A tree felling saw mechanism

Abstract

The present application relates to a kind of branch sawing mechanism, belong to tree pruning technical field, including T type swivel joint, support frame, grabbing mechanism, sawing mechanism, working head swivel frame, turnover cylinder, swivel bearing one, swivel bearing two;T type swivel joint includes cross bar and longitudinal rod, and swivel sleeve one is rotatably connected on cross bar;Working head swivel frame is connected with swivel sleeve one With relative rotation can be enabled with cross bar;The end of working head swivel frame away from T type swivel joint is connected with swivel bearing two, to enable working head swivel frame can revolve around the axis of swivel bearing two;The support frame of carrying grabbing mechanism and sawing mechanism is connected with longitudinal rod by swivel bearing one;Turnover cylinder is connected between working head swivel frame and T type swivel joint;The present application can realize the rotation adjustment of multiple dimensions, angle adjustment is more flexible and changeable, it is convenient for accurate adjustment the position of grabbing mechanism and sawing mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tree pruning, in particular to a tree branch cutting and sawing mechanism. BACKGROUND

[0002] Green trees purify the air and block sunlight and heat, but also have safety hazards, such as tree branches blocking street lamps, tree branches growing too close to power lines or houses, etc. To avoid the above dangers, we need to prune green trees.

[0003] In the prior art, such as the utility model patent disclosed in the announcement No. CN204259479U, a tree branch pruning integrated operation vehicle is provided, which is provided with a mechanical hand claw and a disc saw on the working head. During operation, the mechanical hand claw and the disc saw can be adjusted in orientation by driving a small bevel gear to rotate and driving a large bevel gear to drive the rotating table to rotate. The orientation of the mechanical hand claw can be further adjusted by driving the working head swing cylinder to swing and driving the rotating head to rotate 360 degrees around its axis, so that the mechanical hand claw can be close to the tree branches to be pruned at a more suitable angle.

[0004] However, the above prior art still has the following problems: on the one hand, the angle adjustment of the saw is limited by the hinged relationship between the working head support and the rotating head and the rotation of the rotating head around its own axis, which has the problem of poor adjustability during high-altitude sawing of tree branches; on the other hand, the disc saw structure needs to be large enough in size when sawing large tree branches, which results in a large overall size of the saw and an overall structure that is not compact enough, which is not conducive to the miniaturization of the overall product. The larger the size of the tree branch saw, the more likely it is to be disturbed by the surrounding tree branches during high-altitude tree branch pruning, which is not conducive to the saw to move through the gaps between the tree branches and reach the target tree branch position, thereby affecting the cutting saw to saw the selected tree branches in a dense tree branch environment. SUMMARY

[0005] The present application provides a tree branch cutting and sawing mechanism to solve the above problems in the prior art. One technical problem to be solved is that the angle adjustment of the cutting mechanism is not flexible enough. Another technical problem to be solved is that the overall structure is not compact enough, which is not conducive to the miniaturization of the overall product, and therefore it is not convenient to move through the dense tree branches to reach the target tree branch position.

[0006] The technical solution of the present application to solve the above technical problems is as follows: a tree branch cutting and sawing mechanism, characterized in that it comprises a T-shaped rotary joint, a support frame, a grabbing mechanism, a sawing mechanism, a working head rotary frame, a turnover cylinder, a rotary bearing I, and a rotary bearing II; the T-shaped rotary joint comprises a horizontal rod and a vertical rod, and a rotary sleeve I is rotatably connected to the horizontal rod;

[0007] The working head rotating frame is connected with the rotating sleeve I, so that the working head rotating frame can rotate relative to the cross bar; the working head rotating frame is connected with the rotating support II at the end away from the T-shaped rotating joint, so that the working head rotating frame can rotate around the axis of the rotating support II; the support frame carrying the grabbing mechanism and the sawing mechanism is connected with the vertical bar through the rotating support I, so that the support frame can rotate relative to the vertical bar;

[0008] A turnover cylinder is connected between the working head rotating frame and the T-shaped rotating joint, for driving the relative rotation of the working head rotating frame and the cross bar.

