Tree pruning equipment with multi-degree-of-freedom operation machine tool and operation method of tree pruning equipment

Abstract

The invention discloses tree pruning equipment with a multi-degree-of-freedom operation machine tool and an operation method of the tree pruning equipment, and belongs to the technical field of tree pruning equipment. The first-stage driving arm is mounted on the driving trolley through a first bracket; the second-stage driving arm is connected with the first-stage driving arm through a second bracket; the third-stage driving arm is connected with the second-stage driving arm through a third bracket; the machine tool body is located at the tail end of the third-stage driving arm and is driven by the third-stage driving arm; and the control part is positioned on the driving trolley and is used for performing control and information interaction. According to the automatic operation machine tool and the operation method thereof, flexible adjustment of the pose of the operation machine tool is achieved, the degree of freedom of adjustment is high, operation processing of the operation machine tool in all directions can be achieved, the operation efficiency of the operation machine tool is effectively improved, and the operation stability of the operation machine tool is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tree pruning equipment, and in particular relates to a tree pruning equipment with a multi-degree-of-freedom working tool and an operating method thereof. Background Art

[0002] Urban landscape trees, also known as solitary trees, ornamental trees, specimen trees or single trees, are seedlings specially used in urban construction, park greening, municipal greening and other projects to beautify the scenery and green the environment. Urban landscape trees need to be maintained when used for a long time, including cutting, shearing and picking, so corresponding operating machinery and tools are needed.

[0003] Existing working machines are usually operated manually, that is, the operator is sent to the working position by climbing equipment or climbing to the working position with the help of a ladder, and then the operator holds the working machine to perform maintenance operations. This operation method is high-altitude work for the operator, with high labor intensity, low working efficiency, and high operating risks, which is prone to personal injury. In addition, the existing climbing equipment is usually large in size to assist the operator in maintenance, and will take up a large space in actual use, making it difficult to reach the position where the operation is required. At the same time, the structure is complex and not easy to store, and the cost of use is high. Summary of the invention

[0004] The present invention overcomes the deficiencies of the prior art and provides a tree pruning device with a multi-degree-of-freedom working tool and an operating method thereof to solve the problems existing in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is: a tree pruning device with a multi-degree-of-freedom working tool, comprising Drive the car; A primary driving arm, the primary driving arm being mounted on the driving trolley via a first bracket so as to move the primary driving arm relative to the first bracket; A secondary driving arm, the secondary driving arm is connected to the primary driving arm through a second bracket, so as to move the secondary driving arm relative to the second bracket; A three-stage driving arm, wherein the three-stage driving arm is connected to the two-stage driving arm through a third bracket, so as to move the three-stage driving arm relative to the third bracket; A machine body, the machine body is located at the end of the three-stage driving arm and is driven by the three-stage driving arm; A control unit is located on the driving vehicle and performs control and information exchange.

[0006] In a preferred embodiment of the present invention, a plurality of legs are provided on the driving trolley, and the legs are spaced apart along the circumference of the driving trolley and one end of the legs is hinged to the driving trolley, and the other end is supported on the ground.

[0007] In a preferred embodiment of the present invention, the support leg includes a support driver, a support body and a support foot. The support body is hinged to the driving trolley through a support frame, the support foot is installed in the mounting hole of the support body through a support shaft, and both ends of the support driver are hingedly installed on the support frame and the support body respectively.

[0008] In a preferred embodiment of the present invention, a swing driver is provided between two adjacent legs, one end of the swing driver is fixed to the driving trolley, and the other end is connected to the leg to adjust the lateral angle of the leg.

[0009] In a preferred embodiment of the present invention, a first driver is disposed on the first bracket, one end of the first driver is mounted on the first bracket, and the other end of the first driver is mounted on the primary driving arm; The second bracket is provided with a second driver, one end of the second driver is mounted on the second bracket, and the other end is mounted on the secondary driving arm; The third bracket is provided with a third driver, one end of the third driver is mounted on the third bracket, and the other end is mounted on the three-stage driving arm; The secondary driving arm and the tertiary driving arm are both telescopic driving arms.

[0010] In a preferred embodiment of the present invention, the third bracket includes a main bracket and a sub-bracket connected to each other, the main bracket is connected to the secondary driving arm via a rotating joint, and the sub-bracket is installed at the end of the tertiary driving arm.

[0011] In a preferred embodiment of the present invention, the tool body is connected to the three-stage driving arm through a joint group, the joint group includes at least one group of driving joints, and the tool body is installed on one of the driving joints to change the orientation of the tool body.

