A tree pruning device with multi-degree-of-freedom working implements and its operating method

Abstract

This invention discloses a tree pruning device with multi-degree-of-freedom working implements and its operating method, belonging to the technical field of tree pruning equipment. It includes a drive trolley; a primary drive arm mounted on the drive trolley via a first bracket; a secondary drive arm connected to the primary drive arm via a second bracket; a tertiary drive arm connected to the secondary drive arm via a third bracket; a implement body located at the end of the tertiary drive arm and driven by it; and a control unit located on the drive trolley for control and information interaction. The automatic working implement and its operating method of this invention enable flexible adjustment of the implement's position and posture, with a high degree of freedom, allowing for operation in various orientations, effectively improving the operating efficiency and stability of the implement.

Description

Technical Field

[0001] This invention belongs to the technical field of tree pruning equipment, and particularly relates to a tree pruning device with multi-degree-of-freedom operating tools and its operating method. Background Technology

[0002] Urban landscape trees, also known as solitary trees, specimen trees, or single-planted trees, are seedlings specifically used in urban construction, park greening, and municipal greening projects to beautify the scenery and green the environment. Urban landscape trees require maintenance treatments for long-term use, including cutting, pruning, and harvesting, which necessitates the use of appropriate machinery.

[0003] Existing maintenance equipment is typically operated manually. This involves using aerial work platforms to transport operators to the work location or climbing ladders to reach it, where operators then manually operate the equipment. This method involves working at heights, is physically demanding, inefficient, and carries significant risks, including the possibility of injury. Furthermore, existing aerial work platforms are usually bulky, taking up considerable space and making it difficult to reach the work area. Their complex structure also hinders storage and increases operating costs. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art by providing a tree pruning device with multi-degree-of-freedom operating tools and its operating method, thereby solving the problems existing in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a tree pruning device with multi-degree-of-freedom operating tools, comprising...

[0006] Drive the small car;

[0007] A primary drive arm is mounted on the drive trolley via a first bracket to move the primary drive arm relative to the first bracket.

[0008] A secondary drive arm is connected to the primary drive arm via a second bracket to move the secondary drive arm relative to the second bracket.

[0009] A third-stage drive arm is connected to the second-stage drive arm via a third bracket to move the third-stage drive arm relative to the third bracket.

[0010] The machine body is located at the end of the three-stage drive arm and is driven by the three-stage drive arm.

[0011] The control unit, located on the drive vehicle, performs control and information interaction.

[0012] In a preferred embodiment of the present invention, the driving trolley is provided with a plurality of legs, the legs being distributed at intervals along the circumference of the driving trolley and having one end hinged to the driving trolley, and the other end supported on the ground.

[0013] 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 drive trolley via a support frame, and the support foot is mounted in the mounting hole of the support body via a support shaft. The two ends of the support driver are respectively hinged to the support frame and the support body.

[0014] 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 drive trolley, and the other end is connected to the leg to adjust the lateral angle of the leg.

[0015] In a preferred embodiment of the present invention, a first driver is provided on the first bracket, one end of the first driver is mounted on the first bracket, and the other end is mounted on the first-stage drive arm;

[0016] The second bracket is provided with a second driver, one end of which is mounted on the second bracket and the other end is mounted on the secondary drive arm;

[0017] The third support is provided with a third driver, one end of which is mounted on the third support and the other end is mounted on the three-stage drive arm;

[0018] Both the secondary drive arm and the tertiary drive arm are telescopic drive arms.

[0019] In a preferred embodiment of the present invention, the third support includes a main support and a secondary support connected together. The main support is connected to the secondary drive arm via a rotating joint, and the secondary support is installed at the end of the tertiary drive arm.

[0020] In a preferred embodiment of the present invention, the machine body is connected to the three-stage drive arm via a joint assembly, the joint assembly including at least one set of drive joints, and the machine body is mounted on one of the drive joints to change the orientation of the machine body.

[0021] In a preferred embodiment of the present invention, the drive vehicle includes a tracked drive mechanism and a mounting platform, wherein the tracked drive mechanism drives the mounting platform to move.

[0022] In a preferred embodiment of the present invention, the first bracket is connected to the mounting platform via a rotary drive mechanism, which drives the first bracket to rotate relative to the mounting platform.

