PROBLEM TO BE SOLVED: To suitably control an attitude of a pruning machine body.SOLUTION: An automatic pruning apparatus includes a pruning machine body 2 and a plurality of a vertical movement mechanisms 3 that vertically move the pruning machine body 2. Each of the vertical movement mechanism 3 includes: an upper wheel 31a and lower wheel 31b that are driven to rotate by a drive motor 32 a connection support 33 that connects and supports the upper wheel 31a and the lower wheel 31b an advance/retreat part 34 that advances and retreats the connection support 33 to a trunk while that the mechanism journals the connection support 33 to freely rotate and an inclination angle detection part 35 that is disposed between the connection part 33 and the advance/retreat part 34 and detects an inclination angle &theta of the connection support 33. Thereby, the automatic pruning apparatus controls the drive motor 32 of each vertical movement mechanism 3, based on the inclination angle &theta of the connection support 33 that is determined by the inclination angle detection part 35 of each vertical movement mechanism 3.COPYRIGHT: (C)2012,JPO&INPIT【課題】枝打機本体の姿勢を好適に制御できるようにする。【解決手段】枝打機本体2と、枝打機本体2を昇降移動させる複数の昇降移動機構3とを具備し、各昇降移動機構3が、駆動モータ32により回転駆動される上輪31a及び下輪31bと、上輪31a及び下輪31bを連結支持する連結支持体33と、連結支持体33を回転自在に軸支して樹幹Tに対して進退移動させる進退駆動部34と、連結支持体33及び進退駆動部34の間に介在して設けられて連結支持体33の傾斜角度θを検出する傾斜角度検出部35とを有し、各昇降移動機構3の傾斜角度検出部35から得られた連結支持体33の傾斜角度θに基づいて、各昇降移動機構3の駆動モータ32を個別に制御する。【選択図】図1
