Automated fruit or seed harvesting machine

Abstract

Self-propelled or towed automated fruit or seed harvesting machine (10), or harvester, comprising a vehicle (12) provided with a movement unit (13, 14) which is directly or indirectly driven to determine the movement of the vehicle (12), at least one shaking device (15) mounted on the vehicle (12) to shake the plant and cause the fruit or seeds to detach, transport means (18) mounted on the vehicle (12) in cooperation with the shaking device (15) to collect and transport the detached fruit or seeds, and second drive means (20) that drive the shaking device (15) and the transport means (18); the second drive means (20) comprise at least one electric energy supply unit (28) and at least a first electric actuator (17) connected to the shaking device (15) or to the transport means (18) and selectively fed by the electric energy supply unit (28).

Description

[0001] “AUTOMATED FRUIT OR SEED HARVESTING MACHINE”

[0002] FIELD OF THE INVENTION

[0003] The present invention concerns a machine for the automated harvesting of small fruits or seeds directly from a plant, such as for example grapes, olives, plums, coffee, cocoa or suchlike (hereafter referred to briefly as “fruit”).

[0004] The machine according to the present invention can be either of the self- propelled type, that is, provided with a drive unit on board that determines its autonomous movement, or towed, that is, connectable to an external drawing vehicle to determine its operational movement between the plants.

[0005] BACKGROUND OF THE INVENTION

[0006] Machines, or harvesters, are known, substantially defined by a set of devices disposed in synergy with each other, so as to be able to carry out the automated harvesting of fruit directly from a plant, such as mechanical grape harvesters for example. This type of machines can be either of the self-propelled type, or towed by a drawing vehicle, and are suitable for harvesting grapes directly from the vine, during the agricultural harvesting steps.

[0007] The operating principle of these machines is essentially based on the alternated shaking, or tapping, of the vine shoots, to determine a gravitational fall of the bunches and collect the grapes in corresponding containing hoppers, suitably destemmed and separated from any foliage and other impurities.

[0008] This same mechanical operating principle of shaking, or tapping, also applies to automated machines aimed at harvesting olives, plums, but also apples, pears, or other small fruit, which can be harvested by shaking the plant.

[0009] Therefore, although in the following description and claims we will refer specifically to a grape harvester, as will become clearer hereafter it is not excluded that the inventive idea according to the present invention can also find effective and equal application in other types of automated harvesting machines, exploiting the same operating principle.

[0010] Grape harvesting machines, whether self-propelled or towed, comprise a shaking device which, by gently and alternately shaking the vine, causes the bunches to detach and fall by gravity. This shaking device normally consists of a system of oscillating arms that are made to vibrate through a hydraulic motor, and brought alternately into contact with the sides of the vine, exerting a certain tapping pressure.

[0011] In addition, these grape harvesters are provided with transport means, for example conveyor belts, at least partly disposed underneath the shaking device, which collect the fallen bunches and transport them from the collection zone to corresponding collection tanks, in which the grapes are stored before being transferred to the trailers of the tractors that will head to the cellar. The conveyor belts of known machines are set in motion by corresponding hydraulic motors.

[0012] A first separation unit is provided in known grape harvesters which allows to separate the leaves and other light residues from the bunches and grapes. There are solutions in which the first separation unit consists of four fans, two lower and two upper, each of which is placed in cooperation with different segments of the conveyor belts and is powered by a corresponding hydraulic motor, so as to generate air flows on the bunches and grapes in order to move the leaves and other light residues, such as twigs, insects and other, away.

[0013] Finally, grape harvesters optionally comprise a second separation unit, or destemmer, for example configured as auger, belt or with spatulas, or other, by means of which it is possible to separate the grapes from the stems and leaves, combining with the ventilation system so that substantially only the grapes that can be used for the subsequent winemaking for which they are intended can be harvested.

[0014] This destemmer is also actuated by means of a hydraulic motor.

[0015] In technical solutions in which the machine is suitable to be moved by towing with a drawing vehicle, the traction can be provided by a hydraulic plant powered by a power take-off unit (PTO) and disposed on the drawing vehicle. In the case of self-propelled grape harvesters, the hydraulic system is provided completely on board the machine.

