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

Abstract

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.

Keywords:mountain tea plantations, four-point leveling device, omnidirectional dynamic leveling, simulation