[0012] In a preferred embodiment of the present invention, the driving trolley includes a track-type driving mechanism and a mounting platform, and the track-type driving mechanism drives the mounting platform to move.

[0013] In a preferred embodiment of the present invention, the first bracket is connected to the installation platform via a rotary drive mechanism, and the rotary drive mechanism drives the first bracket to rotate relative to the installation platform.

[0014] The present invention also discloses an operating method of a tree pruning device with a multi-degree-of-freedom working tool, comprising the following steps: S1, drive the trolley to the target position, start the swing drive, and swing the outrigger to the set angle; S2, the support driver of the outrigger is started to make the support body move downward so that the lower end surface of the support foot is supported on the ground, the length of the four support drivers is adjusted, and the installation platform of the driving trolley is adjusted to a horizontal state; S3, the first driver pushes the primary driving arm to move the primary driving arm to a predetermined position; S4, the second driver pushes the secondary driving arm to move the secondary driving arm to a predetermined position, and the secondary driving arm is extended and retracted to change the position of the tool body; S5, the third driver pushes the third-stage driving arm to move the third-stage driving arm to a predetermined position, and the third-stage driving arm adjusts the angle by the rotating joint, and the third-stage driving arm is extended and retracted to change the position of the machine body; S6. The driving joint of the joint group drives the machine body to change the orientation of the machine body.

[0015] The present invention solves the defects existing in the background technology and has the following beneficial effects: 1. The tree pruning equipment with a multi-degree-of-freedom work tool and the operation method thereof of the present invention realize flexible adjustment of the posture of the work tool, have a high degree of freedom of adjustment, can realize operation and processing of the work tool in various directions, effectively improve the operation efficiency of the work tool, and improve the operation stability of the work tool; 2. The tree pruning equipment with multi-degree-of-freedom automatic operating tools of the present invention does not require manual operation of handheld tools, which reduces the labor intensity of operators and avoids the need for operators to perform high-altitude operations, thereby reducing the risk of injury to operators; 3. The outriggers can support the driving trolley and adjust the swing angle of the outriggers according to the operating requirements of the working tools to meet the use of the working tools at different heights and different operating radii; 4. Both the secondary drive arm and the tertiary drive arm of the present invention are telescopic drive arms, which can be extended and retracted automatically while adjusting the angle, further improving the adjustment freedom of the working machine; 5. The tree pruning device with a multi-degree-of-freedom working tool of the present invention has a simple structure and a small size. It does not need to occupy a large space in actual use and can be quickly stored after use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments; Figure 1This is a schematic diagram of the structure of the working tool after it is opened according to the first embodiment of the present invention; Figure 2 for Figure 1 The main view; Figure 3 This is a schematic diagram of the structure of the working tool after being stored in the first embodiment of the present invention; Figure 4 This is a schematic diagram of a first partial structure of Embodiment 1 of the present invention; Figure 5 It is a schematic diagram of a second partial structure of the first embodiment of the present invention; Figure 6 This is a structural schematic diagram of a leg according to an embodiment of the present invention; Figure 7 This is a flow chart of Embodiment 2 of the present invention; In the figure: 10, driving trolley; 11, crawler driving mechanism; 12, mounting platform; 20, primary driving arm; 21, first bracket; 30, secondary driving arm; 31, second bracket; 40, tertiary driving arm; 41, third bracket; 411, main bracket; 412, auxiliary bracket; 50, machine body; 60, control unit; 70, outrigger; 71, supporting driver; 72, supporting body; 73, supporting foot; 80, supporting frame; 90, swing driver; 100, first driver; 110, second driver; 120, third driver; 130, rotating joint; 140, joint group; 150, rotary driving mechanism. DETAILED DESCRIPTION

[0017] The following will disclose multiple embodiments of the present invention with drawings. For the purpose of clear description, many physical details will be described together in the following description. However, it should be understood that these physical details should not be used to limit the present invention. That is, in some embodiments of the present invention, these physical details are not necessary. In addition, for the purpose of simplifying the drawings, some conventional structures and components will be depicted in a simple schematic manner in the drawings.

[0018] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] The present embodiment provides a tree pruning device with a multi-degree-of-freedom work tool. The tree pruning device has a high degree of freedom in adjusting the work tool, can realize operation and processing of the work tool in various directions, effectively improves the operating efficiency of the work tool, and improves the operating stability of the work tool.