[0009] Further, the sawing mechanism comprises:

[0010] The branch sawing mechanism sliding frame is connected with the support frame in a relatively slidable manner;

[0011] The sawing knife is a rod-shaped structure, comprising a knife shaft and knife teeth arranged on the circumferential surface of the knife shaft, and the two ends of the knife shaft are rotationally connected with the branch sawing mechanism sliding frame;

[0012] The sliding frame drive is connected with the branch sawing mechanism sliding frame and the support frame respectively, for driving the relative sliding of the branch sawing mechanism sliding frame and the support frame, and providing power for the feeding of the sawing knife, and the feeding direction of the sawing knife is perpendicular to the radial direction of the knife shaft;

[0013] The sawing knife drive is connected with the knife shaft, for driving the rotation of the knife shaft around its axis.

[0014] Further, the sawing knife drive is arranged on the lower side of the sawing knife and has a preset distance from the sawing knife, and the output end of the sawing knife drive is drivingly connected with one end of the knife shaft through a transmission mechanism.

[0015] Further, the transmission mechanism comprises a driving wheel fixedly connected with the output end of the sawing knife drive and a driven wheel fixedly connected with one end of the knife shaft, the driving wheel and the driven wheel are connected with the branch sawing mechanism sliding frame in a rotatable manner around their axes, and the driving wheel and the driven wheel are drivingly connected through a transmission member.

[0016] Further, the driving wheel and the driven wheel adopt a gear structure, a belt wheel structure or a chain wheel structure, and correspondingly, the transmission member adopts a gear transmission structure, a belt transmission structure or a chain transmission structure.

[0017] Further, the sliding frame drive adopts a hydraulic cylinder, the cylinder barrel of which is connected with the branch sawing mechanism sliding frame, and the telescopic rod of which is connected with the support frame.

[0018] Further, the grabbing mechanism comprises a clamping jaw connected with the support frame and a clamping jaw drive for driving the clamping jaw to perform a grabbing action.

[0019] Further, the clamping jaw comprises a clamping jaw one and a clamping jaw two, the clamping jaw one and the clamping jaw two are oppositely arranged and are respectively hinged to the support frame, and the clamping jaw drive is connected with the clamping jaw one and the clamping jaw two respectively, and is used for driving the opening and closing of the clamping jaw one and the clamping jaw two.

[0020] Further, the clamping jaw comprises a clamping jaw one and a clamping jaw two, the clamping jaw one and the clamping jaw two are oppositely arranged and are respectively hinged to the support frame, and the clamping jaw drive is connected with the clamping jaw one and the clamping jaw two respectively, and is used for driving the opening and closing of the clamping jaw one and the clamping jaw two.

[0021] Further, the T-shaped rotary joint is internally provided with an oil path communicating the horizontal rod and the vertical rod, the rotary sleeve one is provided with an oil port one in communication with the oil path, the vertical rod is rotatably provided with a rotary sleeve two, and the rotary sleeve two is provided with an oil port two in communication with the oil path.

[0022] Further, the T-shaped rotary joint is internally provided with an oil path communicating the horizontal rod and the vertical rod, the rotary sleeve one is provided with an oil port one in communication with the oil path, the vertical rod is rotatably provided with a rotary sleeve two, and the rotary sleeve two is provided with an oil port two in communication with the oil path.

[0023] The beneficial effects of the present application are:

[0024] 1. Through the T-shaped rotary joint and the connection relationship thereof with the support frame, the grabbing mechanism, the sawing mechanism and the working head rotary frame, the present application can realize the rotation adjustment in multiple dimensions, such as the rotation of the working head rotary frame around the rotary bearing two axis, the rotation of the support frame carrying the grabbing mechanism and the sawing mechanism around the horizontal rod axis, and the rotation of the support frame carrying the grabbing mechanism and the sawing mechanism around the vertical rod axis, and the angle adjustment is more flexible and variable, which is convenient for accurately adjusting the positions of the grabbing mechanism and the sawing mechanism.

[0025] 2. Through the specific structures of the sawing mechanism and the grabbing mechanism and the connection relationship between the T-shaped rotary joint and the working head rotary frame, the overall structure is more compact, the product is more miniaturized, the interference from the side branches is reduced, and thus the branch saw can travel in the gap of the high-altitude branches to reach the sawing target position.

