Gripping device for a machine for harvesting fruit and vegetable products, respective machine and operating method thereof

Abstract

Gripping device (24) for a machine (1) for harvesting fruit and vegetable products; the gripping device (24) comprises a gripper (28), which is configured to grasp at least partially said fruit and vegetable product(s); said gripper (28) comprises a pair of projecting jaws (31), in particular arranged facing one another, which are movable between an approaching position and a gripping position, wherein at least two gripping portions, facing one another, of the projecting jaws (31) are arranged, in the gripping position, at a minimum distance of less than 20 millimetres; wherein the gripping device comprises an anchoring bracket (26); wherein the gripper (28) is carried in a movable manner by the anchoring bracket (26) and is configured to be controlled in order to move relative to said anchoring bracket (26), so as to pick / detach from a respective branch the petiol(s) (202) of the previously gripped fruit and vegetable product(s) (200).

Description

[0001] GRIPPING DEVICE FOR A MACHINE FOR HARVESTING FRUIT AND VEGETABLE PRODUCTS , RESPECTIVE MACHINE AND OPERATING METHOD THEREOF

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No . 102023000019002 fi led 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 gripping device for a machine for harvesting fruit and vegetable products , to a machine comprising said device , and to the operating method thereof .

[0006] More speci fically, the present invention finds advantageous , but not exclusive , application in a gripping device and in an automatic sel f-propelled machine for harvesting fruit from fruit trees . Use to which the following 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 related to working conditions in the fields and the cost of labour, in recent years machines for the automated harvesting of fruit from fruit trees have been developed .

[0011] 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 plurality of cameras , which 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 arm and of the gripping member based on the images acquired by the cameras .

[0012] The above-mentioned gripping members , in particular, usually comprise a gripper configured so as to directly grasp the body

[0013] (namely, the pericarp ) of the fruit to be harvested .

[0014] During harvesting, in particular, the 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 body of the fruit to be harvested .

[0015] Once the fruit to be harvested has been grasped, the robotic arm is then retracted from the fruit tree , towards the support structure , so that the gripper can pick the fruit to be harvested from the same tree .

[0016] Although the machines described above are able to satis fy some needs for automation of the fruit harvesting process from fruit trees , there is still ample room for improvement .

[0017] In particular, by directly squee zing the body of the fruit to be harvested, the gripping members described above often damage the same fruits , with the obvious inconveniences that this entails . A product damaged during its harvest , in fact , must be discarded or at most sold on the market as a second-choice product .

[0018] In addition, by directly grasping the pericarp of the fruit to be harvested, the gripping members described above often cause the detachment of the petiol , which remains firmly anchored to the respective branch, from the respective pericarp, thus compromising the aesthetic appearance , the economic value and the duration of the fruit j ust harvested .

[0019] In fact , detaching the petiol of the freshly picked fruit compromises the integrity of the pericarp and consequently complicates the preservation of the freshly picked fruit .

[0020] Furthermore , the gripping members described above cannot be used for the harvesting of very delicate fruit , such as blackberries , mulberries , raspberries , currants , cherries , medlars , in which the contact between the body of the fruit to be harvested and the proj ecting j aws of the gripping member would risk irreparably damaging the fruit itsel f .

[0021] In general , there is therefore a need to provide the market with a gripping device for a machine for harvesting fruit and vegetable products that is able to harvest any type of fruit from fruit trees , without damaging said fruit and vegetable products during the picking thereof .

[0022] Patent document EP 3539735 describes an end ef fector for a robotic arm, speci fically adapted for harvesting strawberries .

[0023] Patent document WO 2022 / 118021 describes a robotic fruit harvesting system that comprises an autonomous robot .

[0024] Patent document GB 2607326 describes a robotic fruit harvesting end ef fector that comprises a vision system for locating a ripe fruit on a plant .

[0025] Patent document US 2022 / 346319 describes an end ef fector that has one or more grippers , each having a first cutting device , a second cutting device , and a pliable member between the first and second cutting devices .

[0026] Patent document CN 115553132 describes a lychee recognition method based on a visual algorithm and a lychee harvesting robot .

[0027] Patent document JP 2001095348 describes a strawberry harvesting device that comprises a strawberry recognition system .

[0028] SUMMARY OF THE INVENTION

[0029] The obj ect of the present invention is to provide a gripping device for a machine for harvesting fruit and vegetable products , a respective 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 .

