Tree-climbing pruning machine with multiple operation modes and multiple motion postures

Abstract

The invention discloses a tree-climbing pruning machine with multiple operation modes and multiple motion postures, and belongs to the technical field of branch pruning equipment. Comprising a main body structure, a driving wheel set, a driven wheel set and a pruning assembly, a trunk receding space is formed in the middle of the main body structure, and an opening is formed in one side of the receding space; through angle conversion of the driving wheel set and the driven wheel set, multiple motion postures of vertical climbing, spiral climbing and rotary climbing of the device are achieved; through transverse pruning and vertical pruning of the pruning assembly, multiple operation modes are achieved; when side branches need to be reserved, a gap between the first driving wheel assembly and the second driving wheel assembly is aligned with the side branches needing to be reserved through variable motion posture operation of the tree climbing pruning machine, then the maintaining posture is controlled to vertically complete climbing along a tree trunk, the side branches can be crossed, and selective pruning operation is achieved. The technical problem that a traditional tree-climbing pruning machine is inconvenient to selectively prune branches is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tree pruning equipment, and particularly relates to a tree pruning machine with multiple operation modes and multiple motion postures. BACKGROUND

[0002] In forestry production, pruning the lateral branches of a living standing tree can obtain high-quality wood without knots, which is one of the key means to improve growth speed. In the maintenance of a power transmission system, cutting the top of trees on both sides of a power transmission circuit can avoid the growing trees from touching the power line and affecting power transmission safety. At present, there are various tree pruning machines that can tightly hold a trunk and climb up the trunk to complete pruning operations. For example, the utility model patent (application number 202021769519.3) discloses a fast-growing forest spiral tree pruning robot, which is provided with two rotating cylinders. When the robot is climbing a tree, the rotating angle of the rotating cylinders can be adjusted so that the robot can spiral climb the tree and complete pruning of the tree. For another example, the invention patent (application number 202410782085.7) discloses a tree pruning robot, which is provided with a hinge so that the climbing mechanism has self-adjusting ability. The climbing mechanism can automatically adjust to a state in which all four walking wheels are in contact with the trunk, thereby effectively preventing side slipping and side turning. In particular, the invention patent (application number 202211660670.7) discloses a high straight pole tree pruning robot, which can not only prune the lateral branches of a living standing tree but also cut the top of the tree. The above tree pruning machines cut all the lateral branches of the trunk in the process of climbing the trunk and cannot selectively prune the lateral branches. In fact, in many application scenarios, such as pruning trees on both sides of a power transmission circuit, it is not necessary to completely prune the lateral branches of the trunk, but only to selectively prune part of the lateral branches and cut the top. In addition, the distribution of branch sizes from the bottom to the top of the trunk is not completely from large to small or from small to large, but is randomly distributed in most cases. Therefore, the present application provides a tree pruning machine with multiple operation modes and multiple motion postures. The multiple operation modes refer to the fact that the present application can prune the lateral branches of the trunk and cut the top branches of the trunk, which can simultaneously meet the pruning requirements of forestry production and the maintenance of a power transmission system. The multiple motion postures refer to the fact that the present application can change the climbing path and switch multiple motion postures at any time, i.e., vertical climbing, spiral climbing and rotary climbing along the trunk, so as to selectively prune the lateral branches in the process of climbing the trunk and bypass obstacles such as tree bends and knots, thereby improving the adaptability. In addition, the gap size when crossing branches can be set, so that the lateral branches of the trunk of different sizes can be better crossed. SUMMARY

[0003] The application aims at providing a tree climbing pruning machine with multiple operation modes and multiple motion postures to solve the technical problem of traditional tree climbing pruning machines that are inconvenient to realize selective pruning of branches.

[0004] To achieve the above-mentioned purpose, the application adopts the technical scheme of:

[0005] A tree climbing pruning machine with multiple operation modes and multiple motion postures comprises

[0006] a main body structure, a space for accommodating a trunk is arranged in the middle of the main body structure, and an opening is arranged on one side of the space for accommodating the trunk;

[0007] a driving wheel set, the driving wheel set comprises a first driving wheel assembly and a second driving wheel assembly, the first driving wheel assembly arranged on one side of the opening can swing, the second driving wheel assembly arranged on the other side of the opening can swing, the first driving wheel assembly and the second driving wheel assembly form an opening and closing structure, and the first driving wheel assembly and the second driving wheel assembly have a gap in the closed state, a first driving wheel arranged on the first driving wheel assembly can contact the trunk in the space for accommodating the trunk, and a second driving wheel arranged on the second driving wheel assembly can contact the trunk in the space for accommodating the trunk, the first driving wheel and the second driving wheel can rotate independently, and the central axis of the first driving wheel and the central axis of the second driving wheel can rotate relative to the central axis of the trunk;