[0016] In addition, in known grape harvesters there are also other components controlled by hydraulic feeds, such as for example movement belts, lifts, adjusters for adjusting the position of crop distribution members and fans to the height of the plants, storage tanks, whose tipping is driven by hydraulic cylinders and whose inclination is adjusted by as many hydraulic cylinders, as well as the drawbar, the latter controlled by corresponding hydraulic cylinders to stabilize the machine and adjust the height of its front to better suit the type of terrain it works on.

[0017] Finally, the hydraulic system of known grape harvester machines comprises two hydraulic lines, respectively a first one, which controls the cylinders and the hydraulic motors relative to both the traction of the machine and also the action of the harvest distribution members, and a second one, which controls the hydraulic motors relative to the operation of the fans, the shaker, the conveyor belts and the movement belts.

[0018] Essentially, known grape harvester machines, in addition to a combustion engine provided on board the drawing vehicle, are actuated exclusively by hydraulic systems.

[0019] This aspect defines several management problems related mainly to the maintenance, and possible repair, of the hydraulic systems, as well as the heavy environmental impact that the hydraulic oil used can cause, if not managed properly. This also leads to an increase in the costs for managing the machine and for oil disposal, especially in the event of extraordinary maintenance or accidental losses of the system, without considering cases in which targeted environmental remediation has to be carried out.

[0020] The use of hydraulic motors in applications that require high levels of performance, such as the grape harvester, involves a great expenditure of energy for its movement which, if produced from fossil fuels, further increases the environmental impact.

[0021] There is therefore the need to perfect an automated small fruit or seed harvesting machine that can overcome at least one of the disadvantages of the state of the art. To do this, it is necessary to solve the technical problem of guaranteeing the same power and operational agility performance levels of the machine, while reducing to a minimum the costs for maintaining and managing the systems that actuate the various devices, units and components that define the machine operationally. In particular, one purpose of the present invention is to provide an automated fruit harvesting machine, or harvester, in which the devices, units and components that operationally define the machine itself can be actuated in a simple and effective manner, with reduced maintenance costs and times and substantially reducing to a minimum the environmental impact caused, both directly and also as a result of the power required to move the machine.

[0022] The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

[0023] SUMMARY OF THE INVENTION

[0024] The present invention is set forth and characterized in the independent claim. The dependent claims describe other characteristics of the present invention or variants to the main inventive idea. In accordance with the above purpose and to resolve the technical problem described above in a new and original way, also achieving considerable advantages compared to the state of the prior art, an automated fruit or seed harvesting machine according to the present invention can be of the self-propelled type, or towed by an independent traction motor vehicle, such as for example a tractor or suchlike. The machine, or harvester, according to the present invention substantially comprises a vehicle provided with a movement unit, the latter able to be driven directly or indirectly, depending on whether the machine is self-propelled or towed, by first drive means. This determines the movement of the vehicle through the plants from which the fruit or seeds are to be harvested. The machine according to the present invention also comprises at least one shaking device and transport means, mounted on the vehicle and in cooperation with each other, so that the plants are shaken to determine the detachment of the fruit or seeds, which are then collected and transported to storage areas.

[0025] Second drive means are provided to drive the shaking device and the transport means in the operational steps of harvesting the fruit or seeds.

[0026] In accordance with one aspect of the present invention, the second drive means comprise at least one electric energy supply unit and at least a first electric actuator connected to the shaking device or to the transport means, and able to be selectively fed by the electric energy supply unit. In this way, it is possible to manage and electrically power at least one of either the shaking device or the transport means, guaranteeing that the shaking of the plants or the harvesting and transport of the fruit or seeds operate effectively.

[0027] The solution according to the present invention therefore maintains the harvesting operational efficiency and reduces any management problems mainly related to the maintenance, and possible repair, of the hydraulic systems of known machines.

[0028] Furthermore, the solution according to the present invention, by at least partly replacing oil feed with electric energy, also allows to limit the environmental impact that the hydraulic oil used in known machines can cause, if not managed appropriately.

[0029] This also results in a reduction in machine management costs, since the burden of oil disposal is eliminated, and the risk of accidental system leaks is limited to a minimum.

[0030] In addition, the use of electric motors, since they have a lower weight and smaller overall sizes compared to equivalent hydraulic systems, allows to save energy used for movement, with a consequent reduction in the power required and the consumption of fossil fuels, to the further advantage of reducing the environmental impact.

