases. Two crescent-shaped blade holders with blades are installed between the two bases, with one end rotatably positioned on the support rotation shaft. Two stepped shafts are arranged parallel to the axes of the two bases and are slidably embedded in the crescent-shaped tracks of the two bases. Gear connectors that mesh with the driven large gears are fitted onto the two stepped shafts, and sliders that slide in cooperation with the arc-shaped tracks in the crescent-shaped blade holders are connected to the bottom ends of the two stepped shafts, thereby driving the two crescent-shaped blade holders to rotate in opposite directions during operation.

[0016] Furthermore, the rotation axis of the bracket is arranged parallel to the axes of the two bases and its upper and lower ends are respectively fixed on the two bases.

[0017] Furthermore, several lifting rings for connecting lifting ropes are installed on the outer side of the upper base.

[0018] Furthermore, a leak-proof ring is installed on the outer side of the crescent-shaped blade holder.

[0019] The beneficial effects of this invention are:

[0020] This invention designs a "fishing" type end effector, which precisely positions the end effector by adjusting the line's extension and retraction angles and pitch, enabling accurate positioning of lotus pods and improving harvesting efficiency. Furthermore, the "fishing" type end effector can adapt to lotus pods of different heights, positions, shapes, and sizes. In addition, the "fishing" design is simple and convenient, requiring no complex mechanical structures or control systems. Finally, this harvesting method, which involves passing through the lotus pods from top to bottom and then cutting the stems, reduces damage to the lotus pods.

[0021] Given that the construction of standardized farmland is an inevitable trend in the future, track-mounted agricultural robots based on standardized farmland will also be a hot application. At the same time, considering the harsh growing environment of lotus pods, this invention provides a track-mounted lotus pod harvesting robot, which can provide a solution to improve the efficiency of lotus pod harvesting and reduce labor intensity, and has good market application prospects. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the main structure of an embodiment of the present invention (the end effector is omitted).

[0024] Figure 3This is a three-dimensional structural diagram of the driving mechanism in an embodiment of the present invention.

[0025] Figure 4 This is a three-dimensional structural diagram of the adjustment mechanism in an embodiment of the present invention.

[0026] Figure 5 This is a three-dimensional structural diagram of the shock absorption mechanism in an embodiment of the present invention.

[0027] Figure 6 This is a three-dimensional structural diagram of the frame in an embodiment of the present invention.

[0028] Figure 7 This is a three-dimensional structural diagram of the rotating base in an embodiment of the present invention.

[0029] Figure 8 This is a three-dimensional structural diagram of the robotic arm in an embodiment of the present invention.

[0030] Figure 9 This is a three-dimensional structural diagram of the end effector in an embodiment of the present invention.

[0031] Among them, 1-drive mechanism, 2-adjustment mechanism, 3-shock absorption mechanism, 4-frame, 5-rotating base, 6-robotic arm, 7-end effector, 101-commutator, 102-drive shaft, 103-upper bracket, 104-lower bracket, 105-friction wheel, 106-motor bracket, 201-slide table connecting platform, 202-outer wheel frame bracket, 203-inner outer wheel frame bracket, 204-caster connecting plate, 205-C-type bracket, 206-connector, 207-electric push rod, 208-wheel axle, 209-pin shaft, 301-upper panel, 302-stud shaft, 303-lower support spring, 304-contact plate, 305-upper support spring, 401-left panel, 402-right panel, 403-suspension, 404-robotic arm connecting plate, 4 05-Crossbeam, 501-Base, 502-L-type sheet metal part, 503-Square bearing seat, 504-Mechanical arm base, 505-Synchronous pulley drive shaft, 506-Synchronous pulley driven shaft, 601-Upright arm, 602-Upright arm cover plate, 603-Upright arm support, 604-Wrapping wheel, 605-Pulley, 606-Servo cylinder extension support, 607-Motor bracket, 608-Side upright arm support, 609-Servo cylinder, 610-Electric push rod, 701-Upper base, 702-Stepped shaft, 703-Gear connector, 704-Slider, 705-Leak-proof ring, 706-Lower base, 707-Bracket rotation shaft, 708-Driven large gear, 709-Driven small gear, 710-Blade, 711-Crescent-shaped blade bracket, 8-H-type rail. Detailed Implementation

[0032] The technical solution of the present invention will now be clearly and completely described with reference to the embodiments shown in the accompanying drawings.