[0008] a driven wheel set, the driven wheel set is movably arranged on the main body structure, a driven wheel arranged on the driven wheel set can contact the trunk in the space for accommodating the trunk, and the central axis of the driven wheel can rotate relative to the central axis of the trunk; and

[0009] a pruning assembly, the pruning assembly is movably arranged on the main body structure, and the pruning assembly can prune branches horizontally and vertically.

[0010] Further, the first driving wheel assembly and the second driving wheel assembly are the same in structure and are symmetrically arranged.

[0011] Further, the first driving wheel assembly comprises a swing arm, a driving wheel frame rotating motor, a driving wheel frame, a limiting assembly and the first driving wheel, one end of the swing arm is hinged to the main body structure, the other end of the swing arm is provided with the driving wheel frame rotating motor, the output end of the driving wheel frame rotating motor is provided with the driving wheel frame, and the first driving wheel is movably arranged on the driving wheel frame, the limiting assembly is connected to the swing arm through a connecting rod, and the limiting assembly can fix the swing arm in the open or closed state.

[0012] In one step, the opening of the main body structure is provided with a connecting frame, and the connecting frame is provided with a first limiting hole and a second limiting hole; the limiting assembly comprises a sliding frame, a compression spring, a limiting pin shaft and a limiting release handle; the sliding frame is slidably installed on the connecting frame, the compression spring can automatically press one end of the limiting pin shaft into the first limiting hole and the second limiting hole, and the limiting release handle can take out one end of the limiting pin shaft from the first limiting hole and the second limiting hole; pressing the limiting release handle can move the limiting assembly to the first limiting hole or the second limiting hole to realize opening or closing operation.

[0013] Further, the driven wheel set comprises a linear motion module, a mounting frame, a driven wheel set rotating motor, a driven wheel set support frame and the driven wheel; the linear motion module is installed on the main body structure, the linear motion module is provided with a first linear motion block and a second linear motion block, the first linear motion block and the second linear motion block are slidably installed on the main body structure through slide rails, the first linear motion module directly drives the first linear motion block to move, a pressure sensor is arranged between the first linear motion block and the second linear motion block, and the second linear motion block presses the pressure sensor on the first linear motion block through a compression spring; the mounting frame is installed on the second linear motion block, the driven wheel set rotating motor is installed on the mounting frame, an output end of the driven wheel set rotating motor is provided with the driven wheel set support frame, and the driven wheel is rotatably installed on the driven wheel set support frame.

[0014] Further, the driven wheel set further comprises a synchronous structure and two secondary support frames, the driven wheel comprises a first driven wheel and a second driven wheel, the first driven wheel is rotatably installed on the driven wheel set support frame through one secondary support frame, and the second driven wheel is rotatably installed on the driven wheel set support frame through another secondary support frame; the synchronous structure connects the two secondary support frames, and the driven wheel set rotating motor drives the secondary support frames to synchronously rotate through the synchronous structure.

[0015] Further, the linear motion modules are symmetrically arranged in pairs; the linear motion module further comprises a lead screw, a lead screw motor, a mounting seat and a lead screw nut, the mounting seat is fixedly connected with the main body structure, the lead screw motor is installed on the mounting seat, the lead screw is rotatably installed on the main body structure and coaxially fixed with an output shaft of the lead screw motor, and the lead screw nut is matchingly installed on the lead screw, and the lead screw nut is fixedly connected with the first linear motion block.

[0016] Further, the pruning assembly comprises a rotating base, a double-shaft rotating structure and a chain saw assembly, the rotating base is arranged on the first linear motion block, the double-shaft rotating structure is arranged on the rotating base, and the chain saw assembly is arranged on the double-shaft rotating structure.

