A strip tea line simulation type tea picking executor testing device

Abstract

The application discloses a strip-cultivated tea row simulation type tea picking executor testing device, which comprises a tea picking executor and a material loading platform. The tea picking executor is connected with a three-axis moving system. The three-axis moving system drives the tea picking executor to linearly move on X, Y and Z axes to carry out picking work on tea trees located at the picking end of the tea picking executor. The material loading platform is loaded with tea trees and is located at the bottom of the picking end of the tea picking executor. A lifting device drives the material loading platform to linearly move in the Z-axis direction to simulate tea trees of different heights. The material loading platform can drive the tea trees to linearly move from one end to the other end to simulate moving tea picking. The lifting material platform can vertically lift, flexibly simulate the height change of different tea tree plants from low to high, and drive the simulated tea trees loaded above the material loading platform to linearly move in a controllable manner, so that the real scene that the tea picking executor dynamically interacts with different tea tree crowns when advancing along the strip-cultivated tea row in actual work can be restored.

Description

Technical Field

[0001] This invention relates to the field of testing device technology, and specifically to a testing device for a simulated tea-picking actuator for row-planted tea fields. Background Technology

[0002] Mechanized tea harvesting is a key step in improving the efficiency of the tea industry and reducing labor costs. Among them, the tea-harvesting actuator, as the core component of automated tea-harvesting equipment, directly determines the operational effectiveness of the entire tea-harvesting equipment through its reliability, adaptability, and harvesting quality.

[0003] Currently, the testing of tea-picking actuators in existing technologies mainly relies on traditional testing devices or simple testing platforms. These devices typically simulate the static structure of tea bushes in a laboratory or on a fixed testing platform to test indicators such as shearing force, cutting efficiency, and tea leaf damage rate of the picking actuator.

[0004] However, existing testing devices can usually only test picking actuators that pick tea leaves from stationary tea plants with small height differences. The testing scenarios are relatively simple and it is difficult to reproduce the situation where the picking actuators pick tea leaves in the complex actual scenarios of real tea gardens. Summary of the Invention

[0005] The purpose of this invention is to provide a test device for a simulated tea picking actuator for row-planted tea, so as to solve the technical problem in the prior art that it is difficult to simulate the complex realities of tea gardens due to the single test scenario.

[0006] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A test device for a simulated tea-picking actuator in a row-planted tea plantation includes a tea-picking actuator installed at the output end of a three-axis motion system. The three-axis motion system is set on a platform, and the three-axis motion system drives the tea-picking actuator to move linearly along the X, Y, and Z axes to perform picking operations on the tea trees located at its picking end. A loading platform is mounted on the frame via a lifting device. The loading platform is loaded with tea trees and located at the bottom of the picking end of the tea-picking actuator. The lifting device drives the loading platform to move linearly in the Z-axis direction to simulate tea trees at different heights. Furthermore, the loading platform can drive the tea tree to move linearly from one end to the other, forming a relative motion with the picking actuator to simulate tea picking.

[0007] As a preferred embodiment of the present invention, the carrying platform includes a plate connected to the lifting device and a transfer belt disposed on the plate. The tea tree is disposed on the transfer belt, and the transfer belt is driven by a driving device to drive the tea tree to move linearly, simulating the movement of the picking device on the row of tea plants.

[0008] In a preferred embodiment of the present invention, a feeding conveyor belt and a discharging conveyor belt are respectively provided upstream and downstream of the transfer belt. The top surfaces of the feeding conveyor belt, the transfer belt and the discharging conveyor belt are arranged on the same plane, and the conveying speed of the feeding conveyor belt, the transfer belt and the discharging conveyor belt is the same to sequentially transfer tea trees.

[0009] In a preferred embodiment of the present invention, the rollers of the feeding conveyor belt, the transfer belt and the unloading conveyor belt are connected by a linkage structure, and the driving device is connected to any one of the feeding conveyor belt, the transfer belt or the unloading conveyor belt.

[0010] As a preferred embodiment of the present invention, the linkage structure includes a transmission disc, a transmission belt, and a wedge-shaped key; Specifically, the transmission disc is sleeved on the end of the rotating roller, a transmission belt is connected to the outer periphery of the transmission disc, the transmission belt connects the transmission discs on two adjacent belt rotating rollers, and multiple slots are formed on the inner circumference of the transmission disc. The ends of the rollers of the feeding conveyor belt, the transfer belt and the unloading conveyor belt are all hollow and equipped with torque devices. The working end of the torque device is connected to a wedge-shaped key through an elastic telescopic structure. The wedge-shaped key extends outward through the circumference of the roller. The wedge-shaped key can be extended and retracted at the working end of the torque device through the elastic telescopic structure to be movably embedded in the slot, and the torque device can adjust the orientation of the inclined surface of the wedge-shaped key by rotating the wedge-shaped key to control the synchronous / asynchronous rotation of the transmission disk and the rotating roller.