[0030] 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 .

[0031] The claims describe preferred embodiments of the present invention and form an integral part of the present description .

[0032] BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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 figures , wherein :

[0034] - Figure 1 is a perspective view 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;

[0035] - Figures 2 , 3 and 6 are as many perspective views of portions of the machine i llustrated in Figure 1 , with parts removed for clarity; and

[0036] - Figures 4 and 5 , instead, are two perspective views of a possible embodiment of a gripping device for a machine for harvesting fruit and vegetable products made according to the present invention, in as many operating positions and with parts removed for clarity .

[0037] EMBODIMENTS OF THE INVENTION

[0038] With reference to the attached f igures , 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-bearing plants .

[0039] With reference to the schematic example of Figure 5 , in this 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 .

[0040] The machine 1 comprises , first o f all , a frame or supporting platform or lower frame 2 (partially illustrated in Figure 1 ) , which extends along a reference axis A.

[0041] 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 .

[0042] In use , the reference axis A i s preferably parallel to the ground, namely, it is preferably hori zontal .

[0043] In addition, the ground support means 3 preferably comprise at least one pair o f 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 .

[0044] 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 .

[0045] With reference to the example illustrated in Figure 1 , furthermore , the machine 1 also comprises at least one harvesting station or assembly 5 , which is preferably arranged on the supporting frame 2 and i s configured to automatically harvest / pick the fruit and vegetable products 200 to be harvested .

[0046] In addition, the harvesting assembly 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 .

[0047] 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 harvesting assembly 5 .

[0048] In other words , the machine 1 preferably comprises a deposit / storage seat 6 , which i s configured to be arranged adj acent to , namely, at the harvesting assembly 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 harvesting assembly 5 .

[0049] Preferably, the harvesting assembly 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 .

[0050] Preferably, but not limited to , the harvesting assembly 5 and the storage seat 6 are arranged on opposite sides of the vertical mid-plane of the supporting frame 2 .

[0051] With reference to the example illustrated in Figures 1 to 3 and 6, in particular, the harvesting assembly 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 .

[0052] More speci fically, the support framing 8 preferably but not limited to , extends cantilevered from the supporting frame 2 along the reference axis B .

[0053] Advantageously, but not limited to , the machine 1 comprises a plurality of harvesting assemblies 5 arranged side by side along the reference axi s A. The number of harvesting assemblies 5 can be modi fied according to , for example , the desired speed of harvesting .

[0054] Preferably, the reference axis B i s transverse to the reference axis A and / or to the advancement plane of the machine 1 , namely, it is transverse to the ground .

[0055] 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 .

[0056] Furthermore , the support framing 8 preferably has a rigid and sel f-supporting structure , and is advantageously made of metal material .

[0057] In addition, the support framing 8 preferably has a section transverse to the reference axis B shaped substantially in an L shape .

[0058] 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 .

[0059] With reference to the example il lustrated in Figures 1 , 2 and 3 , 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 .

[0060] In addition, the two vertical uprights 9 and 10 are preferably arranged with their larger f aces / surf aces one transverse , in particular orthogonal , to the other .

[0061] 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 .

[0062] 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 .

[0063] 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 .

[0064] In other words , the upright 9 is preferably arranged with its larger face / surf ce 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 .

[0065] 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 .

[0066] With reference to the example il lustrated in Figures 1 , 2 and 3 , furthermore , the support framing 8 preferably also comprises a framework 11 , which rigidly connects the two vertical uprights 9 and 10 .

[0067] 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 .

[0068] 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 .

[0069] The hori zontal and / or vertical support elements , in particular, can comprise metal profiles .

[0070] With reference to the example illustrated in Figure 1 , furthermore , the support framing 8 preferably has a modular and interchangeable structure .

[0071] 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 .

[0072] 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 .

[0073] Preferably, the interchangeable modules 12 all have the same shape / structure .

[0074] With reference to Figures from 1 to 4 , in the example illustrated, the harvesting assembly 5 also comprises at least one set of harvesting equipment 14 , which is configured so as to be able to harvest / pick the fruit and vegetable products 200 to be harvested and then convey said fruit and vegetable products 200 towards the storage seat 6 , preferably towards the container 100 housed therein .

[0075] In addition, the harvesting equipment 14 is preferably carried by the support framing 8 .

[0076] 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 .

[0077] 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 .