[0017] Further, the double-shaft rotating structure comprises a horizontal rotating structure and a vertical rotating structure, the horizontal rotating structure comprises a horizontal rotating motor, a horizontal gear and a horizontal sector gear, and the vertical rotating structure comprises a vertical rotating base and a vertical rotating motor; the horizontal rotating motor is arranged on the rotating base, the vertical rotating base is rotatably arranged on the rotating base, the output end of the horizontal rotating motor is provided with the horizontal gear, the horizontal sector gear is fixedly connected with the vertical rotating base, and the horizontal gear and the horizontal sector gear are in meshing connection; the chain saw assembly is rotatably arranged on the vertical rotating base through a rotating shaft, and the vertical rotating motor is mounted on the vertical rotating base and drives the rotating shaft to rotate.

[0018] Further, the main body structure is provided with a handle on each side.

[0019] Due to the above technical scheme, the present application has the following beneficial effects:

[0020] 1. When the present application is used, the driving wheel set is first opened, the trunk is located in the space, then the driven wheel set is moved to the driving wheel set, so that the whole machine is clamped on the trunk, the driving wheel is operated to climb up along the trunk, and the pruning work is completed through the pruning assembly in the climbing process; the vertical climbing, spiral climbing and rotary climbing of the device are realized through the conversion of the driving wheel set and the driven wheel set; the multi-operation mode is realized through the horizontal pruning and vertical pruning of the pruning assembly; when it is necessary to retain a side branch, the motion attitude of the tree climbing pruning machine is changed, the gap between the first driving wheel assembly and the second driving wheel assembly is aligned with the side branch to be retained, and then the retaining attitude is controlled to vertically climb along the trunk, so that the side branch can be crossed, the selective pruning of the tree climbing pruning machine is realized, and the technical problem that the traditional tree climbing pruning machine is not convenient for selective pruning of branches is solved.

[0021] 2. The present application has multiple motion postures, and the climbing path can be changed during the climbing process, and the multiple motion postures can be switched at any time, that is, vertical climbing along the trunk, spiral climbing and rotary climbing, so that the lateral branches can be selectively pruned during the climbing process, and the obstacles such as tree bends and knots can be bypassed, the adaptability of the tree climbing and pruning machine is improved, and the size change of the trunk can be adapted, the lateral branches can be selectively pruned, the distance between the first driving wheel assembly and the second driving wheel assembly can be controlled to adapt the size change of the lateral branches of different sections of the trunk, and the lateral branches to be retained can be crossed through posture transformation operation, and selective pruning operation is completed. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a three-dimensional structure diagram of the present application;

[0023] Figure 2 is a top view of the present application;

[0024] Figure 3 is a three-dimensional installation diagram of the main body structure of the present application;

[0025] Figure 4 is a three-dimensional diagram of the limiting assembly of the present application;

[0026] Figure 5 is a three-dimensional diagram of the driven wheel set of the present application;

[0027] Figure 6 is a three-dimensional diagram of the pruning assembly of the present application;

[0028] Figure 7 is a vertical climbing schematic diagram of the present application;

[0029] Figure 8 is a spiral climbing schematic diagram of the present application;

[0030] Figure 9 is a rotary climbing schematic diagram of the present application;

[0031] Figure 10 is a lateral branch pruning mode schematic diagram of the present application;

[0032] Figure 11 is a top branch pruning mode schematic diagram of the present application;

[0033] Figure 12 is a schematic diagram of eccentric setting of the driving wheel of the present application;

[0034] Figure 13 is a tree branch size adaptation mode adjustment schematic diagram of the present application.

[0035] In the drawings, 100 - tree pruning machine, 200 - tree trunk, 1 - main structure, 2 - driving wheel set, 3 - driven wheel set, 4 - pruning assembly, 11 - space, 12 - connecting frame, 13 - first limiting hole, 14 - second limiting hole, 15 - handle, 21 - first driving wheel assembly, 22 - second driving wheel assembly, 211 - swing arm, 212 - driving wheel frame rotating motor, 213 - driving wheel frame, 214 - limiting assembly, 215 - first driving wheel, 216 - connecting rod, 2141 - sliding frame, 2142 - compression spring, 2143 - limiting pin shaft, 2144 - limiting release handle, 31 - linear motion module, 32 - mounting frame, 33 - driven wheel set rotating motor, 34 - driven wheel set support frame, 35 - driven wheel, 36 - synchronization structure, 37 - secondary support frame, 311 - first linear motion block, 312 - second linear motion block, 313 - pressure sensor, 314 - compression spring, 315 - lead screw, 316 - lead screw motor, 317 - mounting seat, 318 - slide rail, 41 - rotating base, 42 - double-shaft rotating structure, 43 - chain saw assembly, 44 - rotating shaft, 421 - transverse rotating motor, 422 - transverse gear, 423 - transverse sector gear, 424 - vertical rotating seat, 425 - vertical rotating motor. DETAILED DESCRIPTION

[0036] The specific implementation of the application is further described below in conjunction with the drawings.

