Near-electricity tree removing remote control mechanical arm and using method

Abstract

The invention belongs to the technical field of mechanical arms, and particularly discloses a near-electricity tree-removing remote control mechanical arm and a using method.The near-electricity tree-removing remote control mechanical arm comprises a working head assembly which comprises a clamping assembly and a shearing assembly; the connecting rod driving piece is connected with the working head assembly and comprises a plurality of insulating rods which are connected in sequence; the fixed base is connected with the end, away from the working head assembly, of the connecting rod driving part; the remote control part comprises a visual camera, an operation handle and a control system, and the visual camera is matched with the working head assembly; the control system can control the fixed base, the connecting rod driving piece and the working head assembly to operate according to instructions of the operation handle. The electric tree pruning device can achieve efficient and safe operation of electric tree pruning, is high in operation flexibility and adaptability, and facilitates improvement of power supply safety and reliability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical arms, and particularly relates to a near-electric-tree remote control mechanical arm and a use method. BACKGROUND

[0002] In the power industry, especially in the operation and maintenance process of distribution networks in urban functional core areas, near-electric-tree pruning is a common task aimed at ensuring the safe operation of power lines. Traditional near-electric-tree pruning methods mainly rely on manual tree climbing or the use of aerial lifts for operation. These methods are not only inefficient, but also have significant safety hazards, especially for workers, as long-term aerial work greatly increases the risk of falling and electric shock.

[0003] Manual tree climbing to prune branches is a traditional method of operation, but since the branches may be close to high-voltage lines, this method poses a serious threat to personnel safety. During pruning, workers are easily affected by unpredictable factors such as branch rebound and sliding, leading to body imbalance and increasing the risk of falling from a great height. In addition, for larger or harder branches, manual pruning is further difficult and dangerous, inefficient, and difficult to accurately control the angle and force of pruning.

[0004] Although aerial lifts provide a more stable aerial work platform, they have obvious shortcomings in flexibility and portability. The use of aerial lifts is usually limited to terrain conditions and smooth ground, and for complex and narrow urban environments, especially areas with dense trees, their mobility and operating range are greatly limited. Moreover, the use of aerial lifts is costly and complex to maintain, and for frequent near-electric-tree pruning tasks, it is not an ideal solution.

[0005] Neither manual tree climbing nor aerial lift pruning can effectively deal with the pruning needs of larger branches at different heights and angles. Especially in emergency situations, the requirements for quick response and safe operation are difficult to meet simultaneously, thereby affecting the safe and stable operation of power facilities. It can be seen that the existing near-electric-tree pruning technology faces problems of low efficiency, poor safety, limited flexibility and adaptability, especially in urban functional core areas where power supply safety and reliability are extremely high. Traditional methods cannot meet the efficient, safe and intelligent operation requirements. Therefore, it is imperative to develop a new near-electric-tree remote control mechanical arm that can overcome the above limitations. SUMMARY

[0006] The present application aims to provide a near-electric-tree remote control mechanical arm and a use method to solve the problems of low efficiency, poor safety, limited flexibility and adaptability in near-electric-tree pruning, and to help improve power supply safety and reliability.

[0007] To achieve the above object, the present application adopts the following technical solutions: According to the first aspect of the present application, a near-electricity tree-removing remote control mechanical arm is provided, comprising: The working head assembly comprises a clamping component and a shearing component, and is used for fixing and shearing branches; The connecting rod driving member is connected with the working head assembly and comprises a plurality of sequentially connected insulating rods, and is used for adjusting the vertical height and orientation of the working head assembly; The fixed base is connected with the end of the connecting rod driving member away from the working head assembly, and is used for supporting and fixing the working head assembly; The remote control unit comprises a visual camera, an operating handle and a control system, the visual camera is matched with the working head assembly, and is used for monitoring the working space and process of the clamping component and the shearing component; the visual camera and the operating handle are signal-connected with the control system, and the control system can control the operation of the fixed base, the connecting rod driving member and the working head assembly according to the instruction of the operating handle.

[0008] By using the above technical solutions, the connecting rod driving member composed of the insulating rods and the remote control design can make the operator away from the high-voltage line, effectively avoid the risk of electric shock, and protect the personal safety. The visual camera can monitor the relative position between the branches and the wire in real time, the control system can accurately control the spatial position of the working head assembly, the control system can realize the remote control of the clamping component and the shearing component, and the safe and accurate shearing under the near-distance live-line condition can be realized. The cooperative action of the fixed base and the connecting rod driving member can enhance the operation stability and range adaptability of the mechanical arm, the tree-wire interval control can be completed without power interruption, the power supply reliability can be improved, and the high-altitude near-electricity operation risk and operation strength can be greatly reduced. Therefore, by using the near-electricity tree-removing remote control mechanical arm, the efficiency of the near-electricity branch pruning can be improved, and the operation safety can be ensured; and the device has high flexibility and adaptability, and can help to improve the power supply safety and reliability.

[0009] According to an embodiment of the present application, the connecting rod driving member comprises three sequentially rotationally connected insulating rods, and an electric push rod is arranged between the two adjacent insulating rods; The end of the insulating rod away from the working head assembly is connected with the gear turntable shaft, the gear turntable is fixedly connected with the fixed base, the gear turntable is matched with the reduction motor, and is used for driving the rotation of the three sequentially connected insulating rods.

[0010] Further, the three insulating rods constituting the connecting rod driving member are rotationally connected through the connecting head; the end of the insulating rod away from the fixed base is provided with a plum-blossom connecting head, and is used for being connected with the working head assembly. The insulating rod matched with the fixed base through the gear turntable is vertically arranged; the fixed end and the movable end of the electric push rod are connected with the two adjacent insulating rods, respectively.

[0011] Further, the gear rotating disc is coaxially arranged with a fixed flange plate, and an insulating rod matched with the fixed base is inserted into the inner hole of the fixed flange plate to realize the connection with the gear rotating disc and the fixed base.