[0011] As a preferred embodiment of the present invention, the elastic telescopic structure includes a sleeve fixedly disposed at the bottom of the wedge-shaped key. The sleeve is slidably disposed on the torque device via a slider structure. The sleeve slides along the axial direction of the working end of the torque device, and a compression spring is disposed inside the sleeve. The two ends of the compression spring are respectively connected to the sleeve and the torque device.

[0012] As a preferred embodiment of the present invention, the peripheral side of the wedge-shaped key is provided with a plurality of balls.

[0013] As a preferred embodiment of the present invention, the lifting device includes a driver that drives the lifting rods to move axially on both sides of the plate. The lifting rods on both sides form a height difference by lifting and lowering at different heights to tilt the flow belt body to simulate tea trees planted on a slope. The feeding conveyor belt and the unloading conveyor belt are positioned on the same plane as the top surface of the transfer belt by a lifting cylinder, and the lifting cylinder is located on both sides of the feeding conveyor belt and the unloading conveyor belt. The lifting cylinders on both sides move up and down synchronously with the lifting rod on the same side to maintain the three belts at the same height and the same tilt position.

[0014] Compared with the prior art, the present invention has the following advantages: This invention uses a three-axis motion system to perform three-dimensional spatial positioning and control of the tea-picking end effector, enabling it to complete the entire testing process in a controlled laboratory environment. This completely eliminates the dependence on specific picking conditions (such as weather, season, and actual tea garden terrain). Furthermore, through a vertically lifting platform, it can flexibly simulate the height changes of different tea plants, from short to tall, providing a basis for testing the adaptability of the tea-picking end effector to tea plants of different heights.

[0015] Furthermore, by using a platform to move the simulated tea trees it carries in a controlled linear manner, the system can recreate the realistic scenario of the tea-picking actuator dynamically interacting with different tea tree canopies as it moves along the rows of tea plants. This allows for a comprehensive and accurate evaluation of the overall operational performance of the tea-picking actuator under simulated real-world tea-planting row conditions. Attached Figure Description

[0016] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the structure of Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of the linkage structure of the present invention; Figure 5 This is a schematic diagram of the torque device of the present invention; Figure 6 This is one of the cross-sectional structural schematic diagrams of the elastic telescopic structure of the present invention, specifically a diagram showing the engagement of the wedge-shaped key and the slot; Figure 7 This is the second cross-sectional schematic diagram of the elastic telescopic structure of the present invention, specifically a diagram showing the rotation process of the wedge-shaped key; Figure 8 This is the third cross-sectional schematic diagram of the elastic telescopic structure of the present invention, specifically a diagram showing the wedge-shaped key being pressed and moved downwards; Figure 9 This is a schematic diagram of the structure of Embodiment 4 of the present invention; Figure 10 This is a schematic diagram of the tilted structure of the cargo platform of the present invention; Figure 11 This is a schematic diagram of the spherical compensating joint in this invention; Figure 12 This is a schematic diagram of the end effector in this invention.

[0018] The labels in the diagram represent the following: 1. Loading platform; 2. Driver; 3. Three-axis moving system; 4. Frame; 5. Lifting device; 6. Plate; 7. Transfer belt; 8. Loading conveyor belt; 9. Unloading conveyor belt; 10. Rotary roller; 11. Linkage structure; 12. Transmission disc; 13. Transmission belt; 14. Wedge key; 15. Slot; 16. Torque device; 17. Sleeve; 18. Compression spring; 19. Ball bearing; 20. Lifting rod; 21. Lifting cylinder. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1: like Figure 1 and Figure 2 As shown, this invention provides a test device for a simulated tea-picking actuator in a row-planted tea plantation, including a tea-picking actuator (such as...). Figure 12 As shown), it is installed at the output end of the three-axis moving system 3 (not shown). The three-axis moving system 3 is set on the frame 4. The three-axis moving system 3 drives the tea picking actuator to move linearly on the X, Y and Z axes to pick tea trees located at its picking end.

