Drive equipment for agile pruning of plants

Abstract

A drive equipment (1) for agile pruning of plants, in particular orchard and / or vineyard plants, comprising a load-bearing frame (2) suitable to be positioned laterally to one or more rows (F) of plants to be worked present in a cultivation ground (T), a plurality of kinematic elements (4) protruding from a lower portion (3) of the load-bearing frame (2) to which they're coupled through transmission means (5) and suitable to rest in a mobile manner on the cultivation ground (T) when the drive equipment (1) is operative, first actuation means (6), temporarily or permanently integral with the load-bearing frame (2) and cooperating with the kinematic elements (4), suitable to intervene to move the kinematic elements (4) and thus make the lad-bearing frame (2) mobile on the cultivation ground (T), and cutting means (7) coupled to the load-bearing frame (2) and suitable to at least cut, following a prefixed cultivation system of the plants, one or more superfluous or renewable shoots of a plurality of plants, leaving on the plants one or more renewal spurs and one or more selected production shoots. In particular, the drive equipment (1) of the invention comprises binding means (9), coupled to the load¬ bearing frame (2) and suitable at least to bind to a supporting body through a binding wire (L), following the prefixed cultivation system, each of the selected production shoots of the plants that have excluded from the cutting carried out by the cutting means (7), and bending means (10), coupled to the load-bearing frame (2) and cooperating with the binding means (9), suitable to bend, following the prefixed cultivation system, each of the selected production shoots of the plants during or immediately after the binding of the selected production shoots.

Description

[0001] DRIVE EQUIPMENT FOR AGILE PRUNING OF PLANTS

[0002] The present invention concerns a preferably self-propelled and electrically powered drive equipment, also known in jargon as "agricultural wagon", "agricultural cart," or "agricultural tractor" and constituting a vehicle used not only in agriculture but also, for instance, in arboriculture, gardening, do-it-yourself, and urban maintenance to perform not only (though primarily) agricultural pruning work but also maintenance work on rows of plants, especially fruit trees such as typically vineyards, in public (e.g., city streets) or private (e.g., cultivated lands, gardens, driveways) outdoor environments.

[0003] It should be immediately emphasized that, preferably, the typically agricultural drive equipment, which is the subject of the invention can also be defined as autonomous and self-propelled, in the sense that it is moved automatically following a prefixed, even programmed, path for cultivating the ground, without a person driving the drive equipment itself (not coincidentally, such a drive equipment of the invention lacks any driving position from which, in a traditional agricultural machine, the operator supervises the cultivation operations of the ground by driving or otherwise maneuvering the machine itself).

[0004] Furthermore, it should be noted that an orchard, such as a vineyard, is defined as "espalier-trained" (or "counter-espalier" or "row-trained") when the cultivation system features a support structure (or piling system, consisting of posts, wires, guardians, and so on) that follows the axis of the row and the plants grow along a vertical wall perpendicular to the cultivation ground.

[0005] In the following, description of the invention will continue with specific but purely preferred reference to vines as application field of the drive machine, in awareness however that this may be used for the pruning of any type of plant, particularly (but not limited to) fruit trees (that also includes olive groves) and so on.

[0006] It is known that pruning fruit trees, such as for instance grapevines, is an operation performed in the orchard (the vineyard, in fact) and involves the removal of parts of the grapevine itself, such as shoots, canes, bunches, and excess foliage (whether native or foreign to it), in order to control grapevines growth, improve plant health (preventing disease), and influence grape yield and quality.There are various grapevine pruning (or cultivation) systems, each with a different impact on the growth and production of the plant, and the he choice of which system to adopt is dictated in some cases by tradition, but above all by technical factors such as the location of the vineyard, by the features of the vine variety, and by the production purposes of the plant.

[0007] Firstly, as well known, there are two grapevine pruning periods during the year: winter pruning, also known as dry pruning, which occurs during the vegetative rest period typically between November of one year and March of the following year and through which the winemaker keeps the established cultivation system and controls the quantity and quality of the product by adjusting the number of buds left on each plant, and summer pruning, also known as green pruning, which occurs during the vegetative period, between late spring and summer, during which the winemaker carries out interventions that allow to adjust the development of the grapevine's canopy and balance the relationship between leaf surface and production.

[0008] The choice of the grapevine pruning system depends on several factors, including:

[0009] • grape variety grown: the different grape varieties may require specific pruning approaches to optimize yield and grape quality;

[0010] • climate and ground: climate and ground conditions can influence the choice of the pruning system. For example, in regions with harsh winters, a pruning system that protects younger shoots from the cold might be preferred, while in hot, dry areas, a system that limits vigorous plant growth might be chosen; • yield and product Quality objectives: the winemaker's objectives in terms of yield and grape quality can influence the choice of pruning system. Some pruning systems favor greater grape production, while other ones favor better quality and concentration of the nutrients in the grape;

[0011] • age of grapevines in the vineyard: the age of grapevines can influence the choice of pruning system. Young grapevines may require lighter pruning to encourage vigorous growth and root development, while older grapevines may require more severe pruning to control yield and maintain plant health;• cultivation system used to support the grapevines: some cultivation systems are more compatible with specific pruning techniques and allow for better access to the grapevines for pruning;

[0012] • vineyard economics and management: the available resources, such as labor and time, can influence the choice of pruning system. Some systems require more time and effort to be correctly carried out, while others may be more efficient in terms of management, in the awareness that the possibility of automating vineyard management to a greater or lesser extent is an increasingly current and sensitive issue.

