Tree pruning machine with multiple operation modes and multiple motion postures

Abstract

The application discloses a tree climbing and pruning machine with multiple operation modes and multiple motion postures and belongs to the technical field of tree branch pruning equipment. The tree climbing and pruning machine comprises a main body structure, a driving wheel set, a driven wheel set and a pruning assembly. 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. 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 multiple operation modes are realized through the horizontal pruning and vertical pruning of the pruning assembly. When a side branch needs to be reserved, the motion posture of the tree climbing and 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 reserved, and then the posture is controlled to vertically climb along the trunk, so that the side branch can be crossed, selective pruning operation is realized, and the technical problem that the traditional tree climbing and pruning machine is inconvenient to realize selective pruning of tree branches is solved.

Description

Technical Field

[0001] This invention relates to the field of tree pruning equipment technology, and in particular to a tree climbing pruning machine with multiple operating modes and multiple movement postures. Background Technology

[0002] In forestry production, pruning the lateral branches of standing trees yields high-quality timber without knots, a key method for improving growth rate. Similarly, in the maintenance of power transmission systems, cutting the tops of trees along power lines prevents continuously growing trees from touching power lines and affecting transmission safety. Currently, various tree-climbing pruning machines exist that can grip tree trunks and climb upwards to complete pruning operations. For example, a utility model patent (application number 202021769519.3) describes a spiral-climbing tree-pruning robot for fast-growing forests. This robot has two rotating cylinders; by adjusting the rotation angle of the cylinders, the robot can perform a spiral climb to prune the trees. Another example is an invention patent (application number 202410782085.7) which describes a tree-climbing pruning robot with a hinge mechanism that provides self-adjustment. The climbing mechanism automatically adjusts to ensure all four wheels are in contact with the trunk, effectively preventing slippage and tipping. Specifically, an invention patent (application number 202211660670.7) discloses a tall, straight-pole tree-climbing pruning robot that can not only prune the side branches of living trees but also cut off the top of the tree. These tree-climbing pruning machines, during the process of climbing the tree trunk, cut off all the side branches of the section they pass through, without selectively pruning the side branches. In fact, in many applications, such as pruning trees along power transmission circuits, it is not necessary to completely prune the side branches of the trunk; only selective pruning of some side branches and cutting off the top are needed. Furthermore, the distribution of branch size from the bottom to the top of the trunk is not always a clear progression from large to small or small to large; in most cases, it is randomly distributed. To address this, a tree-climbing pruning machine with multiple operating modes and multiple movement postures is provided. The multiple operating modes refer to the machine's ability to prune both lateral branches and top branches, simultaneously meeting the pruning requirements of forestry production and power transmission system maintenance. The multiple movement postures refer to the machine's ability to change its climbing path and switch between various movement postures at any time, including vertical climbing, spiral climbing, and rotating climbing along the trunk. This allows for selective pruning of lateral branches during the climb, and avoidance of obstacles such as tree bends and knots, improving its adaptability. Furthermore, the machine can be configured to adjust the gap size when crossing branches, enabling it to effectively traverse lateral branches of varying sizes. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems by providing a tree-climbing pruning machine with multiple operating modes and multiple movement postures, thus solving the technical problem that traditional tree-climbing pruning machines are not convenient for selectively pruning branches.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A tree-climbing and pruning machine with multiple operating modes and multiple movement postures, including

[0006] The main structure has a space in the middle for the trunk, and an opening is provided on one side of the space.

[0007] A drive wheel assembly includes a first drive wheel assembly and a second drive wheel assembly. A swingable first drive wheel assembly is located on one side of the opening, and a swingable second drive wheel assembly is located on the other side of the opening. The first and second drive wheel assemblies form an opening and closing structure, and there is a gap between them when they are closed. The first drive wheel assembly has a first drive wheel that can contact the tree trunk within the clearance space, and the second drive wheel assembly has a second drive wheel that can contact the tree trunk within the clearance space. Both the first and second drive wheels can rotate independently, and the central axes of both the first and second drive wheels can rotate relative to the central axis of the tree trunk.

[0008] A driven wheel assembly, movably mounted on the main structure, is provided with driven wheels that can contact the tree trunk within the clearance space; the central axis of the driven wheels can rotate relative to the central axis of the tree trunk.

[0009] A pruning component is movably mounted on the main structure, and the pruning component can prune horizontally and vertically.

