Machine for harvesting fruit and vegetable products and operating method thereof

Abstract

Machine (1) for harvesting fruit and vegetable products from fruit trees (200) comprising a supporting frame (2) that extends along a first reference axis (A); at least one automatic harvesting station (5), which is arranged on the supporting frame (2) and is configured to harvest the fruit and vegetable products (200); and a storage seat (6), which is arranged on the supporting frame (2), is located adjacent to the automatic harvesting station (5), and is configured to house at least one container (100) configured to receive and contain the fruit and vegetable products (200); and a work station (70) which is carried by the supporting frame (2), is arranged adjacent to the automatic harvesting station (5) and is configured to house at least one operator (400), so as to allow the operator (400) to reach the fruit trees (300) to manually harvest the fruit and vegetable products (200).

Description

[0001] "MACHINE FOR HARVESTING FRUIT AND VEGETABLE PRODUCTS AND OPERATING METHOD THEREOF"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No . 102023000019035 filed on September 15 , 2023 , the entire disclosure of which is incorporated herein by reference .

[0004] State of the Art

[0005] The present invention relates to a machine for harvesting fruit and vegetable products and to the operating method thereof .

[0006] More speci fically, the present invention finds advantageous , but not exclusive , application in a sel f-propelled machine for harvesting fruit from fruit trees or other fruit plants . Use to which the fol lowing disclosure will make explicit reference without thereby losing generality .

[0007] Field of the Invention

[0008] As is known, the harvesting of fruit and vegetable products from fruit trees , such as apples , pears , kiwis , and / or the like , is traditionally carried out by hand, with all the limitations that this entails .

[0009] In fact , since it is a purely seasonal j ob, the manual harvesting of said fruit and vegetable products requires the presence of a large number of operators for a very limited period of time and, very often, producers of said fruit and vegetable products encounter considerable di f ficulty in hiring personnel to carry out this task .

[0010] To overcome said and other inconveniences , in recent years automatic machines for the automated harvesting of fruit from trees or other fruit plants have been developed . In general , said machines comprise at least : a supporting frame movable on the ground by means of a plurality of wheels or tracks ; a support structure that extends in a cantilevered manner from the supporting frame ; a plurality of mobile robotic arms , each of which has its own proximal end pivoted on the support structure ; a plurality of gripping members , each of which is arranged on the distal end of a corresponding mobile robotic arm and is able to grasp the fruit to be harvested; a storage seat that is arranged next to the support structure and houses a container suitable for containing the fruit and vegetable products harvested by the robotic arms ; a plurality of cameras that are configured to acquire images of the portion of space where the fruit to be harvested is located; and an electronic control unit , which controls the operation of the mobile robotic arms and of the gripping devices based on the images acquired by the cameras .

[0011] During harvesting, in particular, each mobile robotic arm is first extended towards the fruit to be harvested, so that the gripper of the gripping member can reach and grasp the the same fruit .

[0012] Once the fruit to be harvested has been grasped by the gripping device , the robotic arm is then retracted from the fruit tree , towards the support structure , so that the gripping device can pick the same fruit from the tree .

[0013] Finally, the robotic arm is rotated so as to bring the gripping device above the container housed in the storage seat , and the gripping device is controlled so as to release the fruit picked from the tree into the container .

[0014] Although the machines described above are able to satis fy some needs for automation of the fruit harvesting process from trees or other fruit plants , there is still ample room for improvement . In particular, in use , the automatic machines described above are often unable to harvest all the fruit existing on the fruit trees , with the obvious inconveniences that this entails . Alternatively, meticulous harvesting by the aforementioned automatic machines involves a high, and often unnecessary, expenditure of time .

[0015] In fact , during the movement of the automatic machine along the rows of fruit trees , some fruit may not be visible to the cameras , for example because they are covered by leaves or branches , or the mobile robotic arms may miss some fruit to be harvested .

[0016] As a result , a non-negligible fraction of fruit and vegetable products often remains hanging on the fruit trees and the ef ficiency of the harvesting process of said fruit and vegetable products is compromised .

[0017] In general , there is therefore a need to provide the market with a machine for harvesting fruit and vegetable products that is able to increase the ef ficiency of the harvesting process of said fruit and vegetable products , namely, that is able to harvest all the fruit and vegetable products existing on the fruit trees .

[0018] Patent document US2020128744A1 describes a harvesting system that comprises a vertical frame , a plurality of linear robots , a plurality of cameras and a processor .

[0019] Patent document AU2021104005A4 describes an automatic harvesting platform for an orchard . The harvesting platform comprises a mobile trolley, a console mounted on the mobile trolley, a transport device , an automatic sorting device , an automatic bagging device and a packaging device . Summary of the Invention

[0020] The obj ect of the present invention is to provide a machine for harvesting fruit and vegetable products and an operating method thereof , which are at least partially free from the drawbacks described above and, at the same time , are simple and inexpensive to produce .

[0021] According to the present invention, a gripping device for a machine for harvesting fruit and vegetable products , a machine for harvesting fruit and vegetable products and an operating method thereof are provided, as claimed in the related independent claims that follow and preferably, but not necessarily, in any one of the claims directly or indirectly dependent on the independent claims .

[0022] The claims describe preferred embodiments of the present invention and form an integral part of the present description .

[0023] Brief Description of the Drawings

[0024] In the following, some embodiments of the invention will be described for a better understanding of the same by way of non-limiting example thereof and with reference to the attached drawings , wherein :

[0025] Figures 1 and 2 are two perspective views of a possible embodiment of a machine for harvesting fruit and vegetable products made according to the present invention, with parts in section and parts removed for clarity;

[0026] Figures 3 , 4 , 5 and 8 are as many perspective views of portions of the machine illustrated in Figure 1 , with parts in section and parts removed for clarity; and

[0027] - Figures 6 and 7 , instead, are two perspective views of a possible embodiment of a gripping device for the machine illustrated in Figures 1 and 2 , in two di f ferent operating positions and with parts removed for clarity . Embodiments of the Invention

[0028] With reference to the attached figures , number 1 denotes as a whole a machine for harvesting fruit and vegetable products , which is advantageously structured to automatically harvest / pick fruit and vegetable products 200 , namely, fruit from trees or other fruit plants .

[0029] In the present disclosure , the term fruit and vegetable product will be used as a generic reference to a fruit comprising a pericarp or body 201 and a stem or petiol 202 .

[0030] The machine 1 i s particularly suitable for use during the harvesting of fruit and vegetable products 200 , in particular fruit , from trees or other fruit plants 300 ( schematically illustrated in Figures 1 and 2 ) advantageously arranged in rows .

[0031] The machine 1 comprises , first of all , a frame or supporting platform or lower frame 2 (partially illustrated in Figure 1 ) , which extends along a reference axis A.

[0032] In addition, the machine 1 preferably, but not limited to , comprises a plurality of ground support means 3 configured to allow the movement of the supporting frame 2 on the ground .

[0033] In use , the reference axis A is preferably parallel to the ground, namely, it is preferably hori zontal .

[0034] In addition, the ground support means 3 preferably comprise at least one pair of wheels or tracks that are rotatably carried by the supporting frame 2 and are preferably arranged on opposite sides of the vertical centreline of the same supporting frame 2 .

[0035] The machine 1 , furthermore , is preferably, but not limited to , a sel f-propelled type . In more detail , the machine 1 preferably comprises motor means (not illustrated) , in particular one or more electric motors , which are mechanically coupled to the ground support means 3 and are suitable for rotating the latter in order to allow the movement of the machine 1 on the ground .

[0036] With reference to the example illustrated in Figures 1 , 2 and 3 , furthermore , the machine 1 also comprises at least one harvesting station or assembly 5 , advantageously automatic, which is preferably arranged on the supporting frame 2 and is configured to automatically harvest / pick the fruit and vegetable products 200 to be harvested .

[0037] In addition, the automatic harvesting station 5 is also advantageously configured to deposit / convey the harvested fruit and vegetable products 200 preferably inside a container 100 , such as a container, a pallet box, a bin, and / or other similar container .

[0038] Preferably, the container 100 is designed to be arranged on the supporting frame 2 , advantageously, but not limited to , adj acent to , namely at the automatic harvesting station 5 .

[0039] In the following disclosure , explicit reference will be made to a type of automatic harvesting assembly or station in order to make the present description easily understandable , without however losing in generality .

[0040] In fact , any automatic harvesting assembly or station could be used for the same purpose , even i f structurally di f ferent , remaining within the scope of protection of the claims that follow .