[0078] In addition, the harvesting assembly 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 .

[0079] More speci fically, the harvesting assembly 5 i s preferably provided with a set of harvesting equipment 14 for each interchangeable module 12 of the support framing 8 .

[0080] With reference to the example il lustrated 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 .

[0081] More speci fically, the articulated harvesting arm 17 is preferably carried in a movable manner by the support framing 8 .

[0082] 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 .

[0083] With reference to the example il lustrated 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 .

[0084] Preferably, but not limited to , the articulated harvesting arm 17 is carried in a movable , in particular rotatable manner by the slide 16 .

[0085] 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 . With reference to the preferred embodiment illustrated in Figures 1 , 2 , 3 and 6 , 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 .

[0086] In more detail , the conveyor arm 19 is preferably carried in a movable manner by the support framing 8 .

[0087] Even more in detail , the conveyor arm 19 is preferably carried in a movable manner by the slide 16 .

[0088] 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 .

[0089] With reference to the example il lustrated in Figures 1 , 2 and 3 , 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 .

[0090] In particular, the support framing 8 preferably comprises a pair of slide rails 20 advantageously l inear, namely, straight , which are integral with the upright 9 and extend parallel to one another and parallel to the reference axis B .

[0091] The slide 16 is preferably configured to cooperate in a sliding manner with the s lide rails 20 , namely, it is preferably mounted in a sliding manner on the slide rails 20 .

[0092] 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 .

[0093] 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 .

[0094] With reference to the example il lustrated in Figures 2 , 3 and 4 , the articulated harvesting arm 17 preferably comprises a robotic arm with three degrees of freedom .

[0095] 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 .

[0096] 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 ) .

[0097] 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 .

[0098] With reference to Figures 1 , 2 and 3 , 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 .

[0099] 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 .

[0100] 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 .

[0101] 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 .

[0102] In other words , said first actuator is preferably interposed between the slide 16 and the first portion 17a of the articulated harvesting arm 17 .

[0103] 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 .

[0104] Preferably, but not limited to , the second actuator is also carried by the s lide 16 and is mechanically connected to the second portion 17b by means of a return rod, which extends parallel to the f irst 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 .

[0105] Preferably, the return rod of the articulated harvesting arm 17 is arranged outside and parallel to the first portion 17a .

[0106] 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 .

[0107] 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 .

[0108] In particular, the articulated harvesting arm 17 is movable , due to the driving device and there fore to its actuators , on a transverse plane , in particular orthogonal , to the reference axis B, namely, substantially orthogonal .

[0109] With reference to the example il lustrated in Figures from 1 to 5, furthermore , the machine 1 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 .

[0110] 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 .

[0111] 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 .

[0112] With reference to Figures from 1 to 4 , 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 .

[0113] In more detail , the gripping device 24 is preferably configured to be mechanical ly connected to the third portion 17c of the articulated harvesting arm 17 .

[0114] The gripping device 24 preferably comprises , but not limited to , an anchoring bracket 26 , which i s configured to be carried by the articulated harvesting arm 17 .

[0115] In particular, the anchoring bracket 26 is preferably configured to be mechanically connected, advantageously in an integral manner, to the di stal end of the articulated harvesting arm 17 .

[0116] 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 .

[0117] In addition, the gripping device 24 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 .

[0118] Preferably, but not limited to , the gripper 28 is carried by the anchoring bracket 26 .

[0119] In particular, the gripper 28 is carried in a movable manner by the anchoring bracket 26 and is configured to be controlled in order to move relative to the anchoring bracket 26, so as to pick / detach the gripped petiol ( s ) 202 from the respective branch . Therefore , the detachment of the fruit and vegetable products 200 from the respective branch also occurs (mainly) due to the movement of the gripper 28 relative to the articulated harvesting arm 17 (unlike the sole cutting provided for by the prior art documents ) .

[0120] In other words , therefore , the gripper 28 can be controlled so as to j ointly move the proj ecting j aws ( 31 ) , stationary in the gripping position, relative to the anchoring bracket 26 .

[0121] 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 .

[0122] In particular, the gripper 28 is configured to be controlled so as to rotate about the rotation axis R4 to detach the fruit and vegetable products 200 from the respective branch . In this way, it is possible to minimi ze the bulk during the detachment of the fruit and vegetable products 200 .

[0123] 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 .