[0020] Combination Figures 1 to 6 As shown, the tree pruning equipment of this embodiment includes a driving trolley 10, a primary driving arm 20, a secondary driving arm 30, a tertiary driving arm 40, a machine body 50 and a control unit 60. The driving trolley 10 can drive the machine body 50 to change the position of the machine body 50, and the existence of the primary driving arm 20, the secondary driving arm 30, and the tertiary driving arm 40 can change the position of the machine body 50, improve the flexibility of the machine body 50, and meet the maintenance needs of the machine body 50 for landscape trees, and the control unit 60 can control the driving trolley 10, the primary driving arm 20, the secondary driving arm 30, and the tertiary driving arm 40, and exchange information with the outside.

[0021] In this embodiment, the tool body 50 is a cutting tool, a shearing tool or a picking tool, etc., and the corresponding tool can be selected according to the maintenance requirements of the landscape trees. The first-level driving arm 20 is a non-retractable driving arm, and the second-level driving arm 30 and the third-level driving arm 40 are telescopic driving arms, so that the second-level driving arm 30 and the third-level driving arm 40 can also perform telescopic operations by themselves when the angle is deflected, thereby further improving the degree of freedom of the tool body 50, making the movement of the tool body 50 more flexible, and being able to better maintain the landscape trees. This embodiment uses a telescopic hydraulic cylinder or a telescopic electric cylinder as a telescopic driving arm.

[0022] Furthermore, the control unit 60 of this embodiment includes a plurality of control cabinets, which are all installed on the driving vehicle 10 for control.

[0023] Combination Figure 1 , Figure 2 , Figure 4 as well as Figure 6As shown, the driving trolley 10 includes a crawler-type walking driving mechanism 11 and an installation platform 12. The crawler-type walking driving mechanism 11 drives the installation platform 12. A plurality of legs 70 are arranged on the driving trolley 10. The legs 70 are distributed at intervals along the circumference of the driving trolley 10 and one end is hinged to the driving trolley 10, and the other end is supported on the ground. The existence of the legs 70 can support the driving trolley 10 and adjust the installation platform 12 on the driving trolley 10 to a horizontal state. The outward swing angle of the legs 70 can also be adjusted according to the operating requirements of the machine body 50 to meet the use of the machine body 50 at different heights and different operating radii. The number of legs 70 in this embodiment is four, and they are distributed at the four corners of the installation platform 12 to achieve stable support for the installation platform 12.

[0024] In this embodiment, the support leg 70 includes a support driver 71, a support body 72 and a support foot 73. One end of the support body 72 is hinged to the driving trolley 10 through a support frame 80, and the other end is connected to the support foot 73 through a hole thereon. The two ends of the support driver 71 are hingedly mounted on the support frame 80 and the outer end of the support body 72 respectively. When the driving trolley 10 moves to a predetermined position, the driving trolley 10 needs to be supported. The operator starts the support driver 71 of the support leg to make the support body 72 swing downward so that the lower end surface of the support foot 73 is supported on the ground, and the length of the four support drivers 71 is adjusted to adjust the mounting platform 12 of the driving trolley 10 to a horizontal state. At this time, the support leg 70 forms an effective support for the driving trolley 10. The support driver 71 of this embodiment is a cylinder, an oil cylinder or an electric cylinder.

[0025] Furthermore, in the present embodiment, a swing driver 90 is provided between two adjacent legs 70. One end of the swing driver 90 is fixed to the driving trolley 10, and the other end is connected to the leg 70. The swing driver 90 of the present embodiment is a cylinder, which can adjust the outward swing angle of two adjacent legs 70 to meet the overturning stability of the entire equipment under different operating radii. In addition, the swing driver 90 also plays a role in strengthening the fixation to prevent the leg 70 from deflecting during use, thereby ensuring the support stability of the driving trolley 10.

[0026] Combination Figure 1 , Figure 2 as well as Figure 5As shown, the primary driving arm 20 is installed on the mounting platform 12 of the driving trolley 10 through the first bracket 21 to move the primary driving arm 20 relative to the first bracket 21, the secondary driving arm 30 is connected to the primary driving arm 20 through the second bracket 31 to move the secondary driving arm 30 relative to the second bracket 31, and the tertiary driving arm 40 is connected to the secondary driving arm 30 through the third bracket 41 to move the tertiary driving arm 40 relative to the third bracket 41. The tool body 50 is located at the end of the tertiary driving arm 40 and is driven by the tertiary driving arm 40. The primary driving arm 20, the secondary driving arm 30 and the tertiary driving arm 40 of this embodiment are connected and arranged in sequence, and the primary driving arm 20, the secondary driving arm 30 and the tertiary driving arm 40 can all be angularly deflected, thereby realizing the angle adjustment of the tool body 50, and the secondary driving arm 30 and the tertiary driving arm 40 are both telescopic driving arms, so the extension position of the tool body 50 can be changed, further meeting the use requirements of the tool body 50.