[0041] In addition, the machine 1 preferably comprises a deposit / storage seat 6 , which is configured to be arranged adj acent to , namely, at the automatic harvesting station 5 and is adapted to house the container 100 . Preferably, the storage seat 6 is arranged on the supporting frame 2 , adj acent to the automatic harvesting station 5 Preferably, the automatic harvesting station 5 is configured to deposit / convey the harvested fruit and vegetable products 200 towards the storage seat 6 and / or towards the container 100 housed therein .

[0042] Preferably, but not limited to , the automatic harvesting station 5 and the storage seat 6 are arranged on opposite sides of the vertical mid-plane of the supporting frame 2 .

[0043] With reference to the example illustrated in Figures 1 and 2 , the machine 1 preferably comprises a plurality of automatic harvesting stations 5 , which are arranged on the supporting frame 2 one next to the other, preferably regularly spaced from one another . In particular, the automatic harvesting stations 5 are aligned one after the other along the reference axis A.

[0044] In addition, the machine 1 preferably comprises a plurality of storage seats 6 , each of which is configured to house a corresponding container 100 and is preferably associated with a corresponding automatic harvesting station 5 .

[0045] More speci fically, each storage seat 6 is preferably arranged adj acent to a corresponding automatic harvesting station 5 .

[0046] With reference to the example illustrated in Figures 1 , 2 and 3 , in particular, the automatic harvesting station 5 preferably comprises a support framing 8 or frame portion, which is arranged on the supporting frame 2 and extends along a reference axis B .

[0047] More speci fically, the support framing 8 preferably but not limited to , extends cantilevered from the supporting frame 2 along the reference axis B . Preferably, the reference axis B is transverse to the reference axis A and / or to the advancement plane of the machine 1 , namely, it is transverse to the ground .

[0048] In particular, the reference axis B is preferably orthogonal to the advancement plane of the machine 1 and / or to the ground, namely, it is vertical .

[0049] Furthermore , the support framing 8 preferably has a rigid and sel f-supporting structure , and is advantageously made of metal material .

[0050] In addition, the support framing 8 preferably has a section transverse to the reference axis B shaped substantially in an L shape .

[0051] More speci fically, the support framing 8 preferably comprises at least two straight uprights 9 and 10 , which are arranged next to one another and extend parallel to one another and parallel to the reference axis B .

[0052] With reference to the example illustrated in Figures 3 , 4 and 5 , the straight uprights 9 and 10 preferably have a substantially plate-like structure , namely, they preferably have a section transverse to the reference axis A having a preferably elongated rectangular shape .

[0053] In addition, the two vertical uprights 9 and 10 are preferably, but not limited to , arranged with their larger f aces / surf aces one transverse , in particular orthogonal , to the other .

[0054] Obviously, but not limited to , the two vertical uprights 9 and 10 can also be independent of one another, namely, not part of the same support framing 8 . More speci fically, the first vertical upright 9 is preferably, but not limited to , arranged with its larger face / surface 9a parallel to the reference axis A and to the reference axis B .

[0055] Whereas the second vertical upright 10 , is preferably, but not limited to , arranged with its larger face / surface 10a transverse , in particular orthogonal , to the reference axis A and parallel to the reference axis B .

[0056] In other words , the upright 9 is preferably, but not limited to , arranged with its larger face / surface 9a parallel to the vertical mid-plane of the supporting frame 2 . Whereas the upright 10 , is preferably arranged with its larger face / surface 10a transverse , in particular orthogonal , to the vertical mid-plane of the supporting frame 2 .

[0057] In addition, the upright 9 is preferably arranged adj acent to a lateral side of the supporting frame 2 parallel to the reference axis A, whereas the upright 10 is preferably arranged adj acent to the vertical mid-plane of the supporting frame 2 .

[0058] With reference to the example illustrated in Figures 3 , 4 and 5 , furthermore , the support framing 8 preferably also comprises a framework 11 , which rigidly connects the two vertical uprights 9 and 10 .

[0059] More speci fically, the support framing 8 preferably comprises a plurality of transverse support elements , which extend in a bridge-like manner between the two vertical uprights 9 and 10 , rigidly connecting the same to one another, and are preferably L-shaped .

[0060] Optionally, the support framing 8 can also comprise one or more vertical support elements rigidly connected to the two vertical uprights 9 and 10 and / or to the hori zontal support elements .

[0061] The hori zontal and / or vertical support elements , in particular, can comprise metal profiles .

[0062] With reference to the example illustrated in Figure 1 , furthermore , the support framing 8 preferably has a modular and interchangeable structure .

[0063] In more detail , the support framing 8 preferably comprises a plurality of interchangeable modules 12 , which are configured to be set on top of one another along the reference axis B . Preferably but not limiting to , the interchangeable modules 12 are configured to be fixed to one another in a stable but releasable manner .

[0064] In even more detail , the interchangeable modules 12 preferably have a complementary structure that fits one with the other and are configured to be set on top of one another so as to form the support framing 8 .

[0065] Preferably, the interchangeable modules 12 all have the same shape / structure .

[0066] With reference to Figures 3-5 and 7 , in the example illustrated, the automatic harvesting station 5 preferably also comprises at least one set of harvesting equipment 14 , which is configured so as to be able to harvest / pick, advantageously in an automatic manner, the fruit and vegetable products 200 to be harvested and then convey said fruit and vegetable products 200 towards the storage seat 6 and / or towards the container 100 housed therein .

[0067] In addition, the harvesting equipment 14 is preferably carried by the support framing 8 . In more detail , the harvesting equipment 14 is preferably configured so as to be able to be mounted in a sliding manner on the support framing 8 , namely, with the possibility of moving along the same support framing 8 along the reference axis B, preferably remaining substantially parallel to itsel f .

[0068] Preferably, the harvesting equipment 14 is configured so that it can be mounted in a sliding manner on the first upright 9 of the support framing 8 .

[0069] In addition, the automatic harvesting station 5 preferably comprises a plurality of sets of harvesting equipment 14 , which are spaced apart from one another along the support framing 8 parallel to the reference axis B .

[0070] More speci fically, the automatic harvesting station 5 is preferably provided with a set of harvesting equipment 14 for each interchangeable module 12 of the support framing 8 .

[0071] With reference to the example illustrated in Figures 1 , 2 and 3 , the harvesting equipment 14 preferably comprises an articulated or robotic harvesting arm 17 , which is carried in a movable manner relative to the supporting frame 2 and is configured to harvest / pick the fruit and vegetable product ( s ) 200 .

[0072] More speci fically, the articulated harvesting arm 17 is preferably carried in a movable manner by the support framing 8 .

[0073] Preferably, the articulated harvesting arm 17 is carried in a sliding manner by the support framing 8 so that it can slide relative to said support framing 8 along the reference axis B .

[0074] With reference to the example illustrated in Figures 1 , 2 and 3 , in particular, the harvesting equipment 14 preferably, but not limited to , comprises a slide 16 , which is carried in a sliding manner by the support framing 8 , in particular by the upright 9 , and in turn supports the articulated harvesting arm 17 .

[0075] Preferably, but not limited to , the articulated harvesting arm 17 is carried in a movable , in particular rotatable manner by the slide 16 .

[0076] In addition, the harvesting equipment 14 preferably also comprises a conveyor or transporter apparatus 18 , which is arranged adj acent to , namely, at the articulated harvesting arm 17 , and is configured to receive the fruit and vegetable product ( s ) 200 harvested by the articulated harvesting arm 17 and to convey the latter towards the storage seat 6 .

[0077] With reference to the preferred embodiment illustrated in Figures from 1 to 5 and 8 , the conveyor apparatus 18 preferably comprises a conveyor arm 19 , which is movable relative to the supporting frame 2 and is arranged adj acent to , namely, at the articulated harvesting arm 17 .

[0078] In more detail , the conveyor arm 19 is preferably carried in a movable manner by the support framing 8 .

[0079] Even more in detail , the conveyor arm 19 is preferably carried in a movable manner by the slide 16 .

[0080] In particular, the conveyor arm 19 is preferably carried in a rotatable manner by the slide 16 , and is advantageously pivoted on the slide 16 next to the articulated harvesting arm 17 .

[0081] With reference to the example illustrated in Figures 3 , 4 and 5 , the slide 16 is preferably mechanically connected in a sliding manner to the support framing 8 , with the possibility of moving along the same frame 8 in a direction preferably parallel to the reference axis B .

[0082] In particular, the support framing 8 preferably comprises a pair of slide rails 20 advantageously linear, namely, straight , which are integral with the upright 9 and extend parallel to one another and parallel to the reference axis B .

