CN206651085U - The cylinder-shaped body framework of electric drive branch pruning machine people - Google Patents

Abstract

The utility model provides a cylindrical main frame of an electrically driven branch pruning robot with simple structure, convenient preparation and small external dimensions, which comprises an upper ring, a lower ring and a strut; the upper ring is composed of a fixed upper fan-shaped part and a movable The upper fan-shaped part is composed of the lower ring, which is composed of the fixed lower fan-shaped part and the movable lower fan-shaped part; the fixed upper fan-shaped part and the fixed lower fan-shaped part form the fixed part, and the movable upper fan-shaped part and the movable lower fan-shaped part form the movable part; One side is hinged to the fixed part through a pivot, and the other side is connected to the fixed part through an openable lock mechanism; the three axles are connected to the inner sides of the upper and lower rings through elastic floating mechanisms in the radial direction of the cylinder, and the axles Under the action of the elastic floating mechanism, the radial direction of the cylinder is close to the axis of the cylinder; two walking wheels are arranged on each axle; the inclination direction of each axle relative to the axis of the cylinder is the same, and the inclination angle is equal, which is 3‑ 15°.

Description

Cylindrical main frame of an electric drive branch pruning robot

technical field

The utility model relates to an electric-driven branch pruning robot, in particular to a cylindrical main frame of the electric-driven branch pruning robot.

Background technique

The research on tree pruning and pruning machinery abroad started earlier, mainly represented by economically developed countries such as the United States, Japan, Germany, France, Britain, Italy, Australia, the Netherlands, and Israel. As early as the beginning of the 20th century, western countries had begun to apply it in forest area maintenance and cultivation; but at that time, simple mechanical knives and scissors were mainly used, and small backpack machines powered by diesel and gasoline. Since the 1980s, various special machinery for forest cultivation and pruning have come out one after another, such as pruning knives, pruning machines, intelligent pruning robots, etc., and the forestry wood accumulation rate has gradually entered a period of rapid development. Typical representatives, such as manual pruning machines without power devices produced in the United States and Sweden. Its main principle is that on the basis of improving the ordinary pruning saw, a telescopic machine "arm" is added to the original machine, which can carry out high-altitude operations on the trunk of about 8 meters.

At present, there are pruning saws produced by some companies such as ARS, Komatsu Corporation, Steele Corporation, etc. that are more mature in the high-altitude pruning field with a certain degree of automation; this type of device uses gasoline as the power plant. When the device works, the vibration is small, the pruning effect is good, and the damage of the cutting opening to trees is small, and the effective height is about 6cm; the effective radius of the pruning saw is about 21cm. However, this type of machinery not only has high cost, but also generally high repair and maintenance costs; and requires staff to have certain professional skills. Because the operating height of this type of machinery is low, it seriously does not meet the needs of China's forestry.

With the continuous advancement of technology. Some companies in the world have started to develop automatic machines that can carry out high-altitude mechanical pruning and have achieved remarkable results. A typical representative is the semi-automatic climbing pruning machine made by Japan's Xingling Company, which uses wireless control; uses chain saw blades and low-pressure climbing tires; uses remote control when the machine goes up and down the tree; but the limitations of the device are relatively large. Strong, it will work on straighter trunks, but will not work on more curved trunks. There is also a Sasma lifting platform produced in Europe that can automatically lift to realize high-altitude pruning operations. It fixes the pruning machinery on multiple platforms, and each platform is controlled by its independent hydraulic pressure and is independent of each other. Influence; it can reach a height of about 5-6m, and the horizontal extension is about 8m. There is also an Avalon lifting platform, which is also controlled by hydraulic pressure. In addition, there is a cable-type lifting platform, which uses a winch to realize the lifting function. Its operating height is about 20m, but they are all slightly cumbersome and have a low degree of automation.