[0021] The loading platform 1 is set on the frame 4 via the lifting device 5. The loading platform 1 is loaded with tea trees and is located at the bottom of the picking end of the tea picking actuator. The lifting device 5 drives the loading platform 1 to move linearly in the Z-axis direction to simulate tea trees at different heights.

[0022] Furthermore, the loading platform 1 can drive the tea tree to move linearly from one end to the other, forming a relative motion with the picking actuator to simulate tea picking.

[0023] The loading platform 1 can support multiple tea trees, which can be arranged in single or multiple rows to form strip planting rows to simulate the arrangement of tea trees in a tea garden. The tea trees can be potted tea trees fixed on the loading platform 1. To ensure stability, the bottom of the loading platform 1 is equipped with anti-slip pads, or it can be fixed to the ground or the test stand 4 with bolts.

[0024] The tea-picking actuator is connected to the three-axis motion system 3. The three-axis motion system 3 includes, as follows: Figure 1 The linear motion structures along the X, Y, and Z axes correspond to horizontal, vertical, and longitudinal movements, respectively. These linear motion structures utilize a slide rail system driven by a high-precision ball screw and servo motor, covering the entire tea bush area on platform 1. The system is controlled by a PLC (Programmable Logic Controller) to ensure precise positioning and trajectory planning of the robotic arm in three-dimensional space. The platform 4 is a steel frame structure fixed to the ground, with the three-axis motion system 3 mounted on top to ensure overall stability. A touchscreen display and electrical control cabinet are also installed on top for external control.

[0025] In this embodiment, the tea-picking actuator achieves linear movement along the X, Y, and Z axes via a three-axis motion system 3, enabling precise picking of tea leaves on the loading platform 1, simulating the mechanized picking process in an actual tea garden. The testing device, by adjusting the motion parameters and picking strategy of the robotic arm, can be used to evaluate picking efficiency, accuracy, and the degree of damage to the tea leaves.

[0026] Furthermore, the loading platform 1 is connected to a lifting device 5 to simulate harvesting scenarios at different tea tree heights. By controlling the up-and-down movement of the loading platform 1 through the lifting device 5, the tea trees are moved up and down in sync. On the one hand, this can compensate for the vertical travel of the tea-picking actuator when testing the harvesting of lower tea trees. On the other hand, by raising and lowering the height of the tea trees, the harvesting situation of tea trees at different heights can be simulated.

[0027] The lifting device 5 has various implementations in the prior art; in this embodiment, it can be implemented as follows: Figures 1 to 4 The motor shown drives the screw to rotate, which in turn causes the threaded sleeve on the outside of the screw to move the loading platform 1 longitudinally in a linear displacement.

[0028] The control system of the lifting device 5 can be integrated with the PLC control system of the tea-picking actuator, and the target height can be set through a human-machine interface (HMI). The control system supports manual and automatic modes: in manual mode, the operator can adjust the height of the loading platform 1 via buttons or a touch screen. In automatic mode, the system automatically adjusts the height according to a preset test program to simulate different picking scenarios.

[0029] like Figure 2As shown, specifically, the loading platform 1 includes a plate 6 and a conveyor belt 7. The plate 6 is a steel plate structure and is connected to the rod of the lifting device 5. The conveyor belt 7 is a ring conveyor belt made of wear-resistant rubber and is installed on the plate 6. The tea trees are placed on the conveyor belt 7.

[0030] The conveyor belt 7 is connected to and driven by a drive unit (not shown in the figure). The drive unit may include a servo motor, a reducer, and transmission rollers. The servo motor drives the rotating roller 10 to rotate, thereby driving the conveyor belt 7 to move linearly.

[0031] In this embodiment, the conveyor belt 7 moves the tea bushes along a straight line, simulating the dynamic process of continuous tea picking by a tea-picking actuator along a tea row in an actual tea garden. That is, while the tea-picking actuator remains stationary, the tea bushes move along a straight line, creating relative motion to simulate the moving and picking process of a real tea garden. Testers can optimize the coordination and efficiency of the dynamic picking process by adjusting the speed of the conveyor belt 7 and the movement trajectory of the tea-picking actuator.