[0031] In addition, the solution according to the present invention, by using electric actuators to replace the hydraulic ones, also amounts to a lower noise level, and the possibility of making the first drive means work at maximum efficiency conditions, without chasing the load. In accordance with another aspect of the present invention, the first electric actuator is connected to the shaking device, while a second electric actuator, of the second drive means, is connected to the transport means. In this advantageous solution of the present invention, both electric actuators are selectively and simultaneously fed by the electric energy supply unit, substantially increasing the advantages described heretofore.

[0032] In the same spirit of the present invention, other electric actuation solutions can also be provided, for example in cases where a first separation unit, for example operating by induced ventilation, is mounted on the vehicle in cooperation with the transport means, in order to separate residual elements such as leaves and branches from the fruit or seeds. In this solution, the second drive means comprise a third electric actuator, which is connected to the first separation unit and is selectively fed by the electric energy supply unit.

[0033] In the same way, in cases of specific setups of the machine according to the present invention, such as in grape harvesters for example, where it is necessary to separate the grapes from the stems of the bunch, a second separation unit can be provided, which is mounted on the vehicle and is suitable to further clean the fruit, making it suitable for subsequent uses, for example winemaking. Also in this type of solution, according to the spirit of the present invention, the second drive means comprise at least a fourth electric actuator, which is connected to the second separation unit and is selectively fed by the electric energy supply unit.

[0034] Here and hereafter in the description and claims, by the generic term electric actuator we mean a member that can be formed by one or more electric elements, such as motors, mechanisms or suchlike, suitable to selectively activate a specific action performed by the operating unit with which they are associated.

[0035] In an operating combination as described heretofore, the machine according to the present invention is electrified with respect to substantially all of its main operating functions, to the advantage of times and costs for both set-up as well as maintenance, and further reducing both noise as well as environmental impact, and the power required to move the machine between the plants.

[0036] In accordance with another aspect of the present invention, the first drive means, in the case of a self-propelled machine, can be mounted on the vehicle and kinematically connected to the movement unit, so as to determine an autonomous movement of the machine.

[0037] According to some embodiments of the machine according to the present invention, the first drive means can provide a traditional combustion engine, or an electric motor, or a hybrid combination thereof. In these latter solutions, the quantities of CO2 emitted are significantly reduced, to a further advantage of the environmental impact.

[0038] Alternatively, in the case of a machine towed by a traction motor vehicle, or tractor, the vehicle comprises a towing member, or drawbar, suitable to be selectively connected to the tractor, and the first drive means are part of the tractor, whose movement induces a corresponding movement of the machine according to the present invention.

[0039] In accordance with another aspect of the present invention, the electric energy supply unit comprises at least one alternator member connected to a drive shaft of the first drive means, to transform the mechanical energy of the drive shaft into electric energy.

[0040] In this advantageous solution according to the present invention, the supply unit essentially defines an electric generator, or generator, for transforming mechanical energy into electric energy usable by the electric actuators. Depending on whether the machine is self-propelled or towed, the supply unit can be intentionally provided on board the vehicle, or on board the tractor, or partly on the vehicle and partly on the tractor, depending on the overall sizes, geometry and functions that are to be given to the machine itself in its design phase.

[0041] In accordance with another aspect of the present invention, the second drive means comprise at least one electric storage member, or battery pack, configured to store a desired amount of electric energy and supply it selectively at least to the electric actuators.

[0042] The battery pack or packs can be independent, that is, selectively rechargeable using the mains electricity, or suitably connected to the first drive means, by means of the alternator member, to store electric energy to be returned to the system itself, in aid, as an alternative or in compensation, to the electric energy supplied to the electric actuators.

[0043] In accordance with another aspect of the present invention, the second drive means comprise at least one photovoltaic device to collect solar energy and supply it to the storage member in the form of electric energy.

[0044] According to another advantageous embodiment of the solution according to the present invention, the second drive means comprise at least one energy recovery device, connected at least to the movement unit and advantageously also to the first drive means, to recover part of the kinetic energy developed by the latter and supply it to the storage member in the form of electric energy.

