Electro-hydraulic-pneumatic hybrid control self-adaptive tree-climbing pruning system

The invention discloses an electro-hydraulic-pneumatic hybrid control self-adaptive tree-climbing pruning system. The system 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-type 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 directional valve, a safety valve, a proportional pressure reducing valve, a double-acting oscillating cylinder and a double-acting single-rod cylinder; and the electric control system comprises a motor, an angular velocity sensor, a displacement sensor, a pressure sensor and a PID controller. According to the system, a crawler-type hydraulic drive tree-standing pruning machine can adapt to the diamet