[0032] Example 3: Furthermore, based on Example 2, this example further includes an upstream conveyor belt 8 and an downstream conveyor belt 9 along the upstream and downstream sides of the transfer belt 7, forming a continuous tea tree transfer system. Specifically, as shown... Figure 3 As shown, both the feeding conveyor belt 8 and the unloading conveyor belt 9 are made of the same wear-resistant rubber material as the transfer belt 7. The top surfaces of the three belts remain coplanar to ensure a smooth transition of the tea leaves during transport. The conveying speeds of the feeding conveyor belt 8, the transfer belt 7, and the unloading conveyor belt 9 are synchronously and coordinated to ensure complete speed synchronization and prevent the tea leaves from bumping or shifting during transport between the belts. The feeding conveyor belt 8 is responsible for transporting the tea leaves to be harvested from the storage area to the transfer belt 7. After harvesting, the transfer belt 7 transports the tea leaves to the unloading conveyor belt 9, which ultimately delivers them to the collection area.

[0033] This embodiment achieves continuous and automated tea tree transport through the coordinated operation of three belts, simulating the complete process from feeding, picking to unloading tea trees in an actual tea garden, thus improving the automation level and testing efficiency of the testing device.

[0034] Furthermore, to improve the coordination of the synchronous movement of the three belts, a linkage structure 11 is designed to connect the rollers 10 of the feeding conveyor belt 8, the transfer belt 7, and the unloading conveyor belt 9, thereby achieving synchronous driving of the three belts. Figure 4As shown, in the prior art, the linkage structure 11 has various implementations. For example, the linkage structure 11 may include a drive shaft, a coupling, and a chain. The rollers 10 of the feeding conveyor belt 8, the transfer belt 7, and the unloading conveyor belt 9 are connected to the same drive shaft via couplings. The drive shaft is connected to the chain to form a power transmission. The drive device can drive all the belts to move by connecting to any one of the feeding conveyor belt 8, the transfer belt 7, or the unloading conveyor belt 9, thereby performing transmission.

[0035] Furthermore, this embodiment provides a specific structure for the linkage structure 11, such as... Figure 5 As shown, it can flexibly disconnect the linkage mechanism, thereby allowing two adjacent belts to selectively not be linked, thus better adapting to the actual testing conditions of the testing device.

[0036] Specifically, such as Figure 5 and Figure 6 As shown, the linkage structure 11 includes a transmission disc 12, a transmission belt 13, and a wedge-shaped locking key 14. Each roller 10 has a transmission disc 12 fitted onto its end. The transmission disc 12 has a circular structure, and its outer circumference may have a toothed structure for connection with the conveyor belt (chain), or a friction surface for connection with the conveyor belt (belt) for transmission. The inner circumference of the transmission disc 12 has evenly distributed grooves 15 for connection with the wedge-shaped locking key 14.

[0037] The end of the roller 10 is designed as a hollow structure, and a torque device 16 (e.g., a torque motor) is installed inside. The working end of the torque device 16 is connected to a wedge-shaped key 14 through an elastic telescopic structure. The wedge-shaped key 14 is a key with one side cut into a bevel. After the end of the wedge-shaped key 14 is inserted into the slot 15, the wedge-shaped key 14 contacts the side of the slot 15 through its pointed end or through its wedge-shaped beveled end, thereby forming a synchronous rotation of the roller 10 and the transmission disk 12 (with the pointed end in contact with the side of the slot 15) or the wedge-shaped key 14 is pressed down, resulting in a disconnection between the transmission disk 12 and the roller 10.

[0038] The bottom of the wedge-shaped key 14 is connected to an elastic telescopic structure. Specifically, such as... Figure 6 As shown, the elastic telescopic structure includes a sleeve 17, a slider structure, and a compression spring 18. The sleeve 17 is a cylindrical steel component, with its bottom fixedly connected to a wedge-shaped key 14. The sleeve 17 is slidably mounted on the working end of the torque device 16 via the slider structure, which includes a groove (located on the inner wall of the sleeve 17) and a slider (located on the working end of the torque device 16). The compression spring 18 is located inside the sleeve 17, with one end fixed to the top of the sleeve 17 and the other end fixed to the working end of the torque device 16.

[0039] The key extends and retracts along the axis of the torque device 16 via an elastic telescopic structure, allowing it to engage or disengage from the slot 15 of the transmission disc 12. The torque device 16 adjusts the orientation of the inclined surface of the wedge-shaped key 14 by rotating its working end, thereby controlling the engagement state of the key and the slot 15, and thus achieving synchronous or asynchronous rotation of the transmission disc 12 and the rotating roller 10.

