Self-propelled tree sawing robot and method for loading and unloading thereof

Abstract

The application belongs to the technical field of felling and branch cutting, and particularly relates to a self-propelled tree sawing robot, which comprises a robot body, an electric saw, walking wheels, a support and a hoisting device. The electric saw is arranged on the robot body through a mechanical arm. The walking wheels are electric walking wheels, and are located above high-voltage wires and walk along the high-voltage wires. The support is rotatably arranged on the robot body, and is driven to rotate by a first driving mechanism. The walking wheels are arranged on the support, and the support drives the walking wheels to move close to or away from the high-voltage wires. The hoisting device is detachably arranged on the robot body through a connecting piece, and is located below the walking wheels. The ropes of the hoisting device and the walking wheels are located on both sides of the high-voltage wires, and the rope ends of the ropes are connected to the ropes after winding around the high-voltage wires. The self-propelled tree sawing robot skillfully realizes convenient on-line and off-line of the self-propelled tree sawing robot, and prunes branches along the existing high-voltage wires.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of felling trees and branches, and particularly relates to a self-propelled tree sawing robot and an on-off line method thereof. BACKGROUND

[0002] In the maintenance of a power transmission line, branches near a high-voltage wire need to be pruned to prevent the branches from approaching the high-voltage wire from causing a line fault. The existing method is to use an insulated boom truck or a bucket truck to lift workers to the branches to be pruned, and then the workers use a tree sawing machine to manually prune the branches. However, the manual pruning has the problems of low pruning efficiency and high risk coefficient. In order to overcome the problems of the manual pruning, the existing method is to combine a tree sawing machine with an insulated boom truck or a bucket truck to realize automatic pruning of branches, but the implementation mode is complex and the cost is high. SUMMARY

[0003] To solve the problems of low pruning efficiency and high risk coefficient of the manual pruning of branches and the problems of complex implementation mode and high cost of the automatic pruning of branches in the prior art, the application provides a self-propelled tree sawing robot and an on-off line method thereof.

[0004] To solve the above technical problems, the technical solution adopted by the application is as follows: a self-propelled tree sawing robot, comprising,

[0005] a robot body;

[0006] an electric saw, which is arranged on the robot body through a mechanical arm;

[0007] a walking wheel, which is an electric walking wheel, is located above a high-voltage wire, and walks along the high-voltage wire;

[0008] a support, which is rotationally arranged on the robot body, is driven to rotate by a first driving mechanism, the walking wheel is arranged on the support, and the support drives the walking wheel to move close to or away from the high-voltage wire;

[0009] a hoisting device, which is detachably arranged on the robot body through a connecting piece, is located below the walking wheel, the rope of the hoisting device is located on both sides of the high-voltage wire with the walking wheel, and the rope end of the rope is connected to the rope after winding around the high-voltage wire.

[0010] As preferred, the self-propelled tree sawing robot further comprises an auxiliary clamping device, the auxiliary clamping device comprises a clamping arm and an auxiliary wheel, the clamping arm is rotationally arranged on the support, the clamping arm is driven to rotate by a second driving mechanism, the auxiliary wheel is arranged on the clamping arm, the clamping arm drives the auxiliary wheel to move close to or away from the high-voltage conductor, when the walking wheel and the auxiliary wheel are both moved close to the high-voltage conductor, the walking wheel and the auxiliary wheel are in contact with the upper and lower parts of the high-voltage conductor respectively. The auxiliary wheel further clamps the high-voltage conductor to ensure that the walking wheel is stably clamped on the high-voltage conductor, so as to ensure that the self-propelled tree sawing robot can reliably and stably walk along the high-voltage conductor.

[0011] Further, the second driving mechanism comprises a second motor and a lead screw, the second motor is arranged on the support, and the lead screw is connected with the output end of the second motor and the clamping arm respectively; the rotation axis of the clamping arm is arranged in parallel with the high-voltage conductor; and the rotation axis of the support is arranged perpendicularly to the high-voltage conductor. The second driving mechanism has a simple and reliable structure, is convenient to install and control, is stable in operation, and has a low cost.

[0012] As preferred, two groups of walking wheels are arranged along the direction of the high-voltage conductor, the first driving mechanism is an electric push rod, and two ends of the electric push rod are connected with the two supports respectively. The first driving mechanism has a simple and reliable structure, is convenient to install and control, is stable in operation, and has a low cost.