[0083] The slide 16 is preferably configured to cooperate in a sliding manner with the slide rails 20 , namely, it is preferably mounted in a sliding manner on the slide rails 20 .

[0084] In addition, the machine 1 preferably also comprises a first driving device 21 , preferably electro-mechanically operated, which is preferably operatively interposed between the support framing 8 and the slide 16 and is configured to move , on command, the slide 16 along the support framing 8 , advantageously keeping the articulated harvesting arm 17 and / or the conveyor arm 19 substantially parallel to one another .

[0085] Preferably, but not limited to , the first driving device 21 comprises a rack-and-pinion mechanism to control the movement of the articulated harvesting arm 17 and / or the conveyor arm 19 .

[0086] With reference to the example illustrated in Figures 3 , 4 and 5 , the articulated harvesting arm 17 preferably comprises a robotic arm with three degrees of freedom .

[0087] The articulated harvesting arm 17 , therefore , has preferably, but not limited to , four degrees of freedom, in particular one given by the movement of the robotic arm relative to the support framing 8 and three given by the articulation of the same robotic arm . Preferably, the articulated harvesting arm 17 extends cantilevered from the slide 16 so as to remain on a plane transverse to the reference axis B, in particular orthogonal to the reference axis B (namely, substantially hori zontal ) .

[0088] In addition, the proximal end of the articulated harvesting arm 17 is preferably carried in a rotatable manner by the slide 16 , so as to be able to rotate / swivel about a first rotation axis Ri preferably parallel to the reference axis B .

[0089] With reference to Figures 3 , 4 and 5 , in the example illustrated, in particular, the articulated harvesting arm 17 preferably comprises : a first portion 17a, which is rotatably connected to the slide 16 , so that it can rotate about the first rotation axis Ri ; a second portion 17b, which is rotatably connected to the first portion 17a, so that it can rotate about a second rotation axis R2 parallel to the first rotation axis Ri ; and a third portion 17c, which is rotatably connected to the second portion 17b, so that it can rotate about a third rotation axis R3 parallel to the first rotation axis Ri and / or to the second rotation axis R2 .

[0090] In addition, the articulated harvesting arm 17 preferably comprises a driving device , preferably electro-mechanically operated, which is configured to operate / move the same articulated harvesting arm 17 .

[0091] More speci fically, the driving device of the articulated harvesting arm 17 is preferably configured to rotate the first portion 17a, the second portion 17b and the third portion 17c about their respective hinge points , namely, about the reference axis Ri, R2 and R3, respectively .

[0092] The driving device of the articulated harvesting arm 17 , in particular, preferably comprises a first actuator, which is preferably carried by the slide 16 and is configured to rotate the first portion 17a relative to the support framing 8 about the rotation axis Ri .

[0093] In other words , said first actuator is preferably interposed between the slide 16 and the first portion 17a of the articulated harvesting arm 17 .

[0094] The driving device of the articulated harvesting arm 17 , moreover, preferably also comprises a second actuator configured to rotate the second portion 17b relative to the first portion 17a about the rotation axis R2 .

[0095] Preferably, but not limited to , the second actuator is also carried by the slide 16 and is mechanically connected to the second portion 17b by means of a return rod, which extends parallel to the first portion 17a and is connected to the second portion 17b in an eccentric position relative to the second rotation axis R2 , so as to be able to rotate the second portion 17b about the same rotation axis R2 .

[0096] Preferably, the return rod of the articulated harvesting arm 17 is arranged outside and parallel to the first portion 17a .

[0097] In addition, the driving device of the articulated harvesting arm 17 preferably also comprises a third actuator, which is operatively interposed between the second portion 17b and the third portion 17c and is configured to rotate the third portion 17c relative to the second portion 17b .

[0098] In use , by operating the actuators of the driving device of the articulated harvesting arm 17 , it is possible to extract and retract said arm relative to the support framing 8 , preferably in a transverse direction, in particular orthogonal , to the reference axis B .

[0099] In particular, the articulated harvesting arm 17 is movable , due to the driving device and therefore to its actuators , on a transverse plane , in particular orthogonal , to the reference axis B, namely, substantially orthogonal .

[0100] With reference to the example illustrated in Figures from 1 to 5 , furthermore , the harvesting equipment 14 preferably comprises a gripping device 24 , which is preferably configured to be carried by the harvesting arm 17 , in particular by the distal end of the articulated harvesting arm 17 , and is configured to grip / grasp the fruit and vegetable product ( s ) 200 to be harvested, in particular the petiol ( s ) 202 of the fruit and vegetable product ( s ) 200 .

[0101] Preferably, the gripping device 24 is also configured to convey the harvested fruit and vegetable products 200 towards the storage seat 6 and / or towards the container 100 .

[0102] In particular, but not limited to , the gripping device 24 is configured to deposit the harvested fruit and vegetable products 200 onto the conveyor apparatus 18 .

[0103] With reference to Figures from 1 to 6 , in the example illustrated, the gripping device 24 is preferably configured to be mechanically connected, preferably in an integral manner, to the distal end of the articulated harvesting arm 17 .

[0104] In more detail , the gripping device 24 is preferably configured to be mechanically connected to the third portion 17c of the articulated harvesting arm 17 .

[0105] The gripping device 24 preferably comprises , but not limited to , an anchoring bracket 26 , which is configured to be carried by the articulated harvesting arm 17 .

[0106] In particular, the anchoring bracket 26 is preferably configured to be mechanically connected, advantageously in an integral manner, to the distal end of the articulated harvesting arm 17 .

[0107] In more detail , the anchoring bracket 26 is preferably configured to be mechanically connected to the third portion 17c of the articulated harvesting arm 17 .

[0108] In addition, the gripping device 24 preferably comprises a gripper 28 , which is configured to grasp at least in part the fruit and vegetable product ( s ) 200 to be harvested, in particular the petiol ( s ) 202 of the fruit and vegetable product ( s ) 200 to be harvested .

[0109] Preferably, but not limited to , the gripper 28 is carried by the anchoring bracket 26 .

[0110] In particular, the gripper 28 is preferably carried in a movable manner by the anchoring bracket 26 , in order to move relative to the anchoring bracket 26 , so as to pick / detach the gripped petiol ( s ) 202 from the respective branch .

[0111] More speci fically, the gripper 28 is preferably, but not limited to , rotatably carried by the anchor bracket 26 , with the possibility of rotating about a fourth rotation axis R4 .

[0112] Preferably, but not limited to , in use , the fourth rotation axis R4 is transverse to the reference axis B, in particular orthogonal . In other words , in use , the fourth rotation axis R4 is preferably hori zontal , namely, parallel to the ground .

[0113] In addition, the gripping device 24 preferably, but not limited to , also comprises a second driving device 29 , preferably electro-mechanically and / or pneumatically operated, which is advantageously operatively interposed between the anchoring bracket 26 and the gripper 28 , and is configured to rotate the gripper 28 relative to the anchoring bracket 26 about the rotation axis R4.

[0114] In use, the movement, preferably, but not limited to, a rotary type, of the gripper 28 allows the petiol 202 of the fruit and vegetable product (s) 200 to be harvested to be torn from the respective branch, even while keeping the articulated harvesting arm 17 temporarily stationary. It is in fact the movement of the gripper 28 that removes the gripped petiol (s) 202 from the respective branch, causing the same to detach.

[0115] In this way, in particular, a greater speed in picking fruit and vegetable products 200 and a reduction in the risk of collisions with adjacent branches and / or fruit and vegetable products 200 and / or accidental falling of adjacent fruit and vegetable products 200 have been experimentally found, given that it is possible to pick the fruit and vegetable product (s) 200 by moving only the gripper 28 and temporarily keeping the articulated picking arm 17 still.

[0116] With reference to the example illustrated in Figure 6, in particular, the gripper 28 preferably comprises a pair of projecting aws 31, which are movable to and from a gripping position (illustrated in Figure 7) , in which at least two portions of the same projecting jaws 31 facing one another, hereinafter also referred to as gripping portions, are arranged at a minimum distance of less than 20 millimetres.

[0117] Preferably, but not limited to, the two gripping portions of the same projecting jaws 31 are arranged at the respective distal ends of the same projecting jaws 31.

[0118] In addition, the minimum distance between the two gripping portions of the projecting jaws 31 in the gripping position is preferably less than 10 millimetres, in particular less than 5 millimetres .

[0119] More specifically, the minimum distance between the two gripping portions of the projecting jaws 31 in the gripping position is advantageously less than 2 millimetres and more conveniently even less than 1 millimetre.