For the country, most of them operate in manual semi-automatic mode, and the research on pruning machinery is still in its infancy. The products currently on the market have a low degree of automation, and the models are single, and the work efficiency is not ideal. The 5XY-5 pruning device for high-altitude pruning developed by Sun Kunlong is powered by a low-power gasoline engine; the working principle is mainly a sleeve-type high-speed lock device to make the telescopic arm work, and then the V-belt decelerates and passes The gear drives the pump structure to drive the hydraulic device to make the pruning parts work. The operating height of the device can reach 5-6m, and the effective diameter of the pruning saw is 3cm. There is also a backpack-type high-altitude pruning machine and a small high-altitude pruning machine with multiple functions. Almost all such devices are powered by a low-power gasoline engine, and the saw structure is made by a V-belt or other types of chain devices. Do pruning. The cost of this type of device is low and the structure is relatively simple; the viewing angle of the machine during operation is relatively ideal, the damage to trees caused by pruning is small, and the safety function during operation is better; the maintenance cost is relatively small. However, this kind of pruning machine has strong vibration and heavy manual device, so this design needs to be further improved.

At present, the remote control climbing pruning machine developed by the key project of Yichun Forestry Bureau is at the forefront in China, and its main design adopts the remote control method. The pruning machine can climb up and down along the trunk, and under the action of remote control, it can realize the pruning of high branches, and the power is a gasoline engine.

The main function performed by the branch pruning robot is to prune trees. The pruning robot moves up and down during the work process, instead of manually pruning branches. The pruning robot imitates humans to pruning branches, and can replace humans to climb up trees, greatly reducing the potential danger caused by manual pruning. When doing batch operations, it can double the efficiency and save time and cost. The pruning robot researched by Xu Jun from Northeast Forestry University uses MS320F2407ADSP as the control chip and adopts the working principle of fuzzy PID control. It uses asynchronous motors to drive various parts of the robot to work in coordination to realize the function of climbing tree trunks. Under the action of the clamping motor, the driving wheel structure of the robot can be automatically adjusted according to the change of the trunk, and the realization of the important function of clamping the trunk is always maintained. When the robot rises to the working height, the clamping motor is "locked" to the tree trunk to prevent the body from sliding or falling, and the action is relatively cumbersome.

Utility model content

The purpose of the utility model is to provide an electric-driven branch pruning robot that can lift and cut simultaneously, is driven by electric power without cables, has a simple and reliable structure, and has high efficiency, which can avoid the need for cables to wind around trees.

The electric drive branch pruning robot described in the utility model comprises a triangular prism-shaped main frame, a drive motor, an electric chain saw, and a battery; The side is hinged with one side of the second side, and the other side of the third side is connected with the side of the first side with a detachable elastic structure; the inner sides of the three sides of the main frame are provided with rotating axles, There are two upper and lower walking wheels on the wheel shaft; the inclination direction of each wheel shaft relative to the axis of the main frame is the same, and the inclination angle is equal to 3-15°; a driving motor is set on the main frame, and the output shaft of the driving motor passes through a wheel shaft The transmission mechanism is connected to drive the wheel shafts to rotate, and the walking wheels on each wheel shaft roll along the outer circumference of the trunk, so that the main frame spirals up or down around the tree trunk; an electric chainsaw is arranged on the upper part of the main frame; the cutting chain of the chain saw extends upwards; A battery for powering the drive motor and the chainsaw motor is provided on the frame.