[0026] 3. Through the connection relationship between the sawing mechanism, especially the rod-shaped sawing knife, and the branch saw sliding frame and the support frame, the connection architecture of the sawing knife, the support member and the driving member is changed compared with the prior art, both ends of the sawing knife are connected ends rather than free ends, the support frame is kept stationary during the sawing operation, the branch saw sliding frame connected with the support frame is driven to perform the feeding action under the driving of the sliding frame drive, the feeding direction is perpendicular to the sawing knife axial direction, the shaking phenomenon of the rod-shaped sawing knife during the high-altitude sawing of the branches due to the movement or fan-shaped trajectory movement of the support arm is effectively avoided, the sawing effect of the high-altitude branches is better, the sawing effect is still good when the branches are thick, and the application range is wider.

[0027] 4. The application further comprises an oil passage connecting the horizontal rod and the vertical rod inside the T-shaped rotary joint, and respectively communicating with the oil port one on the rotary sleeve one of the horizontal rod and the oil port two on the rotary sleeve two of the vertical rod, so that the oil passage pipeline is built in the T-shaped rotary joint, avoiding the interference of too much exposed oil passage pipeline on the branches, and through the built-in oil passage connection, the hydraulic oil connected with the T-shaped rotary joint is also avoided to affect the rotation process of the work head rotary frame, support frame and other components. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is the overall structure schematic diagram of an embodiment of the application;

[0029] Figure 2 is the structure schematic diagram of a T-shaped rotary joint of an embodiment of the application;

[0030] Figure 3 is the structure schematic diagram of a support frame of a bearing grabbing mechanism and sawing mechanism of an embodiment of the application;

[0031] Figure 4 is the structure schematic diagram of a grabbing mechanism of an embodiment of the application;

[0032] Figure 5 is the sectional structure schematic diagram of a sawing mechanism of an embodiment of the application;

[0033] Figure 6 is another sectional structure schematic diagram of a sawing mechanism of an embodiment of the application;

[0034] Figure 7 is the sectional structure schematic diagram of a T-shaped rotary joint of an embodiment of the application;

[0035] In the figure: 1. T-shaped rotary joint, 101. horizontal rod, 102. vertical rod, 103. rotary sleeve one, 104. rotary sleeve two, 105. oil port one, 106. oil port two, 107. annular oil channel one, 108. oil passage hole, 109. annular oil channel two, 110. annular groove, 2. grabbing mechanism, 201. clamping jaw one, 202. clamping jaw two, 203. clamping jaw connecting arm, 204. clamping jaw drive, 3. sawing mechanism, 301. sawing knife, 311. knife shaft, 312. knife teeth, 302. branch sawing mechanism sliding frame, 304. sliding frame drive, 305. sawing knife drive, 361. driving wheel, 362. driven wheel, 363. transmission member, 308. guide plate, 309. sliding groove, 4. overturning oil cylinder, 41. connecting rod one, 42. connecting rod two, 5. work head rotary frame, 61. rotary bearing one, 62. rotary bearing two, 7. support frame. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below. The embodiments given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0037] like Figure 1 As shown, the branch sawing mechanism of this embodiment includes a T-shaped rotary joint 1, a support frame 7, a gripping mechanism 2, a sawing mechanism 3, a working head rotary frame 5, a tilting cylinder 4, a rotary bearing 61, and a rotary bearing 62; the T-shaped rotary joint 1 includes a horizontal bar 101 and a vertical bar 102, and two rotary sleeves 103 are rotatably connected to the horizontal bar 101, with the two rotary sleeves 103 located on both sides of the vertical bar 102 respectively;

[0038] The working head rotating frame 5 is connected to the rotating sleeve 103 so that the working head rotating frame 5 can rotate relative to the crossbar 101; the end of the working head rotating frame 5 away from the T-shaped rotating joint 1 is connected to the rotating bearing 62 so that the working head rotating frame 5 can rotate around the axis of the rotating bearing 62; the support frame 7 that carries the gripping mechanism 2 and the sawing mechanism 3 is connected to the longitudinal bar 102 through the rotating bearing 61 so that the support frame 7 can rotate relative to the longitudinal bar 102.