[0124] 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 . 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 . In this way, in particular, a greater speed in picking fruit and vegetable products 200 and a reduction in the risk of collisions with adj acent branches and / or fruit and vegetable products 200 and / or accidental falling of adj acent 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 .

[0125] With reference to the example illustrated in Figure 4 , in particular, the gripper 28 comprises a pair of proj ecting j aws 31 , which are movable to and from a gripping position ( illustrated in Figure 5 ) , in which at least two portions of the same proj ecting j aws 31 facing one another, hereinafter also referred to as gripping portions , are arranged at a minimum distance of less than 20 millimetres .

[0126] Preferably, but not limited to , the two gripping portions of the same proj ecting j aws 31 are arranged at the respective distal ends of the same proj ecting j aws 31 .

[0127] In addition, the minimum distance between the two gripping portions of the proj ecting j aws 31 in the gripping position is preferably less than 10 millimetres , in particular less than 5 millimetres .

[0128] More speci fically, the minimum distance between the two gripping portions of the proj ecting j aws 31 in the gripping position is advantageously less than 2 millimetres and more conveniently even less than 1 millimetre .

[0129] With reference to the preferred embodiment of the present invention, the gripping portions of the two proj ecting j aws 31 , in the gripping position, are advantageously arranged in abutment against one another.

[0130] In use, when arranged in the gripping position, the two gripping portions of the projecting aws 31 are advantageously configured to grip / grasp the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested.

[0131] With reference to the example illustrated in Figure 4, in particular, the projecting jaws 31 are movable on command between an approaching position (illustrated in Figure 4) and the gripping position (illustrated in Figure 5) , where in the gripping position the projecting jaws 31 are closer to one another relative to the approaching position.

[0132] In particular, the rotation axis R4 passes through the anchoring bracket 26 and at least part of the projecting jaws 31.

[0133] More specifically, the rotation axis R4 is substantially parallel to the longitudinal axis of the projecting jaws 31 (namely, substantially parallel to an approaching direction of the jaws to the fruit and vegetable product to be harvested) . 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.

[0134] With reference to the example illustrated in Figures 4 and 5, 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.

[0135] 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. Whereas, the projecting ws 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.

[0136] Preferably, in use, the direction di is also substantially horizontal, namely, parallel to the ground.

[0137] In more detail, the projecting jaws 31 are preferably movable along the direction di between the approaching position and the gripping position.

[0138] 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.

[0139] Advantageously, but not limited to, the driving device 33 is operatively interposed between the support element 30 and the projecting jaws 31.

[0140] 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.

[0141] 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 .

[0142] 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 .

[0143] Each prong 34 , furthermore , is preferably made of a polymeric or composite material , and is preferably provided with an advantageously tapered distal portion 34a .

[0144] 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 .

[0145] 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 .

[0146] 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 ° .

[0147] Preferably, the inclination angle of the distal portions 34a of each prong 34 is comprised between 20 ° and 60 ° .

[0148] Advantageously, but not limited to , the distal portions 34a of each prong 34 are also inclined downwards , namely, towards the ground .

[0149] In particular, the distal portions 34a of each prong 34 are preferably rotated / overturned about a rotation axis parallel to the direction di .

[0150] 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 .

[0151] 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.

[0152] 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°.

[0153] 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.

[0154] With reference to the example illustrated in Figure 4, 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) .

[0155] Preferably, but not limited to, the gripping inserts 35 are arranged at the distal portions 34a of the corresponding prongs 34.

[0156] Preferably, but not limited to, the two gripping inserts 35 are configured to abut against one another when the projecting aws 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.

[0157] 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.

[0158] With reference to the example illustrated in Figure 4, furthermore, the projecting jaws 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.

[0159] 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.

[0160] 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 .

[0161] 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.

[0162] With reference to the example illustrated in Figures 1, 2, 3 and 6, 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 .

[0163] 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 .

[0164] In particular, the conveyor arm is advantageously movable by swivelling to and from the articulated harvesting arm 17 .

[0165] 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 .

[0166] 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 .

[0167] With reference to the example illustrated in Figures 1 , 2 , 3 and 5, 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 .

[0168] 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 .

[0169] 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 .

[0170] With reference to Figures 1 , 2 , 3 and 5 , 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 .

[0171] In addition, the conveyor arm 19 comprises a conveyor device 40 , which is preferably 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 .

[0172] 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 .