[0033] Figure 1 The above-displayed track-type lotus seedpod harvesting robot includes two drive mechanisms, two adjustment mechanisms, a shock absorption mechanism, a frame, a rotating base, a robotic arm, and an end effector.

[0034] The frame includes a left panel 401, a right panel 402, and a robotic arm connecting plate 404. The left and right panels are parallel and vertically arranged, connected by a rectangular frame formed by several profiles. The robotic arm connecting plate is horizontally mounted on the top of the rectangular frame with bolts. Two horizontal beams 405 are parallel and horizontally fixed to the upper part of the frame. The left and right panels are fixedly connected to the profile support with bolts. Figure 6 It can be seen that: a suspension 403 made of profile is horizontally fixed on the left and right sides of the bottom of the frame, one end of the two suspensions is fixed to the frame, and the other end extends towards each other.

[0035] The adjustment mechanism includes two parallel wheel frames (i.e., an outer wheel frame support 202 and an inner wheel frame support 203) that maintain a distance from each other. The two wheel frames are connected by a slide connecting platform 201 (the slide connecting platform is fixedly connected to the outer wheel frame support and the inner wheel frame support respectively by bolts). An upper pneumatic slide is fixedly mounted on the slide connecting platform by bolts, and the moving direction of the upper pneumatic slide is perpendicular to the length direction of the outer wheel frame support and the inner wheel frame support. Figure 4 As shown, caster connecting plates 204 are hinged to the left and right sides of the two wheel frames via pins. Driven wheels are installed between the two caster connecting plates on the left and between the two caster connecting plates on the right. The driven wheels are mounted on the caster connecting plates via wheel axles 208 (the wheel axles are axially positioned by locking nuts). The outer and inner sides of the wheel frame brackets ( Figure 4 Electric actuators 207 are installed on both sides (perpendicular to the plane of the paper). The heads of the two electric actuators are hinged to the outer and inner supports of the wheel frame, respectively. The tails of the two electric actuators are transversely connected by pins 209, which are hinged to openings in the foot plate connectors, thus achieving the hinge connection between the electric actuators and the caster connecting plate. Connectors 206 are also bolted to the sides of the outer and inner supports of the wheel frame. The two connectors extend vertically downwards and are then bolted to both ends of the C-shaped bracket 205. The lower pneumatic slide is suspended from the C-shaped bracket by bolts. The adjustment mechanism is also equipped with an air source (preferably an air pump), air pipes, and pneumatic components for driving the upper and lower pneumatic slides. These are all conventional components and are omitted in the figure.

[0036] like Figure 3As shown, the drive mechanism includes a commutator 101 consisting of a pair of bevel gears and an outer frame; the input shaft of the commutator is connected to the output shaft of a stepper motor via a coupling, and one end of the output shaft of the commutator is connected to a vertically arranged drive shaft 102 via another coupling; a friction wheel 105 is installed in the middle of the drive shaft; the upper and lower parts of the drive shaft are respectively mounted on a horizontally arranged upper bracket 103 and lower bracket 104 via bearings; the stepper motor is mounted on the upper bracket via a motor bracket 106, and the upper bracket and the motor bracket are fastened together by bolts; the friction wheel is fixed to the drive shaft by set screws. The upper bracket is horizontally fixed on an upper pneumatic slide, and the lower bracket is horizontally fixed on a lower pneumatic slide; when both pneumatic slides are started simultaneously, the drive mechanism can be moved, thereby causing the friction wheel to contact or disengage from the center plate of the H-shaped track. When the drive mechanism is working, the stepper motor serves as the drive source. After the power transmission direction is reversed by a pair of bevel gears in the commutator, the power transmission direction changes by 90°, thereby driving the friction wheel to rotate. If the rotating friction wheel simultaneously contacts the neutral plate of the H-shaped track, it obtains the power to move the mechanism forward.