[0120] With reference to the preferred embodiment of the present invention, the gripping portions of the two projecting aws 31, in the gripping position, are advantageously arranged in abutment against one another.

[0121] In use, when arranged in the gripping position, the two gripping portions of the projecting jaws 31 are advantageously configured to grip / grasp the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested.

[0122] With reference to the example illustrated in Figures 6 and 7, in particular, the projecting jaws 31 are preferably movable on command between an approaching position (illustrated in Figure 6) and the gripping position (illustrated in Figure 7) .

[0123] In the approaching position, the gripping portions of the movable jaws 31 are preferably spaced apart from one another by a distance greater than 30 millimetres, and more conveniently also greater than 50 millimetres.

[0124] With reference to the example illustrated in Figures 6 and 7, furthermore, the gripper 28 preferably, but not limited to, also comprises a support element 30, which is advantageously carried by the anchoring bracket 26 and in turn carries the projecting jaws 31 in a movable manner.

[0125] Preferably, the support element 30 is carried in a rotatable manner by the anchoring bracket 26 and can be rotated about the rotation axis R4.

[0126] Whereas, the projecting jaws 31 are preferably, but not limited to, slidingly supported by the support element 30, extend cantilevered from the same support element 30 and are able to move relative to the support element 30 along a transverse direction di, in particular orthogonal, to the rotation axis R4, preferably remaining substantially parallel to themselves.

[0127] Preferably, in use, the direction di is also substantially horizontal, namely, parallel to the ground.

[0128] In more detail, the projecting jaws 31 are preferably movable along the direction di between the approaching position and the gripping position.

[0129] In addition, the gripping device 24 preferably also comprises a driving device 33, preferably pneumatically and / or electromechanically operated, which is configured to move the same projecting jaws 31 along the direction di relative to the support element 30, preferably keeping the same projecting jaws 31 substantially parallel to themselves.

[0130] Advantageously, but not limited to, the driving device 33 is operatively interposed between the support element 30 and the projecting jaws 31.

[0131] More specifically, the driving device 33 is preferably, but not limited to, housed inside the support element 30 so as to be able to cooperate with the projecting jaws 31.

[0132] In particular, the driving device 33 is preferably configured to arrange the projecting jaws 31, selectively and alternatively, between the approaching position and the gripping position.

[0133] With reference to the example illustrated in Figure 4, furthermore, the projecting jaws 31 preferably each comprise an oblong claw or prong 34, which extends cantilevered from the support element 30, preferably, but not limited to, a direction substantially parallel to the rotation axis R4 .

[0134] Each prong 34 , furthermore , is preferably made of a polymeric or composite material , and is preferably provided with an advantageously tapered distal portion 34a .

[0135] The distal portion 34a, in particular, is preferably configured to form, or at least contribute in forming, the gripping portion of the corresponding proj ecting aw 31 .

[0136] In addition, the proj ecting j aws 31 are preferably, but not limited to , shaped so that the gripping portions are arranged in an eccentric position relative to the rotation axis R4 .

[0137] In more detail , the distal portions 34a of each prong 34 are preferably also inclined relative to the longitudinal axis of the same prong 34 ( for example coinciding with the axis R4 ) by a given angle , advantageously greater than 20 ° .

[0138] Preferably, the inclination angle of the distal portions 34a of each prong 34 is comprised between 20 ° and 60 ° .

[0139] Advantageously, but not limited to , the distal portions 34a of each prong 34 are also inclined downwards , namely, towards the ground .

[0140] In particular, the distal portions 34a of each prong 34 are preferably rotated / overturned about a rotation axis parallel to the direction di .

[0141] In this way, a more ef fective harvesting has been experimentally found in the case of fruit and vegetable products 200 that extend in a fan-like manner from the respective petiols 202 , namely, attached to the same point of a branch of the fruit tree or plant . In addition, it has been experimentally found that the synergistic technical effect between the eccentric positioning of the gripping portions relative to the rotation axis R4, namely, the inclination of the distal portions 34a of each prong 34, and the rotation of the gripper about the rotation axis R4 allows a more effective picking of the fruit and vegetable products 200 to be harvested, because the gripping portions in use describe a circumferential arc about the rotation axis R4 and allow the gripped petiols 202 to be torn off more effectively from the respective branches.

[0142] Preferably, the distal portions 34a are also convergent, namely, they are inclined towards one another by a given angle, for example less than 10° and advantageously equal to or less than approximately 5°.

[0143] In this way, it has been experimentally found that the gripping portions of the two projecting aws 31, and in particular the two prongs 34, are able to deform elastically when arranged against one another, so as to increase the contact area between the same and the pressure that they are able to exert between one another, improving the grip on the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested .

[0144] With reference to the example illustrated in Figures 6 and 7, furthermore, the projecting jaws 31 are preferably each provided with a gripping insert 35, which is preferably made of a polymeric material, in particular an elastomeric material, such as for example a silicone material or other material with a high friction coefficient (and sufficient deformability to adapt to the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested) .

[0145] Preferably, but not limited to, the gripping inserts 35 are arranged at the distal portions 34a of the corresponding prongs 34.

[0146] Preferably, but not limited to, the two gripping inserts 35 are configured to abut against one another when the projecting jaws 31 are arranged in the gripping position. In other words, the two gripping inserts 35 are arranged on the projecting jaws 31 so as to be arranged facing one another.

[0147] The gripping inserts 35 are preferably configured to grip / grasp, in use, the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested.

[0148] With reference to the example illustrated in Figure 4, furthermore, the projecting aws 31 preferably also comprise a support bracket 36, which supports the corresponding prong 34 and is mechanically coupled in a sliding manner with the support element 30.

[0149] In particular, but not limited to, each support bracket 36 is preferably mechanically connected in a sliding manner to the support element 30 by means of a dovetail coupling.

[0150] More specifically, each support bracket 36 is preferably provided with a substantially T-shaped rib which slidably engages a complementary shaped groove formed on the support element 30 and preferably extending parallel to the direction di .

[0151] In addition, in an exemplary and non-limiting embodiment, the prong 34 and the corresponding bracket 36 can also be made in a single body.

[0152] With reference to the example illustrated in Figures 3, 4, 5 and 8, the conveyor arm 19, instead, preferably extends cantilevered from the slide 16 in a position adjacent to the articulated harvesting arm 17, so as to remain on a transverse plane , in particular orthogonal to the reference axis B .

[0153] Preferably, but not limited to, the conveyor arm 19 is configured to be able to reach the articulated harvesting arm 17 , so that the distal end of the conveyor arm 19 can reach and be arranged immediately below the end of the articulated harvesting arm 17 and / or of the gripping device 24 .

[0154] In particular, the conveyor arm is advantageously movable by swivelling to and from the articulated harvesting arm 17 .

[0155] More speci fically, the proximal end of the conveyor arm 19 is preferably carried in a rotatable manner by the slide 16 , so as to be able to rotate / swivel about a fi fth rotation axis Rs preferably parallel to the reference axis B and / or to the rotation axis Ri .

[0156] In even greater detail , the proximal end of the conveyor arm 19 is preferably pivoted on the slide 16 in a position adj acent to the articulated harvesting arm 17 .

[0157] With reference to the example illustrated in Figures 3 , 4 , 5 and 7 , in particular, the conveyor arm 19 preferably comprises a rod 38 , advantageously linear, namely, rectilinear, and / or preferably having a tubular structure , which is rotatably connected to the slide 16 , so that it can rotate about the rotation axis Rs .

[0158] In addition, the conveyor arm 19 preferably also comprises a fourth driving device 39 , preferably electro-mechanically operated, which is configured to operate the same conveyor arm 19 .

[0159] More speci fically, the driving device 39 is preferably configured to rotate / swivel the conveyor arm 19 , in particular the rod 38 of the conveyor arm 19 , about the rotation axis Rs . With reference to Figures 3 , 4 , 5 and 7 , in the example illustrated, in particular, the driving device 39 preferably comprises an electric motor or other similar actuator, operatively interposed between the slide 16 and the rod 38 .

[0160] In addition, the conveyor arm 19 comprises a conveyor device 40 , which is pre ferably arranged at the distal end of the same conveyor arm 19 , in particular on the distal end of the rod 38 , and is configured so as to be able to receive the fruit and vegetable products 200 harvested by the articulated harvesting arm 17 , or rather by the gripping device 24 , and to convey the same fruit and vegetable products 200 towards the storage seat 6 and / or towards the container 100 .

[0161] More in detail , the conveyor device 40 preferably comprises a cup-shaped body 41 , which is configured to contain the fruit and vegetable products 200 harvested by the articulated harvesting arm 17 (possibly in a plurality of subsequent harvests ) and can be selectively operated so as to be able to release / deposit the same fruit and vegetable products 200 .