[0012] According to an embodiment of the present application, the fixed base comprises a fixed base plate, and one end of the connecting rod driving member is connected with the fixed base plate; the two ends of the fixed base plate are symmetrically provided with clamps, and the clamps are provided with connecting grooves, so that the fixed base plate can be assembled and disassembled through the connecting grooves; for example, the connecting grooves can be clamped and connected with the connecting rods of the work bucket, so that the fixed base plate can be detachably connected with the work bucket.

[0013] The fixed base plate is provided with a sliding groove, and the sliding groove is arranged along the connecting line of the two clamps; the clamps can slide along the sliding groove.

[0014] In this way, by adjusting the relative position of the clamp and the sliding groove, the size of the fixed base plate can be adjusted.

[0015] Further, the clamp is further provided with a butterfly screw for fixation.

[0016] According to an embodiment of the present application, the work head assembly comprises a fixed member, one end of the fixed member is connected with the connecting rod driving member, and the clamping assembly and the shearing assembly are arranged side by side at the end of the fixed member away from the connecting rod driving member.

[0017] The clamping assembly comprises a fixed end and a clamping end connected with each other, and the side of the fixed end away from the clamping end is matched with the fixed member; the clamping end comprises two oppositely arranged clamping jaws, and the inner side of the clamping jaw is provided with a plurality of contact blocks, and the contact blocks are elastically connected with the clamping jaw.

[0018] Further, the contact blocks are connected with the clamping jaw through springs.

[0019] Therefore, when the clamping assembly is matched with the branch to clamp the branch, the elastic deformation of the spring and the deformation of the contact block can make the clamping assembly fully contact with the branch, so that the branch can be stressed, the branch can be prevented from falling off during or after shearing, and the safety hazard can be reduced.

[0020] According to an embodiment of the present application, the connection part of the clamping assembly and the fixed member is provided with a rotating assembly; the rotating assembly comprises a rotating shaft, and the fixed end is coaxially connected with the rotating shaft, and the rotating shaft can drive the clamping assembly to rotate.

[0021] Further, the rotating assembly is provided with a rotating damping system with multi-stage speed reduction structure.

[0022] Thus, after the target branch is successfully cut by the cutting assembly, the clamping assembly can be rotated by the rotating assembly, so as to change the direction of the cut branch, facilitate the transportation of the cut branch to the ground, and reduce the interference of the aerial line, the tree branch and the cutting assembly, thereby improving the safety. Moreover, after the direction of the cut branch is changed, the influence of the lateral weight of the branch on the torque of the mechanical arm can be reduced, the stability of the whole near-electricity tree-removing remote control mechanical arm is ensured, and the operation safety is further improved.

[0023] According to an embodiment of the present application, the fixing member is provided with an auxiliary clamping member; the auxiliary clamping member cooperates with the clamping assembly; the auxiliary clamping member comprises a branch clamp and a rope, the branch clamp is connected with one end of the rope, and the rope is used for conveying the branch clamp up and down; the clamping assembly can rotate and make one end of the clamping object face the branch clamp.

[0024] According to an embodiment of the present application, the branch clamp comprises two clamping side plates, the cross section of the clamping side plate is arc-shaped structure, and the two clamping side plates are reversely curved; the opposite sides of the two clamping side plates are provided with barbs; the two ends of the clamping side plate are operation end and handle end respectively, the handle ends of the two clamping side plates are movably connected, and the operation ends of the two clamping side plates can approach or move away from each other; one end of the rope is connected with the handle ends of the two clamping side plates.

[0025] Further, the other end of the rope away from the branch clamp cooperates with the take-up machine.

[0026] According to an embodiment of the present application, the auxiliary clamping member comprises a fixed sleeve, one end of the fixed sleeve is open, the closed end of the fixed sleeve is connected with the fixing member, and the open end of the fixed sleeve is correspondingly arranged with the branch clamp; in particular, the open end of the fixed sleeve is correspondingly arranged with the handle ends of the two clamping side plates. The inside of the fixed sleeve is coaxially provided with a conical base, and the other end of the rope away from the branch clamp is inserted into the inside of the conical base. The tip of the conical base is arranged towards the open end of the fixed sleeve, and the side of the conical base away from the open end of the fixed sleeve is elastically connected with the closed end of the fixed sleeve.

[0027] In this way, the conical base cooperates with the branch clamp to provide power and guide the direction when the branch is transported downward.

[0028] According to the second aspect of the present application, a use method of the above-mentioned near-electricity tree-removing remote control mechanical arm is provided, comprising the following steps: The working space of the clamping assembly and the cutting assembly is monitored in real time by the visual camera, The control system adjusts the horizontal position of the working head assembly by controlling the fixed base, adjusts the vertical height and direction of the working head assembly by controlling the connecting rod driving member, and moves the clamping assembly and the cutting assembly to the position of the target branch. inputting clamping and shearing instructions to the control system through the operation handle, The control system controls the clamping assembly to clamp the target branch according to the received clamping and shearing instructions, and then controls the shearing assembly to shear the target branch.

[0029] According to an embodiment of the present application, the method for using the near-electricity tree-removing remote mechanical arm comprises: In the step of moving the clamping assembly and the shearing assembly to the position of the target branch, the control system adjusts the horizontal position of the working head assembly by controlling the fixed base and adjusts the vertical height of the working head assembly by controlling the connecting rod driving element. determining the type of the target branch to be sheared; preliminarily judging the diameter of the pre-cutting section of the target branch based on the monitoring image of the visual camera; determining the safe distance from the end of the target branch to the clamping position based on the type of the target branch and the diameter of the pre-cutting section of the target branch according to the tree shearing length and weight database embedded in the control system; based on the safe distance from the end of the target branch to the clamping position, the control system adjusts the horizontal position of the working head assembly by controlling the fixed base and adjusts the vertical height of the working head assembly by controlling the connecting rod driving element, so as to move the clamping assembly and the shearing assembly to the position of the target branch.