[0040] Working principle: like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown ( Figure 6 , Figure 7 and Figure 8 This is a schematic diagram of the cross-section structure. Figure 6 and Figure 8 This is a diagram showing the working state of the wedge-shaped key 14. Figure 7 (Interim diagram of the rotation process of wedge-shaped key 14) When synchronous rotation is required, such as Figure 6 As shown, the torque device 16 rotates the wedge-shaped key 14 so that the pointed end (wedge-shaped inclined side) of the wedge-shaped key 14 is downstream of the rotation direction of the slot 15. At this time, when the transmission disk 12 rotates, the transmission disk 12 engages with the pointed end of the wedge-shaped key 14 through the slot 15 to form an integral structure and complete the transmission.

[0041] like Figure 8 As shown, when asynchronous rotation is required (such as adjusting a single belt), the torque device 16 rotates the wedge-shaped key 14 so that its inclined side faces the rotation direction of the slot 15. At this time, the side of the slot 15 presses against the inclined side of the wedge-shaped key 14, and the compression spring 18 contracts. Figure 8 As shown, pressing down on this side causes it to fall, and the wedge-shaped key 14 falls out of the slot 15, thus breaking the connection between the transmission disc 12 and the rotation, thereby breaking the connection between the two belts.

[0042] Among them, such as Figure 6 As shown, to improve the smoothness of rotation of the wedge-shaped retaining key 14 by the torque device 16, multiple balls 19 made of stainless steel are further embedded on the peripheral side of the wedge-shaped retaining key 14. The balls 19 are embedded in the side of the retaining key through spherical grooves, and the grooves are coated with grease to reduce friction between the balls 19 and the retaining key. The balls 19 can roll freely, reducing the frictional resistance when the retaining key rotates in the retaining groove 15.

[0043] Example 4: A further embodiment 4 is provided, whose overall structure is similar to that of embodiments 1, 2 and 3. The difference is that the lifting device 5 is connected to the carrying platform 1 through a rotating structure, so that when the lifting devices 5 on both sides are lifted asynchronously, the carrying platform 1 can tilt to one side to simulate the harvesting test process when tea trees are planted on a slope.

[0044] Specifically, such as Figure 9 As shown, the lifting device 5 includes lifting rods 20 arranged on both sides of the plate 6 and a driver 2 that drives the lifting rods 20 to move axially. The lifting rods 20 on both sides are controlled by an independent control unit, that is, the driver 2 on both sides independently drives the lifting rods 20 to move, thereby enabling lifting at different heights to form a height difference.

[0045] The driver 2 can be selected from existing components or structures that can realize the axial movement of the lifting rod 20, such as a telescopic cylinder or an electric telescopic rod. It is fixedly mounted on the frame 4 and connected to the top of the lifting rod 20 through a connecting plate (the lifting rod 20 is axially slidably mounted on the panel of the frame 4). Thus, when the working end of the cylinder or the electric telescopic rod extends upward, it drives the two sides of the lifting rod 20 to move asynchronously.

[0046] The end of the lifting boom 20 can be connected to the plate 6 via a ball joint, such as... Figure 10 and Figure 11 As shown (where the specific structure of the spherical compensator is as follows) Figure 11 As shown in the diagram, when the lifting rods 20 on both sides move to different heights, the ends of the lifting rods 20 can rotate around the plate 6, thereby causing the plate 6 to tilt. Figure 10 As shown, when the plate 6 is tilted, it can be connected to form a tilted state through a spherical compensation joint. For example, the left lifting rod 20 is raised to 40cm and the right lifting rod 20 is raised to 20cm, causing the loading platform 1 to tilt, simulating the scene of the picking device in a tea garden on a slope.

[0047] The loading conveyor belt 8 and the unloading conveyor belt 9 are positioned coplanar with the top surface of the transfer belt 7 via lifting cylinders 21. The lifting cylinders 21 are installed on both sides of the belt. The cylinders are connected to a compressed air source via pneumatic control valves, and the control system is integrated with the PLC of the lifting device 5 to ensure that the lifting cylinders 21 and the lifting rods 20 on the same side rise and fall synchronously. For example, when the left lifting rod 20 rises to 40cm, the left lifting cylinder 21 rises synchronously to 40cm, maintaining the same height and tilt angle of the top surfaces of the three belts.

[0048] Working principle: During the test of the slope harvesting scenario, the operator sets the tilt angle of the loading platform 1. The PLC controls the lifting rods 20 on both sides to create a height difference, while coordinating the lifting height of the lifting cylinder 21 to ensure that the loading conveyor belt 8, the transfer belt 7, and the unloading conveyor belt 9 remain coplanar and tilted synchronously. The tea leaves are transferred on the tilted belts, and the tea-picking actuator adjusts its posture through the three-axis movement system 3 to adapt to slope harvesting.