[0023] This invention also discloses an operating method for a tree pruning device with multi-degree-of-freedom working implements, comprising the following steps:

[0024] S1. Drive the trolley to the target position, start the swing driver, and swing the outrigger to the set angle;

[0025] S2. The support drive of the outrigger is activated, causing the support body to swing downwards and the lower end of the support foot to support the ground. Adjust the length of the four support drives to adjust the installation platform of the drive trolley to a horizontal state.

[0026] S3. The first driver pushes the first-stage drive arm, causing the first-stage drive arm to move to a predetermined position;

[0027] S4. The second driver pushes the secondary drive arm to move it to a predetermined position, and the secondary drive arm extends and retracts to change the position of the machine body.

[0028] S5. The third drive pushes the third-stage drive arm to move it to a predetermined position. The angle of the third-stage drive arm is adjusted by the rotary joint, and the third-stage drive arm extends and retracts, changing the position of the machine body.

[0029] S6, the drive joint of the joint group drives the machine body and changes the orientation of the machine body.

[0030] This invention addresses the shortcomings of the prior art and has the following beneficial effects:

[0031] 1. The tree pruning equipment with multi-degree-of-freedom working tools and its operating method of the present invention realizes flexible adjustment of the position and posture of the working tools. The adjustment has a high degree of freedom and can realize the operation and processing of the working tools in various directions, effectively improving the operating efficiency of the working tools and improving the operating stability of the working tools.

[0032] 2. The tree pruning equipment of the present invention with multi-degree-of-freedom automatic operating tools does not require manual hand-held operation, which reduces the labor intensity of operators and avoids operators working at height, thereby reducing the risk of injury to operators.

[0033] 3. The outriggers can support the drive trolley and the swing angle of the outriggers can be adjusted according to the operating requirements of the work implement to meet the needs of the work implement at different heights and different working radii.

[0034] 4. Both the secondary and tertiary drive arms of this invention are telescopic drive arms, which can extend and retract on their own while adjusting the angle, further improving the adjustment freedom of the work implement.

[0035] 5. The tree pruning equipment of the present invention with multi-degree-of-freedom operating tools has a simple structure and small size. It does not require a large space in actual use and can be quickly stored after use. Attached Figure Description

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0037] Figure 1 This is a schematic diagram of the structure of the working tool after it has been opened according to Embodiment 1 of the present invention;

[0038] Figure 2 for Figure 1 The main view;

[0039] Figure 3 This is a schematic diagram of the structure of the working machine after it has been stored in Embodiment 1 of the present invention;

[0040] Figure 4 This is a schematic diagram of a first partial structure according to Embodiment 1 of the present invention;

[0041] Figure 5 This is a schematic diagram of the second partial structure of Embodiment 1 of the present invention;

[0042] Figure 6 This is a schematic diagram of the structure of one leg in an embodiment of the present invention;

[0043] Figure 7 This is a flowchart of Embodiment 2 of the present invention;

[0044] In the diagram: 10. Drive trolley; 11. Tracked drive mechanism; 12. Mounting platform; 20. First-stage drive arm; 21. First support; 30. Second-stage drive arm; 31. Second support; 40. Third-stage drive arm; 41. Third support; 411. Main support; 412. Secondary support; 50. Machine body; 60. Control unit; 70. Outrigger; 71. Support driver; 72. Support body; 73. Support foot; 80. Support frame; 90. Swing driver; 100. First driver; 110. Second driver; 120. Third driver; 130. Rotary joint; 140. Joint assembly; 150. Slewing drive mechanism. Detailed Implementation

[0045] The following drawings will disclose several embodiments of the present invention. For clarity, many physical details will be described in the following description. However, it should be understood that these physical details are not intended to limit the invention. That is, in some embodiments of the invention, these physical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0046] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms, and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, such a combination should be considered nonexistent and not within the scope of protection claimed by this invention.

[0047] This embodiment provides a tree pruning device with multi-degree-of-freedom operating tools. The tree pruning device has a high degree of freedom in adjusting the operating tools, enabling operation and processing of the operating tools in various directions, effectively improving the operating efficiency and stability of the operating tools.