[0030] Compared with the prior art, the present application has the following advantages: 1. By integrating the remote control system, precise and safe operation of the mechanical arm is realized, which is especially suitable for near-electricity operation environment, avoids the risk of direct contact with high-voltage power lines by manual operation, and improves work efficiency and safety. By using the remote control and the working head assembly and the connecting rod driving element, the stability and range adaptability of the mechanical arm operation are enhanced, the tree line interval control can be completed without power failure, the power supply reliability is improved, and the risk and operation intensity of high-altitude near-electricity operation are greatly reduced. Therefore, by using the near-electricity tree-removing remote mechanical arm, the efficiency of near-electricity tree pruning can be improved, and the operation safety can be ensured. Moreover, the device has high flexibility and adaptability, which helps to improve the power supply safety and reliability.

[0031] 2. By cooperating the clamping assembly with the auxiliary clamping piece, the tree branches can be lifted and transported, so that the sheared tree branches can be handled more safely, and the influence of the transverse weight of the tree branches on the torsion of the mechanical arm can be reduced.

[0032] 3. The near-tree remote control mechanical arm considers the type and size of the branches during use, pre-judges the cutting position through an intelligent control system, ensures effective clamping and safe cutting of the branches during the operation process, and reduces secondary damage to power facilities when the branches fall. This intelligent and automated design not only improves the operation efficiency, but also greatly reduces the labor cost, bringing significant economic and social benefits to the power maintenance industry. BRIEF DESCRIPTION OF DRAWINGS

[0033] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, explain the application. These do not limit the application in an inappropriate manner. In the drawings: Figure 1 It is a schematic diagram of the overall structure of the near-tree remote control mechanical arm of embodiment 1 of the application; Figure 2 It is a schematic diagram of the overall structure of the near-tree remote control mechanical arm of embodiment 1 of the application; Figure 1 It is a schematic diagram of the structure of the connecting rod driving element of the near-tree remote control mechanical arm shown in the figure; Figure 3 It is a schematic diagram of the structure of the connecting rod driving element of the near-tree remote control mechanical arm shown in the figure; Figure 1 It is a schematic diagram of the structure of the fixed base of the near-tree remote control mechanical arm shown in the figure; Figure 4 It is a schematic diagram of the structure of the fixed base of the near-tree remote control mechanical arm shown in the figure; Figure 1 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 5 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 1 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 6 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 5 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 7 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 4 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 8 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 7 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 9 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 4 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 10 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure; Figure 9 It is a schematic diagram of the structure of the working head assembly of the near-tree remote control mechanical arm shown in the figure.

[0034] Wherein: 1, working head assembly; 2, fixed part; 3, visual camera; 4, operating handle; 5, working bucket; 20, connecting rod driving part; 21, insulating rod; 22, electric push rod; 23, connecting head; 24, gear rotating disc; 25, fixed flange plate; 26, speed reducer motor; 30, fixed base; 31, fixed bottom plate; 32, clamp; 33, connecting groove; 34, butterfly screw; 35, sliding groove; 36, sliding rod; 40, shearing assembly; 41, first shearing blade; 42, second shearing blade; 43, shearing driving part; 50, clamping assembly; 51, fixed end; 52, clamping end; 53, clamping jaw; 54, contact block; 55, gasket; 60, rotating assembly; 61, rotating shaft; 62, rotating sleeve; 63, limiting block; 64, rotating damping system; 70, auxiliary clamping part; 71, branch clamping; 72, clamping side plate; 721, working end; 722, handle end; 73, barb; 74, rope; 75, take-up machine; 76, fixed sleeve; 77, conical base. DETAILED DESCRIPTION

[0035] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0036] The following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise defined, all technical terms used in the present application have the same meanings as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present application are only for the purpose of describing the specific embodiments of the present application, and are not intended to limit the exemplary embodiments according to the present application.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. It should be noted in the description of this invention that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] Example 1 This embodiment provides a near-electric tree removal remote-controlled robotic arm, such as... Figure 1 As shown, it includes: The working head assembly 1 includes a clamping assembly 50 and a cutting assembly 40 for fixing and cutting branches; The linkage drive component 20 is connected to the working head assembly 1 and includes a plurality of insulating rods 21 connected in sequence for adjusting the vertical height and orientation of the working head assembly 1; The fixed base 30 is connected to the end of the connecting rod drive component 20 away from the working head assembly 1; thus achieving support and fixation for the working head assembly 1. The remote control unit includes a visual camera 3, an operating handle 4, and a control system. The visual camera 3 works in conjunction with the working head assembly 1 to monitor the working space and operation process of the clamping component 50 and the shearing component 40. The operating handle 4 is equipped with an image display to display the monitoring image from the visual camera 3. Both the visual camera 3 and the operating handle 4 are connected to the control system. The control system can control the operation of the fixed base 30, the linkage drive component 20, and the working head assembly 1 according to the instructions of the operating handle 4.

[0040] The cooperation of the fixed base 30 and the connecting rod driving part 20 enhances the stability and range adaptability of the mechanical arm operation, can complete the tree line interval control without power failure, improves the power supply reliability, and greatly reduces the high-altitude near-power operation risk and operation strength. The camera end of the visual camera 3 cooperates with the working end of the clamping assembly 50 and the shearing assembly 40, the working site needing to remove the branches is observed through the visual camera 3, the relative position of the branches and the overhead power line is monitored in real time, and the diameter of the target branch to be sheared can be preliminarily judged. According to the monitoring information of the visual camera 3, the connecting rod driving part 20 is adjusted, so that the working head assembly 1 reaches the position to be sheared of the target branch, then the clamping instruction is input to the control system through the operation handle 4, the control system starts the clamping assembly 50 to clamp and fix the branches to be trimmed according to the received instruction; similarly, the shearing instruction is input to the control system through the operation handle 4, the control system controls the shearing assembly 40 to cut off the branches according to the received instruction, at this time, the trimmed branches are still clamped and fixed on the clamping assembly 50, the connecting rod driving part 20 is operated by the control assembly controlled by the operation handle 4 to transfer the branches to a position where the branches can fall, and then the clamping assembly 50 releases the branches under the control of the control system. In this way, the near-power tree removal remote control mechanical arm can remove the near-power branches at different heights and positions, improve the efficiency of near-power branch trimming, ensure the operation safety; and the device has high flexibility and adaptability, which helps to improve the power supply safety and reliability.