[0039] A tilting cylinder 4 is connected between the working head slewing frame 5 and the T-type slewing joint 1 to drive the relative rotation of the working head slewing frame 5 and the crossbar 101.

[0040] Through the design of the above structure, the overall branch sawing mechanism can achieve rotational adjustment in multiple dimensions, including the working head rotary frame 5 around the slewing bearing 62, the support frame 7 around the gripping mechanism 2 and the sawing mechanism 3 around the crossbar 101, and the support frame 7 around the longitudinal bar 102. This allows for more flexible and varied angle adjustment. After adjusting the angle, the gripping mechanism grasps the branch to be pruned, and the sawing mechanism cuts the branch.

[0041] In a preferred embodiment of the present invention, the sawing mechanism 3 includes:

[0042] The sliding frame 302 of the branch sawing mechanism is connected to the support frame 7 in a relatively sliding manner;

[0043] The saw blade 301 is a rod-shaped structure, which includes a blade shaft 311 and blade teeth 312 arranged on the circumference of the blade shaft 311. Both ends of the blade shaft 311 are rotatably connected to the sliding frame 302 of the branch sawing mechanism.

[0044] The sliding frame drive 304 is connected with the branch cutting saw mechanism sliding frame 302 and the support frame 7 respectively, and is used to drive the branch cutting saw mechanism sliding frame 302 to slide relative to the support frame 7, to provide power for the feeding of the sawing knife, and the feeding direction of the sawing knife is perpendicular to the radial direction of the knife shaft 311; the sliding frame drive 304 of the embodiment adopts a hydraulic oil cylinder, the cylinder barrel 341 of which is connected with the branch cutting saw mechanism sliding frame 302, and the telescopic rod 342 thereof is connected with the support frame 7. It is preferred that the cylinder barrels 341 are arranged side by side beside the branch cutting saw mechanism sliding frame 302, so that the overall layout is more compact. More preferably, the cylinder barrel 341 and the branch saw sliding frame 302 can be arranged in an integrated structure.

[0045] The sawing knife drive 305, which is specifically a driving motor in the embodiment, is connected with the knife shaft 311, and is used to drive the knife shaft 311 to rotate around its axis.

[0046] The grabbing mechanism 2 and the sawing mechanism 3 are arranged close to each other, and the structure is compact. After the grabbing mechanism 2 grabs the branch to be pruned, the sawing knife drive 305 is started to drive the sawing knife 301 to rotate; the sliding frame drive 304 is started to drive the telescopic rod 342 to extend or retract from the cylinder barrel 341. Since the end of the telescopic rod 342 is fixed with the support frame 7, and the cylinder barrel 341 is fixed with the branch saw sliding frame 302, the two branch saw sliding frames 302 can slide forward or backward relative to the support frame 7 under the drive of the sliding frame drive 304, thereby driving the sawing knife 301 connected therewith to approach or move away from the branch to be pruned, to realize the feeding action of the sawing work, and the feeding direction is perpendicular to the direction of the knife shaft 311, which can realize the sawing of the branch in cooperation with the rotation of the sawing knife 301. The two ends of the sawing knife 301 are both connected ends rather than free ends. In the use state, the branch saw as a whole remains stationary due to the support frame 7, and the sliding frame drive 304 inside the branch saw drives the two branch saw sliding frames to slide relative to the support frame 7, so that the feeding direction is perpendicular to the axial direction of the sawing knife, which can effectively avoid the shaking phenomenon of the rod-shaped sawing knife during the sawing of the branch in the air, thereby improving the sawing effect of the branch in the air, and enabling the branch saw to still achieve good sawing effect when processing thick branches, and the application range is wider.