[0048] Combination Figures 1 to 6 As shown, the tree pruning equipment in this embodiment includes a drive trolley 10, a primary drive arm 20, a secondary drive arm 30, a tertiary drive arm 40, a machine body 50, and a control unit 60. The drive trolley 10 can drive the machine body 50 and change its position. The presence of the primary drive arm 20, the secondary drive arm 30, and the tertiary drive 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. The control unit 60 can control the drive trolley 10, the primary drive arm 20, the secondary drive arm 30, and the tertiary drive arm 40, and interact with external information.

[0049] In this embodiment, the machine body 50 is a cutting tool, shearing tool, or picking tool, etc. The appropriate tool can be selected according to the maintenance needs of the landscape trees. The first-level drive arm 20 is a non-extendable drive arm, while the second-level drive arm 30 and the third-level drive arm 40 are both telescopic drive arms. This allows the second-level drive arm 30 and the third-level drive arm 40 to extend and retract on their own when making angular deflections, thereby further improving the degree of freedom of the machine body 50 and making the movement of the machine body 50 more flexible, so as to better maintain the landscape trees. In this embodiment, a telescopic hydraulic cylinder or a telescopic electric cylinder is used as the telescopic drive arm.

[0050] Furthermore, the control unit 60 in this embodiment includes several control cabinets, all of which are mounted on the drive trolley 10 for control purposes.

[0051] Combination Figure 1 , Figure 2 , Figure 4 as well as Figure 6 As shown, the drive trolley 10 includes a tracked walking drive mechanism 11 and a mounting platform 12. The tracked walking drive mechanism 11 drives the mounting platform 12. The drive trolley 10 is provided with a number of outriggers 70. The outriggers 70 are distributed circumferentially around the drive trolley 10 and are hinged at one end to the drive trolley 10 and supported on the ground at the other end. The presence of the outriggers 70 can support the drive trolley 10 and adjust the mounting platform 12 on the drive trolley 10 to a horizontal state. The outward swing angle of the outriggers 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 working radii. In this embodiment, there are four outriggers 70, which are distributed at the four corners of the mounting platform 12 to achieve stable support for the mounting platform 12.

[0052] In this embodiment, the outrigger 70 includes a support actuator 71, a support body 72, and a support foot 73. One end of the support body 72 is hinged to the drive trolley 10 through a support frame 80, and the other end is connected to the support foot 73 through a hole. The two ends of the support actuator 71 are respectively hinged to the support frame 80 and the outer end of the support body 72. When the drive trolley 10 moves to a predetermined position, it needs to be supported. The operator activates the support actuator 71 of the outrigger to make the support body 72 swing down, so that the lower end of the support foot 73 supports the ground. The lengths of the four support actuators 71 are adjusted to adjust the mounting platform 12 of the drive trolley 10 to a horizontal state. At this time, the outrigger 70 provides effective support for the drive trolley 10. In this embodiment, the support actuator 71 is a cylinder, hydraulic cylinder, or electric cylinder.

[0053] Furthermore, in this embodiment, a swing actuator 90 is provided between two adjacent outriggers 70. One end of the swing actuator 90 is fixed to the drive trolley 10, and the other end is connected to the outrigger 70. In this embodiment, the swing actuator 90 is a hydraulic cylinder, which can adjust the outward swing angle of two adjacent outriggers 70 to meet the overturning stability of the entire equipment under different working radii. In addition, the swing actuator 90 also plays a role in strengthening the fixation and preventing the outriggers 70 from deflecting during use, thereby ensuring the support stability of the drive trolley 10.

[0054] Combination Figure 1 , Figure 2 as well as Figure 5 As shown, the first-stage drive arm 20 is mounted on the mounting platform 12 of the drive trolley 10 via the first bracket 21, so as to move the first-stage drive arm 20 relative to the first bracket 21. The second-stage drive arm 30 is connected to the first-stage drive arm 20 via the second bracket 31, so as to move the second-stage drive arm 30 relative to the second bracket 31. The third-stage drive arm 40 is connected to the second-stage drive arm 30 via the third bracket 41, so as to move the third-stage drive arm 40 relative to the third bracket 41. The machine body 50 is located at the end of the third-stage drive arm 40 and is driven by the third-stage drive arm 40. In this embodiment, the first-stage drive arm 20, the second-stage drive arm 30 and the third-stage drive arm 40 are connected in sequence. The first-stage drive arm 20, the second-stage drive arm 30 and the third-stage drive arm 40 can all be angled, so as to realize the angle adjustment of the machine body 50. Furthermore, the second-stage drive arm 30 and the third-stage drive arm 40 are both telescopic drive arms, so as to change the extension position of the machine body 50 and further meet the usage requirements of the machine body 50.