[0041] Referring to Figure 2 , the connecting rod driving part 20 includes three insulating rods 21 connected in sequence, and an electric push rod 22 is arranged between two adjacent insulating rods 21. The electric push rod 22 is connected with the control system, and the start and stop of the electric push rod 22 can be controlled through the control system. By adopting a multi-stage connecting rod structure and an electric push rod 22 driving, multi-angle adjustment of the working head assembly 1 is realized, and the operation flexibility of the mechanical arm is improved. The end of the insulating rod 21 away from the working head assembly 1 is connected with the gear turntable 24 shaft, the gear turntable 24 is fixedly connected with the fixed base 30, and the gear turntable 24 cooperates with the speed reducer motor 26 to drive the three insulating rods 21 connected in sequence to rotate.

[0042] The electric push rod 22 cooperates with the insulating rod 21 to change the connection angle between the two adjacent insulating rods 21, thereby adjusting the height of the working head assembly 1. The insulating rod 21 cooperates with the gear turntable 24 to realize the rotation of the connecting rod driving part 20 and the working head assembly 1 connected therewith under the driving of the speed reducer motor 26. The cooperation of the gear turntable 24 and the speed reducer motor 26 can provide stable rotary power to ensure the stability and safety of the mechanical arm during operation.

[0043] Further, the three insulating rods 21 that make up the connecting rod driving member 20 are connected by a connecting head 23; the end of the insulating rod 21 away from the fixed base 30 is provided with a key-shaped connecting head for connecting with the working head assembly 1. The insulating rod 21 connected with the fixed base 30 through the gear turntable 24 is arranged vertically; the fixed end 51 and the movable end of the electric push rod 22 are respectively connected with two adjacent insulating rods 21.

[0044] Further, the gear turntable 24 is coaxially arranged with a connecting fixed flange plate 25, and the insulating rod 21 connected with the fixed base 30 is inserted into the inner hole of the fixed flange plate 25 to realize connection with the gear turntable 24, the fixed base 30, etc.

[0045] The fixed base 30 includes a fixed bottom plate 31, and one end of the connecting rod driving member 20 away from the working head assembly 1 is connected with the fixed bottom plate 31; the two ends of the fixed bottom plate 31 are symmetrically provided with clamps 32, and the clamps 32 are provided with connecting grooves 33, which can realize the installation and disassembly of the fixed base 30; for example, the connecting grooves 33 can be clamped and connected with the connecting rods of the working bucket 5, etc., so as to realize the detachable cooperation of the fixed base 30 and the working bucket 5.

[0046] Referring to Figure 3 , the fixed bottom plate 31 is provided with a sliding groove 35, one end of the clamp 32 is provided with a sliding rod 36, the sliding rod 36 is arranged along the connecting line of the two clamps 32, the sliding groove 35 is matched with the sliding rod 36, and the clamp 32 can slide along the sliding groove 35.

[0047] In this way, by adjusting the relative position of the clamp 32 and the sliding groove 35, the size of the fixed bottom plate 31 can be adjusted.

[0048] Further, the clamp 32 is also provided with a butterfly screw 34 for fixing. The butterfly screw 34 is used to fix the clamp 32 relative to the sliding groove 35 or the working bucket 5, etc., to ensure the stability of the fixed base 30 during operation.

[0049] Through the design of the fixed bottom plate 31 and the adjustable clamp 32, the firm connection of the mechanical arm and the working bucket 5 is ensured, and the setting of the sliding groove 35 allows the clamp 32 to be adjusted according to the size of the working bucket 5, thereby enhancing the universality and stability of the device. The clamp 32 is closely fitted with the working bucket 5 and is fixed by the butterfly screw 34, which can withstand the torsion and tension generated by the mechanical arm during operation, and maintain the balance of the entire device. In this way, not only the safety of the device is improved, but also the installation process is simplified, so that the operator can quickly deploy and adjust the device to adapt to different working environments.

[0050] Referring to Figure 4 and Figure 5The working head assembly 1 comprises a fixing member 2, one end of the fixing member 2 is connected with the connecting rod driving member 20 through a key-shaped connector, and the clamping assembly 50 and the shearing assembly 40 are arranged side by side at the end of the fixing member 2 away from the connecting rod driving member 20.

[0051] The shearing assembly 40 comprises a first shearing blade 41 and a second shearing blade 42, and the first shearing blade 41 and the second shearing blade 42 are oppositely arranged; a shearing driving member 43 is arranged at the connection position of the first shearing blade 41 and the second shearing blade 42, and the shearing driving member 43 can drive the first shearing blade 41 and the second shearing blade 42 to approach each other or move away from each other under the control of the control system, so as to form a shearing force and ensure the smooth shearing. The shearing assembly 40 adopts a double-blade design, and through the cooperation of the first shearing blade 41 and the second shearing blade 42, different hardness and diameter branches can be effectively sheared. In this way, not only the shearing efficiency is improved, but also the shaking of the branches during shearing is reduced, and the safety of operation is improved. In other embodiments, the shearing assembly 40 can also adopt single-blade rotary cutting or laser cutting technology to adapt to the shearing needs of branches of special materials or sizes, and at the same time, the shearing driving member 43 can be driven by hydraulic pressure or air pressure to realize greater shearing force and faster response speed.

[0052] Referring to Figure 6 and Figure 7 , the clamping assembly 50 comprises a fixed end 51 and a clamping end 52. The side of the fixed end 51 away from the clamping end 52 is matched with the fixing member 2; the clamping end 52 comprises two oppositely arranged clamping jaws 53, and the side of the two clamping jaws 53 close to the fixed end 51 is hingedly matched. The two clamping jaws 53 can approach each other or move away from each other under the control of the control system, so as to clamp or release the branches.

[0053] Referring to Figure 8 , the inner side of the clamping jaw 53 is provided with a plurality of contact blocks 54, and the contact blocks 54 are elastically connected with the clamping jaw 53. Further, the contact blocks 54 are connected with the clamping jaw 53 through springs.