The beneficial effects of the utility model: when in use, first open the third side, move the robot so that the trunk of the tree to be pruned is located between the first side and the second side, then close the third side, and connect the third side to the second side. One side is connected with an elastic structure, so that each traveling wheel clamps the tree trunk under the action of the elastic structure. Then start the drive motor, drive a wheel shaft through the transmission mechanism, so that the road wheels on the wheel shaft (the road wheels on the wheel shaft are driving wheels, and the road wheels on other wheel shafts are driven wheels) to rotate. Because each wheel shaft is inclined with the axial direction of the trunk, so each road wheel is also inclined with the axial direction of the trunk, along with the rotation of the road wheels, the main frame spirals up around the trunk, and the cutting chain spirals up with the main frame. When cutting the branches around the trunk, the branches are sawed to complete the pruning. After the pruning is completed, the drive motor rotates in reverse, and the main frame descends spirally around the trunk. The utility model uses the principle of a circle inscribed with a triangle to contact a certain section of the trunk at three points, and supports it at two points along the trunk direction. There is no need for wiring from the ground, and there is no problem of cables getting entangled in the tree when the main frame is rotated around the trunk. The battery is used as the power source to provide power for start-stop, control and communication components. The first side and the third side are connected by an elastic structure, so that each traveling wheel can generate a certain clamping force on the trunk, and can be applicable to trees with different diameters. There are two walking wheels up and down on each axle, and there are six walking wheels on the three axles. Even if the overall mass distribution of the robot is uneven, the axial direction of the main frame can still remain coaxial with the trunk without tilting.

The above-mentioned electrically driven branch pruning robot is provided with a pilot device on the upper part of the main frame, and the pilot device is located on the inside or outside of the chain saw in a direction perpendicular to the axis of the main frame; the pilot device includes an upwardly extending first contact plate arranged on the main frame and the fixed plate, the first touch plate can move relative to the fixed plate in the tangential direction of the main frame (the direction perpendicular to the plane passing through the axis of the main frame), and when there is a normal state between the first touch plate and the fixed plate, the first touch The plate is away from the compression spring of the fixed plate in the tangential direction of the main frame; a micro switch for controlling the start and stop of the chain saw motor is connected in the power circuit of the chain saw motor; the micro switch is fixed between the first touch plate and the fixed plate; When the main frame spirals up around the tree trunk, the first touch plate touches the branch to be trimmed before the cutting chain, and the first touch plate overcomes the elastic force of the compression spring and moves tangentially to the fixed plate along the main frame, triggers the micro switch, and the chain saw The motor power is turned on, and the chain saw starts; with the spiral rise of the main frame, the chain saw cuts the branches; after the cutting is completed, the first touch plate moves away from the fixed plate under the action of the compressed spring, the micro switch resets, and the saw chain stops running. The pilot device is used to make the chain saw start when it is about to touch the branch, and stop after cutting the branch, which effectively saves electric energy.

In the electric-driven branch pruning robot described above, the detachable elastic structure is: a hook hole is opened on the third side near the adjoining part of the third side and the first side, and the hook for hooking the hook hole is pulled The extension spring is connected with the first side; or, the first side has a hook hole, and the hook for hooking the hook hole is connected with the third side through the tension spring. The connecting structure of the buckle and the hook hole can be assembled and disassembled quickly. The extension spring can make the traveling wheels clamp the trunk in the circumferential direction of the trunk.

In the aforementioned electric-driven branch pruning robot, the output shaft of the drive motor is connected to a wheel shaft through a chain transmission mechanism.

In the aforementioned electrically driven branch pruning robot, the driving motor is arranged on the first side, and the chain saw and the battery are arranged on the second side. In this way, the weight can be reasonably distributed in the circumferential direction of the main frame, so that the weight distribution of the whole mechanism is relatively uniform, and problems such as inclination are not easy to occur.

The above-mentioned electrically driven branch pruning robot has a main frame made of aluminum alloy profiles.

Above-mentioned electrically driven branch pruning robot, the outer periphery of walking wheel has tire. Tires increase friction with tree trunks.

At the same time, the utility model also provides a cylindrical main frame of an electrically driven tree branch pruning robot with simple structure, convenient preparation and small external dimensions.