[0055] In this embodiment, a first driver 100 is provided on the first bracket 21, with one end of the first driver 100 mounted on the first bracket 21 and the other end mounted on the first-stage drive arm 20; a second driver 110 is provided on the second bracket 31, with one end of the second driver 110 mounted on the second bracket 31 and the other end mounted on the second-stage drive arm 30; a third driver 120 is provided on the third bracket 41, with one end of the third driver 120 mounted on the third bracket 41 and the other end mounted on the third-stage drive arm 40. The first driver 100 can push the first-stage drive arm 20 to change the deflection angle of the first-stage drive arm 20, the second driver 110 can push the second-stage drive arm 30 to change the deflection angle of the second-stage drive arm 30, and the third driver 120 can push the third-stage drive arm 40 to change the deflection angle of the third-stage drive arm 40. In this embodiment, the first driver 100, the second driver 110, and the third driver 120 are all cylinders, hydraulic cylinders, or electric cylinders.

[0056] Furthermore, in the initial state, the first-stage drive arm 20 and the second-stage drive arm 30 of this embodiment are arranged in parallel, and the third-stage drive arm 40 and the second-stage drive arm 30 are arranged perpendicularly.

[0057] Combination Figure 1 and Figure 5 As shown, the third support 41 includes a main support 411 and a secondary support 412 connected to each other. The main support 411 is connected to the secondary drive arm 30 through a rotating joint 130, and the secondary support 412 is installed at the end of the tertiary drive arm 40. In this embodiment, the presence of the rotating joint 130 enables the tertiary drive arm 40 to be rotated through the third support 41, thereby realizing the rotation of the machine body 50 and further improving the degree of freedom of movement of the machine body 50. In this embodiment, the rotating joint 130 is a rotary cylinder or a rotary electric cylinder, which stably drives the tertiary drive arm 40.

[0058] In this embodiment, the machine body 50 is connected to the three-stage drive arm 40 through the joint assembly 140. The joint assembly 140 includes at least one set of drive joints. The machine body 50 is mounted on a drive joint to change the orientation of the machine body 50. In this embodiment, the drive joint is a rotary cylinder or a rotary electric cylinder to drive the machine body 50, causing the machine body 50 to deflect, thereby further improving the degree of freedom of movement of the machine body 50.

[0059] In this embodiment, the tree pruning equipment with multi-degree-of-freedom working tools is arranged in a series of interconnected configurations, including the drive trolley 10, the primary drive arm 20, the secondary drive arm 30, the tertiary drive arm 40, and the machine body 50. The drive trolley 10 enables the entire working tool to move and change its position. The primary drive arm 20, secondary drive arm 30, and tertiary drive arm 40 can lift the machine body 50, changing its position. Both the secondary drive arm 30 and tertiary drive arm 40 are telescopic drive arms, allowing them to extend and retract automatically during angular deflection, further increasing the degree of freedom of the machine body 50 and making its movement more flexible. This allows for better maintenance of landscape trees. Furthermore, the presence of the rotary joint 130 and drive joint in this embodiment allows for further positional adjustments to the machine body 50, further enhancing its degree of freedom of movement.

[0060] Example 2

[0061] like Figure 7 As shown, this embodiment discloses an operation method for a tree pruning device with multi-degree-of-freedom working implements, including the following steps:

[0062] S1. Drive the trolley 10 to the target position, start the swing driver 90, and swing the outrigger 70 to the set angle position according to the actual working height and working radius requirements.

[0063] S2. Start the support driver 71 of the outrigger 70 to make the support body 72 swing down and make the lower end of the support foot 73 support the ground. Adjust the length of the four support drivers 71 to adjust the mounting platform 12 of the drive trolley 10 to a horizontal state. At this time, the outrigger 70 provides effective support for the drive trolley 10.

