阅读说明：本技术 一种电液气混合控制的自适应爬树整枝系统 (Self-adaptive tree climbing and pruning system based on electro-hydraulic and pneumatic hybrid control ) 是由 文剑 班以琛 崔芸瑞 坝仕宏 吕坤 李文彬 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种电液气混合控制的自适应爬树整枝系统,包括液控系统、气控系统和电控系统；所述液控系统包括油箱、过滤器、液压泵、单向阀、安全阀、比例减压阀、变量节流阀、三位四通M型电磁换向阀、液压锁、液压马达；所述气控系统包括气源、单向阀、二位四通电磁换向阀、安全阀、比例减压阀、双作用摆动气缸、双作用单杆气缸；所述电控系统包括电动机、角速度传感器、位移传感器、压力传感器、PID控制器；本技术能使履带式液压驱动立木整枝机自适应树干直径变化,实现实时夹紧树干,能依靠冲击力实现高速整枝,极大的提高整枝效率。(The invention discloses an electric-hydraulic-pneumatic hybrid control self-adaptive tree climbing and pruning system, which comprises a hydraulic control system, a pneumatic control system and an electric control system; the hydraulic control system comprises an oil tank, a filter, a hydraulic pump, a one-way valve, a safety valve, a proportional pressure reducing valve, a variable throttle valve, a three-position four-way M-shaped electromagnetic directional valve, a hydraulic lock and a hydraulic motor; the pneumatic control system comprises a gas source, a one-way valve, a two-position four-way electromagnetic reversing valve, a safety valve, a proportional pressure reducing valve, a double-acting swing cylinder and a double-acting single-rod cylinder; the electric control system comprises a motor, an angular velocity sensor, a displacement sensor, a pressure sensor and a PID controller; the technology enables the crawler-type hydraulic drive stumpage pruning machine to be self-adaptive to the change of the diameter of the trunk, the trunk is clamped in real time, high-speed pruning can be realized by means of impact force, and the pruning efficiency is greatly improved.)

1. A self-adaptive tree climbing and pruning system based on electro-hydraulic and pneumatic hybrid control is characterized by comprising a hydraulic control system, a pneumatic control system and an electric control system;

the hydraulic control system comprises an oil tank, a filter, a hydraulic pump, a first one-way valve, a first safety valve, a first proportional pressure reducing valve, a variable throttle valve, a three-position four-way M-shaped electromagnetic directional valve, a hydraulic lock and a hydraulic motor; an oil inlet of the hydraulic pump is connected with an oil outlet of the filter, an oil inlet of the filter is connected with an oil tank, an oil outlet of the hydraulic pump is connected with an oil inlet of the one-way valve, an oil outlet of the one-way valve is respectively connected with an oil inlet of the first proportional pressure reducing valve and an oil inlet of the first safety valve, an oil return port of the first safety valve is connected with the oil tank, an oil outlet of the first proportional pressure reducing valve is connected with an oil inlet of the variable throttle valve, an oil outlet of the variable throttle valve is connected with an oil inlet of the three-position four-way M-shaped electromagnetic directional valve, a first oil outlet of the three-position four-way M-shaped electromagnetic directional valve is connected with a first oil inlet of the hydraulic lock, a first oil outlet of the hydraulic lock is connected with an oil inlet of the hydraulic motor, a second oil outlet of the hydraulic lock is connected with an oil outlet of the hydraulic motor, a second oil outlet of the three-position four-way M-shaped electromagnetic directional valve is connected with a second oil inlet of the hydraulic lock, and an oil return port of the three-position four-way M-shaped electromagnetic directional valve is connected with the oil tank;