[0045] It is within the scope of the present invention to provide a command and control unit (Vehicle Management Unit) configured to selectively coordinate the drive, or stop, of the electric actuators, or the hydraulic actuators if provided, in order to coordinate, even automatically, one or the other of either the operating cycles that the machine according to the present invention is suitable to operate.

[0046] The scope of the present invention also comprises a method for converting a traditional hydraulically managed machine into a revamped machine having the characteristics expressed according to the present invention, in which the second drive means are equipped with at least one electric energy supply unit and at least a first electric actuator connected to the shaking device, or to the transport means, to be selectively fed by the electric energy supply unit.

[0047] In this way, with the solution according to the present invention it is also possible to carry out a modification / transformation / conversion of existing machines from hydraulic to electric, and not only on newly built machines, still coming within the field of protection defined herein.

[0048] DESCRIPTION OF THE DRAWINGS

[0049] These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

[0050] - fig. 1 is a partly sectioned three-dimensional view of a first embodiment of an automated fruit or seed harvesting machine according to the present invention;

[0051] - fig. 2 is a lateral view of fig. 1 ; - fig. 3 is a first simplified diagram of the operating components of the machine of fig- 1;

[0052] - fig. 4 is a second simplified diagram of the operating components of the machine of fig. 1, alternative to the diagram of fig. 3;

[0053] - fig. 5 is a partly sectioned three-dimensional view of a second embodiment of an automated fruit or seed harvesting machine according to the present invention;

[0054] - fig. 6 is a lateral view of fig. 5;

[0055] - fig. 7 is a first simplified diagram of the operating components of the machine of fig. 5; and

[0056] - fig. 8 is a second simplified diagram of the operating components of the machine of fig. 5, alternative to the diagram of fig. 7.

[0057] We must clarify that the phraseology and terminology used in the present description, as well as the figures in the attached drawings also in relation as to how described, have the sole function of better illustrating and explaining the present invention, their purpose being to provide a non-limiting example of the invention itself, since the scope of protection is defined by the claims.

[0058] To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications.

[0059] DESCRIPTION OF SOME EMBODIMENTS OF THE PRESENT INVENTION

[0060] With reference to fig. 1, this shows an automated fruit or seed harvesting machine, or harvester, according to the present invention, which hereafter in the description we will call grape harvester 10.

[0061] With particular reference to the embodiment shown schematically in figs, from 1 to 4, the grape harvester 10 according to the present invention is of the towed type, that is, able to be selectively associated with a traction motor vehicle, or tractor 100, of a substantially known type and not described in detail. Typically, the tractor 100 is provided with first drive means, that is, a motor 11, for movement.

[0062] The motor 11 can traditionally be a combustion engine, but it is not excluded that an electric or at least partly electrified motor 11 can be provided, in line with the ecological transition regulations in place. The grape harvester 10 substantially comprises a vehicle 12 provided with a movement unit, in this specific case two driven wheels 13, to move the vehicle 12 itself on the field plane. In other embodiments, tracks or other systems can be provided in place of the driven wheels 13 to better adhere to the terrain in particular operating conditions. In this embodiment, the vehicle 12 is provided with a drawbar 22, by means of which it can be both mechanically connected to the tractor 100 and also be kept in a suitable harvesting position, that is, straddling the rows of vines from which to carry out the harvest, while the tractor 100 advances between adjacent rows.

[0063] With particular reference to the embodiment shown schematically in figs, from 5 to 8, the grape harvester 10 according to the present invention is of the self- propelled type, that is, provided with a control cabin 50, of a substantially known type and not described in detail. In this solution, the first drive means, that is, the motor 11, for movement are provided on the vehicle 12.

[0064] As in the previous solution, the motor 11 can traditionally be a combustion engine, but it is not excluded that an electric or at least partly electrified motor 11 can be provided.

[0065] In this solution, in addition to the two driven wheels 13, the vehicle also comprises two driving wheels 14, advantageously steering and kinematically connected to the motor 11. Here too, some embodiments can be provided in which, instead of the driven wheels 13 and the driving wheels 14, tracks or other can be provided.