[0013] As preferred, the connecting piece comprises a T-shaped block and a C-shaped groove, the T-shaped block is arranged at the bottom of the winch device, the C-shaped groove is arranged on the robot body, the T-shaped block slides along the C-shaped groove, the sliding direction of the T-shaped block is consistent with the direction of the high-voltage conductor, and the C-shaped groove is a through groove along the direction of the high-voltage conductor. The connecting piece has a simple and reliable structure, when the robot body is walked along the high-voltage conductor by the walking wheel, the winch device is ensured to be conveniently separated from the robot body, and when the robot body is returned along the high-voltage conductor by the walking wheel, the winch device is ensured to be conveniently combined with the robot body.

[0014] Further, the upper part of the C-shaped groove is gradually contracted from bottom to top, and the lower part of the T-shaped block and the C-shaped groove has a avoiding space. When the winch device is combined with the robot body through the connecting piece, the connecting piece effectively prevents the winch device from being accidentally separated from the robot body, and ensures that the robot body is reliable, stable and safe in uplink and downlink.

[0015] As preferred, the connecting piece comprises an electromagnet and a C-shaped block, the C-shaped block is arranged at the bottom of the hoisting device, the electromagnet is arranged on the robot body, and the bottom and two sides of the C-shaped block are attached to the electromagnet. The structure of the connecting piece is simple and reliable, and after the walking wheel drives the robot body to walk along the high-voltage conductor, it ensures that the hoisting device is conveniently separated from the robot body, and after the walking wheel drives the robot body to return along the high-voltage conductor, it ensures that the hoisting device is conveniently combined with the robot body.

[0016] An up-and-down line method of a self-propelled tree sawing robot, the up-and-down line method uses any of the above self-propelled tree sawing robots, and the up-and-down line method comprises:

[0017] Step 1: winding the rope end of the rope around the high-voltage conductor and connecting it with the rope;

[0018] Step 2: the hoisting device starts to wind, until the self-propelled tree sawing robot is hoisted to the high-voltage conductor, and the walking wheel is above the high-voltage conductor, and the auxiliary wheel is below the high-voltage conductor;

[0019] Step 3: the first driving mechanism drives the support to rotate, the rotation axis of the support is arranged perpendicularly to the high-voltage conductor, until the walking wheel is directly above the high-voltage conductor, and the auxiliary wheel is directly below the high-voltage conductor; the hoisting device starts to unwind again, until the walking wheel is clamped on the high-voltage conductor; the second driving mechanism drives the clamping arm to rotate again, the rotation axis of the clamping arm is arranged in parallel to the high-voltage conductor, until the auxiliary wheel is pressed against the high-voltage conductor with a set pressure;

[0020] Step 4: the walking wheel walks along the high-voltage conductor, at this time the hoisting device is separated from the robot body through the connecting piece and left in place, completing the up-line action of the self-propelled tree sawing robot;

[0021] Step 5: after the self-propelled tree sawing robot finishes sawing the tree, it returns along the high-voltage conductor, and the robot body is connected with the hoisting device again through the connecting piece;

[0022] Step 6: the second driving mechanism drives the clamping arm to rotate reversely, the rotation axis of the clamping arm is arranged in parallel to the high-voltage conductor, until the auxiliary wheel is separated from the high-voltage conductor; the hoisting device winds again, until the walking wheel is separated from the high-voltage conductor; the first driving mechanism drives the support to rotate reversely, the rotation axis of the support is arranged perpendicularly to the high-voltage conductor, until the walking wheel and the auxiliary wheel are away from the high-voltage conductor; the hoisting device unwinds again, until the self-propelled tree sawing robot reaches the ground, completing the down-line action of the self-propelled tree sawing robot.

[0023] As preferred, in step 1, a rope buckle is arranged on the rope, the rope buckle is arranged by sliding along the rope by gravity, and the rope end is connected with the rope through the rope buckle after passing the high-voltage wire. The connection operation of the rope buckle is convenient, and it can slide to the ground by gravity, facilitating the offline operation.

[0024] Further, in step 1, the rope end of the rope is detachably provided with a traction rope, the traction rope is provided with a counterweight, the counterweight is carried by the unmanned aerial vehicle to pass the high-voltage wire, and then falls by gravity, so that the traction rope passes the high-voltage wire with the rope end of the rope, the rope end of the rope is connected with the rope through the rope buckle, and then the traction rope is removed. The arrangement of the traction rope greatly improves the convenience of the online and offline operation.