the pneumatic control system comprises an air source, a second one-way valve, a two-position four-way electromagnetic reversing valve, a second safety valve, a second proportional pressure reducing valve, a third proportional pressure reducing valve, a fourth proportional pressure reducing valve, a fifth proportional pressure reducing valve, a sixth proportional pressure reducing valve, a seventh proportional pressure reducing valve, a first double-acting swing cylinder, a second double-acting swing cylinder, a third double-acting swing cylinder, a fourth double-acting swing cylinder, a first double-acting single-rod cylinder and a second double-acting single-rod cylinder; the air outlet of the air source is respectively connected with the air inlet of the second one-way valve and the air inlet of the second safety valve, the air return port of the second safety valve is connected with the air source, the air outlet of the second one-way valve is connected with the air inlet of the two-position four-way electromagnetic reversing valve, the first air outlet of the two-position four-way electromagnetic reversing valve is respectively connected with the air inlet of the second proportional pressure reducing valve, the air inlet of the third proportional pressure reducing valve, the air inlet of the fourth proportional pressure reducing valve, the air inlet of the sixth proportional pressure reducing valve and the air inlet of the seventh proportional pressure reducing valve, the air outlet of the second proportional pressure reducing valve is connected with the air inlet of the first double-acting oscillating cylinder, the air outlet of the fourth proportional pressure reducing valve is connected with the air inlet of the third double-acting oscillating cylinder, the air outlet of the fifth proportional pressure reducing valve is connected with the air inlet of the fourth double-acting oscillating cylinder, the air outlet of the sixth proportional pressure reducing valve is connected with the rod cavity interface of the first double-acting single-rod cylinder, a gas outlet of the seventh proportional pressure reducing valve is connected with a rod cavity interface of a second double-acting single-rod cylinder, a gas outlet of the first double-acting swing cylinder, a gas outlet of the second double-acting swing cylinder, a gas outlet of the third double-acting swing cylinder, a gas outlet of the fourth double-acting swing cylinder, a rodless cavity interface of the first double-acting single-rod cylinder and a rodless cavity interface of the second double-acting single-rod cylinder are respectively connected with a second gas outlet of the two-position four-way electromagnetic reversing valve, and a gas return port of the two-position four-way electromagnetic reversing valve is connected with a gas source;

the electric control system comprises a motor, an angular velocity sensor, a displacement sensor, a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor, a sixth pressure sensor, a first PID controller, a second PID controller, a third PID controller, a fourth PID controller, a fifth PID controller, a sixth PID controller, a seventh PID controller, an eighth PID controller and a ninth PID controller; the rotor of the motor is connected with the hydraulic pump, the angular velocity sensor controls the variable throttle valve through the first PID controller, the displacement sensor controls the three-position four-way M-shaped electromagnetic directional valve through the second PID controller, the first pressure sensor controls the second proportional pressure reducing valve through the third PID controller, the second pressure sensor controls the third proportional pressure reducing valve through the fourth PID controller, the third pressure sensor controls the fourth proportional pressure reducing valve through the fifth PID controller, the fourth pressure sensor controls the fifth proportional pressure reducing valve through the sixth PID controller, the fifth pressure sensor controls the sixth proportional pressure reducing valve through the seventh PID controller, and the sixth pressure sensor controls the seventh proportional pressure reducing valve and the first proportional pressure reducing valve through the eighth PID controller and the ninth PID controller respectively.

2. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the hydraulic pump is a fixed displacement pump, and the hydraulic pump is also provided with a cooler, a pressure gauge and a thermometer.

3. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the hydraulic lock is a hydraulic control one-way valve.

4. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the first double-acting swing cylinder, the second double-acting swing cylinder, the third double-acting swing cylinder and the fourth double-acting swing cylinder are the same in specification and model.

5. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the cylinder diameter of the first double-acting single-rod cylinder is larger than that of the second double-acting single-rod cylinder.

6. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the first check valve, the first relief valve and the first proportional pressure reducing valve are hydraulic elements.

7. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the second check valve, the second safety valve, the second proportional pressure reducing valve, the third proportional pressure reducing valve, the fourth proportional pressure reducing valve, the fifth proportional pressure reducing valve, the sixth proportional pressure reducing valve and the seventh proportional pressure reducing valve are air pressure elements.

8. The adaptive tree climbing pruning system based on electric-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the electric control system also comprises a PLC controller, and the PLC controller realizes PID control through a closed-loop control module of the PLC controller.

Technical Field

The invention relates to the field of electro-hydraulic-pneumatic hybrid control technology, in particular to an adaptive tree climbing and pruning system based on electro-hydraulic-pneumatic hybrid control.

Background

According to the requirements of forestry production in China, in order to improve the forestry production quality, promote healthy growth of trees and ensure that all indexes of the trees meet reasonable requirements, the trees must be reasonably managed, and pruning is an important item.