[0066] Common to the two embodiments shown and described heretofore, at least one shaking device, or whips 15, are mounted on the vehicle 12, provided opposing with respect to the zone in which the vines will be located during the operating steps of the machine 10. The whips 15 are made to alternately oscillate by a corresponding vibrating mechanism 16, in turn selectively driven by a corresponding first electric actuator, or first electric motor 17, forming part of second drive means 20 of the grape harvester 10 (schematized with an area circumscribed by a dashed line).

[0067] The first electric motor 17 can be either of the traditional or brushless type, that is, integrated with position transducers such as encoders or suchlike, depending on the mechanical stresses at play, the service factor, or the design and management parameters provided.

[0068] In this way, the vine is shaken from opposite sides so as to cause the bunches of grapes to detach and fall by gravity.

[0069] Transport means, or conveyor belts 18, disposed in cooperation with the whips 15, are also mounted on the vehicle 12 to collect and transport the detached bunches.

[0070] In the embodiment shown in the attached drawings, the belts 18 have a circular development and travel, in sequence, through a collection zone 18a that is located below the whips 15, a transport zone 18b that develops vertically in the rear part of the vehicle 12 and an unloading zone 18c that develops, as we shall see, above the whips 15, so as to direct the bunches collected toward corresponding collection hoppers 30. Finally, the belts 18 travel through a return zone 18d that develops in the front part of the vehicle 12.

[0071] The belts 18 can be provided with ribs transverse to the pitch, that is, provide containing compartments, a paternoster system, or other, particularly to keep the bunches in the transport zone 18b.

[0072] Each of the belts 18 is selectively set in motion by a corresponding second electric actuator, or second electric motor 19, which also forms part of the second drive means 20 of the grape harvester 10. The second electric motor 19 can be either of the traditional or brushless type, that is, integrated with position transducers such as encoders or suchlike, depending on the mechanical stresses at play, the service factor, or the design and management parameters provided. In this way, the bunches that have fallen from the vine are collected by the belts 18 in the collection zone 18a and, by means of the transverse ribs or other, retained and transported along the transport zone 18b, up to the unloading zone 18c, and from there to the collection hoppers 30.

[0073] In this specific case, a plurality of blades 21 are provided in correspondence with the collection zone 18a, which are elastically mounted on the vehicle 12 and inclined toward the belts 18 to form a concave transverse geometry, so as to make the fallen bunches deposit laterally on the belts 18.

[0074] The elastic mounting of the blades 21 allows the latter to flex under the action of relative thrust of the vine’s stems, in the advancing steps of the grape harvester 10, and then return in position as soon as the stem has been surpassed.

[0075] A first separation unit is also mounted on the vehicle 12, in this specific case defined by two lower fans 23 and two upper fans 24, disposed in cooperation with the belts 18 in an intermediate position between the collection zone 18a and the transport zone 18b and, respectively, in an intermediate position between the transport zone 18b and the discharge zone 18c, immediately before the collection hoppers 30.

[0076] Each of the lower fans 23 and of the upper fans 24 is selectively set in motion by a corresponding third electric actuator, or third electric motor 25, which also forms part of the second drive means 20 of the grape harvester 10. The third electric motor 25 can also be either of the traditional or brushless type, that is, integrated with position transducers such as encoders or suchlike, depending on the mechanical stresses at play, the service factor, or the design and management parameters provided.

[0077] In this way, the lower fans 23 emit a flow of air toward the belts 18 and, consequently, on the bunches deposited thereon, so as to separate them from residual elements such as branches, leaves, small insects or other. In the same way, the upper fans 24 carry out a second action of blowing leaves and branches from the bunches conveyed by the belts 18, immediately upstream of the collection hoppers 30.

[0078] A second separation unit is also mounted on the vehicle 12, in this specific case defined by harvest distribution members 26, for example conformed as augers, disposed at the mouth of the corresponding collection hoppers 30, so that the bunches pass through these harvest distribution members 26, before falling into the collection hoppers 30.

[0079] Each harvest distribution member 26 is selectively set in motion by a corresponding fourth electric actuator, or fourth electric motor 27, which also forms part of the second drive means 20 of the grape harvester 10. The fourth electric motor 27 can also be either of the traditional type or of the brushless type, that is, integrated with encoders or suchlike.

[0080] In particular, the action of the harvest distribution members 26 on the bunches induces a separation of the grapes from the stems, thus being able to collect substantially only the grapes useful for winemaking in the collection hopper 30. In this step, the ventilation action of the upper fans 24 indirectly causes the separated stems to leave the vehicle 12, preventing their deposit in the collection hopper 30.