[0037] The drive mechanism and the adjustment mechanism are connected vertically to form a drive chain. Two drive chains are symmetrically arranged on the suspension of the frame, and are located between the upper and lower wing plates on both sides of the central plate of the H-shaped track. The suspension is fixedly connected to the outer and inner supports of the wheel frame by bolts (the suspension axis is perpendicular to the length direction of the outer and inner supports of the wheel frame). When the adjustment mechanism is working, the electric push rods on both sides are extended, and the electric push rods drive the pins at the tail to push the caster connecting plate to swing forward, causing the two driven wheels to lift up (at this time, the contact plate of the shock absorption mechanism presses down on the upper surface of the top wing plate of the H-shaped track to help lift the two driven wheels). Then, the pneumatic slide is driven to move (the two pneumatic slides move towards each other and cooperate to clamp the central plate of the H-shaped track). Finally, the electric push rods on both sides are shortened, causing the driven wheels to fall and abut against the lower wing plate of the H-shaped track, so as to help the contact plate of the shock absorption mechanism to detach from the upper surface of the top wing plate of the H-shaped track.

[0038] The shock absorption mechanism includes an upper panel 301 mounted on the profile. Four stud shafts 302 are mounted on the upper panel. Upper support springs 305 and lower support springs 303 are fitted onto the stud shafts, with a contact plate 304 sandwiched between them. The stud shafts extend vertically downwards through the upper panel and the contact plate, and are then axially positioned by a locking nut. The upper support spring is located between the upper panel and the contact plate, and the lower support spring is located between the contact plate and the locking nut. A washer is also provided between the lower support spring and the locking nut to increase the contact area and ensure locking quality. (See assembly instructions). Figure 1 , Figure 5The front and rear edges of the upper panel are bolted to the crossbeam 405 of the frame. When the shock absorption mechanism is in operation, the lower surface of the contact plate, as the force-bearing surface, contacts the upper surface of the top flange of the H-shaped track. The support spring on its upper surface is used for cushioning and shock absorption, while the support spring on its lower surface is used to reduce the unidirectional impact force received by the contact plate after cushioning and shock absorption, thereby protecting the contact plate.

[0039] like Figure 7 As shown, the rotary base is used to drive the robotic arm to rotate around a vertical axis. It includes a base 501 mounted on a robotic arm connecting plate. A synchronous pulley drive shaft 505 and a synchronous pulley driven shaft 506 are vertically mounted on the base. The bottom end of the synchronous pulley drive shaft is connected to the output shaft of a stepper motor via a rigid coupling (the output shaft of the stepper motor passes through the base and then connects to the synchronous pulley drive shaft), and the other end is fastened to a keyless small synchronous pulley. One end of the synchronous pulley driven shaft is axially positioned on the bearing seat of the base via a shoulder, and the other end is fastened to a keyless large synchronous pulley. An L-shaped sheet metal part 502 is fixedly mounted on the left side of the base by bolts. The L-shaped sheet metal part is connected to a square bearing seat 503 by bolts. A robotic arm base 504 is mounted on the square bearing seat by bolts. The square bearing seat and the robotic arm base are coaxially mounted to support and position the synchronous pulley driven shaft. The stepper motor is fixedly connected to the lower surface of the base by bolts. The driven shaft of the synchronous pulley is mounted on the base via a bearing housing equipped with a thrust ball bearing, which bears the shoulder pressure of the driven shaft. A bearing is provided between the square bearing housing and the driven shaft, and the robotic arm base is fixed to the base with a lock nut. The base and the robotic arm connecting plate are fixedly connected by bolts. When the rotary mechanism is working, the stepper motor below acts as the drive source, transmitting power to the synchronous pulley drive shaft through a rigid coupling, thereby driving the small keyless synchronous pulley to rotate. The small keyless synchronous pulley drives the large keyless synchronous pulley to rotate via a synchronous belt, which in turn drives the driven shaft of the synchronous pulley to rotate. The lower end of the driven shaft is axially fixed by the shaft shoulder, and the upper part is restricted by the square bearing housing, thus completely limiting axial movement and ensuring the radial stability of the driven shaft.

