山地茶园模块化全向动态四点调平装置设计与试验

Design and Experiment of Modular Omnidirectional Dynamic Four-point Leveling Device for Mountain Tea Plantations

本文针对目前山地茶园机械转场稳定性差的问题和作业姿态调整的需求,基于四点中心不动调平法原理,设计了一种搭载于底盘上,匹配多种作业机具的全向动态调平装置;开展调平装置关键部件参数设计和力学分析,建立了各支腿受力的数学模型,并仿真验证了模型的准确性。搭建样机并对整机的稳定性进行了分析,然后在丘陵山地综合性能测试平台上进行了转场及斜坡作业试验。试验结果表明:在转场试验中,底盘俯仰角和侧倾角幅值分别为17.9°、16.5°,平台俯仰角和侧倾角分别为6.4°、4.3°,平台俯仰角和侧倾角均值都小于1.8°;在斜坡4种作业工况下,底盘倾斜度均值分别为14.1°、15.2°、15.5°、14.1°,平台倾斜度均值分别为1.8°、1.6°、1.7°、1.6°,且平台的倾斜度标准差均小于底盘倾斜度标准差。研究表明该全向动态四点调平装置精度和稳定性满足山地茶园机具转场和坡地作业的需求。

Focusing on the problem of poor stability of mechanical transfer in mountain tea gardens and the need for adjusting work posture,based on the principle of four-point center immovable leveling method,an omnidirectional dynamic leveling device was designed,which was mounted on the chassis and matched with various operating tools.Parameter design and mechanical analysis of key components of the leveling device were conducted,mathematical models for the forces on each leg were established,and the accuracy of the models was verified through simulation.A prototype was built and the stability of the entire vehicle during operation was analyzed.Then the transition and slope operation tests were conducted on a comprehensive performance testing platform in hilly and mountainous areas.The test results showed that in the transition test,the maximum amplitudes of the chassis pitch angle and roll angle were 17.9°and 16.5°,respectively,and the platform pitch angle and roll angle were 6.4°and 4.3°,respectively.The average values of the platform pitch angle and roll angle were both less than 1.8°;under four working conditions on slopes,the average inclination of the chassis was 14.1°,15.2°,15.5°,and 14.1°,respectively.The average inclination of the platform was 1.8°,1.6°,1.7°,and 1.6°,respectively,and the standard deviation of the platform’s inclination was smaller than that of the chassis.It was shown that the accuracy and stability of the omnidirectional dynamic four-point leveling device met the needs of equipment transfer and slope operation in mountain tea plantations.