[0054] Further, the contact blocks 54 are in the shape of a long strip, and a plurality of contact blocks 54 are arranged in an array on the inner side of the clamping jaw 53.

[0055] Therefore, when the clamping assembly 50 cooperates with the branches to clamp the branches, the elastic deformation of the spring and the deformation of the contact blocks 54 can make the clamping assembly 50 fully contact with the branches, so that the branches can better bear the force, avoid the branches from falling off during shearing or after shearing, and reduce the safety hidden danger.

[0056] Furthermore, the cooperation between the spring and the contact block 54 helps to enhance the clamping force of the clamping assembly 50 on the branch. The spaced arrangement of the contact blocks 54 can reduce the slippage and rotation of the branch (especially the cut branch) between the two grippers 53, and the arrangement of the spring and the contact block 54 is more conducive to achieving adaptive contact between the grippers 53 and the surface of the branch, improving the clamping effectiveness, especially for structures such as uneven branch surfaces and bent or forked branches.

[0057] Furthermore, as in this embodiment, the gripper 53 is equipped with a pad 55, and multiple contact blocks 54 are disposed on one side of the pad 55. The other side of the pad 55 is connected to the gripper 53 via multiple springs. The pad 55 is configured to fit the shape of the gripper 53 and can be integrally formed with or spliced ​​with the gripper 53.

[0058] Thus, a gap is formed between the contact block 54 and the gripper 53. When the branch is gripped by the clamping assembly 50, the gripper 53 contacts the branch, and the contact block 54 and the pad 55 deform due to compression. The existence of the gap provides sufficient deformation space for the pad 55, and the elastic deformation of the pad 55 and the spring reduces the probability of rotation between the branch and the gripper 53, which helps to reduce wear and extend service life.

[0059] A rotating assembly 60 is provided at the connection between the clamping assembly 50 and the fixing member 2. The rotating assembly 60 includes a rotating shaft 61 and a rotating sleeve 62, with the rotating shaft 61 coaxially disposed inside the rotating sleeve 62. The rotating shaft 61 cooperates with the output end of the control motor and can rotate around its axis. The side of the fixed end 51 of the clamping assembly 50 away from the gripper 53 is coaxially connected to the rotating shaft 61, which can drive the clamping assembly 50 to rotate. This enables multi-angle rotation of the clamping assembly 50, improving the flexibility and accuracy of the operation.

[0060] The rotating sleeve 62 can also be equipped with two or more limiting blocks 63, which can be set in two mutually perpendicular directions. Specifically, the two limiting blocks 63 can be respectively set at the "lateral initial position" and "longitudinal target position" of the rotating shaft 61. The limiting blocks 63 can be made of polyurethane material to buffer impacts and limit the rotation shaft 61. The limiting blocks 63 can also cooperate with a diffuse reflection photoelectric sensor. The photoelectric sensor is used to trigger a deceleration signal. For example, when the rotating shaft 61 rotates from the lateral initial position to 10° from the longitudinal target position (or from the longitudinal target position to 10° from the lateral initial position), the photoelectric sensor sends a signal to control the motor to enter the deceleration stage.

[0061] Further, see Figure 7The rotating assembly 60 is configured with a rotating damping system 64 of multi-stage speed reduction structure, which is arranged in the interior of the rotating sleeve 62. According to requirements, the rotating damping system 64 can be provided as a planetary gear reducer and a worm gear reducer, so that, in the process of rotating the rotating assembly 60 in cooperation with the clamping assembly 50, the speed is reduced and the torque is increased through the planetary gear reducer, and the speed is reduced again through the worm gear reducer, and the “self-locking” property is utilized to prevent the rotating assembly 60 from rotating accidentally.

[0062] Thus, after the target branch is successfully cut by the cutting assembly 40, the clamping assembly 50 can be rotated by the rotating assembly 60, so as to adjust the direction of the cut branch, facilitate the transportation of the cut branch to the ground, and reduce the interference of the aerial line, the tree branch and the cutting assembly 40 in the process, thereby improving the safety. Moreover, after the direction of the cut branch is adjusted, the influence of the lateral weight of the cut branch on the torque of the mechanical arm can be reduced, the stability of the entire near-power-tree remote control mechanical arm is ensured, and the operation safety is further improved.

[0063] Referring to Figure 4 The fixed part 2 is configured with an auxiliary clamping part 70. In this embodiment, the auxiliary clamping part 70 is fixedly connected with the fixed part 2 through an L-shaped connecting part. Referring to Figure 9 The auxiliary clamping part 70 cooperates with the clamping assembly 50. The auxiliary clamping part 70 comprises a branch clamp 71 and a rope 74, the branch clamp 71 is connected with one end of the rope 74, and the rope 74 is used for conveying the branch clamp 71 up and down. The clamping assembly 50 can rotate and make one end of the clamping object face the branch clamp 71.

[0064] Thus, by cooperating the auxiliary clamping part 70 with the clamping assembly 50, the branch clamp 71 is used to clamp the cut end of the cut branch, the stress point of the cut branch is increased, and the stability is improved. Then, by cooperating the rope 74 with the branch clamp 71, the controllable transfer of the cut branch can be realized, the impact of the direct falling of the cut branch on the facilities below and the workers is avoided, and the safety is improved.

[0065] The branch clamp 71 comprises two clamping side plates 72, the cross section of the clamping side plate 72 is an arc structure, and the two clamping side plates 72 are reversely bent. Referring to Figure 10 The opposite sides of the two clamping side plates 72 are configured with barbs 73. According to requirements, the barbs 73 can be provided in multiple rows or dispersedly. The two ends of the clamping side plate 72 are respectively an operation end 721 and a handle end 722, the handle ends 722 of the two clamping side plates 72 are movably connected, and the operation ends 721 of the two clamping side plates 72 can approach or move away from each other. One end of the rope 74 is connected with the handle ends 722 of the two clamping side plates 72.

[0066] Further, the end of the rope 74 away from the branch clamp 71 cooperates with a take-up machine 75.