The cylindrical main body frame of the electric drive branch pruning robot described in the utility model comprises coaxial upper ring and lower ring, and a strut connected between the upper ring and the lower ring; the upper ring is fixed by The fan-shaped part is composed of a movable upper fan-shaped part, and the lower ring is composed of a fixed lower fan-shaped part and a movable lower fan-shaped part; the fixed upper fan-shaped part and the fixed lower fan-shaped part form a fixed part, and the movable upper fan-shaped part and the movable lower fan-shaped part form a movable part; One side of the movable part is hinged to the fixed part through the pivot axis whose axis is the generatrix of the cylinder, and the other side is connected to the fixed part through an openable lock mechanism; the three axles are connected to the upper ring through the elastic floating mechanism in the radial direction of the cylinder. It is connected to the inner side of the lower ring, and the wheel shaft is located close to the axis of the cylinder in the radial direction of the cylinder under the action of the elastic floating mechanism; two walking wheels are arranged on each wheel shaft; the inclination direction of each wheel shaft relative to the axis of the cylinder is consistent , and the inclination angle is equal to 3-15°.

In the cylindrical main frame of the above-mentioned electrically driven branch pruning robot, one wheel shaft is arranged on the movable part, and the other two wheel shafts are arranged on the fixed part.

The above-mentioned cylindrical main frame of the electric-driven tree branch pruning robot, the elastic floating mechanism includes a floating shaft arranged on the upper ring or the lower ring that is movable in the radial direction of the cylinder, a spring sleeved on the floating shaft, and one end of the spring It is in contact with the upper ring or the lower ring, and the other end is in contact with the floating shaft; the spring moves the floating shaft to the axis of the cylinder under normal conditions.

In the cylindrical main frame of the above-mentioned electrically driven branch pruning robot, the three traveling wheels on the top of the three axles are evenly distributed on the cross section of the cylinder, and the three traveling wheels on the bottom of the three axles are evenly distributed on the cross section of the cylinder.

The cylindrical main body frame described in the utility model is composed of a common ring as the main body, and the production cost is low. At the same time, the shape is smooth, the size is small, the floor area is small, and the transportation is convenient. When in use, first open the movable part, move the robot with the main body frame so that the trunk of the tree to be pruned is located inside the upper and lower rings, then close the movable part, connect the movable part with the fixed part with a locking mechanism, and walk on the axles The wheels clamp the tree trunk under the action of the elastic floating mechanism, which is convenient to use.

Description of drawings

Fig. 1 is the perspective view of electric drive branch pruning robot;

Fig. 2 is the perspective view of another viewing angle of electric drive tree branch pruning robot;

Fig. 3 is the schematic diagram of pilot device;

Fig. 4 is the perspective view of the electrically driven branch pruning robot when the first touch plate contacts with the pre-pruned branches;

Fig. 5 is an enlarged view when the first touch plate is in contact with a pre-pruned branch.

Fig. 6 is a schematic diagram of a cylindrical body frame;

Fig. 7 is a schematic diagram of the cylindrical main frame when it is opened;

Fig. 8 is the schematic diagram of the floating shaft and the spring in the elastic floating mechanism;

Fig. 9 is a schematic diagram of the locking mechanism;

Fig. 10 is another schematic diagram of the locking mechanism.

detailed description

Below in conjunction with accompanying drawing, the utility model is described in further detail.

Embodiment 1: electric drive branch pruning robot

Referring to Fig. 1, 2 described poplar electric drive branch pruning robot, comprise triangular prism main frame, driving device, electric chain saw, battery; The first side 11 of the triangular prism main frame 1 that is made with aluminum alloy profile It is fixedly connected with the second side 12, one side of the third side 13 is hinged with one side of the second side 12 through a pivot 14, and the other side of the third side is connected with the side of the first side with detachable elastic Structure 2 is connected. The detachable elastic structure includes a hook 21, a tension spring 22 fixedly connected to the rear end of the hook 21, and the other end of the spring 22 is fixed on the first side. A hook hole 131 is formed on the third side 13 near the abutment of the third side and the first side, and the front end of the hook 21 is used to hook the hook hole.

