公开(公告)号：WO2014031391A1

公开(公告)日：2014-02-27

申请号：PCT/US2013/054746

申请日：2013-08-13

Applicant: VANDYPALM, INC.

Inventor： VAN DE MORTEL, Mike ,  HIPWELL, Christopher A.

IPC: B27L1/00

CPC classification number: A01G23/0955 ,  B27L1/06

Abstract: A multi-axis controlled self-climbing tree trimmer used for shaping and severing peripheral growth from a tree is provided herein. The trimmer typically includes a structural segment hinged together to form a rigid chassis that surrounds a tree trunk climbing segment and a trimming portion. The climbing portion is retained within the structural segment in the form of a number of inward-extending carriages containing one or more rollers for gripping the tree trunk during climbing, and the trimming portion may include a rotatable split ring gear containing centrifugally rotating trimming blade members and/or a cutting tool on a positionable arm. When rotated, the blade members unlatch and pivot, into the trunk of the tree to effect controlled trimming. The system may utilize a multi-axis control system that uses linear interpolation, circular interpolation and coordination of all axes to enable the trimmer to follow an XYZ contour selected by a user.

Abstract translation: 本文提供了一种用于塑造和切断周围生长的多轴控制自爬树修剪器。 修剪器通常包括铰接在一起以形成围绕树干爬坡段和修剪部分的刚性底盘的结构段。 爬升部分以多个向内延伸的托架的形式保持在结构段内，该托架包含用于在爬坡期间夹持树干的一个或多个辊，并且修剪部分可以包括可旋转的分离齿圈，其包含离心旋转的修剪刀片构件 和/或可定位臂上的切割工具。 当旋转时，叶片构件解锁并枢转到树的树干中，以实现可控制的修剪。 该系统可以使用多轴控制系统，该多轴控制系统使用线性插值，圆弧插补和所有轴的协调，以使修剪器能够跟随由用户选择的XYZ轮廓。