[0037] In the description of the application, it should be understood that the terms "center", "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0038] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0039] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature is "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature is "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0040] Please refer to Figures 1 to 6 A tree pruning machine 100 with multiple operation modes and multiple motion postures comprises

[0041] A main body structure 1 is provided with a space 11 for accommodating a tree trunk 200 in the middle, and an opening is arranged on one side of the space 11. Specifically, the main body structure 1 is in a U shape. In the embodiment, handles 15 are arranged on both sides of the main body structure 1. The handles 15 are arranged to facilitate the operator to grasp and move the machine.

[0042] A driving wheel set 2 comprises a first driving wheel assembly 21 and a second driving wheel assembly 22. The first driving wheel assembly 21 is arranged on one side of the opening and can swing, and the second driving wheel assembly 22 is arranged on the other side of the opening and can swing. The first driving wheel assembly 21 and the second driving wheel assembly 22 form an opening and closing structure, and have a gap in the closed state. The first driving wheel assembly 21 is provided with a first driving wheel 215 which can contact the tree trunk 200 in the space 11, and the second driving wheel assembly 22 is provided with a second driving wheel which can contact the tree trunk 200 in the space 11. The first driving wheel 215 and the second driving wheel are driven to rotate by an internal motor, and the central shaft of the first driving wheel 215 and the central shaft of the second driving wheel can rotate relative to the central shaft of the tree trunk 200.

[0043] A driven wheel set 3 is movably arranged on the main body structure 1. The driven wheel set 3 is provided with a driven wheel 35 which can contact the tree trunk 200 in the space 11. The central shaft of the driven wheel 35 can rotate relative to the central shaft of the tree trunk 200.

[0044] A pruning assembly 4 is movably arranged on the main body structure 1. The pruning assembly 4 can prune horizontally and vertically.

[0045] Please refer to Figures 2 to 4In the embodiment, the first driving wheel assembly 21 and the second driving wheel assembly 22 are the same in structure and symmetrically arranged. The first driving wheel assembly 21 comprises a swing arm 211, a driving wheel frame rotating motor 212, a driving wheel frame 213, a limiting assembly 214 and a first driving wheel 215; one end of the swing arm 211 is hinged to the main body structure 1, and the other end is provided with the driving wheel frame rotating motor 212; the output end of the driving wheel frame rotating motor 212 is provided with the driving wheel frame 213; the first driving wheel 215 is rotatably arranged on the driving wheel frame 213; the limiting assembly 214 is connected with the swing arm 211 through a hinged connecting rod 216, and the limiting assembly 214 can fix the swing arm 211 in the open or embracing state. The opening of the main body structure 1 is provided with a connecting frame 12, and the connecting frame 12 is provided with a first limiting hole 13 and a second limiting hole 14; the limiting assembly 214 comprises a sliding frame 2141, a compression spring 2142, a limiting pin shaft 2143 and a limiting release handle 2144; the sliding frame 2141 is slidably arranged on the connecting frame 12; the compression spring 2142 can automatically press one end of the limiting pin shaft 2143 into the first limiting hole 13 and the second limiting hole 14; the limiting release handle 2144 can take out the one end of the limiting pin shaft 2143 from the first limiting hole 13 and the second limiting hole 14; pressing the limiting release handle 2144 can move the limiting assembly 214 to the first limiting hole 13 or the second limiting hole 14 to realize the opening or embracing operation.

[0046] Please refer to Figure 2 and Figure 5 In the embodiment, the driven wheel set 3 comprises a linear motion module 31, a mounting frame 32, a driven wheel set rotating motor 33, a driven wheel set support frame 34 and a driven wheel 35; the linear motion module 31 is arranged on the main body structure 1; the linear motion module 31 is provided with a first linear motion block 311 and a second linear motion block 312; the first linear motion block 311 and the second linear motion block 312 are slidably arranged on the main body structure 1 through a slide rail 318; the first linear motion module 31 directly drives the first linear motion block 311 to move; a pressure sensor 313 is arranged between the first linear motion block 311 and the second linear motion block 312; the second linear motion block 312 presses the pressure sensor 313 on the first linear motion block 311 through a compression spring 314; the mounting frame 32 is arranged on the second linear motion block 312; the driven wheel set rotating motor 33 is arranged on the mounting frame 32; the output end of the driven wheel set rotating motor 33 is provided with the driven wheel set support frame 34; and the driven wheel 35 is rotatably arranged on the driven wheel set support frame 34.