[0081] As schematically shown in figs. 2 and 7, in the two embodiments of grape harvester 10 according to the present invention, the second drive means 20 comprise at least one electric energy supply unit 28, which, depending on whether the grape harvester 10 is towed (fig. 2) or self-propelled (fig. 7), can be mounted on the tractor 100 or integrated with the vehicle 12, respectively.

[0082] In both solutions, the supply unit 28 is connected to the first motor 17, the second motor 19, the third motor 25 and the fourth motor 27, so as to electrically feed and selectively command the activation, respectively, of the whips 15, the belts 18, the fans 23 and 24, and the harvest distribution members 26, with respect to the desired operating cycle of the machine 10 and / or the specific instructions of an operator.

[0083] According to the invention, the supply unit 28 comprises at least one alternator 29 mechanically connected to a drive shaft of the motor 11 , to transform the shaft’s mechanical rotational energy into electric energy. In essence, the mechanical connection between the alternator 29 and the motor 11 thus defines a generator, or an alternating current generator, for the direct power supply of the various electric motors 17, 19, 25, 27, as schematized in the attached drawings, although embodiments in which this power supply is also intended for possible additional electric motors for actuating extraction fans, belts, destemmers or other accessory mechanisms are not excluded. In the embodiments shown, the second drive means 20 are also provided with at least one electric storage member, or battery pack 31, configured to store a desired amount of electric energy coming from, in this specific case, the alternator 29.

[0084] It is not excluded, however, that the battery pack 31 can be powered in an independent or assisted manner, with respect to the alternator 29. In fact, the battery pack 31 could be of the type rechargeable by mains current, or connected to the alternator 29, or to a photovoltaic device 40 (only schematized in the attached drawings) forming part of the second drive means 20 and suitable to transform solar energy and supply it, for example, to the storage device 31 , in the form of electric energy.

[0085] According to other embodiments, one or more energy recovery devices (not shown in the attached drawings) can be provided, provided to recover the excess kinetic energy between the driven wheels 13, the driving wheels 14 or the first motor 11, and transform it into electric energy usable for storage. In the solution shown with the battery pack 31 powered by the alternator 29, an electric connection is made by means of a first voltage converter 32 from alternating to direct, and a second voltage converter 33, from direct to alternating, so as to be able to store the current generated by the alternator 29 in the battery pack 31 and then make the stored current suitable for powering the various electric motors 17, 19, 25 and 27.

[0086] In the two solutions shown in figs. 3 and 7, in addition to the supply unit 28, there is a hydraulic circuit 34 to command the movements provided for the driven wheels 13, the driving wheels 14, the drawbar 22 and to overturn the collection hopper 30. In fact, the wheels 13 and / or 14 are connected to corresponding first hydraulic actuators 35, which allow the selective and independent lifting of the vehicle 12, to better adapt it to the real environmental situation in which it operates, for example depending on the size of the vine, the slope of the ground, and other factors.

[0087] In the same way, corresponding second hydraulic actuators 36 are associated with the drawbar 22 (figs. 2 and 3), which allow its selective movement on several axes, so as to adjust the relative position between tractor 100 and vehicle 12 on each occasion, depending on the actual sizes, distances and operating conditions of the work site.

[0088] Finally, the collection hopper 30 is also operationally connected to corresponding third hydraulic actuators 37 which allow its selective controlled overturning, in order to transfer the collected grapes into corresponding trailers, for the management of the harvest and transportation to the cellar.

[0089] Operationally, the hydraulic circuit 34 comprises a hydraulic pump 38, which traditionally introduces pressurized oil into the various actuators 35, 36 and 37 to manage the connected movements.

[0090] Specifically, in the solution shown in fig. 3, that is, towed by the tractor 100, the hydraulic pump 38 is mounted on the tractor 100, that is, it is an accessory part of the tractor 100 itself, essentially acting as a power take-off unit (PTO). On the other hand, in the solution shown in fig. 7, in which the machine 10 is self-propelled, the hydraulic pump 38 is provided on board the vehicle 12.