[0162] In particular, according to the preferred embodiment illustrated in Figures 1 , 2 and 3 , the cup-shaped body 41 is preferably structured so as to be able to assume a containment configuration ( illustrated in Figures 1 , 2 , 3 and 6 ) , in which it is configured to contain the fruit and vegetable products 200 , and an emptying configuration (not illustrated) , in which it is configured to release any previously contained fruit and vegetable products 200 .

[0163] In more detail , the cup-shaped body 41 is preferably shaped like a semi-cylinder and is preferably open at the top .

[0164] In addition, the cup-shaped body 41 preferably comprises two portions or segments 42 having a complementary shape , which are connected to one another in a rotatable manner and are able to rotate / oscillate about a rotation axis Re .

[0165] In more detail , the two portions 42 are preferably movable between a closed position ( illustrated in Figures 3 , 4 , 5 and 7 ) in which the two portions 42 are arranged in abutment against one another and an open position (not illustrated) , in which the two portions are spaced apart from one another .

[0166] With reference to the example illustrated in Figures 3 , 4 and 5 , furthermore , the conveyor arm 19 preferably comprises an actuation device of the conveyor device 40 , which is configured to actuate , on command, the same conveyor device 40 .

[0167] More in detail , the actuation device of the conveyor device 40 is preferably configured so as to operate , on command, the same conveyor device 40 , namely, to arrange , selectively and alternatively, the cup-shaped body 41 in the containment configuration and in the emptying configuration .

[0168] In particular, the actuation device of the conveyor device 40 preferably comprises an actuation device 44 , advantageously electro-mechanically and / or pneumatically operated, which is preferably carried by the slide 16 and is mechanically connected to the cup-shaped body 41 by means of a return rod 45 . The return rod 45 , in particular, is preferably housed in a sliding manner inside the rod 38 of the conveyor arm 19 , and is preferably connected to the two portions 42 in an eccentric position relative to the rotation axis Re, so as to be able to rotate said portions 42 between the closed position and the open position based on the operation of the actuation device 44 .

[0169] With reference to Figures from 1 to 5 and 8 , in the example illustrated, in particular, the machine 1 preferably further comprises an unloading equipment 50 , which is preferably operatively interposed between the harvesting equipment 14 and the storage seat 6 , and is configured so as to be able to receive the fruit and vegetable products 200 harvested by the harvesting equipment 14 and then to convey said fruit and vegetable products 200 towards the storage seat 6 , in particular to unload the same fruit and vegetable products 200 inside the container 100 .

[0170] More speci fically, the unloading equipment 50 is preferably configured so as to be able to be mounted in a sliding manner on the support framing 8 , with the possibility of moving along the same support framing 8 along the reference axis B, preferably remaining substantially parallel to itsel f .

[0171] In particular, but not limited to , the unloading equipment 50 is preferably configured so that it can be mounted in a sliding manner on the upright 10 of the support framing 8 , and is preferably movable along the entire height of the same upright 10 .

[0172] With reference to Figures 3 and 8 , in particular, the unloading equipment 50 preferably comprises a two-degree-of- freedom mechanism configured to receive the fruit and vegetable products 200 harvested by the harvesting equipment 14 and then to unload the same fruit and vegetable products 200 into the container 100 .

[0173] More speci fically, the unloading equipment 50 preferably comprises : a slide 51 , which is carried in a sliding manner by the frame 8 , in particular by the upright 10 ; a slide rail 52 , which is carried by the slide 51 and extends along a reference axis C preferably transverse , in particular orthogonal , to the reference axis B ; a slide 53 , which is carried in a movable manner by the sl ide rail 52 , and an unloading device 54 , which is carried by the slide 53 . More speci fically, the slide 51 is preferably mechanically connected in a sliding manner to the framing 8 , in particular to the upright 10 , with the possibility of moving along the same support framing 8 in a direction da preferably substantially parallel to the reference axis B .

[0174] Even more speci fically, the support framing 8 preferably comprises a pair of slide rail s 55 , advantageously linear, namely, rectilinear, which are integral with the upright 10 and extend parallel and side by side to one another and also parallel to the reference axis B .

[0175] The slide 51 is preferably configured to cooperate in a sliding manner with the slide rails 55 , namely, it is preferably mounted in a sliding manner on the slide rails 55 .

[0176] In addition, the machine 1 preferably also comprises a driving device 57 , preferably electro-mechanically operated, which is operatively interposed between the support framing 8 and the slide 51 and is configured to move , on command, the slide 51 along the support framing 8 in the direction da, advantageously keeping the unloading equipment 50 substantially parallel to itsel f .

[0177] The slide rail 52 , instead, preferably extends cantilevered from the slide 51 along the reference axis C so as to reach the storage seat 6 and optionally the container 100 .

[0178] In other words , the slide rail 52 preferably extends cantilevered from the slide 51 above the storage seat 6 and / or the container 100 .

[0179] With reference to the example illustrated in Figures 1 and 8 , furthermore , the slide 53 is pre ferably mechanically connected in a sliding manner to the slide rail 52 , with the possibility of moving along the same slide rail 52 in a fourth direction d4 preferably substantially parallel to the reference axis C .

[0180] In addition, the machine 1 preferably also comprises a driving device 59 , preferably electro-mechanically operated, which is operatively interposed between the slide rail 52 and the slide 53 and is configured to move , on command, the slide 53 along the slide rail 52 in the direction d4 , advantageously keeping the slide 53 and / or the unloading device 54 substantially parallel to themselves .

[0181] With reference to Figures 3 , 4 , 5 and 8 , in the example illustrated, the unloading device 54 is preferably configured so as to be able to receive the fruit and vegetable products 200 harvested by the harvesting equipment 14 , in particular by the conveyor arm 19 , and to convey said fruit and vegetable products 200 towards the storage seat 6 and / or towards the container 100 .

[0182] In particular, the conveyor arm 19 is preferably configured so as to be able to reach the unloading equipment 50 , so that the distal end of the conveyor arm 19 and / or the conveyor device 40 can reach and be arranged immediately above the unloading device 54 .

[0183] With reference to the example illustrated in Figure 8 , the unloading device 54 preferably comprises a cup-shaped body 60 configured to contain the fruit and vegetable products 200 harvested by the articulated harvesting arm 17 .

[0184] In particular, the cup-shaped body 60 is preferably structured so as to be able to assume a containment configuration ( illustrated in Figure 6 ) , in which it is configured to contain the fruit and vegetable products 200 , and an emptying configuration (not illustrated) , in which it is configured to release any fruit and vegetable products 200 previously contained . In even greater detail , the cup- shaped body 60 is preferably shaped like a semi-cylinder and is preferably open at the top .

[0185] In addition, the cup-shaped body 60 preferably comprises two portions or segments 61 having a complementary shape , which are connected to one another in a rotatable manner and are able to rotate / oscillate about a rotation axis R7 .

[0186] In more detail , the two portions 61 are preferably movable , in particular selectively movable , between a closed position ( illustrated in Figures 3 and 7 ) in which the two portions 61 are arranged in abutment against one another and an open position (not illustrated) , in which the two portions are spaced apart from one another .

[0187] In addition, the unloading equipment 50 preferably further comprises an actuation device for the unloading device 54 , preferably electro-mechanically and / or pneumatically operated, which is configured to actuate , on command, the unloading device 54 .

[0188] In more detail , the actuation device of the unloading device 54 is preferably configured to selectively actuate the cupshaped body 60 between the containment position and the emptying position .

[0189] With reference to Figures from 1 to 8 , the machine 1 comprises , furthermore , detecting means 65 , which are configured to detect / identi f y the fruit and vegetable product ( s ) 200 to be harvested, in particular the petiol ( s ) 202 of the fruit and vegetable product ( s ) 200 to be harvested .

[0190] For example , the detecting means 65 can comprise an image acquisition system 66 , namely, a vision system, in particular one or more cameras , which is configured to acquire images of a work area that is preferably adj acent to the machine 1 , so as to identif y / display the fruit and vegetable product (s) 200 to be harvested.

[0191] Alternatively, or in addition, the detecting means can comprise radio sensing systems and / or remote sensing systems, such as a LIDAR system and / or the like, which are configured to identify the fruit and vegetable product (s) 200 to be harvested, in particular the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested.

[0192] Preferably, but not limited to, the detecting means 65 are arranged on the supporting frame 2.

[0193] Alternatively, the detecting means 65 could also be arranged on the support framing 8.