[0025] Beneficial effects:

[0026] 1. The self-propelled tree sawing robot and the online and offline method thereof ingeniously realize the convenient online and offline of the self-propelled tree sawing robot, and trim the branches along the existing high-voltage wire;

[0027] 2. The self-propelled tree sawing robot and the online and offline method thereof, the walking wheel drives the robot body to walk along the high-voltage wire, at this time, the winch is separated from the robot body through the connecting piece and left in place, that is, the self-propelled tree sawing robot is first separated from the winch and then trims the branches, which greatly reduces the energy consumption, improves the safety factor, and has the advantages of ingenious design and obvious advantages.

[0028] 3. The self-propelled tree sawing robot and the online and offline method thereof, the auxiliary wheel further clamps the high-voltage wire to ensure that the walking wheel is stably clamped on the high-voltage wire, and ensures that the self-propelled tree sawing robot can reliably and stably walk along the high-voltage wire. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0030] Figure 1 is a three-dimensional structure schematic diagram of embodiment 1 of the self-propelled tree sawing robot of the present application;

[0031] Figure 2 is Figure 1 is a partial enlarged schematic diagram of A in

[0032] Figure 3 is Figure 2 another angle of the three-dimensional structure schematic diagram of

[0033] Figure 4 This is a three-dimensional structural diagram of the winch device and connector of Embodiment 1 of the self-propelled tree-saw robot of the present invention;

[0034] Figure 5 This is a three-dimensional structural diagram of the winch device and connector of Embodiment 2 of the self-propelled tree-saw robot of the present invention;

[0035] Figure 6 This is a three-dimensional structural diagram of the winch device and connector of Embodiment 3 of the self-propelled tree-saw robot of the present invention;

[0036] In the diagram: 1. Robot body, 2. Chainsaw, 3. Robotic arm, 4. Walking wheel, 5. Support frame, 6. Electric push rod, 7. Winching device, 7-1. Rope, 8. Connector, 8-1. T-block, 8-2. C-slot, 8-3. Electromagnet, 8-4. C-block, 9. Auxiliary clamping device, 9-1. Clamping arm, 9-2. Auxiliary wheel, 9-3. Second motor, 9-4. Lead screw, 10. Rope buckle, 100. High-voltage wire. Detailed Implementation

[0037] 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0038] Example 1

[0039] like Figures 1-4 As shown, a self-propelled tree-sawing robot includes a robot body 1, an electric saw 2, wheels 4, a support 5, and a winch device 7. The electric saw 2 is mounted on the robot body 1 via a robotic arm 3. The wheels 4 are electric wheels, located above a high-voltage power line 100, and move along the high-voltage power line 100. The support 5 is rotatably mounted on the robot body 1 and is driven to rotate by a first drive mechanism. The wheels 4 are mounted on the support 5, and the support 5 moves the wheels 4 closer to or away from the high-voltage power line 100. The winch device 7 is detachably mounted on the robot body 1 via a connector 8. The winch device 7 is located below the wheels 4, and the rope 7-1 of the winch device 7 and the wheels 4 are located on opposite sides of the high-voltage power line 100. The end of the rope 7-1 passes over the high-voltage power line 100 and is connected to the rope 7-1.

[0040] In order to ensure that the walking wheel 4 is stably clamped on the high-voltage wire 100, and to ensure that the self-propelled tree sawing robot can reliably and stably walk along the high-voltage wire 100, in the embodiment, as shown in the figure, Figures 1-3 the self-propelled tree sawing robot further includes an auxiliary clamping device 9, the auxiliary clamping device 9 includes a clamping arm 9-1 and an auxiliary wheel 9-2, the clamping arm 9-1 is rotationally arranged on the support 5, the clamping arm 9-1 is driven to rotate by a second driving mechanism, the auxiliary wheel 9-2 is arranged on the clamping arm 9-1, the clamping arm 9-1 drives the auxiliary wheel 9-2 to move close to or away from the high-voltage wire 100, when the walking wheel 4 and the auxiliary wheel 9-2 are both moved close to the high-voltage wire 100, the walking wheel 4 and the auxiliary wheel 9-2 are in contact with the upper and lower parts of the high-voltage wire 100 respectively; specifically, in the embodiment, the second driving mechanism includes a second motor 9-3 and a lead screw 9-4, the second motor 9-3 is arranged on the support 5, and the lead screw 9-4 is connected with the output end of the second motor 9-3 and the clamping arm 9-1 respectively; the rotation axis of the clamping arm 9-1 is arranged in parallel with the high-voltage wire 100; the rotation axis of the support 5 is arranged perpendicular to the high-voltage wire 100; further, in the embodiment, two groups of walking wheels 4 are arranged along the direction of the high-voltage wire 100, the first driving mechanism is an electric push rod 6, and the two ends of the electric push rod 6 are connected with the two supports 5 respectively.