[0040] like Figure 8As shown, the robotic arm includes a vertical arm 601 bolted to a robotic arm base. A vertical arm cover plate 602 is bolted to the top of the vertical arm, and a vertical arm support 603 is bolted to the cover plate. The support is hinged to a single-ear base at the rear of a servo cylinder 609 (the hinge pin is a cotter pin). A pulley 605 (also a cotter pin) is mounted on the Y-shaped connector of the extension rod at the front end of the servo cylinder via a pin. A lateral vertical arm support 608 is bolted to the lower part of the vertical arm, and the lateral support is connected to an electric push rod 610. The rear end connector is hinged (the hinge pin is positioned using a cotter pin). The rod end connector at the front end of the electric push rod is hinged to the servo cylinder extension support 606 (the hinge pin is positioned using a cotter pin). The servo cylinder extension support is bolted to both sides of the middle of the servo cylinder. A motor bracket 607 is bolted to the side of the servo cylinder. A stepper motor is bolted to the upper part of the motor bracket. The output shaft of the stepper motor is connected to a winding wheel 604 via a flat key. The lifting rope is wound on the winding wheel, and one end of the lifting rope is connected to the end effector for harvesting via a pulley 605. The vertical arm is fixed to the vertical arm cover plate. When the robotic arm is working, the electric push rod controls the pitch adjustment of the robotic arm, the servo cylinder controls the harvesting distance on the horizontal plane of the robotic arm, and the stepper motor adjusts the harvesting height of the end effector by controlling the winding and unwinding of the lifting rope.

[0041] The rotating base is mounted on the robotic arm connecting plate 404 on the top of the frame via the base 501, and the robotic arm is mounted on the robotic arm base 504 of the rotating base via the vertical arm 601.

[0042] The end effector can be any existing type of end effector. During use, the spatial position of the end effector connected to the hoisting rope can be adjusted by controlling the stepper motor of the robotic arm to retract and extend the hoisting rope.

[0043] The end effector can also be as follows: Figure 9As shown, the end effector (conventional device) includes an annular, coaxially arranged upper base 701 and a lower base 706, with stepper motors mounted on their outer end faces respectively. Cylindrical seat rings on the inner rings of the upper and lower bases face each other, and driven large gears 708 are mounted on each seat ring. The driven large gears mesh with driving small gears 709, which are positioned on the inner end faces of the upper and lower bases respectively, and connected to the output shafts of the stepper motors passing through the end faces of the bases. A crescent-shaped blade holder 711 is installed between the upper and lower bases, with blades 710 mounted inside the crescent-shaped blade holder and a leak-proof ring 705 mounted outside the crescent-shaped blade holder. One end of each of the two crescent-shaped blade holders is rotatably positioned on a holder rotation shaft 707, which is parallel to the axis of the upper and lower bases and fixed at both ends to the upper and lower bases respectively. Crescent-shaped tracks are respectively installed on the inner circumferential surfaces of the upper and lower bases; the stepped shaft 702 is arranged parallel to the axis of the upper and lower bases and embedded in the crescent-shaped track, with the top positioned by the shaft head, the middle fitted with a gear connector 703, and the bottom connected to a slider 704; the slider is also embedded in the arc-shaped track of the crescent-shaped blade holder and slides in engagement; the square teeth on the outer edge of the gear connector 703 mesh with the square tooth groove opened on the inner side of the driven large gear.