[0047] Please refer to Figure 6In the embodiment, the driven wheel set 3 further comprises a synchronous structure 36 and two secondary support frames 37, the driven wheel 35 comprises a first driven wheel 35 and a second driven wheel 35, the first driven wheel 35 is rotatably arranged on the driven wheel set support frame 34 through one secondary support frame 37, and the second driven wheel 35 is rotatably arranged on the driven wheel set support frame 34 through another secondary support frame 37; the synchronous structure 36 is connected with the two secondary support frames 37, and the driven wheel set rotating motor 33 drives the secondary support frames 37 to synchronously rotate through the synchronous structure 36. Specifically, the first driven wheel 35 and the second driven wheel 35 are arranged in an up-down manner, the synchronous structure 36 comprises a chain and two identical sprockets, the sprockets are fixedly connected with the secondary support frames 37 respectively, the chain drives the two identical sprockets to synchronously rotate, and an output end of the driven wheel set rotating motor 33 drives one sprocket to rotate.

[0048] Specifically, the linear motion module 31 is arranged in pairs and symmetrically; the linear motion module 31 further comprises a screw rod 315, a screw rod motor 316, a mounting seat 317 and a screw rod nut, the mounting seat 317 is fixedly connected with the main body structure 1, the screw rod motor 316 is arranged on the mounting seat 317, the screw rod 315 is rotatably arranged on the main body structure 1 and coaxially fixed with an output shaft of the screw rod motor 316, and the screw rod nut is matchingly arranged on the screw rod 315 and fixedly connected with the first linear motion block 311.

[0049] When the driven wheel set 3 approaches the trunk 200, the screw rod motor 316 drives the screw rod to rotate, so that the first linear motion block 311 fixedly connected with the screw nut moves along the slide rail 318 in the direction of approaching the trunk 200, the first linear motion block 311 pulls the pressure sensor and the compression spring 314, so that the second linear motion block 312 moves simultaneously with the first linear motion block 311; the elasticity of the driven wheel set 3 can be realized through the compression spring 314, the automatic control of the pressure of the driven wheel set 3 on the trunk 200 can be realized through the pulling of the pressure sensor, the driven wheel set 3 is prevented from being stuck, and the smoothness of the movement of the device is improved.

[0050] Please refer to Figure 6In this embodiment, the pruning assembly 4 includes a rotating base 41, a dual-axis rotating structure 42, and a chainsaw assembly 43. The rotating base 41 is mounted on the first linear motion block 311, the dual-axis rotating structure 42 is mounted on the rotating base 41, and the chainsaw assembly 43 is mounted on the dual-axis rotating structure 42. Specifically, the dual-axis rotation structure 42 includes a horizontal rotation structure and a vertical rotation structure. The horizontal rotation structure includes a horizontal rotary motor 421, a horizontal gear 422, and a horizontal sector gear 423. The vertical rotation structure includes a vertical rotating base 424 and a vertical rotary motor 425. The horizontal rotary motor 421 is mounted on the rotating base 41, and the vertical rotating base 424 is rotatably mounted on the rotating base 41. The output end of the horizontal rotary motor 421 is provided with a horizontal gear 422, and the horizontal sector gear 423 is fixedly connected to the vertical rotating base 424. The horizontal gear 422 and the horizontal sector gear 423 mesh with each other. The chainsaw assembly 43 is rotatably mounted on the vertical rotating base 424 via a rotating shaft, and the vertical rotary motor 425 is mounted on the vertical rotating base 424 and drives the rotating shaft to rotate.

[0051] Working principle section:

[0052] (I) Basic Operation (Opening, Closing, and Tree-Climbing Pruning Machine 100 Operation):

[0053] 1. For example Figure 2 As shown, the operator first presses down the limit release handle 2144, moves the limit component 214 from the first limit hole 13 to the second limit hole 14 to complete the opening operation of the tree climbing pruning machine 100, and releases the lower limit release handle 2144 to position the tree climbing pruning machine 100 in the open state.