[0041] In order to ensure that when the walking wheel 4 drives the robot body 1 to walk along the high-voltage wire 100, the winch device 7 can be conveniently separated from the robot body 1, and to ensure that when the walking wheel 4 drives the robot body 1 to return along the high-voltage wire 100, the winch device 7 can be conveniently combined with the robot body 1, in the embodiment, as shown in the figure, Figures 2-4 the connecting piece 8 includes a T-shaped block 8-1 and a C-shaped groove 8-2, the T-shaped block 8-1 is arranged at the bottom of the winch device 7, the C-shaped groove 8-2 is arranged on the robot body 1, the T-shaped block 8-1 slides along the C-shaped groove 8-2, the sliding direction is consistent with the direction of the high-voltage wire 100, and the C-shaped groove 8-2 is a through groove along the direction of the high-voltage wire 100, that is, the T-shaped block 8-1 can be automatically combined with the C-shaped groove 8-2 or separated from the C-shaped groove 8-2 along the direction of the high-voltage wire 100.

[0042] A method for loading and unloading a self-propelled tree sawing robot, the method uses the self-propelled tree sawing robot described above, and the method includes:

[0043] Step 1: the rope end of the rope 7-1 is connected with the rope 7-1 after winding around the high-voltage wire 100; specifically, in the embodiment, a rope buckle 10 is arranged on the rope 7-1 and arranged on the rope 7-1 by gravity, and the rope end of the rope 7-1 is connected with the rope 7-1 through the rope buckle 10 after winding around the high-voltage wire 100; further, in the embodiment, the rope end of the rope 7-1 is detachably provided with a traction rope, and a counterweight is arranged on the traction rope, which is carried over the high-voltage wire 100 by the unmanned aerial vehicle and then falls by gravity, so that the traction rope with the rope end of the rope 7-1 winds around the high-voltage wire 100, and the rope end of the rope 7-1 is connected with the rope 7-1 through the rope buckle 10, and then the traction rope is removed;

[0044] Step 2: the winch device 7 starts to wind, until the self-propelled tree sawing robot is hung at the high-voltage wire 100, and the walking wheel 4 is located above the high-voltage wire 100, and the auxiliary wheel 9-2 is located below the high-voltage wire 100;

[0045] Step 3: the first driving mechanism drives the support 5 to rotate, the rotation axis of the support 5 is arranged perpendicular to the high-voltage wire 100, until the walking wheel 4 is located directly above the high-voltage wire 100, and the auxiliary wheel 9-2 is located directly below the high-voltage wire 100; the winch device 7 starts to unwind again, until the walking wheel 4 is clamped on the high-voltage wire 100; the second driving mechanism drives the clamping arm 9-1 to rotate again, the rotation axis of the clamping arm 9-1 is arranged parallel to the high-voltage wire 100, until the auxiliary wheel 9-2 is pressed tightly to the high-voltage wire 100 with a set pressure;

[0046] Step 4: the walking wheel 4 walks along the high-voltage wire 100, at this time the winch device 7 is separated from the robot body 1 through the connecting piece 8 and left in place, completing the on-line action of the self-propelled tree sawing robot;

[0047] Step 5: after the self-propelled tree sawing robot finishes sawing the tree, it returns along the high-voltage wire 100 in the original way, and the robot body 1 is connected with the winch device 7 again through the connecting piece 8;

[0048] Step 6: The second drive mechanism drives the clamping arm 9-1 to rotate in the opposite direction. The rotation axis of the clamping arm 9-1 is parallel to the high-voltage wire 100 until the auxiliary wheel 9-2 disengages from the high-voltage wire 100. The winch device 7 then rewinds until the walking wheel 4 disengages from the high-voltage wire 100. The first drive mechanism then drives the bracket 5 to rotate in the opposite direction. The rotation axis of the bracket 5 is perpendicular to the high-voltage wire 100 until the walking wheel 4 and the auxiliary wheel 9-2 move away from the high-voltage wire 100. The winch device 7 then unwinds until the self-propelled tree sawing robot reaches the ground. At this time, the rope buckle 10 also slides down to the ground by its own weight, completing the unloading action of the self-propelled tree sawing robot.