[0044] A lifting ring is installed on the outer side of the upper base, and the two are fixedly connected by threads. The lifting rope is coiled in the winding wheel and connected to four lifting ring screws on the outer side of the upper base through the pulley. When the end effector is working, it controls two stepper motors, which drive two driven large gears one by one through two driving small gears. Each driven large gear meshes with the outer square teeth of the gear connector through its inner square tooth groove, driving a stepped shaft to move along the crescent-shaped track on the upper and lower gear seats. The stepped shaft then drives the crescent-shaped blade holder to rotate around the bracket rotation axis 707 through a slider. Finally, the two crescent-shaped blade holders converge towards each other, and the blades installed on them cut the stem of the designated lotus seedpod. The anti-leakage ring ensures the stable support of the lotus seedpod. The two stepper motors are controlled again to open and reset the crescent-shaped blade holders, and the lotus seedpod falls, completing the harvesting of the lotus seedpod.

[0045] During operation, the entire device is mounted on an H-shaped track (the H-shaped track is designed and arranged according to the required path). First, the electric push rod on the adjustment mechanism is controlled to raise the driven wheel, causing the entire device to descend. The lower surface of the contact plate of the shock absorption mechanism contacts the upper surface of the top wing plate of the H-shaped track, and the upper support spring is compressed. Then, the left and right pneumatic slides are controlled to move, so that the two friction wheels of the two adjustment mechanisms clamp the left and right sides of the vertical plate in the H-shaped track with a certain force. After clamping, the electric push rod on the adjustment mechanism is controlled again to lower the driven wheel and press it down against the upper surface of the bottom wing plate. The contact plate of the shock absorption mechanism leaves the upper surface of the wing plate, and the support spring gradually returns to its original position. After adjustment, the stepper motors of the two drive mechanisms are started, the friction wheels rotate and generate friction with the vertical plate, driving the harvesting robot to move along the track. The robot's vision module then identifies and locates the lotus pods. Upon detection and positioning, coordinate transformation is performed, and the robotic arm's electric actuator and servo cylinders are controlled to align the end effector with the pod. The robotic arm's stepper motors then release a rope to lower the end effector to the height of the lotus pod's stem. The two stepper motors of the end effector, via a transmission chain, drive the crescent-shaped blade holder to converge, allowing the blades mounted on it to cut the designated lotus pod stem. A leak-proof ring ensures stable collection of the lotus pod. The robotic arm's electric actuator and servo cylinders are then controlled again to move the end effector above a custom collection device. The two stepper motors open and reset the crescent-shaped blade holder, allowing the lotus pod to fall into the collection device, completing the harvesting of one pod. This cycle is repeated continuously.

Claims

1. A track-mounted lotus seedpod harvesting robot, characterized in that: The harvesting robot includes a frame (4), a robotic arm (6) mounted on the top of the frame via a rotating base (5) and carrying an end effector (7), a shock-absorbing mechanism (3) mounted on the upper part of the frame, and two assemblies arranged symmetrically on the lower part of the frame and composed of a drive mechanism (1) and an adjustment mechanism (2) respectively. The drive mechanism (1) is mounted on two pneumatic slides of the adjustment mechanism (2); the drive mechanism (1) includes a commutator (101) containing a pair of bevel gears and driven by a stepper motor, and a friction wheel (105) driven by the commutator (101) and mounted vertically. The adjustment mechanism (2) includes two parallel wheel frame brackets connected by a slide table connecting platform (201), an upper pneumatic slide table is installed on the slide table connecting platform; caster connecting plates (204) with driven wheels are respectively hinged to the left and right sides of the two wheel frame brackets, and an electric push rod (207) for controlling the swing angle of the caster connecting plate is installed; a lower pneumatic slide table is also installed on the lower side of the two wheel frame brackets through a C-shaped bracket (205); The shock absorption mechanism (3) includes an upper panel (301) and a contact plate that are parallel to each other and connected to the frame by a plurality of stud shafts arranged vertically and vertically. An upper support spring (305) and a lower support spring (303) are sleeved on the stud shafts (302). A contact plate is sandwiched between the upper support spring and the lower support spring. The rotary base (5) includes a base (501) mounted on the mechanical arm connecting plate (404) of the frame, a synchronous wheel drive shaft (505) and a synchronous wheel driven shaft (506) mounted on the base (501), a stepper motor that drives the keyless small synchronous wheel through the synchronous wheel drive shaft (505), and a keyless large synchronous wheel that transmits power to the keyless small synchronous wheel through a synchronous belt; The robotic arm (6) includes a vertical arm (601) mounted on a robotic arm base, a servo cylinder hinged to the vertical arm (601), a pulley (605) mounted on the extension rod of the servo cylinder for moving the suspension rope, an electric push rod (610) disposed between the vertical arm (601) and the extension support (606) of the servo cylinder, a stepper motor mounted on the side of the servo cylinder, and a winding wheel (604) mounted on the output shaft of the stepper motor for winding the suspension rope.