[0173] 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 .

[0174] In more detail , the cup-shaped body 41 is preferably shaped like a semi-cylinder and is preferably open at the top .

[0175] 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 .

[0176] In more detail , the two portions 42 are preferably movable between a closed position ( illustrated in Figures 1 , 2 , 3 and 5 ) 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 .

[0177] With reference to the example il lustrated in Figures 1 , 2 and 3 , 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 .

[0178] More in detail , the actuation device of the conveyor device 40 is preferably configured so as to open and close , on command, the same conveyor device 40 , namely, to arrange , selectively and alternatively, the cup-shaped body 41 in the closed configuration and in the open configuration .

[0179] 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 sl iding 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 .

[0180] With reference to Figures 1 , 2 and 6 , 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 housed therein .

[0181] 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 o f moving along the same support framing 8 along the reference axis B, preferably remaining substantially parallel to itsel f .

[0182] 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 .

[0183] With reference to Figures 1 and 6 , in particular, the unloading equipment 50 preferably comprises a two-degree-of- f reedom 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 .

[0184] 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 slide 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 s liding 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 .

[0185] 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 .

[0186] The slide 51 is preferably configured to cooperate in a sliding manner with the s lide rails 55 , namely, it is preferably mounted in a sliding manner on the slide rails 55 .

[0187] 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 .

[0188] 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 .

[0189] In other words , the slide rail 52 preferably extends cantilevered from the slide 51 above the storage seat 6 and / or the container 100 .

[0190] With reference to the example il lustrated in Figures 1 and 6 , furthermore , the slide 53 is preferably 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 .

[0191] 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

[0192] 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 .

[0193] With reference to Figures 1 and 6 , 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 .

[0194] 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

[0195] 54 .

[0196] With reference to the example illustrated in Figure 6 , 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 .

[0197] 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 .

[0198] 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 .

[0199] In more detail , the two portions 61 are preferably movable , in particular selectively movable , between a closed position ( illustrated in Figures 1 and 6 ) 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 .

[0200] 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 .

[0201] In more detail , the actuation device of the unloading device 54 is preferably configured to selectively actuate the cup-shaped body 60 between the containment position and the emptying position .

[0202] With reference to Figures from 1 to 5 , 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 .

[0203] For example , the detecting means 65 can comprise an image acquisition system 66 , or 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 .

[0204] 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.

[0205] Preferably, but not limited to, the detecting means 65 are arranged on the supporting frame 2.

[0206] Alternatively, the detecting means 65 could also be arranged on the support framing 8.

[0207] With reference to the example illustrated in Figures 1, 2 and 3, the detecting means 65 are preferably arranged on the harvesting equipment 14.

[0208] In particular, the detecting means 65 are preferably arranged on the distal end of a corresponding articulated harvesting arm 17.

[0209] With reference to the example illustrated in Figure 4, 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.

[0210] 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. 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 image detecting means 65 .

[0211] 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 .

[0212] In addition, the electronic control unit 70 can also be operatively connected to the motor means 3 to control the movement of the machine 1 on the ground .

[0213] The 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 .

[0214] 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 .

[0215] In a second step , 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 . In a third step, the electronic control unit 70 controls the operation of the driving device 33 , so that the proj ecting j 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 .

[0216] Preferably, but not limited to , in a fourth step, the electronic control unit 70 controls the operation of the driving device 29 , so that the gripper 28 can move , in particular 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 .

[0217] In a fi fth step, 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 .

[0218] In addition, or alternatively, in a sixth step, 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 j aws 31 into the approaching position and empty the harvested fruit and vegetable products 200 inside the transport device 40 immediately below .

[0219] 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 .

[0220] 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.

[0221] 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.

[0222] In light of the above, the present invention also relates to the operating method of the machine 1.

[0223] 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 to be harvested, in particular the petiol (s) 202 of the fruit and vegetable product (s) 200 to be harvested by means of the detecting means 65; b) controlling the harvesting equipment 14 so as to bring the gripping device 24 at the fruit and vegetable product (s) 200 detected in step a) ; c) controlling the gripper 28 so as to grip / grasp the petiol (s) 202 of the fruit and vegetable product (s) 200; and then d) controlling the harvesting equipment 14 so as to pick / detach the petiol (s) 202 of the fruit and vegetable product (s) 200 from the tree or plant to which it is attached.