[0054] 2. The operator grabs the handle 15 and moves the machine, which is in the open state, toward the tree trunk 200, presses down the limit release handle 2144, moves the limit component 214 from the second limit hole 14 to the first limit hole 13, completes the closing operation of the tree climbing pruning machine 100, and positions the tree climbing pruning machine 100 in the closing state.

[0055] 3. Next, the screw motor 316 is operated to drive the driven wheel group 3 to move towards the trunk 200, so that the whole machine is clamped on the trunk 200;

[0056] 4. Finally, operate the drive wheel to rotate, so that it climbs up the trunk 200, and completes the pruning operation through the pruning component 4 during the climbing process.

[0057] (ii) Changing motion posture operation:

[0058] 1. Vertical climbing: such as Figure 7As shown, when the driving wheel frame rotating motor 212 and the driven wheel set rotating motor 33 are controlled to make the rotation axes of the driving wheels and the driven wheels 35 perpendicular to the axis of the trunk 200, the whole machine can vertically climb or fall along the trunk 200;

[0059] 2. Spiral climbing: as shown in Figure 8 As shown, when the driving wheel frame rotating motor 212 and the driven wheel set rotating motor 33 are controlled to make the rotation axes of the driving wheels and the driven wheels 35 form an acute angle with the axis of the trunk 200, the whole machine can spiral climb or fall along the trunk 200;

[0060] 3. Rotary climbing: as shown in Figure 9 As shown, when the driving wheel frame rotating motor 212 and the driven wheel set rotating motor 33 are controlled to make the rotation axes of the driving wheels and the driven wheels 35 parallel to the axis of the trunk 200, the whole machine can do rotary climbing along the trunk 200;

[0061] (Three) Change operation mode:

[0062] 1. Side branch pruning: as shown in Figure 10 By coordinating the vertical rotating motor 425 and the horizontal rotating motor 421 of the pruning assembly 4, first make the chain saw assembly 43 in the upright direction, and then make the whole machine spiral climb or rotary climb along the trunk 200, the side branch pruning operation can be completed;

[0063] 2. Top branch pruning: as shown in Figure 11 By coordinating the vertical rotating motor 425 and the horizontal rotating motor 421 of the pruning assembly 4, first make the chain saw assembly 43 in the horizontal direction, and then keep the whole machine still and make the horizontal rotating motor 421 drive the chain saw assembly 43 to do horizontal swing in the horizontal plane, the top branch pruning operation can be completed.

[0064] (Four) Change gap operation:

[0065] As shown in Figure 12 and Figure 13 Due to the eccentricity of the rotation center of the driving wheel frame 213 relative to the center of the first driving wheel 215, the eccentric distance is set to e, when the driving wheel frame rotating motor 212 drives the driving wheel frame 213 to do rotary motion, the first driving wheel assembly 21 and the second driving wheel assembly 22 will obtain different size gap distance, such as L shown in the figure. In the process of pruning machine, the distance between the first driving wheel assembly 21 and the second driving wheel assembly 22 should be controlled by the driving wheel frame rotating motor 212 to adapt to the need of pruning branches.

[0066] The above description is for the preferred embodiment of the present application, but the embodiment is not intended to limit the scope of the patent application of the present application. Any equivalent changes or modifications made under the technical spirit of the present application should be covered by the patent scope of the present application.

Claims

1. A tree-climbing and pruning machine with multiple operating modes and multiple movement postures, characterized in that: include The main structure has a space in the middle for the trunk, and an opening is provided on one side of the space. A drive wheel assembly, comprising a first drive wheel assembly and a second drive wheel assembly, wherein a swingable first drive wheel assembly is provided on one side of the opening and a swingable second drive wheel assembly is provided on the other side of the opening; The first drive wheel assembly and the second drive wheel assembly form an openable structure, and there is a gap between the first drive wheel assembly and the second drive wheel assembly when they are closed; the first drive wheel assembly is provided with a first drive wheel that can contact the tree trunk in the clearance space, and the second drive wheel assembly is provided with a second drive wheel that can contact the tree trunk in the clearance space; both the first drive wheel and the second drive wheel can rotate autonomously, and the central axis of the first drive wheel and the central axis of the second drive wheel can rotate relative to the central axis of the tree trunk; The driven wheel assembly is movably mounted on the main structure. The driven wheel assembly is provided with a driven wheel that can contact the tree trunk in the clearance space. The central axis of the driven wheel can rotate relative to the central axis of the tree trunk. and A pruning component is movably mounted on the main structure, and the pruning component can prune horizontally and vertically.