2. The track-mounted lotus seedpod harvesting robot according to claim 1, characterized in that: The frame (4) includes a rectangular frame composed of several profiles, a left panel (401) and a right panel (402) arranged vertically on the left and right sides of the rectangular frame, and a mechanical arm connecting plate (404) installed horizontally on the top of the two panels; two crossbeams (405) are parallel to each other and horizontally fixed to the upper part of the frame, and suspensions (403) are horizontally fixed on the left and right sides of the bottom of the frame, with one end of the suspension on each side fixed to the frame and the other end extending towards each other.

3. The track-mounted lotus seedpod harvesting robot according to claim 2, characterized in that: The two wheel frame supports include an outer wheel frame support (202) and an inner wheel frame support (203).

4. The track-mounted lotus seedpod harvesting robot according to claim 3, characterized in that: The friction wheel (105) is installed in the middle of the drive shaft; the upper and lower parts of the drive shaft are rotatably positioned on the horizontally arranged upper bracket (103) and lower bracket (104), respectively; the upper bracket and lower bracket are also fixedly connected to the upper pneumatic slide and the lower pneumatic slide, respectively.

5. The track-mounted lotus seedpod harvesting robot according to claim 4, characterized in that: The drive mechanism and the adjustment mechanism are connected vertically to form a drive chain. The two drive chains are symmetrically installed on the suspensions on both sides of the frame and are located between the upper and lower wing plates on both sides of the H-shaped track. The suspension on each side is fixedly connected to the two wheel frame brackets by bolts and the suspension axis is perpendicular to the length direction of the wheel frame bracket.

6. The track-mounted lotus seedpod harvesting robot according to claim 5, characterized in that: The heads of the two electric push rods are respectively hinged to the outer bracket and the inner bracket of the wheel frame. The tails of the two electric push rods are respectively transversely penetrated by pins (209). The two pins are inserted into the grooves of the foot plate connectors on the left and right sides and then fixed with cotter pins.

7. The track-mounted lotus seedpod harvesting robot according to claim 6, characterized in that: The end effector includes two annular, coaxially arranged bases, each with a stepper motor mounted on it. The inner rings of the two bases are arranged facing each other, and the two rings are each equipped with a driven large gear (708) that meshes with a driving pinion (709). The two driving pinions are respectively connected to the output shafts of the stepper motors passing through the end faces of the bases. Two crescent-shaped blade holders (711) with blades (710) are installed between the two bases, and one end is rotatably positioned on the support rotation shaft (707). Two stepped shafts (702) are arranged parallel to the axes of the two bases and are slidably embedded in the crescent-shaped tracks of the two bases. Gear connectors (703) that mesh with the driven large gears are respectively fitted on the two stepped shafts. The bottom ends of the two stepped shafts are respectively connected to sliders (704) that slide in cooperation with the arc-shaped tracks in the crescent-shaped blade holders, thereby driving the two crescent-shaped blade holders to rotate in opposite directions during operation.

8. The track-mounted lotus seedpod harvesting robot according to claim 7, characterized in that: The bracket's rotation axis is arranged parallel to the axes of the two bases, and its upper and lower ends are fixed to the two bases respectively.

9. The track-mounted lotus seedpod harvesting robot according to claim 8, characterized in that: Several lifting rings for connecting the lifting ropes are installed on the outside of the upper base.

10. The track-mounted lotus seedpod harvesting robot according to claim 9, characterized in that: A leak-proof ring (705) is installed on the outside of the crescent-shaped blade holder (711).

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