With the gradual change of the forestry production mode to the direction of automation and intelligence, China develops automatic pruning machines with various types and functions, the machines are applied to pruning operation of artificial fast-growing high-yield forests such as Chinese fir, Chinese red pine, larch, arborvitae, eucalyptus and the like to replace artificial pruning in the modes of hand saws, choppers, handheld pruning saws and the like, the development of pruning machine equipment greatly reduces labor cost and potential safety hazards of forestry work, improves the forestry production efficiency and promotes the forestry production modernization.

The invention patent 2020113979148 discloses a crawler-type hydraulically-driven stumpage pruning machine, and in order to enable the machine to complete efficient and intelligent pruning operation, an electric-hydraulic-pneumatic hybrid control self-adaptive tree-climbing pruning system is designed for the machine.

Disclosure of Invention

The technical problem that this technique will be solved provides a self-adaptation tree pruning system that climbs of electricity liquid gas hybrid control to the not enough of above-mentioned prior art, and this self-adaptation tree pruning system that climbs of electricity liquid gas hybrid control can make the pruning machine self-adaptation trunk diameter change, relies on the impact force to realize high-speed pruning, very big improvement pruning efficiency.

In order to achieve the technical purpose, the technical scheme adopted by the technology is as follows:

an adaptive tree climbing and pruning system based on electro-hydraulic and pneumatic hybrid control is characterized by comprising a hydraulic control system, a pneumatic control system and an electric control system.

The hydraulic control system comprises an oil tank, a filter, a hydraulic pump, a first one-way valve, a first safety valve, a first proportional pressure reducing valve, a variable throttle valve, a three-position four-way M-shaped electromagnetic directional valve, a hydraulic lock and a hydraulic motor; an oil inlet of the hydraulic pump is connected with an oil outlet of the filter, an oil inlet of the filter is connected with an oil tank, an oil outlet of the hydraulic pump is connected with an oil inlet of the first one-way valve, an oil outlet of the first one-way valve is respectively connected with an oil inlet of the first proportional pressure reducing valve and an oil inlet of the first safety valve, an oil return port of the first safety valve is connected with the oil tank, an oil outlet of the first proportional pressure reducing valve is connected with an oil inlet of the variable throttle valve, an oil outlet of the variable throttle valve is connected with an oil inlet of the three-position four-way M-shaped electromagnetic directional valve, a first oil outlet of the three-position four-way M-shaped electromagnetic directional valve is connected with a first oil inlet of the hydraulic lock, a first oil outlet of the hydraulic lock is connected with an oil inlet of the hydraulic motor, a second oil outlet of the hydraulic lock is connected with an oil outlet of the hydraulic motor, a second oil outlet of the three-position four-way M-shaped electromagnetic directional valve is connected with a second oil inlet of the hydraulic lock, and an oil return port of the three-position four-way M-shaped electromagnetic directional valve is connected with the oil tank.

The pneumatic control system comprises an air source, a second one-way valve, a two-position four-way electromagnetic reversing valve, a second safety valve, a second proportional pressure reducing valve, a third proportional pressure reducing valve, a fourth proportional pressure reducing valve, a fifth proportional pressure reducing valve, a sixth proportional pressure reducing valve, a seventh proportional pressure reducing valve, a first double-acting swing cylinder, a second double-acting swing cylinder, a third double-acting swing cylinder, a fourth double-acting swing cylinder, a first double-acting single-rod cylinder and a second double-acting single-rod cylinder; the air outlet of the air source is respectively connected with the air inlet of the second one-way valve and the air inlet of the second safety valve, the air return port of the second safety valve is connected with the air source, the air outlet of the second one-way valve is connected with the air inlet of the two-position four-way electromagnetic reversing valve, the first air outlet of the two-position four-way electromagnetic reversing valve is respectively connected with the air inlet of the second proportional pressure reducing valve, the air inlet of the third proportional pressure reducing valve, the air inlet of the fourth proportional pressure reducing valve, the air inlet of the sixth proportional pressure reducing valve and the air inlet of the seventh proportional pressure reducing valve, the air outlet of the second proportional pressure reducing valve is connected with the air inlet of the first double-acting oscillating cylinder, the air outlet of the fourth proportional pressure reducing valve is connected with the air inlet of the third double-acting oscillating cylinder, the air outlet of the fifth proportional pressure reducing valve is connected with the air inlet of the fourth double-acting oscillating cylinder, the air outlet of the sixth proportional pressure reducing valve is connected with the rod cavity interface of the first double-acting single-rod cylinder, the air outlet of the seventh proportional pressure reducing valve is connected with a rod cavity interface of a second double-acting single-rod air cylinder, the air outlet of the first double-acting swing air cylinder, the air outlet of the second double-acting swing air cylinder, the air outlet of the third double-acting swing air cylinder, the air outlet of the fourth double-acting swing air cylinder, the rod cavity interface of the first double-acting single-rod air cylinder and the rod cavity interface of the second double-acting single-rod air cylinder are respectively connected with a second air outlet of the two-position four-way electromagnetic reversing valve, and the air return port of the two-position four-way electromagnetic reversing valve is connected with an air source.