[0067] The auxiliary clamping member 70 comprises a fixed sleeve 76, which is open at one end and connected to the fixed member 2 at the closed end, and is correspondingly arranged with the branch clamp 71 at the open end; in particular, the open end of the fixed sleeve 76 is correspondingly arranged with the handle end 722 of the two clamping side plates 72.

[0068] By introducing the auxiliary clamping member 70, the safety hazard of free falling of the cut branches is solved, and the stable placement of the branches is ensured. The arc-shaped structure and barb 73 of the branch clamp 71 enable it to quickly clamp the branches after cutting, and the cooperation of the fixed sleeve 76 and the rope 74 can guide the movement trajectory of the branch clamp 71, realizing the controllable placement of the branches. In this way, not only the safety of the operation is improved, but also the potential threat to the ground facilities and personnel is reduced. At the same time, the cooperation of the rope 74 and the take-up machine 75 also improves the overall operational flexibility of the mechanical arm. In other embodiments, the auxiliary clamping member 70 can also be driven by hydraulic or pneumatic pressure to achieve more precise control, and the rope 74 can be replaced by a high-strength fiber belt or chain to adapt to the placement requirements of branches of different weights and sizes.

[0069] Further, the inside of the fixed sleeve 76 is coaxially configured with a conical base 77, and the end of the rope 74 away from the branch clamp 71 is inserted into the inside of the conical base 77.

[0070] The tip of the conical base 77 is arranged towards the open end of the fixed sleeve 76, and the side of the conical base 77 away from the open end of the fixed sleeve 76 is elastically connected to the closed end of the fixed sleeve 76.

[0071] In this way, by cooperating the conical base 77 with the branch clamp 71, power can be provided and direction can be guided when transporting the branches downward. The design of the conical base 77 and the elastic connection enables the branch clamp 71 to automatically reset, simplifying the operation process. The shape design of the conical base 77 enables the clamping side plates 72 of the branch clamp 71 to move closer to each other when the rope 74 is tightened, and the elastic connection enables the branch clamp 71 to automatically open and release the branches when the rope 74 is loosened. This design not only improves the convenience of operation, but also reduces the physical exertion of the operator. At the same time, the automatic reset function ensures that the branch clamp 71 can accurately return to the initial position each time, improving the continuity and efficiency of the operation. In other embodiments, the conical base 77 can be replaced by other shapes of wedges to adapt to different types of branch clamps 71, and the elastic connection can also be made of springs or other elastic materials to achieve more stable and durable reset effect.

[0072] Embodiment 2 The embodiment is based on the near-electricity tree-removing remote control mechanical arm of embodiment 1, and provides a use method of the near-electricity tree-removing remote control mechanical arm, comprising the following steps: The working space of the clamping assembly 50 and the shearing assembly 40 is monitored in real time through the visual camera 3, The control system adjusts the horizontal position of the working head assembly 1 by operating the fixed base 30, and adjusts the vertical height and orientation of the working head assembly 1 by operating the connecting rod driving member 20, so as to move the clamping assembly 50 and the shearing assembly 40 to the position of the target branch; The clamping and shearing instructions are input to the control system through the operation handle 4, The control system operates the clamping assembly 50 to clamp the target branch according to the received clamping and shearing instructions, and then operates the shearing assembly 40 to shear the target branch.

[0073] The use method of the embodiment combines remote control and visual monitoring, and realizes efficient and safe execution of near-electric branch pruning work. The real-time image of the visual camera 3 is transmitted to the image display on the operation handle 4, and the operator can clearly see the specific position and state of the branch, so as to accurately issue control instructions, and coordinate the actions of the fixed base 30, the connecting rod driving member 20 and the working head assembly 1 through the control system, to realize clamping and shearing of the branch. In this way, not only the accuracy and efficiency of the work are improved, but also the personal safety risk of the operator is greatly reduced, especially when dealing with branches in high places or dangerous positions, the advantage is more obvious. In other embodiments, the use method can also integrate automatic recognition and path planning functions, automatically judge the type, diameter and best shearing position of the branch through machine learning algorithm, and further improve the automation degree and work efficiency.

[0074] Further, in the step of moving the clamping assembly 50 and the shearing assembly 40 to the position of the target branch by adjusting the horizontal position of the working head assembly 1 by operating the fixed base 30 and adjusting the vertical height of the working head assembly 1 by operating the connecting rod driving member 20, the step includes: determining the type of the target branch to be sheared; preliminarily judging the diameter of the pre-cut cross section of the target branch based on the monitoring picture of the visual camera 3; determining the safe distance from the clamping position to the end of the target branch based on the type of the target branch and the diameter of the pre-cut cross section of the target branch according to the branch shearing length and weight database; the branch shearing length and weight database is embedded in the control system; based on the safe distance from the clamping position to the end of the target branch, the control system adjusts the horizontal position of the working head assembly 1 by operating the fixed base 30, and adjusts the vertical height of the working head assembly 1 by operating the connecting rod driving member 20, so as to move the clamping assembly 50 and the shearing assembly 40 to the position of the target branch.

[0075] The embodiment realizes intelligent judgment and precise positioning of the branch cutting position by combining the control system with the branch cutting length and weight database. The control system can find the corresponding safety distance parameters from the database according to the type of the target branch and the diameter of the pre-cutting section, thereby determining the optimal clamping position of the clamping assembly 50, ensuring that the weight of the cut branch does not exceed the carrying limit of the mechanical arm. This technical solution not only improves the safety and efficiency of the operation, but also reduces the decision-making burden of the operator, making the entire cutting process more automated and intelligent. In other embodiments, the branch cutting length and weight database can be continuously updated and improved to adapt to more types of branches and more complex working environments, and the control system can also integrate environmental perception and obstacle avoidance functions to improve the safety and reliability of the operation.