[0224] More specifically, step c) preferably comprises the step of controlling the driving device 33 of the projecting aws 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 .

[0225] In addition, at the end of step c ) , the operating method of the machine 1 preferably further comprises the step of controlling the gripping device 24 so as to rotate the gripper 28 about the rotation axis R4 .

[0226] Step d) of the operating method of the machine 1 preferably comprises , furthermore , the step of moving the gripping device 24 towards the storage seat 6 .

[0227] In addition, step d) of the operating method of the machine 1 preferably comprises the following steps : e ) controlling the conveyor arm 19 so as to arrange the conveyor device 40 immediately below the gripping device 24 ; and f ) controlling the gripping device 24 so as to release the fruit and vegetable product ( s ) gripped in step c ) .

[0228] In addition, the operating method of the machine 1 , at the end of step g) , pre ferably comprises , furthermore , the step of controlling the harvesting equipment 14 so as to arrange the conveyor device 40 immediately above the unloading device 54 .

[0229] Once the conveyor device 40 is arranged immediately above the unloading device 54 , the method preferably comprises the step of controlling the conveyor arm 19 so as to operate the conveyor device 40 and empty the fruit and vegetable product ( s ) into the unloading device 54 .

[0230] 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 .

[0231] 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 .

[0232] The advantages associated with the gripping device 24 , the machine 1 and the related operating method are signi ficant and clear .

[0233] In particular, 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 petiol 202 of the fruit and vegetable product 200 without touching the body 201 of said fruit and vegetable product 200 , with the obvious benefits that this entails .

[0234] 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 .

[0235] In addition, the movement of the gripper 28 relative to the anchoring bracket 26 allows the detecting means to be kept in position, thus facilitating the operations of monitoring the detachment and management of the power and signal cables (which are not continuously shaken, twisted, or moved every time a fruit and vegetable product 200 is harvested) .

[0236] 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 .

[0237] In addition, the use of the gripping insert 35 of the proj ecting j aws 31 made of a polymeric material allows the petiol 202 of the fruit and vegetable products 200 to be firmly gripped, preventing the same from falling . The inclined orientation of the distal portion 34a of the prongs 34 allows for improved grip on the petiol 202 of the fruit and vegetable products 200 , preventing the same from slipping of f during the rotation of the gripper 24 .

[0238] 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 also allows for easy adaptation to 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 .

[0239] In addition, the presence of at least one articulated harvesting arm 17 , a conveyor arm 19 and unloading equipment 50 separate and distinct from one another allows to speed up / optimi ze the operation of the machine 1 , since the articulated harvesting arm 17 does not have to deposit the harvested fruit and vegetable products 200 on the storage seat 6 every time , but can deposit them in an intermediate way, thus reducing the times and runs necessary after each harvesting mission .

[0240] Finally, it is clear that modi fications and alternatives can be made to the gripping device 24 , 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 .

[0241] 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 . 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 .

[0242] 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 .

[0243] 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 .

[0244] Alternatively, or in addition, the conveyor arm 19 could also comprise at least one telescopically extendable portion .

[0245] In other words , the rod 38 of the conveyor arm 19 could be telescopically extendable .

[0246] 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 .

[0247] 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 .

[0248] The actuation device of the conveyor device 40 could be configured to rotate / overturn the cup-shaped body 41 .

[0249] 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 cupshaped body 60 could advantageously have a monolithic structure .

[0250] In addition, the actuation device of the unloading device 54 could be configured to rotate / overturn the cup-shaped body 60 .

[0251] 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 .