[0194] With reference to the example illustrated in Figures 1, 2 and 3, the detecting means 65 are preferably arranged on the harvesting equipment 14.

[0195] In particular, the detecting means 65 are preferably arranged on the distal end of a corresponding articulated harvesting arm 17.

[0196] With reference to the example illustrated in Figures 6 and 7, in particular, the detecting means 65 are preferably configured to be mechanically fixed on the gripping device 24, in particular on the anchoring bracket 26, so as to move integral with the same gripping device 24, namely, so as not to rotate together with the gripper 28.

[0197] In use, the detecting means 65 are configured to cyclically acquire data relating to the fruit and vegetable product (s) 200 to be harvested, for example data indicative of the position of the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested relative to the machine 1. With reference to the example illustrated in Figures 1 and 2 , the machine 1 also comprises a work station 70 , in particular an aerial work station 70 , which is carried by the supporting frame 2 , is arranged preferably alongside / adj acent ( along an advancement direction of the machine 1 ) of the automatic harvesting station ( s ) 5 and is configured to house ( in particular standing or sitting) at least one operator 400 ( schematically illustrated in Figures 1 and 2 ) , so as to allow the same operator 400 to carry out work on said fruit trees 300 , in particular to reach and manually pick / harvest the fruit and vegetable products 200 from the fruit trees 300 .

[0198] Preferably, the work station 70 is at least partially walkable .

[0199] Preferably, the work station 70 is spaced behind the automatic harvesting station ( s ) 5 along the reference axis A.

[0200] In some non-limiting cases , the work station 70 is preferably arranged upstream of the automatic harvesting assembly or station 5 relative to a preferred advancement direction of the machine 1 along the reference axis A, in particular parallel to the reference axis A. In this way, the operator 400 can carry out operations ( for example removing foliage , pruning some branches , eliminating defective fruit and vegetable products , etc . ) preparatory to the subsequent harvesting by means of the automatic harvesting assembly or stations 5 .

[0201] Alternatively, or in addition, the work station 70 is preferably arranged downstream of the automatic harvesting assembly or stations 5 relative to a preferred advancement direction of the machine 1 along the reference axis A, in particular parallel to the reference axis A. In this way, the operator 400 can conveniently harvest the remaining fruit and vegetable products 200 left from harvesting of the automatic harvesting assembly or stations 5 , for example the fruit and vegetable products 200 that are mostly hidden by any foliage or at a state of ripeness that is di f ficult to gauge by means of the cameras 66 .

[0202] In these non-limiting cases , therefore , preferably, the preferred advancement direction of the machine 1 is such that the fruit trees 300 are reached first by the automatic harvesting station ( s ) 5 and then by the work station 70 .

[0203] In addition, the automatic harvesting station ( s ) 5 and the work station 70 are preferably aligned next to one another along the reference axis A.

[0204] More speci fically, the aerial work station 70 comprises : a support structure 71 that extends cantilevered from the supporting frame 2 along a reference axis D preferably substantially parallel to the reference axis B ; and a peoplecarrier work platform 72 that is configured to house the operator 400 and is carried by the support structure 71 so as to allow the operator 400 to reach, in use , the fruit trees 300 .

[0205] More speci fically, the work platform 72 is preferably fixed to the side of the support structure 71 and preferably extends cantilevered from the same support structure 71 .

[0206] Even more speci fically, the work platform 72 preferably extends cantilevered from the support structure 71 , advantageously so that the edge of the work platform 72 opposite the support structure 71 protrudes beyond the shape of the underlying supporting frame 2 .

[0207] With reference to the example illustrated in Figure 1 and 2 , furthermore , the work platform 72 is carried in a movable manner by the support structure 71 , so as to move along the reference axis D . More speci fically, the support structure 71 is preferably telescopically extendable along the reference axis D and is preferably configured to raise and lower the work platform 72 along the reference axis D .

[0208] Even more speci fically, the support structure 71 preferably comprises : a first portion 71a, which is carried by the supporting frame 2 and extends along the reference axis D; a second portion 71b , which is carried in a sliding manner by the first portion 71a and is able to move relative to the first portion 71a along the reference axis D; and a driving device 74 , preferably hydraulically and / or electromechanically operated ( e . g . a worm screw, a rack-and-pinion system) which is advantageously operatively connected to the second portion 71b and is configured so as to move , on command, the second portion 71b along the reference axis D .

[0209] In addition, the support structure 71 preferably comprises a pair of linear slide rails 75 , in particular rectilinear ones which are integral with the first portion 71a and extend parallel to one another and parallel to the reference axis D .

[0210] The second portion 71b is preferably configured to cooperate in a sliding manner with the slide rails 75 , namely, it is preferably mounted in a sliding manner on the slide rails 75 .

[0211] In addition, the work platform 72 is preferably, but not limited to , carried in a movable manner by the support structure 71 in order to move also in a transverse direction, in particular orthogonal to the reference axis D, so as to be able to approach and move away from the fruit trees 300 .

[0212] The aerial work station 70 , in addition, preferably, but not limited to , comprises an actuation device configured to move the work platform 72 relative to the support structure 71 transversely to the reference axis D . The work platform 72 , instead, preferably comprises a support base 77 which has , advantageously, a rectangular / quadrangular shape , is configured to support the operator 400 , and is fixed on the support structure 71 , in particular on the second portion 71a of the same support structure 71 .

[0213] In addition, the work platform 72 preferably also comprises a protective structure 78 which is designed to prevent the accidental fall of the operator 400 from the support base 77 .

[0214] Preferably, the protective structure 78 comprises a protective cage which extends cantilevered from the perimeter edge of the support base 77 and advantageously seamlessly surrounds the perimeter edge of the support base 77 .

[0215] In other words , the work platform 72 preferably comprises a people-carrier basket .

[0216] The machine 1 , in addition, also comprises an electronic control unit 70 , which is operatively connected at least to the detecting means 65 and comprises processing means that are configured to control the operation of the machine 1 based on the data provided by the detecting means 65 .

[0217] More speci fically, the electronic control unit 70 is preferably operatively connected to the driving devices of the slide 16 , of the articulated harvesting arm 17 , of the conveyor arm 19 , of the gripping device 24 and / or of the gripper 28 , and / or to the driving device 57 of the slide 51 , and / or to the driving device 59 of the slide 53 and / or to the actuation devices of the conveyor device 40 and / or of the unloading device 54 , and is configured to selectively control their operation based on the data / images provided by the detecting means 65 .

[0218] In addition, the electronic control unit 80 can also be operatively connected to the motor means 3 to control the movement of the machine 1 on the ground .

[0219] Preferably, the electronic control unit 80 is configured to also control the operation of the driving device 75 , so as to control the li fting and lowering of the work platform 72 .

[0220] For example , the machine 1 can be provided with a user interface (not illustrated) , for example a j oystick, a keypad and / or the like which is carried by the work platform 72 and is operatively connected to the electronic control unit 80 .

[0221] The electronic control unit 80 , in turn, can be configured to control the operation of the driving device 75 , and therefore the li fting of the work platform 72 , based on the commands given by the operator 400 by means of said user interface .

[0222] In addition, the electronic control unit 80 can be configured to automatically control the operation of the driving device 75 , based on the data / images provided by the detecting means 65 .

[0223] More speci fically, the electronic control unit 80 can be configured to automatically control the operation of the driving device 75 based on the data relating to the fruit and vegetable products 200 acquired by the detecting means 65 , in particular based on the images of the fruit and vegetable products 200 left by the automatic harvesting station ( s ) 5 in front , in order to bring the work platform 72 and / or the operator 400 positioned therein at said fruit and vegetable products 200 , so as to allow the operator 400 to manually reach the fruit trees 300 to carry out work on the fruit trees 300 , in particular to manually harvest part of the fruit and vegetable products 200 left by the automatic harvesting station ( s ) 5 in front . The preferred operation of the machine 1 according to the present invention can be easily deduced from what has been illustrated above and will be briefly described in the following .

[0224] In a first step, the detecting means 65 identi fy the presence of fruit and vegetable products 200 to be harvested at the machine 1 .

[0225] In a second step , preferably, the electronic control unit 70 controls the operation of the driving device of the articulated harvesting arm 17 so that the gripping device 24 reaches the fruit and vegetable product ( s ) 200 to be harvested, in particular the petiol ( s ) 202 of the fruit and vegetable product ( s ) 200 to be harvested .

[0226] In a third step, preferably, the electronic control unit 70 controls the operation of the driving device 33 , so that the proj ecting aws 31 of the gripper 28 can move into the gripping configuration and grasp the petiol ( s ) 202 of the fruit and vegetable product ( s ) 200 to be harvested .

