Multi-axis controlled self-climbing tree trimmer

摘要

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.

主权项

1. A method of trimming or finishing a tree, said method comprising:
providing a tree trimmer apparatus, the tree trimmer apparatus comprising a rigid frame moveable between an open configuration and a closed configuration and a plurality of climbing carriages distributed circumferentially about a central passageway of the rigid frame, each climbing carriage having at least one driven roller and being slidably interfaced with the rigid frame so as to be inwardly extendable along a respective longitudinal axis of each climbing carriage towards the central passageway, mounting the tree trimmer apparatus to the tree by receiving the tree trunk within the rigid frame in the open configuration, moving the rigid frame to the closed configuration while the tree trunk extends through the central passageway of the rigid frame and axially extending one or more climbing carriages of the plurality along the respective longitudinal axis of the respective climbing carriage to engage the at least one driven roller of each of the plurality of climbing carriages with the outer surface of the trunk; climbing the tree trunk with the tree trimmer apparatus by driving the at least one driven roller of the plurality of climbing carriages; and trimming the tree by severing a peripheral growth of the tree and/or finishing an outer surface of the tree trunk by engaging the tree with one or more tools movably coupled with a trimming portion supported by the rigid frame.