The electric control system comprises a motor, an angular velocity sensor, a displacement sensor, a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor, a sixth pressure sensor, a first PID controller, a second PID controller, a third PID controller, a fourth PID controller, a fifth PID controller, a sixth PID controller, a seventh PID controller, an eighth PID controller and a ninth PID controller; the rotor of the motor is connected with the hydraulic pump, the angular velocity sensor controls the variable throttle valve through the first PID controller, the displacement sensor controls the three-position four-way M-shaped electromagnetic directional valve through the second PID controller, the first pressure sensor controls the second proportional pressure reducing valve through the third PID controller, the second pressure sensor controls the third proportional pressure reducing valve through the fourth PID controller, the third pressure sensor controls the fourth proportional pressure reducing valve through the fifth PID controller, the fourth pressure sensor controls the fifth proportional pressure reducing valve through the sixth PID controller, the fifth pressure sensor controls the sixth proportional pressure reducing valve through the seventh PID controller, and the sixth pressure sensor controls the seventh proportional pressure reducing valve and the first proportional pressure reducing valve through the eighth PID controller and the ninth PID controller respectively.

As a further improved technical scheme of the technology, the hydraulic pump is a fixed displacement pump, and the hydraulic pump is also provided with a cooler, a pressure gauge and a thermometer.

As a further improvement of the technology, the hydraulic lock is a hydraulic control one-way valve.

As a further improved technical scheme of the technology, the first double-acting oscillating cylinder, the second double-acting oscillating cylinder, the third double-acting oscillating cylinder and the fourth double-acting oscillating cylinder are the same in specification and model.

As a further improved technical scheme of the technology, the cylinder diameter of the first double-acting single-rod cylinder is larger than that of the second double-acting single-rod cylinder.

As a further improvement of this technique, the first check valve, the first relief valve, and the first proportional pressure reducing valve are hydraulic elements.

As a further improved technical solution of the present technology, the second check valve, the second relief valve, the second proportional pressure reducing valve, the third proportional pressure reducing valve, the fourth proportional pressure reducing valve, the fifth proportional pressure reducing valve, the sixth proportional pressure reducing valve, and the seventh proportional pressure reducing valve are pneumatic elements.

As a further improved technical scheme of the technology, the electric control system further comprises a PLC controller, and the PLC controller realizes PID control through a closed-loop control module of the PLC controller.

The beneficial effect of this technique does: (1) the technology is an electro-hydraulic control system designed for the crawler-type hydraulically-driven stumpage pruning machine, can realize self-adaptive adjustment of clamping force and adjustment of impact force, and realizes full-automatic pruning; (2) the technology can improve the pruning efficiency of the forest; (3) the operation mode of the technology is simple and safe.