[0047] In a preferred embodiment of the present application, the support frame 7 is fixedly connected with a guide plate 308, which is arranged outside the branch saw sliding frame 302 and the cylinder 41 of the sliding frame drive 304, the cross section of the guide plate 308 is L-shaped, and a rectangular sliding groove 309 is formed between the guide plate 308 and the support frame 7 for the sliding of the branch saw sliding frame 302, so that the assembly of the branch saw sliding frame 302 is more compact, and the sliding operation of the branch saw sliding frame 302 is more stable. In addition, in other embodiments, a sliding rail can be directly arranged on the branch saw sliding frame 302, and the support frame 7 is provided with a sliding groove corresponding to the sliding rail; or a sliding groove is arranged on the side end surface of the branch saw sliding frame 302, and the support frame 7 is provided with a sliding rail corresponding to the sliding groove. Both of them can provide conditions for the relative sliding of the support frame 7 and the branch saw sliding frame 302.

[0048] In a preferred embodiment of the present application, the sawing knife drive 305 is arranged on the lower side of the sawing knife 301 and leaves a predetermined distance between the sawing knife 301, and the output end of the sawing knife drive 305 is in transmission connection with one end of the knife shaft 311 through a transmission mechanism. Its advantage is that the overall structure is more compact, the structure that may interfere with the process of sawing branches is reduced, thereby reducing the overall size, and miniaturization design is conducive to the travel of the branch saw in the gap between high-altitude branches, and provides space for the sawed branches. In the embodiment, the transmission mechanism includes a driving wheel 361 fixedly connected to the output end of the sawing knife drive 305 and a driven wheel 362 fixedly connected to one end of the knife shaft 311, the driving wheel 361 and the driven wheel 362 are connected to the branch saw mechanism sliding frame 302 in a manner that can rotate about their axis, the driving wheel 361 is fixedly connected to the output end of the sawing knife drive 305 through a spline, and the driving wheel 361 and the driven wheel 362 are in transmission connection through a transmission member 363.

[0049] In a preferred embodiment of the present application, the driving wheel 361 and the driven wheel 362 adopt a gear structure, and correspondingly, the transmission member 363 adopts a gear transmission structure. When the output shaft of the sawing knife drive 305 rotates, a plurality of gears are engaged in transmission, thereby driving the sawing knife 301 to rotate, and at this time, the branch saw sliding frame 302 arranged outside the transmission mechanism forms a gear box structure. Specifically, the driving gear and the driven gear are connected to the branch saw sliding frame 302 in a manner that can rotate about their axis through bearings, the driving gear is fixedly connected to the output end of the sawing knife drive 305 through a spline, and the driving gear and the driven gear are connected through a plurality of gears that are engaged with each other, such as Figure 5The plurality of gears are connected in sequence in vertical direction by meshing, and each gear is connected to the branch saw sliding frame 302 by bearing in a rotatable manner around its axis. The advantage is that the transmission is stable, and the plurality of meshing gears can keep a certain distance between the cutter shaft 311 and the sawing cutter drive 305, providing space for the sawing process of thicker branches.

[0050] In a preferred embodiment of the present application, the other end of the cutter shaft 311 away from the driven wheel 362 is connected to the branch sawing mechanism sliding frame 302 through a bearing seat 310, which is detachably connected to the branch sawing mechanism sliding frame 302.

[0051] In a preferred embodiment of the present application, the transmission mechanism is hidden in the branch saw sliding frame 302, which is beneficial to the miniaturization of the product and can avoid the jamming of the transmission mechanism caused by the falling of debris during the sawing process.

[0052] In a preferred embodiment of the present application, the drive wheel 361 and the driven wheel 362 can also have a pulley structure (such as a synchronous pulley) or a chain wheel structure, and correspondingly, the transmission member 363 adopts a belt transmission structure (such as a synchronous belt) or a chain transmission structure (such as a chain).

[0053] In a preferred embodiment of the present application, the grabbing mechanism 2 includes clamping jaws connected to the support frame 7 and a clamping jaw drive 204 for driving the clamping jaws to perform the grabbing action. Specifically, the clamping jaws include a clamping jaw one 201 and a clamping jaw two 202, which are oppositely arranged and respectively hinged to the support frame 7, and the clamping jaw drive 204 is connected to the clamping jaw one 201 and the clamping jaw two 202 respectively for driving the opening and closing of the clamping jaw one 201 and the clamping jaw two 202. The grabbing mechanism 2 further includes a clamping jaw connecting arm 203, the middle part of the clamping jaw one 201 and the end part of the clamping jaw two 202 are respectively hinged to the support frame 7, the end part of the clamping jaw one 201 and the middle part of the clamping jaw two 202 are respectively hinged to the two ends of the clamping jaw connecting arm 203, and the two ends of the clamping jaw drive 204 are respectively hinged to the end part of the clamping jaw one 201 and the support frame 7. During operation, the opening and closing of the clamping jaw one 201 and the clamping jaw two 202 are controlled by the extension and retraction of the clamping jaw drive 204 to perform grabbing and releasing. The advantage is that the opening and closing angle is large, and various branches of different thicknesses can be grabbed.