[0064] S3. The first driver 100 pushes the first-stage drive arm 20 to move the first-stage drive arm 20 to a predetermined position. In this embodiment, the first-stage drive arm 20 is a non-telescopic drive arm. The first driver 100 is a cylinder, hydraulic cylinder or electric cylinder. The first driver 100 drives the first-stage drive arm 20 to lift, thereby changing the position of the machine body 50 and increasing the height of the machine body 50.

[0065] S4. The second driver 110 pushes the secondary drive arm 30 to move the secondary drive arm 30 to a predetermined position, and the secondary drive arm 30 extends and retracts to change the position of the machine body 50. In this embodiment, the secondary drive arm 30 is a telescopic drive arm, and the second driver 110 is a cylinder, hydraulic cylinder or electric cylinder. The second driver 110 drives the secondary drive arm 30 to lift, thereby changing the position of the machine body 50 and increasing the height of the machine body 50. The secondary drive arm 30 further extends and retracts, thereby further increasing the height of the machine body 50.

[0066] S5. The third driver 120 pushes the third-stage drive arm 40 to move it to a predetermined position. The angle of the third-stage drive arm 40 is adjusted by the rotating joint 130. The third-stage drive arm 40 extends and retracts, changing the position of the machine body 50. In this embodiment, the third-stage drive arm 40 is a telescopic drive arm, and the third driver 120 is a cylinder, hydraulic cylinder, or electric cylinder. The third driver 120 drives the third-stage drive arm 40 to lift it, thereby changing the position of the machine body 50 and increasing its height. The third-stage drive arm 40 further extends and retracts, thereby further increasing the height of the machine body 50. The rotating joint 130 drives the third-stage drive arm 40 to rotate, thereby changing the orientation of the machine body 50.

[0067] S6. The drive joint of the joint group 140 drives the machine body 50 and changes the orientation of the machine body 50. In this embodiment, the drive joint is a rotary cylinder or a rotary electric cylinder, which drives the machine body 50 to deflect, thereby further improving the degree of freedom of movement of the machine body 50.

[0068] In conjunction with Embodiment 1 and Embodiment 2, the automatic pruning machine and its operating method of the present invention enable flexible adjustment of the pruning machine with a high degree of freedom, allowing for operation and processing of the pruning machine in various positions, effectively improving the operating efficiency and stability of the pruning machine. Furthermore, the tree pruning equipment eliminates the need for manual hand-held operation, reducing the labor intensity of operators and avoiding high-altitude operations, thereby reducing the risk of injury to operators.

[0069] While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems, or devices discussed above are merely examples. Various configurations can be appropriately omitted, substituted, or added to various processes or components. For example, in alternative configurations, methods can be performed in a different order than described, and / or various stages can be added, omitted, and / or combined. Moreover, features described with respect to certain configurations can be combined in various other configurations. Different aspects and elements of the configuration can be combined in a similar manner. Furthermore, as technology develops, many elements are merely examples and do not limit the scope of this disclosure or the claims.

[0070] Specific details are provided in the specification to offer a thorough understanding of exemplary configurations, including implementations. However, configurations can be practiced without these specific details; for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail to avoid obscuring the configuration. This description provides only exemplary configurations and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes can be made to the function and arrangement of the elements without departing from the spirit or scope of this disclosure.

[0071] Furthermore, although each operation can be described as a sequential process, many operations can be executed in parallel or simultaneously. Additionally, the order of operations can be rearranged. A process may have additional steps. Moreover, examples of methods can be implemented using hardware, software, firmware, middleware, code, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware, or code, the program code or code segments used to perform the necessary tasks can be stored in a non-transitory computer-readable medium such as a storage medium and executed by a processor.

[0072] In summary, the above detailed description is intended to be exemplary and not restrictive, and it should be understood that the claims (including all equivalents) are intended to define the spirit and scope of the invention. These embodiments should be understood as illustrative only and not as limiting the scope of protection of the invention. After reading this description, those skilled in the art can make various alterations or modifications to the invention, and these equivalent changes and modifications also fall within the scope defined by the claims.