In the triangular prism-shaped main frame, the two sides are fixed, and one side can be opened and closed. When the walking wheels on the wheel axles on the fixed two sides are attached to the trunk, the third side is closed, and The tension spring is pre-tensioned by manpower, and then the hook is hooked into the hook hole to fasten the main frame on the tree. Because the applied pre-tightening force is relatively large, the main frame can firmly adhere to the tree even if the diameter of the tree becomes smaller when the main frame rises.

The inner sides of the three sides of the main frame are all provided with rotating wheel shafts 33, and two traveling wheels 34 up and down are arranged on each wheel shaft; the outer circumference of the traveling wheels has tires. The inclination direction of each wheel axle relative to the axis of the triangular prism-shaped main frame is consistent, and the inclination angles are all 7°.

The driving device 3 mainly includes a driving motor 31 and a chain transmission mechanism 32 . The driving motor is arranged on the first side. The chain transmission mechanism 32 includes a driving sprocket 321 , a driven sprocket 322 and a chain 323 . A driving sprocket is arranged on the output shaft of the driving motor, and a driven sprocket is arranged at the middle part of the axle connected to the first side.

A chainsaw 4 is arranged on the upper part of the second side; the chainsaw includes a chainsaw motor driving a cutting chain, a chain guide plate, a cutting chain and the like. The chain guide plate and the cutting chain extend upwards; a battery 5 for powering the drive motor and the chainsaw is arranged on the second side.

Referring to Figures 1, 2 and 5, a pilot device 6 is provided on the upper part of the second side, and the pilot device is located outside the chain saw in a direction perpendicular to the axis of the main body frame. The pilot device includes a fixed plate 61, a first contact plate 62, a compression spring 63 and the like. The fixed plate 61 is fixed on the upper part of the second side and extends upwards. The first contact plate 62 can move relative to the fixed plate in a direction perpendicular to the plane passing through the axis of the main frame (that is, the tangential direction of the main frame). A compression spring 63 is arranged between the fixed plate and the normal state so that the first contact plate is away from the fixed plate in the tangential direction of the main body frame.

A micro switch 64 for controlling the start and stop of the chain saw motor is connected in the power circuit of the chain saw motor; the micro switch is fixed between the first touch plate and the fixed plate.

The principle of the pilot device is that a micro switch is set between the first touch plate and the fixed plate. When the pilot plate is spiraling up with the main frame, its position is slightly ahead of the chain saw. When the first touch plate touches the branch, it will Pressure is generated and a certain displacement is generated, causing the micro switch to be touched. The micro switch starts the chain saw and starts working. When the branch is cut, the metal sheet returns to its original position due to the action of the compression spring, and the micro switch resets. The chainsaw stopped working. In addition to this judging mechanism, it helps to save electric energy, so that the robot can continue to work for a longer period of time.

During use, move this robot so that the poplar trunk that needs to be pruned is between the first side and the second side, then close the third side, hook the hook on the hook hole on the third side, so that each walking wheel is on the third side. Clamp trunk 7 under the effect of extension spring. Now the axis of the tree trunk is substantially parallel to the axis of the main frame. Then start the driving motor by the remote control device, drive the wheel shaft arranged on the first side by the chain transmission mechanism, so that the upper and lower two road wheels on the wheel shaft (the two road wheels on the wheel shaft are driving wheels, and the walking wheels on the other wheel shafts The wheel is a passive wheel) to rotate. The traveling wheels on each wheel axle roll along the outer circumference of the trunk, so that the main frame spirals up or down around the trunk.

When the main frame spirals clockwise around the trunk (viewed from top to bottom), when there are branches 71 that need to be pruned around the trunk, the first touch plate touches the branches that need to be pruned than the cutting chain, and the first touch plate overcomes the compression The elastic force of the spring moves to the fixed plate tangentially along the trunk, touches the micro switch, the power supply of the chain saw motor is turned on, and the chain saw starts; with the spiral rise of the main frame, the chain saw cuts the branches; The action of the compression spring moves away from the fixed plate, the micro switch resets, and the chain saw stops.