[0010] Furthermore, the first drive wheel assembly and the second drive wheel assembly have the same structure and are arranged symmetrically.

[0011] Furthermore, 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.

[0012] In one step, 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 realize the opening or closing operation.

[0013] Furthermore, 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, the driven wheel assembly rotary motor is mounted on the mounting frame, and the driven wheel is rotatably mounted on the driven wheel assembly support frame.

[0014] Furthermore, 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.

[0015] Furthermore, the linear motion modules are arranged symmetrically in pairs; 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 coaxially fixed with the output shaft of the lead screw motor, and the lead screw nut is matchedly mounted on the lead screw and fixedly connected to the first linear motion block.

[0016] Furthermore, 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.

[0017] Furthermore, 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 provided 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.

[0018] Furthermore, handles are provided on both sides of the main structure.

[0019] By adopting the above technical solution, the present invention has the following beneficial effects:

[0020] 1. In use, the drive wheel assembly is first opened, placing the tree trunk within the clearance space. Then, the driven wheel assembly is moved towards the drive wheel assembly, clamping the entire machine onto the tree trunk. The drive wheel is then rotated, causing the machine to climb upwards along the trunk. During the climb, the pruning assembly completes the pruning operation. By changing the angles of the drive and driven wheel assemblies, the device can achieve multiple movement postures, including vertical climbing, spiral climbing, and rotary climbing. Multiple operating modes are achieved through the lateral and vertical pruning of the pruning assembly. Through the device's multiple movement postures and operating modes, when a certain side branch needs to be retained, the gap between the first and second drive wheel assemblies is aligned with the side branch to be retained by manipulating the tree-climbing pruning machine's movement posture. Then, the machine is controlled to maintain its vertical climbing posture along the trunk, thus passing over the side branch. This achieves selective pruning of branches, solving the technical problem that traditional tree-climbing pruning machines are not suitable for selective pruning.

[0021] 2. This invention features multiple movement postures, allowing for changes in the climbing path during the climbing process. It enables seamless switching between various movement postures, including vertical climbing, spiral climbing, and rotary climbing along the tree trunk. This allows for selective pruning of lateral branches during the climb, bypassing obstacles such as tree bends and knots, enhancing its adaptability and accommodating changes in tree trunk size. It also features selective pruning of lateral branches. By controlling the distance between the first and second drive wheel assemblies, the tree-climbing pruning machine can adapt to changes in the size of lateral branches in different sections of the tree trunk and, through posture changes, overcome the lateral branches that need to be retained, completing the selective pruning operation. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

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

[0024] Figure 3 A three-dimensional view of the main structure of the present invention;

[0025] Figure 4 This is a three-dimensional view of the limiting component of the present invention;

[0026] Figure 5 This is a three-dimensional view of the driven wheel assembly of the present invention;

[0027] Figure 6 This is a three-dimensional diagram of the pruning component of the present invention;

[0028] Figure 7 This is a schematic diagram of the vertical climbing mechanism of the present invention;

[0029] Figure 8 This is a schematic diagram of the spiral climbing mechanism of the present invention;

[0030] Figure 9 This is a schematic diagram of the rotary climbing mechanism of the present invention;

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

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

[0033] Figure 12 This is a schematic diagram of the eccentric setting of the active drive wheel in this invention;

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

[0035] In the attached diagram, 100-tree climbing pruning machine, 200-tree trunk, 1-main structure, 2-drive wheel assembly, 3-driven wheel assembly, 4-pruning component, 11-gap space, 12-connecting frame, 13-first limiting hole, 14-second limiting hole, 15-handle, 21-first drive wheel assembly, 22-second drive wheel assembly, 211-swing arm, 212-drive wheel frame rotary motor, 213-drive wheel frame, 214-limiting component, 215-first drive wheel, 216-connecting rod, 2141-sliding frame, 2142-compression spring, 2143-limiting pin, 2144-limiting release handle, 31-linear motion Module, 32-Mounting bracket, 33-Driven wheel set rotary 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 base, 318-Slide rail, 41-Rotating base, 42-Dual-axis rotation structure, 43-Chainsaw assembly, 44-Rotating shaft, 421-Horizontal rotary motor, 422-Horizontal gear, 423-Horizontal sector gear, 424-Vertical rotating base, 425-Vertical rotary motor. Detailed Implementation

[0036] The specific implementation of the invention will be further described below with reference to the accompanying drawings.