[0076] Working process or use process: In combination with all the above embodiments, the working process or use process of the near-electric tree remote control mechanical arm of embodiment 1 is as follows: First, the operator activates the mechanical arm by operating the handle 4, and the visual camera 3 starts to transmit the image of the target branch to the image display of the handle 4 in real time. The operator preliminarily judges the type of the target branch and the diameter of the pre-cutting section according to the image information, and the control system immediately obtains the corresponding safety distance parameters from the built-in branch cutting length and weight database to determine the optimal clamping position of the clamping assembly 50.

[0077] Next, the operator adjusts the horizontal position of the working head assembly 1 by controlling the fixed base 30, and adjusts the vertical height and orientation of the working head assembly 1 by controlling the connecting rod driving part 20, until the clamping assembly 50 and the cutting assembly 40 are accurately aligned with the target branch. In this process, the visual camera 3 continuously provides real-time images to help the operator accurately adjust the position of the mechanical arm.

[0078] When the clamping assembly 50 and the cutting assembly 40 reach the target position, the operator issues a clamping instruction through the handle, and the control system immediately drives the clamping jaw 53 of the clamping assembly 50 to close and firmly clamp the target branch. Then, the operator issues a cutting instruction through the handle again, and the control system drives the first cutting blade 41 and the second cutting blade 42 of the cutting assembly 40 to approach each other to cut the target branch.

[0079] After shearing is completed, the rotating assembly 60 drives the clamping assembly 50 to rotate, so that the sheared branches are adjusted to be vertical, and the sheared ends of the branches clamped by the clamping assembly 50 are adjusted to be towards the branch clamps 71 of the auxiliary clamping member 70. The branch clamps 71 are automatically started and clamp the branch ends, the clamping side plates 72 of the branch clamps 71 are close to each other, and the sheared ends of the branches are clamped. Then, the operator controls the mechanical arm to slowly lower the branches to a predetermined position, and at the same time, the rope 74 is loosened, so that the clamping side plates 72 of the branch clamps 71 are automatically opened under the pushing of the conical base 77, and the branches are released.

[0080] During the entire working process, the operator always monitors the operation situation through the visual camera 3 to ensure the safety and accuracy of the operation. At the same time, the control system can automatically adjust the actions of the mechanical arm according to the operation instructions and the branch database information, greatly improving the operation efficiency and safety. In addition, the flexible adjustment capability of the connecting rod driving member 20 and the fixed base 30 of the mechanical arm enables the device to adapt to various complex working environments and meet the branch pruning requirements of different heights and positions.

[0081] Further, the establishment of the branch shearing length and weight database includes the following steps: S1: Determine the core calculation model and constraint conditions.

[0082] The calculation model of the weight of the branch is defined, and the branch is approximated as a cylinder, and the weight calculation formula is: W = ρ × V / 1000; V = π × (d / 2) 2 × L; Wherein, W is the weight of the branch (kg), ρ is the density of wood (g / cm 3 ), V is the volume of the branch (cm 3 ), d is the diameter of the branch at the clamping point (cm), and L is the length from the clamping point to the end of the branch (cm).

[0083] The safety constraint condition is defined: the calculated weight W must be less than or equal to the maximum load capacity W max of the mechanical arm (generally, it is set to 50 kg according to the actual situation).

[0084] S2: Establish a tree species characteristic parameter table.

[0085] A wood characteristic parameter table containing common urban tree species (such as national locust, white wax, ginkgo, paulownia, plane tree, willow, poplar) is established, and the parameter table at least includes: The range value of the live branch wood density of each tree species ρ; the branch characteristic description of each tree species, which is used for qualitative evaluation of the clamping stability risk.

[0086] The tree species characteristic parameter table set in this embodiment is shown in Table 1.

[0087] Table 1 Tree species characteristic parameter table (partial data example)

[0088] S3: Derive the theoretical safe length and introduce a safety factor.

[0089] For each tree species, take the upper limit value of its density range ρ max As a conservative calculation basis, substitute the weight calculation formula.

[0090] According to the safety constraint W ≤ W max , the calculation formula of the theoretical maximum safe length L max is derived: L max ≤ W max / (k × ρ max × d 2 ); Introduce a safety factor S (0<S<1), and calculate the actual safe clamping length L safe : L safe = L max × S; The safety factor S is used to offset the additional torque effect caused by the taper, bending, branching or uneven weight distribution of the branch, and preferably S=0.7, i.e. 30% safety margin is reserved.

[0091] S4: Generate diameter-length correspondence query table.

[0092] For each tree species, select a series of standard diameter values d i (such as 5cm, 10cm, 15cm, 20cm, 25cm); According to the formula of step S3, calculate the L safe value corresponding to each diameter d i ; Make the correspondence between tree species, diameter d i , and safe clamping length L safe into a structured query table, forming the core data unit of the database.

[0093] Part of the data of the branch cutting length and weight database is shown in Table 2.

[0094] Table 2 Branch cutting length and weight database (partial data example)

[0095] S5: Define special case correction rules.

[0096] To improve the practicability and security of the database, the following correction rules are defined: The blade tree branch correction rule: if the clamping section tree branch end is concentrated with blades, the L safe value obtained by querying is multiplied by the blade correction coefficient S leaf (0<S leaf <1), to obtain the final safe length, preferably, S leaf =0.85.

[0097] The bifurcated tree branch processing rule: the database parameters are only applicable to single-branch tree branches without bifurcation. If the target tree branch has bifurcation, the rule defines that cutting must be performed before the bifurcation point, and only the single-branch after cutting is queried and clamped.

[0098] Finally, the database can be integrated into the mechanical arm control system in the form of a software module, or can be used by the operator on site in the form of a paper table.

[0099] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0100] From the technical common sense, the present application can be realized by other embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above disclosed embodiments, in terms of various aspects, are only illustrative, and not the only. All changes within the scope of the present application or within the scope equivalent to the present application are included in the present application.