[0054] In a preferred embodiment of the present application, in order to avoid the interference of the exposed excessive oil line arrangement on the branches and the influence on the rotation process of the working head rotary frame, support frame and other components, the T-shaped rotary joint 1 is internally provided with an oil line communicating the cross bar 101 and the longitudinal bar 102, the rotary sleeve one 103 is provided with an oil port one 105 communicating with the oil line, the longitudinal bar 102 is rotatably provided with a rotary sleeve two 104, and the rotary sleeve two 104 is provided with an oil port two 106 communicating with the oil line. Specifically, the oil line comprises a through oil hole 108 penetrating the cross bar and the longitudinal bar, an annular oil channel one 107 formed between the circumferential surface of the cross bar 101 and the rotary sleeve one 103, and an annular oil channel two 109 formed between the circumferential surface of the longitudinal bar 102 and the inner wall of the rotary sleeve two 104, which are sequentially communicated and respectively communicated with the oil port one 105 and the oil port two 106. The annular oil channel one 107 corresponding to one rotary sleeve one 103 and the annular oil channel corresponding to another rotary sleeve one 103 can be designed to be independent of each other.

[0055] In this embodiment, the annular oil channel one 107 and the annular oil channel two 109 are arranged as follows: the circumferential surface of the cross bar 101 is provided with an annular groove 110, and the annular oil channel one 107 is formed between the annular groove 110 and the inner wall of the rotary sleeve one 103; the circumferential surface of the longitudinal bar 102 is provided with an annular groove 110, and the annular oil channel two 109 is formed between the annular groove 110 and the inner wall of the rotary sleeve two 104. In other embodiments, the annular groove structure can also be provided on the inner wall of the rotary sleeve, so that the corresponding annular oil channel is formed between the inner wall of the rotary sleeve and the circumferential surface of the corresponding cross bar or longitudinal bar.

[0056] Preferably, the oil port one 105 and the oil port two 106 are each provided with a plurality of oil ports, each of which is independently communicated with the corresponding annular oil channel one 107 and annular oil channel two 109, so as to realize independent oil passage of each oil line.

[0057] In a preferred embodiment of the present application, the turnover oil cylinder 4 is hinged to the T-shaped rotary joint 1 through a connecting rod structure, which can expand the angle range of the working head rotary frame 5 rotating around the cross bar 101, and is beneficial to simplify the adjustment process. For example, under the premise of achieving the same angle adjustment, the greater the angle of the working head rotary frame 5 rotating around the cross bar 101, the less the rotation action of the rotary support two 62. Figure 1 As shown in the figure, in this embodiment, one end of the connecting rod one 41 is hinged to the working head rotary frame 5, one end of the connecting rod two 42 is hinged to the T-shaped rotary joint 1, the other end of the connecting rod one 41 and the other end of the connecting rod two 42 are hinged to each other and are hinged to the turnover oil cylinder 4 at the hinge.