Main features of electric drive branch pruning robot:

1. Lightweight design. The main frame adopts a triangular prism structure, aluminum alloy profiles, and three wheels on the upper and lower layers. The weight is greatly reduced under the premise of meeting the stability requirements, and it also reduces the impact on battery power, capacity, tire load-carrying capacity, etc.

2. Use battery + motor instead of gasoline engine to reduce emissions and protect the environment. Cable-free all-electric drive avoids the problem of cables winding around trees.

3. It can be combined with new energy to charge the battery, and the battery it carries can conveniently provide stable power for future function expansion modules - status detection, information collection, communication, control and other functional units.

4. The tire hugs the trunk tightly and goes up spirally. The chain saw is used as the cutting end to complete the cutting of a certain area of branches.

This robot utilizes the main frame that hugs the tree trunk to be equipped with working parts to realize work. The working parts of the robot are mainly composed of a moving part and a trimming part. The moving part mainly includes three sets of walking wheels. After the robot hugs the tree trunk, the movement of the trimming part is completed in a spiral manner. Pressing down on the branch, the chainsaw kicks in and starts cutting.

The working process is as follows: firstly, the robot is stuck on the tree and started, the robot hugs the tree trunk and rises around, and after hitting the branch, the chain saw starts to work until the cutting is completed. After ascending to the established task height, the robot stops and the chain saw no longer works. The motor reverses, the robot returns to the original path, reaches the ground, and stops automatically.

Embodiment 2: Cylindrical main frame of electric drive branch pruning robot

Referring to the cylindrical body frame 8 of the electric drive tree branch pruning robot shown in Fig. 6, comprise coaxial upper annulus 81 and lower annulus 82, be connected between upper annulus and lower annulus strut 85, pivot 86, locking mechanism 87, elastic floating mechanism 9, axle 10, road wheel 15 etc.

Referring to Figures 6 and 7, the upper ring is composed of a fixed upper fan-shaped part 811 and a movable upper fan-shaped part 812, and the lower ring is composed of a fixed lower fan-shaped part 821 and a movable lower fan-shaped part 822; the fixed upper fan-shaped part and the fixed lower fan-shaped part Form the fixed part 83 with the strut connected between the fixed upper fan-shaped part and the fixed lower fan-shaped part, and the movable upper fan-shaped part, the movable lower fan-shaped part and the strut connected between the movable upper fan-shaped part and the movable lower fan-shaped part form a movable Section 84. The central angle occupied by the movable part in the circumferential direction of the cylinder is about 120°. One side of the movable part is hinged to the fixed part through the pivot 86 (also can be regarded as a strut) whose axis is the generatrix of the column, and the strut on the other side of the movable part is connected to the corresponding one on the fixed part through the openable and closable locking mechanism 87. strut connection. Three wheel shafts 10 are connected to the inner side of the upper ring and the lower ring by the elastic floating mechanism 9 in the radial direction of the cylinder, and the wheel shafts are in a position close to the axis of the cylinder in the radial direction of the cylinder under the effect of the elastic floating mechanism; on each wheel shaft There are upper and lower traveling wheels; the inclination direction of each wheel axle relative to the axis of the cylinder is the same, and the inclination angle is equal, which is 3-15°.

Referring to Fig. 8, the elastic floating mechanism 9 includes a floating shaft 91 which is movable in the radial direction of the cylinder and is arranged on the upper ring or the lower ring. There are steps at both ends of the floating shaft, and the floating shaft between the two steps passes through the upper ring. The guide hole 93 on the ring or the lower ring, the spring 92 is sleeved on the floating shaft, one end of the spring is in contact with the inner side of the upper ring or the lower ring, and the other end is in contact with the step on the floating shaft; The floating axis moves on the cylindrical axis.