[0037] In the description of this invention, it should be understood that the terms "center", "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] Please see Figures 1 to 6 A tree-climbing and pruning machine 100 with multiple operating modes and multiple movement postures, including

[0041] The main structure 1 has a clearance space 11 for the trunk 200 in the middle, and an opening on one side of the clearance space 11; specifically, the main structure 1 is U-shaped. In this embodiment, handles 15 are provided on both sides of the main structure 1. The handles 15 facilitate the operator's grip and make it easier to move the whole machine.

[0042] The drive wheel assembly 2 includes a first drive wheel assembly 21 and a second drive wheel assembly 22. A swingable first drive wheel assembly 21 is provided on one side of the opening, and a swingable second drive wheel assembly 22 is provided on the other side of the opening. The first drive wheel assembly 21 and the second drive wheel assembly 22 form an opening and closing structure, and there is a gap between them when they are closed. A first drive wheel 215 is provided on the first drive wheel assembly 21, which can contact the tree trunk 200 within the clearance space 11. A second drive wheel 22 is provided on the second drive wheel assembly 22, which can also contact the tree trunk 200 within the clearance space 11. Both the first drive wheel 215 and the second drive wheel are driven to rotate autonomously by a built-in motor, and the central axis of both the first drive wheel 215 and the second drive wheel can rotate relative to the central axis of the tree trunk 200.

[0043] Driven wheel assembly 3 is movably mounted on the main structure 1. Driven wheel assembly 3 is provided with driven wheel 35 that can contact the tree trunk 200 in the clearance space 11. The central axis of driven wheel 35 can rotate relative to the central axis of tree trunk 200.

[0044] Pruning component 4 is movably mounted on the main structure 1. Pruning component 4 can prune horizontally and vertically.

[0045] Please see again. Figures 2 to 4In this embodiment, the first drive wheel assembly 21 and the second drive wheel assembly 22 have the same structure and are symmetrically arranged. The first drive wheel assembly 21 includes a swing arm 211, a drive wheel frame rotary motor 212, a drive wheel frame 213, a limiting component 214, and a first drive wheel 215. One end of the swing arm 211 is hinged to the main structure 1, and the other end is equipped with the drive wheel frame rotary motor 212. The output end of the drive wheel frame rotary motor 212 is equipped with the drive wheel frame 213, and the first drive wheel 215 is rotatably mounted on the drive wheel frame 213. The limiting component 214 is connected to the swing arm 211 through a hinged connecting rod 216, and the limiting component 214 can fix the swing arm 211 in the open or closed state. A connecting frame 12 is provided at the opening of the main structure 1. The connecting frame 12 is provided with a first limiting hole 13 and a second limiting hole 14. The limiting component 214 includes a sliding frame 2141, a compression spring 2142, a limiting pin 2143, and a limiting release handle 2144. The sliding frame 2141 is slidably mounted on the connecting frame 12. The compression spring 2142 can automatically press one end of the limiting pin 2143 into the first limiting hole 13 and the second limiting hole 14. The limiting release handle 2144 can remove one end of the limiting pin 2143 from the first limiting hole 13 and the second limiting hole 14. Pressing down the limiting release handle 2144 can move the limiting component 214 to the first limiting hole 13 or the second limiting hole 14 to realize the opening or closing operation.

[0046] Please see again. Figure 2 and Figure 5 In this embodiment, the driven wheel assembly 3 includes a linear motion module 31, a mounting frame 32, a driven wheel assembly rotary motor 33, a driven wheel assembly support frame 34, and a driven wheel 35. The linear motion module 31 is mounted on the main structure 1, and a first linear motion block 311 and a second linear motion block 312 are provided on the linear motion module 31. Both the first linear motion block 311 and the second linear motion block 312 are slidably mounted on the main structure 1 via a slide rail 318. The first linear motion module 31 directly drives the first linear motion block 312. 11. A pressure sensor 313 is provided 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 onto the first linear motion block 311 through a compression spring 314. A mounting bracket 32 ​​is mounted on the second linear motion block 312. A driven wheel assembly rotary motor 33 is mounted on the mounting bracket 32. A driven wheel assembly support bracket 34 is mounted on the output end of the driven wheel assembly rotary motor 33. The driven wheel 35 is rotatably mounted on the driven wheel assembly support bracket 34.