Claims

1. A telepresence robotic arm, characterized in that, The utility model relates to a kind of near electric tree-removing remote control mechanical arm, including: Working head assembly (1), including clamping assembly (50) and shearing assembly (40), for fixing and shearing branch; Connecting rod driving element (20) is connected with the working head assembly (1), including several insulation rods (21) connected in sequence, for adjusting the vertical height and orientation of the working head assembly (1); Fixed base (30) is connected with the end of the connecting rod driving element (20) away from the working head assembly (1); Remote control, including visual camera (3), operating handle (4) and control system, the visual camera (3) is matched with the working head assembly (1);The visual camera (3), the operating handle (4) are all with the control system signal connection, the control system can control the fixed base (30), the connecting rod driving element (20) and the working head assembly (1) operation according to the instruction of the operating handle (4).

2. The near electric tree-removing remote control mechanical arm according to claim 1, wherein: The connecting rod driving element (20) includes three insulation rods (21) connected in sequence, and an electric push rod (22) is arranged between two adjacent insulation rods (21); The end of the insulation rod (21) away from the working head assembly (1) is connected with a gear turntable (24) shaft, the gear turntable (24) is fixedly connected with the fixed base (30), and the gear turntable (24) is matched with a speed reducer motor (26) to drive the three insulation rods (21) connected in sequence to rotate.

3. The near electric tree-removing remote control mechanical arm according to claim 1, wherein: The fixed base (30) includes a fixed base plate (31), and the end of the connecting rod driving element (20) away from the working head assembly (1) is connected with the fixed base plate (31); Two ends of the fixed base plate (31) are symmetrically provided with clamps (32), and the clamps (32) are provided with connecting grooves (33); The fixed base plate (31) is provided with a sliding groove (35), and the sliding groove (35) extends along the line connecting the two clamps (32), and the clamps (32) can slide along the sliding groove (35).

4. The near electric tree-removing remote control mechanical arm according to claim 1, wherein: The working head assembly (1) includes a fixing member (2), one end of the fixing member (2) is connected with the connecting rod driving element (20), and the clamping assembly (50) and the shearing assembly (40) are arranged side by side at the end of the fixing member (2) away from the connecting rod driving element (20); The clamping assembly (50) includes a fixed end (51) and a clamping end (52), and the side of the fixed end (51) away from the clamping end (52) is matched with the fixing member (2); the clamping end (52) includes two oppositely arranged clamping jaws (53), and the inner side of the clamping jaw (53) is provided with a plurality of contact blocks (54), and the contact blocks (54) are elastically connected with the clamping jaw (53).

5. The near electric tree-removing remote control mechanical arm according to claim 4, wherein: The connecting part of the clamping assembly (50) and the fixing part (2) is provided with a rotating assembly (60); the rotating assembly (60) comprises a rotating shaft (61), the fixed end (51) is coaxially connected with the rotating shaft (61), and the rotating shaft (61) can drive the clamping assembly (50) to rotate.

6. The remote-controlled mechanical arm according to claim 4, wherein, The fixing part (2) is provided with an auxiliary clamping part (70); the auxiliary clamping part (70) cooperates with the clamping assembly (50); The auxiliary clamping part (70) comprises a branch clamp (71) and a rope (74), the branch clamp (71) is connected with one end of the rope (74), and the rope (74) is used for conveying the branch clamp (71) up and down; The clamping assembly (50) can rotate and make one end of the clamped object face the branch clamp (71).

7. The remote-controlled mechanical arm according to claim 6, wherein, The branch clamp (71) comprises two clamping side plates (72), the cross section of the clamping side plate (72) is arc-shaped structure, and the two clamping side plates (72) are reversely curved; the opposite sides of the two clamping side plates (72) are provided with barbs (73); the two ends of the clamping side plate (72) are respectively an operation end (721) and a handle end (722), the handle ends (722) of the two clamping side plates (72) are movably connected, and the operation ends (721) of the two clamping side plates (72) can approach or move away from each other; One end of the rope (74) is connected with the handle ends (722) of the two clamping side plates (72).

8. The remote-controlled mechanical arm according to claim 6, wherein, The auxiliary clamping part (70) comprises a fixed sleeve (76), one end of the fixed sleeve (76) is open, the closed end of the fixed sleeve (76) is connected with the fixing part (2), and the open end of the fixed sleeve (76) is correspondingly provided with the branch clamp (71); The inside of the fixed sleeve (76) is coaxially provided with a conical base (77), and one end of the rope (74) away from the branch clamp (71) is inserted into the inside of the conical base (77); The tip of the conical base (77) faces the open end of the fixed sleeve (76), and the side of the conical base (77) away from the open end of the fixed sleeve (76) is elastically connected with the closed end of the fixed sleeve (76).

9. The method of using a telechiric robotic arm according to any of claims 1-8, wherein, The steps include: The working space of the clamping assembly (50) and the shearing assembly (40) is monitored in real time through a visual camera (3), The control system adjusts the horizontal position of the working head assembly (1) by controlling the fixed base (30), adjusts the vertical height and direction of the working head assembly (1) by controlling the connecting rod driving part (20), and moves the clamping assembly (50) and the shearing assembly (40) to the position of the target branch; The clamping and shearing instructions are input to the control system through the operation handle (4), The control system controls the clamping assembly (50) to clamp the target branch according to the received clamping and shearing instructions; and then controls the shearing assembly (40) to shear the target branch.

10. The method of use of claim 9, wherein, The method comprises the following steps: The control system adjusts the horizontal position of the working head assembly (1) by controlling the fixed base (30) and adjusts the vertical height of the working head assembly (1) by controlling the connecting rod driving element (20), so that the clamping assembly (50) and the shearing assembly (40) are moved to the position of the target branch. The category of the target branch with shearing is determined. The diameter of the pre-cut cross section of the target branch is preliminarily judged based on the monitoring picture of the visual camera (3). The safe distance of the clamping position from the end of the target branch is determined based on the category of the target branch and the diameter of the pre-cut cross section of the target branch according to the tree branch shearing length and weight database embedded in the control system. The control system adjusts the horizontal position of the working head assembly (1) by controlling the fixed base (30) and adjusts the vertical height of the working head assembly (1) by controlling the connecting rod driving element (20) based on the safe distance of the clamping position from the end of the target branch, so that the clamping assembly (50) and the shearing assembly (40) are moved to the position of the target branch.

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