The upper and lower ends of each wheel shaft are connected with the floating shaft through the bearing seat 94, and the wheel shaft is rotated and arranged on the bearing seat. The three traveling wheels on the upper parts of the three axles are evenly distributed on the cross section of the cylinder, and the three traveling wheels on the lower parts of the three axles are evenly distributed on the cross section of the cylinder.

Referring to Figs. 9 and 10, the structure of the locking mechanism 87 is various, as long as the two struts can be fixedly connected together or disassembled when needed.

Similar to embodiment 1, a drive motor can be set on the fixed part, the output shaft of the drive motor is connected to a wheel shaft arranged on the fixed part through a transmission mechanism, and the wheel shaft is driven to rotate, and the walking wheels on each wheel shaft roll along the trunk periphery, so that the main body The frame spirally ascends or descends around the tree trunk; an electric chainsaw and a pilot device can be set on the upper part of the fixed upper fan-shaped part; the cutting chain of the chain saw extends upwards; a battery for powering the drive motor and the chainsaw motor is arranged on the fixed lower fan-shaped part . There are tires on the periphery of the road wheels to increase friction.

This robot has a simple structure. It can lift and cut at the same time. It can complete the pruning of a poplar tree with one up and down movement. The work efficiency is relatively high. At the same time, the tire has good adhesion to the tree. . The electric-driven branch pruning robot has the function of climbing trees and self-starting pruning functions. It adopts an all-electric drive lightweight design. Compared with other existing solutions, it has simple operation and high reliability. It is suitable for cluster operation and turns electric drive into Realistic, environmentally friendly and non-polluting, it can be applied to poplar pruning of different ages to meet the needs of different forest farms, and has broad prospects for promotion and application.

Claims (4)

1. The cylindrical main frame of the electric-driven tree branch pruning robot is characterized in that: it includes a coaxial upper ring and a lower ring, a strut connected between the upper ring and the lower ring; the upper ring is fixed by a The fan-shaped part is composed of a movable upper fan-shaped part, and the lower ring is composed of a fixed lower fan-shaped part and a movable lower fan-shaped part; the fixed upper fan-shaped part and the fixed lower fan-shaped part form a fixed part, and the movable upper fan-shaped part and the movable lower fan-shaped part form a movable part; One side of the movable part is hinged to the fixed part through the pivot axis whose axis is the generatrix of the cylinder, and the other side is connected to the fixed part through an openable lock mechanism; the three axles are connected to the upper ring through the elastic floating mechanism in the radial direction of the cylinder. It is connected to the inner side of the lower ring, and the wheel shaft is located close to the axis of the cylinder in the radial direction of the cylinder under the action of the elastic floating mechanism; two walking wheels are arranged on each wheel shaft; the inclination direction of each wheel shaft relative to the axis of the cylinder is consistent , and the inclination angle is equal to 3-15°. 2. The cylindrical main body frame of the electric-driven tree branch pruning robot according to claim 1, wherein one axle is arranged on the movable part, and the other two axles are arranged on the fixed part. 3. The cylindrical body frame of the electric drive tree branch pruning robot as claimed in claim 1, characterized in that: the elastic floating mechanism includes a floating shaft which is movable in the radial direction of the cylinder and is arranged on the upper ring or the lower ring, and the suit For the spring on the floating shaft, one end of the spring is in contact with the upper ring or the lower ring, and the other end is in contact with the floating shaft; the spring makes the floating shaft move along the cylindrical axis in normal state. 4. The cylindrical body frame of the electric drive tree branch pruning robot as claimed in claim 1 is characterized in that: the three road wheels on the top of the three axles are evenly distributed on the cross-section of the cylinder, and the three road wheels on the bottom of the three axles uniformly distributed on the cross-section of the cylinder.