[0091] In the two solutions shown in figs. 4 and 8, the hydraulic circuit 34 is replaced by the second drive means 20. In fact, the hydraulic actuators 35, 36 and 37 are replaced by corresponding electric motors, respectively, fifth 41, sixth 42 and seventh 43, electrically powered by the supply unit 28.

[0092] In this last embodiment, the machine 10 is substantially electrified and without hydraulic systems, to the advantage of costs, weights and the environmental impact that the machine 10 itself can generate.

[0093] According to a variant not shown in the attached drawings, the machine 10 according to the present invention can provide a command and control unit (Vehicle Management Unit) configured to selectively coordinate the drive, or stop, of at least the electric actuators 17, 19, 25 and 27, or hydraulic actuators 35, 36 and 37, if provided, in order to automatically coordinate one or the other of either the operating cycles that the machine 10 is suitable to operate.

[0094] It is clear that modifications and / or additions of parts may be made to the machine 10 as described heretofore, without thereby departing from the field and scope of the present invention, as defined by the claims.

[0095] It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art will be able to achieve other equivalent forms of automated fruit or seed harvesting machine, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

[0096] In the following claims, the sole purpose of the references in brackets is to facilitate their reading and they must not be considered as restrictive factors with regard to the field of protection defined by the claims.

Claims

CLAIMS1. Self-propelled or towed automated fruit or seed harvesting machine (10), comprising both a vehicle (12) provided with a movement unit (13, 14), directly or indirectly driven by first drive means (11) on which there are mounted at least one shaking device (15) and, in cooperation therewith, transport means (18), and also second drive means (20) able to drive said shaking device (15) and said transport means (18), characterized in that said second drive means (20) comprise at least one electric energy supply unit (28) which selectively feeds at least a first electric actuator (17) connected to said shaking device (15) or to said transport means ( 18) .

2. Machine (10) as in claim 1, characterized in that said first electric actuator (17) is connected to said shaking device (15).

3. Machine (10) as in claim 2, characterized in that said second drive means (20) comprise a second electric actuator (19) connected to said transport means (18), able to be selectively fed by said supply unit (28).

4. Machine (10) as in any claim hereinbefore, wherein a first separation unit (23, 24) is mounted on said vehicle (12) in cooperation with said transport means (18), characterized in that said second drive means (20) comprise a third electric actuator (25) connected to said first separation unit (23, 24) and able to be selectively fed by said supply unit (28).

5. Machine (10) as in any claim hereinbefore, wherein a second separation unit (26) is mounted on said vehicle (12), characterized in that said second drive means (20) comprise a fourth electric actuator (27) connected to said second separation unit (26) and able to be selectively fed by said supply unit (28).

6. Machine (10) as in any claim hereinbefore, wherein said vehicle (12) comprises a towing member (22) suitable to be selectively connected to a traction motor vehicle (100), characterized in that said first drive means (11) are mounted on said traction motor vehicle (100).

7. Machine (10) as in any previous claim up to claim 5, characterized in that said first drive means (11) are mounted on said vehicle (12) and are kinematically connected to said movement unit (13, 14).

8. Machine (10) as in claims 6 or 7, characterized in that said supply unit (28) comprises at least one alternator member (29) able to be connected to a drive shaftof said first drive means (11) in order to transform the mechanical energy of said drive shaft into electric energy.

9. Machine (10) as in any claim hereinbefore, characterized in that said second drive means (20) comprise at least one electric storage member (31) configured to store a desired amount of electric energy and selectively supply it at least to said electric actuators (17, 19, 25, 27).

10. Machine (10) as in claim 9, characterized in that said second drive means (20) comprise at least one photovoltaic device (40) able to receive a quantity of solar energy and supply it to said storage memberin the form of electric energy.

11. Method for the conversion of a self-propelled or towed automated fruit or seed harvesting machine (10), comprising both a vehicle (12) provided with a movement unit (13, 14), directly or indirectly driven by first drive means (11) on which there are mounted at least one shaking device (15) and, in cooperation therewith, transport means (18), and also second drive means (20) able to drive said shaking device (15) and said transport means (18), characterized in that in order to obtain said converted machine (10) said second drive means (20) are equipped with at least one electric energy supply unit (28) which selectively feeds at least a first electric actuator (17) connected to said shaking device (15) or to said transport means (18).

Images