[0049] Example 2

[0050] like Figure 5 As shown, in this embodiment, the difference from embodiment 1 is that the upper part of the C-shaped groove 8-2 gradually tapers from bottom to top, and the lower part of the T-shaped block 8-1 and the C-shaped groove 8-2 has clearance space. When the hoisting device 7 is combined with the robot body 1 through the connector 8, the connector 8 effectively prevents the hoisting device 7 from accidentally detaching from the robot body 1, ensuring that the upper and lower lines of the robot body 1 are reliable, stable and safe.

[0051] Example 3

[0052] like Figure 6 As shown, in this embodiment, the difference from Embodiment 1 is that the connecting member 8 includes an electromagnet 8-3 and a C-shaped block 8-4. The C-shaped block 8-4 is disposed at the bottom of the winch device 7, and the electromagnet 8-3 is disposed on the robot body 1. The bottom and both sides of the C-shaped block 8-4 are in contact with the electromagnet 8-3. When the electromagnetic force of the electromagnet 8-3 is lost, the walking wheel 4 drives the robot body 1 to walk along the high-voltage wire 100, ensuring that the winch device 7 can easily detach from the robot body 1. When the walking wheel 4 drives the robot body 1 back along the original path of the high-voltage wire 100, the electromagnet 8-3 is energized to generate a strong attraction force, which is attracted and connected to the plane of the C-shaped block 8-4 of the winch device 7, ensuring that the winch device 7 can easily be combined with the robot body 1.

[0053] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A self-propelled tree-sawing robot, characterized in that: include, Robot body (1); Chainsaw (2), which is mounted on the robot body (1) via a robotic arm (3); The walking wheel (4) is an electric walking wheel (4), which is located above the high voltage conductor (100) and travels along the high voltage conductor (100); The bracket (5) is rotatably mounted on the robot body (1). The bracket (5) is driven to rotate by the first drive mechanism. The walking wheel (4) is mounted on the bracket (5). The bracket (5) drives the walking wheel (4) to move closer to or away from the high-voltage wire (100). A winch device (7) is detachably mounted on the robot body (1) via a connector (8). The winch device (7) is located below the walking wheel (4). The rope (7-1) of the winch device (7) and the walking wheel (4) are located on both sides of the high-voltage wire (100). The rope end of the rope (7-1) is connected to the rope (7-1) after passing over the high-voltage wire (100). The connector (8) includes a T-shaped block (8-1) and a C-shaped groove (8-2). The T-shaped block (8-1) is located at the bottom of the hoisting device (7), and the C-shaped groove (8-2) is located on the robot body (1). The T-shaped block (8-1) slides along the C-shaped groove (8-2), and its sliding direction is consistent with the direction of the high-voltage wire (100). The C-shaped groove (8-2) is a through groove along the direction of the high-voltage wire (100). The upper part of the C-shaped groove (8-2) gradually tapers from bottom to top, and the lower parts of the T-shaped block (8-1) and the C-shaped groove (8-2) have clearance space.

2. The self-propelled tree-sawing robot according to claim 1, characterized in that: The self-propelled tree-saw robot also includes an auxiliary clamping device (9), which includes a clamping arm (9-1) and an auxiliary wheel (9-2). The clamping arm (9-1) is rotatably mounted on the support (5) and is driven to rotate by a second drive mechanism. The auxiliary wheel (9-2) is mounted on the clamping arm (9-1). The clamping arm (9-1) drives the auxiliary wheel (9-2) to move closer to or away from the high-voltage wire (100). When both the walking wheel (4) and the auxiliary wheel (9-2) move closer to the high-voltage wire (100), the walking wheel (4) and the auxiliary wheel (9-2) contact the top and bottom of the high-voltage wire (100) respectively.