[0227] In a fourth step, preferably, the electronic control unit 70 controls the operation of the driving device 29 , so that the gripper 28 can rotate about the rotation axis R4 , or can perform a twisting movement , to tear the petiol ( s ) 202 of the fruit and vegetable product ( s ) 200 to be harvested from the corresponding fruit tree or plant .

[0228] In a fi fth step, preferably, the electronic control unit 70 controls the operation of the driving device of the articulated harvesting arm 17 so as to move the articulated harvesting arm 17 away from the adj acent fruit tree or plant and bring the distal end of the articulated harvesting arm 17 towards the possible conveyor arm 19 , i f provided . In a sixth step, preferably, the electronic control unit 70 preferably controls the operation of the conveyor arm 19 so as to bring the transport device 40 below the gripping device 24 , then controls the operation of the driving device 33 so as to bring the proj ecting aws 31 into the approaching position and empty the harvested fruit and vegetable products 200 inside the transport device 40 immediately below .

[0229] Clearly, the movement of the conveyor arm 19 towards the articulated harvesting arm 17 can be subsequent to or even simultaneous with the movement of the articulated harvesting arm 17 away from the plant .

[0230] Advantageously, in a seventh step, the electronic control unit 70 controls the operation of the driving device 39 so as to bring the conveyor device 40 above the unloading device 54 of the unloading equipment 50 and then controls the operation of the actuation device 44 to operate the conveyor device 40 and empty the fruit and vegetable products 200 contained therein into the unloading device 54 immediately below .

[0231] Finally, in an eighth step, the electronic control unit 70 preferably, but not limited to , controls the operation of the driving devices 57 and 59 so as to bring the unloading device 54 above the container 100 located in the storage seat 6 , and then controls the operation of the actuation device of the unloading device 54 so as to activate the latter and empty the fruit and vegetable products 200 contained therein into the container 100 .

[0232] In parallel , the operation of the machine 1 provides that an operator 400 can be positioned on the work station 70 , in particular on the work platform 72 , during the harvesting process of the fruit and vegetable products 200 , in order to allow the same operator 400 to reach the fruit trees 300 so as to carry out said operations on said fruit trees 300 , in particular to manually harvest part of said fruit and vegetable products 200 left from the automatic harvesting stations 5 in front.

[0233] In particular, the movement of the work platform 72 is manually controlled by the user by means of the user interface and / or is automatically controlled by the control unit 80 based on the data / images provided by the detecting means 65.

[0234] In light of the above, the present invention also relates to the operating method of the machine 1.

[0235] In particular, the operating method of the machine 1 comprises, preferably in sequence, the following steps: a) detecting / identif ying the fruit and vegetable product (s) 200 by means of the detecting means 65; b) controlling the operation of the automatic harvesting station 5 so as to harvest the fruit and vegetable product (s) 200 detected at step a) ; c) controlling the operation of the work station 70 so as to control the height of the operator 400 from the ground.

[0236] In more detail, step b) listed above preferably, but not limited to, comprises the following steps: d) controlling, based on the data acquired in step a) , the articulated harvesting arm 17 so as to bring the gripping device 24 at the fruit and vegetable products 200 to be harvested; e) controlling the gripping device 24 so as to grasp the fruit and vegetable product (s) 200 to be harvested, in particular the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested, and then picking said fruit and vegetable products 200; f) controlling the articulated harvesting arm 17 so as to move the gripping device 24 towards the conveyor arm 19 and, advantageously at the same time, controlling the conveyor arm 19 so as to arrange the conveyor device 40 immediately below the gripping device 24; g) controlling the gripping device 24 so as to release the picked fruit and vegetable product (s) 200; and h) controlling the conveyor arm 19 so as to move the conveyor device 40 towards the storage seat 6.

[0237] In even greater detail, step e) preferably comprises the following steps: i) controlling the gripper 28 so as to grip / grasp the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested; j) preferably controlling the gripping device 24 so as to rotate the gripper 28 about its rotation axis R5, so as to tear the petiol (s) 202 from the fruit tree; and then k) controlling the harvesting equipment 14 so as to move the gripping device 24 towards the storage seat 6.

[0238] Preferably, but not limited to, step i) comprises the step of controlling the driving device 33 of the jaws 31 so as to arrange the projecting jaws 31 in the gripping position and tighten the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested.

[0239] In addition, step k) of the operating method of the machine 1 preferably provides for controlling the harvesting equipment 14 so as to arrange the conveyor device 40 immediately above the unloading device 54.

[0240] Once the conveyor device 40 is arranged immediately above the unloading device 54, the method preferably comprises the step of controlling the harvesting equipment 14 so as to open the conveyor device 40 and empty the fruit and vegetable product (s) into the unloading device 54.

[0241] Subsequently, the operating method of the machine 1 preferably further comprises the step of controlling the unloading equipment 50 so as to place the unloading device 54 above the container 100 located in the storage seat 6 .

[0242] Once the unloading device 54 is arranged above the container 100 and / or the storage seat 6 , the method preferably comprises the step of controlling the unloading equipment 50 so as to operate the unloading device 54 and release the fruit and vegetable product ( s ) 200 .

[0243] As regards step c ) of the operating method of the machine 1 preferably, but not limited to , comprises the step of controlling the operation of the handling device 74 based on the data provided by the detecting means 65 , so as to be able to control the height from the ground of the work platform 72 and of the operator 400 arranged therein .

[0244] More speci fically, step c ) of the operating method of the machine 1 preferably, but not limited to , comprises the step of controlling the operation of the driving device 75 based on the data relating to the fruit and vegetable products 200 acquired by the detecting means 65 , in particular based on the images of the fruit and vegetable products 200 left by the automatic harvesting station ( s ) 5 in front , in order to bring the work platform 72 and / or the operator 400 arranged therein at said fruit and vegetable products 200 , so as to allow the operator 400 to manually reach the fruit trees 300 to carry out work on the same fruit trees 300 , in particular to manually harvest part of the fruit and vegetable products 200 left by the harvesting assembly ( s ) 5 in front .

[0245] Additionally, or alternatively, step c ) of the operating method of machine 1 preferably, but not limited to , comprises the step of controlling the operation of the driving device 74 based on the commands given by the operator 400 by means of the user interface .

[0246] The advantages associated with the machine 1 are signi ficant and clear . First , the presence of the work station 70 located next to the automatic harvesting station ( s ) 5 allows to maximi ze the harvesting ef ficiency of the machine 1 , because the operator 400 positioned on the same work station 70 is able to manually harvest any fruit and vegetable products 200 not harvested by the harvesting assembly ( s ) 3 in front . Furthermore , the particular structure of the work station 70 allows the operator 400 to easily reach even the fruit and vegetable products 200 located higher up on the fruit trees 300 .

[0247] In addition, the particular configuration of the machine 1 allows to optimi ze the harvesting of the fruit and vegetable products 200 , because the movements of the articulated harvesting arm 17 , of the conveyor arm 19 and of the unloading equipment 50 can be performed simultaneously and independently of one another .

[0248] In particular, once the articulated harvesting arm 17 has deposited the freshly harvested fruit and vegetable products 200 onto the adj acent conveyor arm 19 , the same articulated harvesting arm 17 can be controlled to harvest the subsequent fruit and vegetable products 200 , and the conveyor arm 19 can simultaneously be controlled to unload the fruit and vegetable products 200 received in turn from the articulated harvesting arm 17 onto the unloading equipment 50 .

[0249] In addition, the presence of a single unloading equipment 50 configured to cooperate with all the harvesting arms 18 allows the structure and the respective operation of the machine 1 to be optimised, because the single unloading equipment 50 is able to harvest all the fruit and vegetable products 200 conveyed by the various unloading arms 18 and harvested from the fruit trees at di f ferent heights , and to unload the same fruit and vegetable products 200 into the container 100 .

[0250] The modular structure of the support framing 8 and the possibility of providing more than one set o f harvesting equipment 14 on the same support framing 8 , furthermore , allows to easily adapt the dimensions of the machine 1 and the resulting harvesting speed to the dimensions of the fruit trees on which the harvesting operations are to be carried out .

[0251] Finally, the machine 1 is able to automatically harvest fruit and vegetable products 200 without damaging during harvesting the same , because the gripping device only grips / grasps the stem of the fruit and vegetable product without touching the body of the fruit and vegetable product , with the obvious benefits that this entails . In particular, the machine 1 is able to minimi ze the waste of fruit and vegetable products 200 due to damage during the harvesting thereof . The machine 1 , moreover, is particularly suitable for use for harvesting blackberries , mulberries , raspberries , currants , cherries , medlars , and / or other similar fruit and vegetable products 200 .