Drawings

FIG. 1 is a connection diagram of an adaptive tree climbing and pruning system with electro-hydraulic-pneumatic hybrid control according to the present invention;

FIG. 2 is a connection diagram of components of an adaptive tree climbing and pruning system with electro-hydraulic-pneumatic hybrid control according to the present invention;

the parts in the drawings are numbered as follows: A. a hydraulic control system; B. an air control system; C. an electronic control system; 1. an oil tank; 2. a filter; 3. a hydraulic pump; 4. an electric motor; 5. a first check valve; 6. a first safety valve; 7. a first proportional pressure reducing valve; 8. a variable throttle valve; 9. a three-position four-way M-shaped electromagnetic directional valve; 10. hydraulic locking; 11. a hydraulic motor; 12. an angular velocity sensor; 13. a load; 14. a displacement sensor; 15. a gas source; 16. a second one-way valve; 17. a second relief valve; 18. a two-position four-way electromagnetic directional valve; 19. a second proportional pressure reducing valve; 20. a first pressure sensor; 21. a first double acting swing cylinder; 22. a third proportional pressure reducing valve; 23. a second pressure sensor; 24. a second double-acting oscillating cylinder; 25. a fourth proportional pressure reducing valve; 26. a third pressure sensor; 27. a third double-acting oscillating cylinder; 28. a fifth proportional pressure reducing valve; 29. a fourth pressure sensor; 30. a fourth double-acting oscillating cylinder; 31. a sixth proportional pressure reducing valve; 32. a fifth pressure sensor; 33. a first double-acting single-rod cylinder; 34. a seventh proportional pressure reducing valve; 35. a sixth pressure sensor; 36. a second double-acting single-rod cylinder; 37. a first PID controller; 38. a second PID controller; 39. a third PID controller; 40. a fourth PID controller; 41. a fifth PID controller; 42. a sixth PID controller; 43. a seventh PID controller; 44. an eighth PID controller; 45. a ninth PID controller; a. pruning machine; b. a tree trunk; c. an electro-hydraulic gas integrated pipeline; d. a hydraulic station; e. an air compressor; f. an electric control cabinet.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

As shown in fig. 1, an adaptive tree climbing and pruning system based on electro-hydraulic-pneumatic hybrid control includes a hydraulic control system a, a pneumatic control system B, and an electric control system c.

The hydraulic control system A comprises an oil tank 1, a filter 2, a hydraulic pump 3, a first one-way valve 5, a first safety valve 6, a first proportional pressure reducing valve 7, a variable throttle valve 8, a three-position four-way M-shaped electromagnetic directional valve 9, a hydraulic lock 10 and a hydraulic motor 11; an oil inlet of a hydraulic pump 3 is connected with an oil outlet of a filter 2, an oil inlet of the filter 2 is connected with an oil tank 1, an oil outlet of the hydraulic pump 3 is connected with an oil inlet of a first check valve 5, an oil outlet of the first check valve 5 is respectively connected with an oil inlet of a first proportional reducing valve 7 and an oil inlet of a first safety valve 6, an oil return port of the first safety valve 6 is connected with the oil tank 1, an oil outlet of the first proportional reducing valve 7 is connected with an oil inlet of a variable throttle valve 8, an oil outlet of the variable throttle valve 8 is connected with an oil inlet of a three-position four-way M-shaped electromagnetic directional valve 9, a first oil outlet of the three-position four-way M-shaped electromagnetic directional valve 9 is connected with a first oil inlet of a hydraulic lock 3, a first oil outlet of the hydraulic lock 3 is connected with an oil inlet of a hydraulic motor 11, a second oil outlet of the hydraulic lock 10 is connected with an oil outlet of the hydraulic motor 11, and a second oil outlet of the three-position four-way M-shaped electromagnetic directional valve 9 is connected with a second oil inlet of the hydraulic lock 10, the oil return port of the three-position four-way M-shaped electromagnetic directional valve 9 is connected with the oil tank 1.