[0047] Please see again. Figure 6In this embodiment, the driven wheel assembly 3 further includes a synchronization structure 36 and two secondary support frames 37. The driven wheel 35 includes a first driven wheel 35 and a second driven wheel 35. The first driven wheel 35 is rotatably mounted on the driven wheel assembly support frame 34 via one secondary support frame 37, and the second driven wheel 35 is rotatably mounted on the driven wheel assembly support frame 34 via another secondary support frame 37. The synchronization structure 36 connects the two secondary support frames 37, and the driven wheel assembly rotary motor 33 drives the secondary support frames 37 to rotate synchronously via the synchronization structure 36. Specifically, the first driven wheel 35 and the second driven wheel 35 are arranged vertically. The synchronization structure 36 includes a chain and two identical sprockets. Each sprocket is fixedly connected to the first and second secondary support frames 37. The chain drives the two identical sprockets to rotate synchronously, and the output end of the driven wheel assembly rotary motor 33 drives one sprocket to rotate.

[0048] Specifically, the linear motion modules 31 are arranged in pairs symmetrically; the linear motion module 31 also includes a lead screw 315, a lead screw motor 316, a mounting base 317, and a lead screw nut. The mounting base 317 is fixedly connected to the main structure 1. The lead screw motor 316 is mounted on the mounting base 317. The lead screw 315 is rotatably mounted on the main structure 1 and is coaxially fixed with the output shaft of the lead screw motor 316. The lead screw nut is matchedly mounted on the lead screw 315 and is fixedly connected to the first linear motion block 311.

[0049] When the driven wheel assembly 3 moves closer to the tree trunk 200, the lead screw motor 316 drives the lead screw to rotate, causing the first linear motion block 311, which is fixedly connected to the nut, to move along the slide rail 318 towards the tree trunk 200. The first linear motion block 311 pulls the pressure sensor and compresses the spring 314, causing the second linear motion block 312 to move simultaneously with the first linear motion block 311. The compression spring 314 enables the elastic movement of the driven wheel assembly 3, and the pulling pressure sensor facilitates automatic control of the pressure of the driven wheel assembly 3 on the tree trunk 200, preventing the driven wheel assembly 3 from jamming and improving the smoothness of the device's movement.

[0050] Please see again. 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 drive wheel frame rotation motor 212 and the driven wheel group rotation motor 33 are controlled so that the rotation axis of the drive wheel and the driven wheel 35 are perpendicular to the axis of the tree trunk 200, the whole machine can climb or fall vertically along the tree trunk 200.

[0059] 2. Spiral climbing: such as Figure 8 As shown, when the drive wheel frame rotation motor 212 and the driven wheel group rotation motor 33 are controlled so that the rotation axis of the drive wheel and the driven wheel 35 forms an acute angle with the axis of the trunk 200, the whole machine can spiral up or down along the trunk 200.

[0060] 3. Twisting and climbing: such as Figure 9 As shown, when the rotation axes of the drive wheel frame rotation motor 212 and the driven wheel group rotation motor 33 are controlled to be parallel to the axis of the tree trunk 200, the whole machine can rotate and climb along the tree trunk 200.

[0061] (III) Changing the operating mode:

[0062] 1. Lateral branch pruning: such as Figure 10 As shown, by coordinating the vertical rotation motor 425 and the horizontal rotation motor 421 of the pruning component 4, the chainsaw component 43 is first positioned in an upright direction, and then the whole machine is made to spiral or rotate along the trunk 200 to complete the pruning of side branches.

[0063] 2. Top branch pruning: such as Figure 11 As shown, by coordinating the vertical rotation motor 425 and the horizontal rotation motor 421 of the pruning assembly 4, the chainsaw assembly 43 is first placed in a horizontal position, and then the entire machine is kept stationary while the horizontal rotation motor 421 drives the chainsaw assembly 43 to swing horizontally in the horizontal plane, thus completing the top branch pruning operation.

[0064] (iv) Variable gap operation:

[0065] like Figure 12 and Figure 13 As shown, due to the eccentric setting of the rotation center of the drive wheel frame 213 relative to the center of the first drive wheel 215, with an eccentric distance of e, when the drive wheel frame rotary motor 212 drives the drive wheel frame 213 to rotate, different gap distances will be obtained between the first drive wheel assembly 21 and the second drive wheel assembly 22, as shown in the figure L. During the pruning process, the distance between the first drive wheel assembly 21 and the second drive wheel assembly 22 should be adjusted to suit the branches to be pruned by controlling the drive wheel frame rotary motor 212.

[0066] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit of the present invention should fall within the patent scope covered by the present invention.

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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