[0027] In this embodiment, a first driver 100 is arranged on the first bracket 21, one end of the first driver 100 is mounted on the first bracket 21, and the other end is mounted on the primary driving arm 20; a second driver 110 is arranged on the second bracket 31, one end of the second driver 110 is mounted on the second bracket 31, and the other end is mounted on the secondary driving arm 30; a third driver 120 is arranged on the third bracket 41, one end of the third driver 120 is mounted on the third bracket 41, and the other end is mounted on the tertiary driving arm 40. The first driver 100 can push the primary driving arm 20 to change the deflection angle of the primary driving arm 20, the second driver 110 can push the secondary driving arm 30 to change the deflection angle of the secondary driving arm 30, and the third driver 120 can push the tertiary driving arm 40 to change the deflection angle of the tertiary driving arm 40. The first driver 100, the second driver 110, and the third driver 120 of this embodiment are all cylinders, oil cylinders or electric cylinders.

[0028] Further, in the initial state, the primary driving arm 20 and the secondary driving arm 30 of this embodiment are arranged in parallel, and the tertiary driving arm 40 and the secondary driving arm 30 are arranged vertically.

[0029] Combination Figure 1 and Figure 5 As shown, the third bracket 41 includes a main bracket 411 and a sub-bracket 412 that are connected to each other. The main bracket 411 is connected to the secondary drive arm 30 through a rotating joint 130, and the sub-bracket 412 is installed at the end of the tertiary drive arm 40. The existence of the rotating joint 130 in this embodiment can rotate the tertiary drive arm 40 through the third bracket 41, thereby realizing the rotation of the machine body 50, and further improving the movement freedom of the machine body 50. The rotating joint 130 in this embodiment is a rotary cylinder or a rotary electric cylinder, which stably drives the tertiary drive arm 40.

[0030] In this embodiment, the machine body 50 is connected to the three-stage driving arm 40 through a joint group 140. The joint group 140 includes at least one group of driving joints. The machine body 50 is installed on a driving joint to change the orientation of the machine body 50. The driving joint of this embodiment is a rotary cylinder or a rotary electric cylinder, which drives the machine body 50 to cause the machine body 50 to deflect, thereby further improving the movement freedom of the machine body 50.

[0031] In actual use of the tree pruning equipment with multi-degree-of-freedom working tools in this embodiment, the driving trolley 10, the primary driving arm 20, the secondary driving arm 30, the tertiary driving arm 40 and the tool body 50 are arranged in sequence, and the driving trolley 10 can realize the overall movement of the working tool to change the overall position of the working tool, and the primary driving arm 20, the secondary driving arm 30 and the tertiary driving arm 40 can lift the tool body 50 to change the position of the tool body 50, and the secondary driving arm 30 and the tertiary driving arm 40 both adopt telescopic driving arms, so that the secondary driving arm 30 and the tertiary driving arm 40 can also perform telescopic operations by themselves when the angle is deflected, thereby further improving the degree of freedom of the tool body 50, making the movement of the tool body 50 more flexible, and being able to better maintain and process landscape trees, and the existence of the rotating joint 130 and the driving joint in this embodiment can further adjust the position of the tool body 50 to improve the degree of freedom of movement of the tool body 50.