[0252] 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 gripping device (24) for a machine (1) for the automated harvesting of fruit and vegetable products, said gripping device (24) comprising a gripper (28) , which is configured to at least partially grip / grasp said fruit and vegetable product (s) (200) , in particular the petiol (s) (202) of said fruit and vegetable product (s) (200) ; wherein said gripper (28) comprises a pair of projecting aws (31) , which are movable on command between an approaching position and a gripping position, wherein in the gripping position the projecting jaws (31) are brought closer to one another relative to the approaching position, wherein, in the gripping position, at least two gripping portions, facing one another, of said projecting jaws (31) are arranged at a minimum distance of less than 20 millimetres; the gripping device (24) further comprising an anchoring bracket (26) , which is configured to be carried by an articulated harvesting arm (17) of said machine (1) , and in turn supports said gripper (28) ; wherein said gripper (28) is carried in a movable manner by said anchoring bracket (26) and is configured to be controlled in order to move relative to said anchoring bracket (26) , so as to pick / detach, from a respective branch, the petiol (s) (202) of the previously grasped fruit and vegetable product (s) (200) .2.- The gripping device according to claim 1, wherein, in said gripping position, the two gripping portions of said projecting jaws (31) are arranged at least partially in abutment against one another, in particular so as to grip / grasp one or more petiols of the fruit and vegetable products (200) to be harvested .3.- The gripping device according to claim 1 or 2, wherein said gripper (28) is carried in a rotatable manner by said anchoringbracket (26) , and is rotatable about a first rotation axis (R4) .4.- The gripping device according to any of the preceding claims, further comprising a first driving device (29) , which is configured to rotate, on command, said gripper (28) relative to said anchoring bracket (26) about said first rotation axis (R4) .5.- The gripping device according to any one of the preceding claims, wherein said gripper (28) comprises a support element (30) configured to carry said projecting jaws (31) ; said projecting jaws (31) being slidably carried by said support element (30) and being configured to be able to move to and from said gripping position along a first direction (di) transverse to said first rotation axis (R4) , preferably remaining substantially parallel to one another.6.- The gripping device according to any one of the claims from 1 to 4, wherein said gripper (28) comprises a support element (30) configured to carry said projecting aws (31) ; said projecting jaws (31) being rotatably carried by said support element (30) and being configured to be able to rotate relative to said support element (30) to and from said gripping position about a second rotation axis transverse to said first rotation axis (R4) .7 The gripping device according to any one of the preceding claims, further comprising a second driving device (33) , which is configured to move / operate said projecting jaws (31) to and from said gripping position.8.- The gripping device according to any one of the preceding claims, wherein the projecting jaws (31) are provided with at least one pair of gripping inserts (35) , which are arranged on said projecting jaws (31) facing one another and are configured to grasp one or more petiols (202) of said fruit and vegetable product (s) (200) .9.- The gripping device according to any one of the preceding claims, wherein said projecting aws (31) each comprise an oblong prong (34) , which extends cantilevered from said support element (30) .10.- The gripping device according to claim 9, wherein distal portions (34a) of said oblong prongs (34) are inclined relative to the longitudinal axis of said oblong prongs (34) and / or are converging towards one another.11.- A machine (1) for harvesting fruit and vegetable products; said machine (1) comprising:• a supporting frame (2) , which extends along a first reference axis (A) ;• at least one harvesting assembly (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 harvesting assembly (5) and is configured to house at least one container (100) adapted to receive and contain said fruit and vegetable products (200) ; said harvesting assembly (5) comprising:• at least one set of harvesting equipment (14) , which is configured to harvest said fruit and vegetable products (200) and to convey said fruit and vegetable products (200) towards said storage seat (6) ; said harvesting equipment (14) comprising:• an articulated harvesting arm (17) carried in a movable manner relative to said supporting frame (2) ; and• a gripping device (24) , which is made according to any one of the preceding claims and is carried by the distal end of said articulated harvesting arm (17) .12.- The machine according to claim 11, further comprising detecting means (65) , which are configured to detect the fruitand 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 an electronic control unit (70) , which is operatively connected to at least said detecting means (65) and comprises processing means, which are configured to control the operation of said machine (1) , and in particular of said harvesting assembly (5) , based on the data provided by said detecting means (65) .13.- The machine according to claim 12, wherein the electronic control unit (70) is configured to control said harvesting equipment (14) so as to grip / grasp the petiol (s) (202) of said fruit and vegetable product (s) (200) to be harvested.14.- The machine according to claim 12 or 13, wherein said detecting means (65) are carried by said harvesting equipment (14) , in particular by said gripping device (24) .15.- An operating method of a machine (1) made according to claim 11, 12 or 13; said operating method comprising the steps of: a) detecting / identif ying 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; b) controlling said harvesting equipment (14) so as to bring said gripping device (24) at the fruit and vegetable product (s) (200) detected / identif led in step a) ; c) controlling said gripper (28) so as to grasp the petiol (s) (202) of the fruit and vegetable product (s) (200) ; and d) controlling said harvesting equipment (14) , in particular said gripping device (24) , so as to pick / detach the petiol (s) (202) of the fruit and vegetable product (s) (200) from the tree or plant to which it is / they are attached.

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