2. The tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 1, characterized in that: The first drive wheel assembly and the second drive wheel assembly have the same structure and are arranged symmetrically.

3. The tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 2, characterized in that: The first drive wheel assembly includes a swing arm, a drive wheel frame rotary motor, a drive wheel frame, a limiting component, and a first drive wheel; one end of the swing arm is hinged to the main structure, and the other end is equipped with the drive wheel frame rotary motor. The output end of the drive wheel frame rotary motor is equipped with the drive wheel frame, and the first drive wheel is rotatably mounted on the drive wheel frame; the limiting component is connected to the swing arm through a connecting rod, and the limiting component can fix the swing arm in an open or closed state.

4. The tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 1, characterized in that: A connecting frame is provided at the opening of the main structure, and the connecting frame is provided with a first limiting hole and a second limiting hole; the limiting component includes a sliding frame, a compression spring, a limiting pin, and a limiting release handle; the sliding frame is slidably mounted on the connecting frame, the compression spring can automatically press one end of the limiting pin into the first limiting hole and the second limiting hole, and the limiting release handle can remove one end of the limiting pin from the first limiting hole and the second limiting hole; pressing down the limiting release handle can move the limiting component to the first limiting hole or the second limiting hole to achieve an opening or closing operation.

5. The tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 1, characterized in that: The driven wheel assembly includes a linear motion module, a mounting frame, a driven wheel assembly rotary motor, a driven wheel assembly support frame, and the driven wheel. The linear motion module is mounted on the main structure, and a first linear motion block and a second linear motion block are provided on the linear motion module. Both the first and second linear motion blocks are slidably mounted on the main structure via slide rails. The first linear motion module directly drives the first linear motion block to move. A pressure sensor is provided between the first and second linear motion blocks, and the second linear motion block presses the pressure sensor onto the first linear motion block via a compression spring. The mounting frame is mounted on the second linear motion block, and the driven wheel assembly rotary motor is mounted on the mounting frame. The output end of the driven wheel assembly rotary motor is equipped with the driven wheel assembly support frame, and the driven wheel is rotatably mounted on the driven wheel assembly support frame.

6. The tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 5, characterized in that: The driven wheel assembly also includes a synchronization structure and two secondary support frames. The driven wheel includes a first driven wheel and a second driven wheel. The first driven wheel is rotatably mounted on the driven wheel assembly support frame via one secondary support frame, and the second driven wheel is rotatably mounted on the driven wheel assembly support frame via another secondary support frame. The synchronization structure connects the two secondary support frames, and the driven wheel assembly rotary motor drives the secondary support frames to rotate synchronously through the synchronization structure.

7. A tree-climbing and pruning machine with multiple operating modes and multiple motion postures as described in claim 6, characterized in that: The linear motion modules are arranged in pairs symmetrically. Each linear motion module also includes a lead screw, a lead screw motor, a mounting base, and a lead screw nut. The mounting base is fixedly connected to the main structure. The lead screw motor is mounted on the mounting base. The lead screw is rotatably mounted on the main structure and is coaxially fixed with the output shaft of the lead screw motor. The lead screw nut is matchedly mounted on the lead screw and is fixedly connected to the first linear motion block.

8. A tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 7, characterized in that: The pruning assembly includes a rotating base, a dual-axis rotating structure, and a chainsaw assembly. The rotating base is mounted on the first linear motion block, the dual-axis rotating structure is mounted on the rotating base, and the chainsaw assembly is mounted on the dual-axis rotating structure.

9. A tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 8, characterized in that: The dual-axis rotation structure includes a horizontal rotation structure and a vertical rotation structure. The horizontal rotation structure includes a horizontal rotary motor, a horizontal gear, and a horizontal sector gear. The vertical rotation structure includes a vertical rotating base and a vertical rotary motor. The horizontal rotary motor is mounted on the rotating base, and the vertical rotating base is rotatably mounted on the rotating base. The horizontal gear is located at the output end of the horizontal rotary motor. The horizontal sector gear is fixedly connected to the vertical rotating base, and the horizontal gear and the horizontal sector gear mesh with each other. The chainsaw assembly is rotatably mounted on the vertical rotating base via a rotating shaft, and the vertical rotary motor is mounted on the vertical rotating base and drives the rotating shaft to rotate.

10. A tree-climbing and pruning machine with multiple operating modes and multiple motion postures according to claim 1, characterized in that: Handles are provided on both sides of the main structure.

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