[0032] Embodiment 2 like Figure 7 As shown, this embodiment discloses an operating method of a tree pruning device with a multi-degree-of-freedom working tool, comprising the following steps: S1, driving the trolley 10 to move to the target position, starting the swing driver 90, and swinging the legs 70 to a set angle position according to the actual working height and working radius requirements; S2, start the support driver 71 of the support leg 70, make the support body 72 swing downward, make the lower end surface of the support foot 73 support on the ground, adjust the length of the four support drivers 71, adjust the installation platform 12 of the driving trolley 10 to a horizontal state, at this time the support leg 70 forms an effective support for the driving trolley 10; S3, the first driver 100 pushes the primary driving arm 20 to move the primary driving arm 20 to a predetermined position. The primary driving arm 20 of this embodiment is a non-telescopic driving arm, and the first driver 100 is a pneumatic cylinder, an oil cylinder or an electric cylinder. The first driver 100 drives the primary driving arm 20 to lift up, so as to change the position of the tool body 50 and increase the height of the tool body 50; S4, the second driver 110 pushes the secondary driving arm 30 to move the secondary driving arm 30 to a predetermined position, and the secondary driving arm 30 is extended and retracted to change the position of the tool body 50. The secondary driving arm 30 of this embodiment is a retractable driving arm, and the second driver 110 is a cylinder, an oil cylinder or an electric cylinder. The second driver 110 drives the secondary driving arm 30 to lift up to change the position of the tool body 50, thereby increasing the height of the tool body 50, and the secondary driving arm 30 is further extended and retracted, thereby further increasing the height of the tool body 50. S5. The third driver 120 pushes the three-stage driving arm 40 to move the three-stage driving arm 40 to a predetermined position, and the angle of the three-stage driving arm 40 is adjusted by the rotating joint 130. The three-stage driving arm 40 is extended and retracted to change the position of the tool body 50. The three-stage driving arm 40 of this embodiment is a telescopic driving arm, and the third driver 120 is a cylinder, an oil cylinder or an electric cylinder. The third driver 120 drives the three-stage driving arm 40 to lift up to change the position of the tool body 50, thereby increasing the height of the tool body 50, and the three-stage driving arm 40 is further extended and retracted, thereby further increasing the height of the tool body 50. The rotating joint 130 drives the three-stage driving arm 40 to rotate, and the orientation of the tool body 50 is changed by the three-stage driving arm 40. S6. The driving joint of the joint group 140 drives the tool body 50 to change the orientation of the tool body 50. The driving joint of this embodiment is a rotary cylinder or a rotary electric cylinder, which drives the tool body 50 to deflect the tool body 50, thereby further improving the freedom of movement of the tool body 50.

[0033] In combination with Example 1 and Example 2, the automatic working tool and the operating method thereof of the present invention realize flexible adjustment of the working tool, have a high degree of freedom of adjustment, can realize operation and processing of the working tool in various directions, effectively improve the operating efficiency of the working tool, and improve the operating stability of the working tool. In addition, the tree pruning equipment does not require manual handheld tool operation, which reduces the labor intensity of the operator and avoids the operator from performing high-altitude operations, thereby reducing the risk of injury to the operator.

[0034] Although the present invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the present invention. That is, the methods, systems or devices discussed above are all examples. Various configurations may appropriately omit, replace or add various processes or components. For example, in alternative configurations, the method may be performed in an order different from the order described, and / or various stages may be added, omitted and / or combined. Moreover, the features described with respect to certain configurations may be combined in various other configurations. Different aspects and elements of the configurations may be combined in a similar manner. In addition, with the development of technology, many elements are merely examples and do not limit the scope of the present disclosure or claims.

[0035] Specific details are given in the specification to provide a thorough understanding of the exemplary configurations including implementations. However, the configurations can be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary details to avoid obscuring the configurations. This description provides only example configurations and does not limit the scope, applicability, or configurations of the claims. On the contrary, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made to the functions and arrangements of the elements without departing from the spirit or scope of the present disclosure.

[0036] In addition, although each operation may describe the operation as a sequential process, many operations may be performed in parallel or simultaneously. In addition, the order of the operations may be rearranged. A process may have additional steps. In addition, examples of methods may be implemented by hardware, software, firmware, middleware, code, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or code, program code or code segments for performing the necessary tasks may be stored in a non-transitory computer-readable medium such as a storage medium, and the described tasks are performed by a processor.

[0037] In summary, it is intended that the above detailed description is considered to be exemplary rather than restrictive, and it should be understood that the claims (including all equivalents) are intended to limit the spirit and scope of the present invention. The above embodiments should be understood to be only used to illustrate the present invention and not to limit the scope of protection of the present invention. After reading the content of the record of the present invention, the technician can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall into the scope defined by the claims of the present invention.

Claims

1. A tree pruning device with a multi-degree-of-freedom working tool, characterized in that: include Driving trolley (10); A primary driving arm (20), wherein the primary driving arm (20) is mounted on the driving vehicle (10) via a first bracket (21) so as to move the primary driving arm (20) relative to the first bracket (21); A secondary driving arm (30), the secondary driving arm (30) being connected to the primary driving arm (20) via a second bracket (31) so as to move the secondary driving arm (30) relative to the second bracket (31); A three-stage driving arm (40), wherein the three-stage driving arm (40) is connected to the two-stage driving arm (30) via a third bracket (41) so as to move the three-stage driving arm (40) relative to the third bracket (41); A machine body (50), the machine body (50) being located at the end of the three-stage driving arm (40) and being driven by the three-stage driving arm (40); A control unit (60), the control unit (60) is located on the driving vehicle (10) and performs control and information exchange.