Claims

1. A tree branch sawing mechanism, characterized in that, It includes a T-type rotary joint (1), a support frame (7), a gripping mechanism (2), a sawing mechanism (3), a working head rotary frame (5), a tilting cylinder (4), a rotary bearing one (61), and a rotary bearing two (62); the T-type rotary joint (1) includes a crossbar (101) and a longitudinal bar (102), and a rotary sleeve one (103) is rotatably connected to the crossbar (101); The working head slewing frame (5) is connected to the slewing sleeve one (103) so that the working head slewing frame (5) can rotate relative to the crossbar (101); the end of the working head slewing frame (5) away from the T-shaped slewing joint (1) is connected to the slewing bearing two (62) so that the working head slewing frame (5) can rotate around the axis of the slewing bearing two (62); the support frame (7) that carries the gripping mechanism (2) and the sawing mechanism (3) is connected to the longitudinal bar (102) through the slewing bearing one (61) so that the support frame (7) can rotate relative to the longitudinal bar (102); A tilting cylinder (4) is connected between the working head slewing frame (5) and the T-type slewing joint (1) to drive the relative rotation of the working head slewing frame (5) and the crossbar (101); The gripping mechanism (2) includes a gripper connected to the support frame (7) and a gripper drive (204) for driving the gripper to perform a gripping action. The sawing mechanism (3) includes The branch sawing mechanism slide frame (302) is connected to the support frame (7) in a relatively sliding manner; The saw blade (301) is a rod-shaped structure, which includes a blade shaft (311) and blade teeth (312) arranged on the circumference of the blade shaft (311). The two ends of the blade shaft (311) are rotatably connected to the sliding frame (302) of the branch sawing mechanism. The sliding frame drive (304) is connected to the sliding frame (302) and the support frame (7) of the branch sawing mechanism respectively. It is used to drive the sliding frame (302) and the support frame (7) of the branch sawing mechanism to slide relative to each other, providing power for the feed of the saw blade. The feed direction of the saw blade is perpendicular to the radial direction of the blade shaft (311). A saw blade drive (305) is connected to a cutter shaft (311) and is used to drive the cutter shaft (311) to rotate about its axis.

2. The branch sawing mechanism according to claim 1, characterized in that, The saw blade drive (305) is located on the lower side of the saw blade (301) and is spaced at a preset distance from the saw blade (301). The output end of the saw blade drive (305) is connected to one end of the cutter shaft (311) via a transmission mechanism.

3. The branch sawing mechanism according to claim 2, characterized in that, The transmission mechanism includes a drive wheel (361) fixedly connected to the output end of the saw blade drive (305) and a driven wheel (362) fixedly connected to one end of the cutter shaft (311). The drive wheel (361) and the driven wheel (362) are connected to the sliding frame (302) of the branch sawing mechanism in a manner that allows them to rotate around their axes. The drive wheel (361) and the driven wheel (362) are connected by a transmission component (363).

4. The branch sawing mechanism according to claim 3, characterized in that, The drive wheel (361) and driven wheel (362) adopt a gear structure, a pulley structure or a sprocket structure, and correspondingly, the transmission component (363) adopts a gear transmission structure, a belt transmission structure or a chain transmission structure.

5. The branch sawing mechanism according to claim 1, characterized in that, The sliding frame drive (304) is a hydraulic cylinder, whose cylinder is connected to the sliding frame (302) of the tree branch sawing mechanism, and whose telescopic rod is connected to the support frame (7).

6. The tree branch sawing mechanism according to claim 1, characterized in that, The gripper includes gripper one (201) and gripper two (202). Gripper one (201) and gripper two (202) are arranged opposite to each other and are respectively hinged to the support frame (7). Gripper drive (204) is connected to gripper one (201) and gripper two (202) respectively, and is used to drive the opening and closing of gripper one (201) and gripper two (202).

7. The branch sawing mechanism according to claim 6, characterized in that, The gripping mechanism (2) further includes a gripper connecting arm (203), the middle part of gripper one (201) and the end of gripper two (202) are respectively hinged to the support frame (7), the end of gripper one (201) and the middle part of gripper two (202) are respectively hinged to the two ends of the gripper connecting arm (203), and the two ends of the gripper drive (204) are respectively hinged to the end of gripper one (201) and the support frame (7).

8. The tree branch sawing mechanism according to claim 1, characterized in that, The T-type rotary joint (1) has an oil passage connecting the crossbar (101) and the longitudinal bar (102) inside. The rotary sleeve one (103) has an oil port one (105) connected to the oil passage. The longitudinal bar (102) has a rotary sleeve two (104) rotatably mounted on it. The rotary sleeve two (104) has an oil port two (106) connected to the oil passage.

9. The branch sawing mechanism according to claim 8, characterized in that, The tilting cylinder (4) is hinged to the T-type rotary joint (1) via a connecting rod structure.

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