3. The self-propelled tree-sawing robot according to claim 2, characterized in that: The second drive mechanism includes a second motor (9-3) and a lead screw (9-4). The second motor (9-3) is mounted on the bracket (5). The lead screw (9-4) is connected to the output end of the second motor (9-3) and the clamping arm (9-1) respectively. The rotation axis of the clamping arm (9-1) is parallel to the high-voltage wire (100). The rotation axis of the bracket (5) is perpendicular to the high-voltage wire (100).

4. The self-propelled tree-sawing robot according to claim 2, characterized in that: Two sets of walking wheels (4) are provided along the direction of the high-voltage conductor (100). The first driving mechanism is an electric push rod (6), and the two ends of the electric push rod (6) are respectively connected to the two brackets (5).

5. The self-propelled tree-sawing robot according to any one of claims 2 to 4, characterized in that: The connector (8) includes an electromagnet (8-3) and a C-shaped block (8-4). The C-shaped block (8-4) is located at the bottom of the hoisting device (7), and the electromagnet (8-3) is located on the robot body (1). The bottom and sides of the C-shaped block (8-4) are in contact with the electromagnet (8-3).

6. A method for loading and unloading a self-propelled tree-saw robot, characterized in that: The loading and unloading method uses the self-propelled tree-saw robot described in any one of claims 2 to 5, and the loading and unloading method includes: Step 1: After passing the end of the rope (7-1) around the high-voltage conductor (100), connect it to the rope (7-1); Step 2: The hoisting device (7) begins to rewind until the self-propelled tree sawing robot is lifted to the high-voltage line (100), and the walking wheel (4) is above the high-voltage line (100), and the auxiliary wheel (9-2) is below the high-voltage line (100); Step 3: The first drive mechanism drives the bracket (5) to rotate, and the rotation axis of the bracket (5) is set perpendicular to the high voltage conductor (100) until the traveling wheel (4) is directly above the high voltage conductor (100) and the auxiliary wheel (9-2) is directly below the high voltage conductor (100); the hoisting device (7) then starts to unwind until the traveling wheel (4) is stuck on the high voltage conductor (100); the second drive mechanism then drives the clamping arm (9-1) to rotate, and the rotation axis of the clamping arm (9-1) is set parallel to the high voltage conductor (100) until the auxiliary wheel (9-2) presses against the high voltage conductor (100) with a set pressure; Step 4: The walking wheel (4) moves along the high-voltage wire (100). At this time, the winch device (7) is separated from the robot body (1) through the connector (8) and remains in place, completing the online action of the self-propelled tree sawing robot. Step 5: After the self-propelled tree sawing robot finishes sawing the tree, it returns along the original route of the high-voltage wire (100), and the robot body (1) is connected to the winch device (7) again through the connector (8); Step 6: The second drive mechanism drives the clamping arm (9-1) to rotate in the opposite direction. The rotation axis of the clamping arm (9-1) is parallel to the high-voltage wire (100) until the auxiliary wheel (9-2) is disengaged from the high-voltage wire (100). The winch device (7) rewinds until the walking wheel (4) is disengaged from the high-voltage wire (100). The first drive mechanism then drives the bracket (5) to rotate in the opposite direction. The rotation axis of the bracket (5) is perpendicular to the high-voltage wire (100) until the walking wheel (4) and the auxiliary wheel (9-2) are far away from the high-voltage wire (100). The winch device (7) unwinds until the self-propelled tree sawing robot reaches the ground, completing the unloading action of the self-propelled tree sawing robot.

7. The loading and unloading method for the self-propelled tree-sawing robot according to claim 6, characterized in that: In step 1, a rope buckle (10) is provided on the rope (7-1). The rope buckle (10) slides along the rope (7-1) by its own weight. The rope end of the rope (7-1) passes over the high-voltage wire (100) and is connected to the rope (7-1) through the rope buckle (10).

8. The loading and unloading method for the self-propelled tree-sawing robot according to claim 7, characterized in that: In step 1, the rope (7-1) is detachably equipped with a traction rope at its end. The traction rope is equipped with a counterweight. The counterweight is carried by the drone over the high-voltage wire (100) and then falls due to its own weight, so that the traction rope, with the end of the rope (7-1) around the high-voltage wire (100), is then connected to the rope (7-1) through the rope buckle (10), and then the traction rope is removed.

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