2. A tree pruning device with a multi-degree-of-freedom working tool according to claim 1, characterized in that: The driving trolley (10) is provided with a plurality of supporting legs (70), which are spaced apart along the circumference of the driving trolley (10) and have one end hinged to the driving trolley (10) and the other end supported on the ground.

3. A tree pruning device with a multi-degree-of-freedom working tool according to claim 2, characterized in that: The support leg (70) comprises a support driver (71), a support body (72) and a support foot (73); the support body (72) is hingedly connected to the driving trolley (10) via a support frame (80); the support foot (73) is installed in a mounting hole of the support body (72) via a support shaft; and the two ends of the support driver (71) are hingedly installed on the support frame (80) and the support body (72) respectively.

4. A tree pruning device with a multi-degree-of-freedom working tool according to claim 2, characterized in that: A swing driver (90) is provided between two adjacent legs (70); one end of the swing driver (90) is fixed to the driving trolley (10), and the other end is connected to the leg (70) to adjust the lateral angle of the leg (70).

5. A tree pruning device with a multi-degree-of-freedom working tool according to claim 1, characterized in that: A first driver (100) is disposed on the first bracket (21); one end of the first driver (100) is mounted on the first bracket (21), and the other end of the first driver (100) is mounted on the primary driving arm (20); A second driver (110) is disposed on the second bracket (31); one end of the second driver (110) is mounted on the second bracket (31), and the other end is mounted on the secondary driving arm (30); A third driver (120) is arranged on the third bracket (41); one end of the third driver (120) is mounted on the third bracket (41), and the other end is mounted on the three-stage driving arm (40); The secondary driving arm (30) and the tertiary driving arm (40) are both telescopic driving arms.

6. A tree pruning device with a multi-degree-of-freedom working tool according to claim 5, characterized in that: The third bracket (41) comprises a main bracket (411) and a sub-bracket (412) which are connected to each other, wherein the main bracket (411) is connected to the secondary driving arm (30) via a rotating joint (130), and the sub-bracket (412) is installed at the end of the tertiary driving arm (40).

7. A tree pruning device with a multi-degree-of-freedom working tool according to claim 1, characterized in that: The tool body (50) is connected to the three-stage driving arm (40) via a joint group (140), wherein the joint group (140) includes at least one group of driving joints, and the tool body (50) is mounted on one of the driving joints to change the orientation of the tool body (50).

8. A tree pruning device with a multi-degree-of-freedom working tool according to claim 1, characterized in that: The driving trolley (10) comprises a crawler-type driving mechanism (11) and a mounting platform (12), and the crawler-type driving mechanism (11) drives the mounting platform (12) to move.

9. A tree pruning device with a multi-degree-of-freedom working tool according to claim 8, characterized in that: The first bracket (21) is connected to the installation platform (12) via a rotary drive mechanism (150), and the rotary drive mechanism (150) drives the first bracket (21) to cause the first bracket (21) to rotate relative to the installation platform (12).

10. A method for operating a tree pruning device with a multi-degree-of-freedom working tool, applied to a tree pruning device with a multi-degree-of-freedom working tool as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1, driving the trolley (10) to move to a target position, starting the swing driver (90), and swinging the legs (70) to a set angle; S2, the support driver (71) of the support leg (70) is activated to make the support body (72) swing downward so that the lower end surface of the support foot (73) is supported on the ground, the length of the four support drivers (71) is adjusted, and the mounting platform (12) of the driving trolley (10) is adjusted to a horizontal state; S3, the first driver (100) pushes the primary driving arm (20) to move the primary driving arm (20) to a predetermined position; S4, the second driver (110) pushes the secondary driving arm (30) to move the secondary driving arm (30) to a predetermined position, and the secondary driving arm (30) is extended and retracted to change the position of the tool body (50); S5, the third driver (120) pushes the third-stage driving arm (40) to move the third-stage driving arm (40) to a predetermined position, and the third-stage driving arm (40) is adjusted in angle by the rotating joint (130), and the third-stage driving arm (40) is extended and retracted to change the position of the tool body (50); S6. The driving joint of the joint assembly (140) drives the tool body (50) to change the orientation of the tool body (50).

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