[0049] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A test device for a simulated tea-picking actuator in row-planted tea fields, characterized in that, include: The tea-picking actuator is installed at the output end of the three-axis moving system (3), which is set on the frame (4). The three-axis moving system (3) drives the tea-picking actuator to move linearly on the X, Y, and Z axes to pick tea trees located at its picking end. The loading platform (1) is set on the frame (4) by a lifting device (5). The loading platform (1) is loaded with tea trees and located at the bottom of the picking end of the tea picking actuator. The lifting device (5) drives the loading platform (1) to move linearly in the Z-axis direction to simulate tea trees of different heights. Furthermore, the loading platform (1) can drive the tea tree to move linearly from one end to the other end to form a relative motion with the tea-picking actuator to simulate tea picking. The loading platform (1) includes a plate (6) connected to the lifting device (5) and a conveyor belt (7) disposed on the plate (6). The tea tree is disposed on the conveyor belt (7), and the conveyor belt (7) is driven by a driving device to drive the tea tree to move linearly. The upstream and downstream sides of the transfer belt (7) are respectively provided with a feeding conveyor belt (8) and a discharging conveyor belt (9). The top surfaces of the feeding conveyor belt (8), the transfer belt (7) and the discharging conveyor belt (9) are coplanar, and the conveying speed of the feeding conveyor belt (8), the transfer belt (7) and the discharging conveyor belt (9) is the same to sequentially transfer tea trees. The rollers (10) of the feeding conveyor belt (8), the transfer belt (7) and the unloading conveyor belt (9) are connected by a linkage structure (11), and the driving device is connected to any one of the feeding conveyor belt (8), the transfer belt (7) or the unloading conveyor belt (9). The lifting device (5) includes lifting rods (20) set on both sides of the plate (6) and a driver (2) for driving the lifting rods (20) to move axially. The lifting rods (20) on both sides form a height difference by lifting and lowering different heights to tilt the transfer belt (7) to simulate tea trees planted on a slope. The loading conveyor belt (8) and the unloading conveyor belt (9) are positioned on the same plane as the top surface of the transfer belt (7) by a lifting cylinder (21), and the lifting cylinder (21) is positioned on both sides of the loading conveyor belt (8) and the unloading conveyor belt (9). Among them, the lifting cylinders (21) on both sides and the lifting rod (20) on the same side move up and down synchronously to maintain the three belts at the same height and the same tilt position; The linkage structure (11) includes a transmission disc (12), a transmission belt (13), and a wedge-shaped key (14). Specifically, the transmission disc (12) is sleeved on the end of the rotating roller (10), and a transmission belt (13) is connected to the outer periphery of the transmission disc (12). The transmission belt (13) connects the transmission discs (12) on two adjacent belt rotating rollers (10). Multiple slots (15) are opened on the inner periphery of the transmission disc (12). The ends of the rollers (10) of the feeding conveyor belt (8), the transfer belt (7) and the unloading conveyor belt (9) are all hollow and have a torque device (16) inside. The working end of the torque device (16) is connected to a wedge-shaped key (14) through an elastic telescopic structure. The wedge-shaped key (14) extends outward through the circumference of the roller (10). The wedge-shaped key (14) can be extended and retracted at the working end of the torque device (16) through the elastic telescopic structure to be movably embedded in the slot (15), and the torque device (16) can adjust the inclined surface orientation of the wedge-shaped key (14) by rotating the wedge-shaped key (14) to control the synchronous / asynchronous rotation of the transmission disk (12) and the roller (10).

2. The test device for a simulated tea-picking actuator in a row-planted tea plantation according to claim 1, characterized in that: The elastic telescopic structure includes a sleeve (17) fixedly disposed at the bottom of the wedge-shaped key (14). The sleeve (17) is slidably disposed on the torque device (16) through a slider structure. The sleeve (17) slides along the axial direction of the working end of the torque device (16). A compression spring (18) is disposed inside the sleeve (17). The two ends of the compression spring (18) are respectively connected to the sleeve (17) and the torque device (16).

3. The test device for a simulated tea-picking actuator in a row-planted tea plantation according to claim 2, characterized in that: The wedge-shaped key (14) has multiple balls (19) embedded on its peripheral side.

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