The pneumatic control system B comprises an air source 15, a second one-way valve 16, a two-position four-way electromagnetic directional valve 18, a second safety valve 17, a second proportional pressure reducing valve 19, a third proportional pressure reducing valve 22, a fourth proportional pressure reducing valve 25, a fifth proportional pressure reducing valve 28, a sixth proportional pressure reducing valve 31, a seventh proportional pressure reducing valve 34, a first double-acting swing cylinder 21, a second double-acting swing cylinder 24, a third double-acting swing cylinder 27, a fourth double-acting swing cylinder 30, a first double-acting single-rod cylinder 33 and a second double-acting single-rod cylinder 36; the air outlet of the air source 15 is respectively connected with the air inlet of the second one-way valve 16 and the air inlet of the second safety valve 17, the air return port of the second safety valve 17 is connected with the air source 15, the air outlet of the second one-way valve 16 is connected with the air inlet of the two-position four-way electromagnetic directional valve 18, the first air outlet of the two-position four-way electromagnetic directional valve 18 is respectively connected with the air inlet of the second proportional pressure reducing valve 19, the air inlet of the third proportional pressure reducing valve 22, the air inlet of the fourth proportional pressure reducing valve 25, the air inlet of the fifth proportional pressure reducing valve 28, the air inlet of the sixth proportional pressure reducing valve 31 and the air inlet of the seventh proportional pressure reducing valve 34, the air outlet of the second proportional pressure reducing valve 19 is connected with the air inlet of the first double-acting oscillating cylinder 21, the air outlet of the third proportional pressure reducing valve 22 is connected with the air inlet of the second double-acting oscillating cylinder 24, the air outlet of the fourth proportional pressure reducing valve 25 is connected with the air inlet of the third double-acting oscillating cylinder 27, the air outlet of the fifth proportional pressure reducing valve 28 is connected with the fourth double-acting oscillating cylinder 30, the air outlet of a sixth proportional pressure reducing valve 31 is connected with a rod cavity interface of a first double-acting single-rod cylinder 33, the air outlet of a seventh proportional pressure reducing valve 34 is connected with a rod cavity interface of a second double-acting single-rod cylinder 36, the air outlet of the first double-acting swing cylinder 21, the air outlet of the second double-acting swing cylinder 24, the air outlet of the third double-acting swing cylinder 27, the air outlet of the fourth double-acting swing cylinder 30, the rodless cavity interface of the first double-acting single-rod cylinder 33 and the rodless cavity interface of the second double-acting single-rod cylinder 36 are respectively connected with a second air outlet of a two-position four-way electromagnetic reversing valve 18, and the air return port of the two-position four-way electromagnetic reversing valve 18 is connected with an air source 15.

The electric control system C comprises an electric motor 4, an angular velocity sensor 12, a displacement sensor 14, a first pressure sensor 20, a second pressure sensor 23, a third pressure sensor 26, a fourth pressure sensor 29, a fifth pressure sensor 32, a sixth pressure sensor 35, a first PID controller 37, a second PID controller 38, a third PID controller 39, a fourth PID controller 40, a fifth PID controller 41, a sixth PID controller 42, a seventh PID controller 43, an eighth PID controller 44 and a ninth PID controller 45; the rotor of the electric motor 4 is connected to the hydraulic pump 3, the angular velocity sensor 12 controls the variable throttle valve 8 through the first PID controller 37, the displacement sensor 14 controls the three-position four-way M-type electromagnetic directional valve 9 through the second PID controller 37, the first pressure sensor 20 controls the second proportional pressure reducing valve 19 through the third PID controller 39, the second pressure sensor 23 controls the third proportional pressure reducing valve 22 through the fourth PID controller 40, the third pressure sensor 26 controls the fourth proportional pressure reducing valve 25 through the fifth PID controller 41, the fourth pressure sensor 29 controls the fifth proportional pressure reducing valve 28 through the sixth PID controller 42, the fifth pressure sensor 32 controls the sixth proportional pressure reducing valve 31 through the seventh PID controller 43, and the sixth pressure sensor 35 controls the seventh proportional pressure reducing valve 34 and the first proportional pressure reducing valve 7 through the eighth PID controller 44 and the ninth PID controller 45, respectively.

As shown in fig. 2, the applicable machine of the embodiment includes a pruning machine, an electric-hydraulic-pneumatic integrated pipeline, a hydraulic station, an air compressor and an electric control cabinet; the hydraulic station, the air compressor and the electric control cabinet are located on the ground, and the pruning machine is connected with the ground hydraulic station, the air compressor and the electric control cabinet through the electro-hydraulic-pneumatic integrated pipeline.

The invention can make the pruning machine self-adapt to the diameter change of the trunk, realize real-time clamping of the trunk, realize high-speed pruning by means of impact force and greatly improve the pruning efficiency.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.