Claims

1. A tree pruning device with multi-degree-of-freedom working implements, characterized in that, Including the drive vehicle (10); A primary drive arm (20) is mounted on the drive trolley (10) via a first bracket (21) to move the primary drive arm (20) relative to the first bracket (21); A secondary drive arm (30) is connected to the primary drive arm (20) via a second bracket (31) to move the secondary drive arm (30) relative to the second bracket (31); A third-stage drive arm (40) is connected to the second-stage drive arm (30) via a third bracket (41) to move the third-stage drive arm (40) relative to the third bracket (41). The machine body (50) is located at the end of the three-stage drive arm (40) and is driven by the three-stage drive arm (40); A control unit (60) is located on the drive vehicle (10) and performs control and information interaction; A first driver (100) is provided 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 first-stage drive arm (20); The second bracket (31) is provided with a second driver (110), one end of the second driver (110) is mounted on the second bracket (31), and the other end is mounted on the secondary drive arm (30); The third support (41) is provided with a third driver (120), one end of which is mounted on the third support (41) and the other end is mounted on the three-stage drive arm (40); Both the secondary drive arm (30) and the tertiary drive arm (40) are telescopic drive arms; The third support (41) includes a main support (411) and a secondary support (412) connected to each other. The main support (411) is connected to the secondary drive arm (30) via a rotating joint (130), and the secondary support (412) is installed at the end of the tertiary drive arm (40).

2. A tree pruning device with multi-degree-of-freedom operating tools according to claim 1, characterized in that, The drive trolley (10) is provided with a plurality of legs (70), which are distributed circumferentially along the drive trolley (10) and are hinged at one end to the drive trolley (10) and supported on the ground at the other end.

3. A tree pruning device with multi-degree-of-freedom operating tools according to claim 2, characterized in that, The support leg (70) includes a support driver (71), a support body (72), and a support foot (73). The support body (72) is hinged to the drive trolley (10) via a support frame (80). The support foot (73) is installed in the mounting hole of the support body (72) via a support shaft. The two ends of the support driver (71) are respectively hinged to the support frame (80) and the support body (72).

4. A tree pruning device with multi-degree-of-freedom operating tools according to claim 2, characterized in that, A swing driver (90) is provided between two adjacent support legs (70). One end of the swing driver (90) is fixed to the drive trolley (10), and the other end is connected to the support leg (70) to adjust the lateral angle of the support leg (70).

5. A tree pruning device with multi-degree-of-freedom operating tools according to claim 1, characterized in that, The machine body (50) is connected to the three-stage drive arm (40) via a joint assembly (140). The joint assembly (140) includes at least one set of drive joints. The machine body (50) is mounted on one of the drive joints to change the orientation of the machine body (50).

6. A tree pruning device with multi-degree-of-freedom operating tools according to claim 1, characterized in that, The drive vehicle (10) includes a tracked drive mechanism (11) and an installation platform (12), wherein the tracked drive mechanism (11) drives the installation platform (12) to move.

7. A tree pruning device with multi-degree-of-freedom operating tools according to claim 6, characterized in that, The first bracket (21) is connected to the mounting platform (12) via a rotary drive mechanism (150). The rotary drive mechanism (150) drives the first bracket (21) to rotate relative to the mounting platform (12).

8. A method for operating a tree pruning device with multi-degree-of-freedom working implements, applied to the tree pruning device with multi-degree-of-freedom working implements as described in any one of claims 1-7, characterized in that, Includes the following steps: S1. Drive the trolley (10) to the target position, start the swing driver (90), and swing the support leg (70) to the set angle; S2. The support driver (71) of the outrigger (70) is activated, causing the support body (72) to swing downwards, so that the lower end of the support foot (73) is supported on the ground. Adjust the length of the four support drivers (71) to adjust the installation platform (12) of the drive trolley (10) to a horizontal state. S3. The first driver (100) pushes the first-stage drive arm (20) to move the first-stage drive arm (20) to a predetermined position; S4. The second driver (110) pushes the secondary drive arm (30) to move the secondary drive arm (30) to a predetermined position, and the secondary drive arm (30) extends and retracts to change the position of the machine body (50). S5. The third drive (120) pushes the third-stage drive arm (40) to move the third-stage drive arm (40) to a predetermined position. The angle of the third-stage drive arm (40) is adjusted by the rotating joint (130). The third-stage drive arm (40) extends and retracts, changing the position of the machine body (50). S6, the drive joint of the joint group (140) drives the machine body (50) and changes the orientation of the machine body (50).

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