[0252] Finally, it is clear that modi fications and alternatives can be made to the machine 1 and to the operating method thereof according to the present invention, which however do not go beyond the scope of protection defined by the claims .

[0253] For example , according to an alternative embodiment not illustrated, the two proj ecting aws 31 could be rotatably carried by the anchoring bracket 30 and could be able to rotate to and from the gripping position, preferably about a transverse rotation axis , in particular orthogonal to the fourth rotation axis R4 and preferably substantially parallel to the reference axis B .

[0254] In addition, the machine 1 could not be provided with the ground support means 3 and could be intended to be arranged on a vehicle that moves on the ground, for example on a loading bed of a motor vehicle , or on a trailer towed by a motor vehicle .

[0255] With reference to a further embodiment of the present invention, not illustrated, the storage seat 6 could be arranged on a trailer, a trolley or other mobile frame , which is advantageously configured to house the container 100 , is separate and distinct from the machine 1 , and is configured to be able to be selectively hooked to the machine 1 , in particular to the supporting frame 2 , so as to be able to move , in use , together with the machine 1 .

[0256] In addition, according to a further embodiment not illustrated, the conveyor arm 19 could comprise an articulated arm . In other words , the structure of the conveyor arm 19 could also be similar to that of the articulated harvesting arm 17 .

[0257] Alternatively, or in addition, the conveyor arm 19 could also comprise at least one telescopically extendable portion .

[0258] In other words , the rod 38 of the conveyor arm 19 could be telescopically extendable .

[0259] Finally, according to an alternative embodiment not illustrated, the conveyor apparatus 18 could comprise a belt conveyor arranged between the articulated harvesting arm 17 and the storage seat 6 and configured to receive the fruit and vegetable product ( s ) 200 harvested by the articulated harvesting arm 17 and to convey the latter towards the storage seat 6 .

[0260] More speci fically, said belt conveyor could be configured to convey the fruit and vegetable products 200 towards the unloading equipment 50 , in particular to unload the fruit and vegetable products 200 inside the unloading device 54 . In addition, the cup-shaped body 41 of the conveyor device 40 could also be configured to rotate upon itsel f , namely, to be overturned, so as to empty the fruit and / or vegetable products 200 contained therein . In this case , the cup-shaped body 41 could advantageously have a monolithic structure .

[0261] The actuation device of the conveyor device 40 could be configured to rotate / overturn the cup-shaped body 41 .

[0262] Similarly, the cup-shaped body 60 of the unloading device 54 could also be configured to rotate on itsel f , namely, to be overturned, so as to empty the fruit and vegetable products 200 contained therein into the container 100 . In this case , the cup-shaped body 60 could advantageously have a monolithic structure .

[0263] In addition, the actuation device of the unloading device 54 could be configured to rotate / overturn the cup-shaped body 60 .

[0264] Finally, according to an alternative embodiment not illustrated, the supporting frame 2 and / or the support framing 8 could be shaped so that the stroke of the slide 16 extends until it reaches the ground, so as to allow the harvesting equipment 14 to also harvest fruit and vegetable products 200 located at a low level , for example at approximately ground level .

[0265] For example , the support framing 8 could be fixed in a cantilevered manner on one side of the supporting frame 2 , and could extend downwards until reaching the ground .

Claims

CLAIMS1.- A machine (1) for harvesting fruit and vegetable products from trees or other fruit plants (300) ; said machine (1) comprising• a supporting frame (2) , which extends along a first reference axis (A)• at least one automatic harvesting station (5) , which is arranged on said supporting frame (2) and is configured to harvest said fruit and vegetable products (200) ; and• a storage seat (6) , which is configured to be arranged adjacent to said automatic harvesting station (5) , and is configured to house at least one container (100) adapted to receive and contain said fruit and vegetable products (200) ; said machine (1) being characterized in that it also comprises a work station (70) , which is carried by said supporting frame (2) , is preferably arranged adjacent to said automatic harvesting station (5) along an advancement direction of said machine (1) and is configured to house at least one operator (400) , so as to enable said operator (400) to reach said fruit trees (300) to carry out work on said fruit trees (300) , in particular to manually harvest part of said fruit and vegetable products (200) .2.- The machine according to claim 1, wherein said automatic harvesting station (5) and said work station (70) are spaced apart along said reference axis (A) .3.- The machine according to claim 1, wherein said work station (70) is arranged downstream of said automatic harvesting station (14) relative to the advancement direction of said machine (1) .4.- The machine according to claim 1, 2 or 3, wherein said work station (70) comprises: a support structure (71) , which extends cantilevered from said supporting frame (2) along asecond reference axis (D) transverse to said first reference axis (A) ; and a people-carrier work platform (72) , which is configured to house said operator (400) and is carried by said support structure (71) , so as to enable said operator (400) to reach, in use, said fruit trees (300) .5.- The machine according to claim 4, wherein said work platform (72) extends cantilevered from said support structure (71) .6.- The machine according to claim 4 or 5, wherein said work platform (72) is carried in a movable manner by said support structure (71) , so as to be able to move along said second reference axis (D) .7.- The machine according to claim 4, 5, or 6, wherein said support structure (71) is telescopically extendable along said second reference axis (D) .8.- The machine according to claim 7, wherein said support structure (71) comprises: a first portion (71a) , which is carried by said supporting frame (2) and extends along said reference axis (D) ; a second portion (71b) which is slidably carried by said first portion (71a) and is capable of moving relative to said first portion (71a) along said second reference axis (D) ; and a first driving device (74) which is configured to move, upon command, said second portion (71b) relative to said first portion (71a) along said second reference axis (D) .9.- The machine according to any one of the preceding claims, comprising a plurality of automatic harvesting stations (5) , which are carried by said supporting frame (2) , and are spaced apart from one another along said first reference axis (A) , upstream of said working station (70) .10.- The machine according to any one of the preceding claims, wherein said automatic harvesting station (5) comprises at least one harvesting equipment (14) , which is configured to harvest said fruit and vegetable products (200) and to convey said fruit and vegetable products (200) toward said storage seat ( 6 ) ; said harvesting equipment (14) comprising an articulated harvesting arm (17) , which is carried in a movable manner relative to said supporting frame (2) and is provided with a gripping device (24) configured to grasp said fruit and vegetable products (200) , the petiol (202) of said fruit and vegetable products (200) , in particular.11.- The machine according to claim 10, wherein said automatic harvesting station (5) further comprises a conveyor apparatus (18) , which is arranged at said articulated harvesting arm (17) , and is configured to receive said fruit and vegetable products (200) from said gripping device (24) and to convey said fruit and vegetable products (200) to said storage seat (6) and / or to said container (100) .12.- The machine according to claim 11, wherein said automatic harvesting station (5) comprises, furthermore, an unloading equipment (50) , which is arranged between said harvesting equipment (14) and said storage seat (6) , and is configured to be able to receive and contain the fruit and vegetable products (200) harvested by said harvesting equipment (14) , and to convey said fruit and vegetable products (200) toward said storage seat (6) and / or to said container (100) .13.- The machine according to any one of the preceding claims, further comprising detecting means (65) , which are configured to detect / identify the fruit and vegetable product (s) (200) to be harvested; and an electronic control unit (80) , which is operatively connected to at least said detecting means (65) and comprises processing means which are configured to controlthe operation of said machine (1) , and in particular of said automatic harvesting station (5) and of said working station (70) , based on data provided by said detecting means (65) .14.- The machine according to claim 13, wherein said electronic control unit (80) is configured to control the operation of said working station (70) based on the data acquired by said detecting means (65) relating to the fruit and vegetable products (200) left on the tree or other fruit plant (300) by said one or more automatic harvesting stations (5) , so as to bring said operator (400) to said fruit and vegetable products (200) .15.- An operating method of a machine (1) made according to claim 13 or 14; said method comprising the steps of: a) detecting / identif ying the fruit and vegetable products (200) to be harvested; b) controlling the operation of said automatic harvesting station (5) so as to harvest the fruit and vegetable products (200) detected / identif led in step (a) ; and c) controlling the operation of said working station (70) so as to control the height of said operator (400) above the ground .16.- The method according to claim 15, wherein said step c) comprises controlling the operation of said working station (70) based on the data provided by said detecting means (65) relating to the fruit and vegetable products (200) left on the plant or other fruit tree (300) by said automatic harvesting station(s) (5) , so as to bring said operator (400) at said fruit and vegetable products (200) .

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