[0013] It is important to consider the aforesaid factors and carefully evaluate the specific needs of the vineyard and the winemaker's objectives before choosing the most appropriate pruning system.

[0014] In many cases, a combination of pruning systems, among those well known and available, may be necessary to optimize production and grape quality.

[0015] Depending on the pruning method used on the espalier system, as well as the length, shape, and direction of the fruiting canes and woody canes, various grapevine cultivation techniques have been developed over the years, some of which are summarized here:

[0016] • Guyot: without permanent cordon, forced mixed pruning, fruiting shoots in horizontal position;

[0017] • Double inverted: without permanent cordon, forced mixed pruning, fruiting shoots in descending position;

[0018] • Spurred cordon: horizontal permanent cordon, short pruning, descending guided growth;

[0019] • Sylvoz: horizontal permanent cordon, forced mixed pruning, descending fruiting shoots;

[0020] • Casarsa: horizontal permanent cordon, free mixed pruning, partly free and partly forced growth;

[0021] • Simple arch: a variant of the Guyot cultivation technique, where the fruiting cane is renewed annually with the production pruning;

[0022] • Alberello: traditionally widespread in the Mediterranean basin to allow the grapevine to cope with periods of drought;• Double Courtain: also known by the abbreviation GDC (acronym for "Geneva Double Courtain"), a double espalier system, consisting of two curtains of vegetation that fall between two adjacent rows;

[0023] • Canopy: suitable for fairly sunny cultivation grounds, in hot or dry climate areas; the support structure is placed both along the row and across it using strings, there is no permanent cordon and the fruiting canes develop horizontally.

[0024] As far as the automation of the vineyard pruning process is concerned, at the current state of the art more or less basic, primitive and sketchy drive equipment is available that allows to automate only a small part of the pruning operations.

[0025] Indeed, the drive equipment of interest herein, of the type briefly described above, at most only allows for the pruning of superfluous or renewable shoots or excess foliage on the grapevine branch.

[0026] More in particular, a drive equipment for pruning vineyard plants of known type comprises a load-bearing frame suitable to be positioned laterally to one or more rows of plants to be worked in the cultivation ground, as well as a plurality of kinematic elements protruding from a lower portion of the load-bearing frame, to which they are coupled through transmission means, and suitable to rest in movable way on the cultivation ground when the drive equipment is in operation. Such a known type of drive equipment also comprises first actuation means, temporarily or permanently integral with the load-bearing frame and cooperating with the kinematic components, suitable to intervene to move the kinematic components themselves and thus make the load-bearing frame mobile on the cultivation ground, as well as cutting means coupled to the load-bearing frame and suitable to at least cut, following a prefixed cultivation system of the plants, one or more superfluous or renewable shoots (of future flowering, in the subsequent year) of a plurality of plants, leaving on the plants one or more renewal spurs and one or more selected production (or ready to flower) shoots.

[0027] A prior art drive equipment therefore allows for only partial automation of the operations which winemakers must perform to complete a pruning cycle of the vineyard plants and which primarily provide for even gripping, moving to the ground and subsequently removing the freshly cut shoots, bending the productionshoots that were not cut and binding them to a support body (pole, wire, stake, string and similar) present in the vineyard.

[0028] These operations, currently, are still unfavorably performed manually by winemakers, to the detriment of the physical effort they must endure and which, inevitably, leads to health problems such as complications, especially rheumatism, sometimes difficult to treat at the joints and / or back.

[0029] Furthermore, manually performing most of the operations required by a pruning cycle of vineyard plants entails, negatively, an inevitable lengthening of processing times and an increase in operating costs, all other factors involved in calculating the final cost, such as labor and raw materials, being equal.

[0030] A last but not least drawback of the prior art drive equipment used for pruning plants present in particular in an cultivation ground is due to the fact that, precisely because the operations are mostly performed manually by the winemakers, the operational continuity throughout the day is not guaranteed, unless operators are subjected to grueling, exhausting, and unthinkable night shifts for which it is virtually impossible to envision additional, especially experienced and qualified, labor, which is yet difficult to find during more conventional daytime working hours. Therefore, starting from an awareness of the aforesaid drawbacks affecting the current state of the art considered here, the present invention aims to effectively overcome these drawbacks.

[0031] Specifically, primary purpose of the invention is to provide a drive equipment, preferably self-propelled and electrically powered, which allows for the automation of at least the most relevant, important, significant, and costly operations required for the effective and proper pruning of plants, particularly orchards such as vineyards, apple orchards, olive groves, and the like.

[0032] In other words, primary purpose of the present invention is therefore to design a drive equipment which, unlike what is available in the prior art, can be effectively used to perform the pruning cycle of plants, especially orchards such as vineyards and / or olive groves, in a nearly completely automated manner.

[0033] Within the scope of the aforesaid primary purpose, it is task of the present invention to provide a drive equipment, primarily traction or electricity powered, which facilitates the work of professionals, such as winemakers, in the pruningcycle of fruit plants, making the related operations less difficult, less costly, and less laborious than those ones performed in prior art.

[0034] It is another task of the present invention to provide a drive equipment for agile pruning of plants which allows for the protection of the physical health of the workers involved in such operations to a significantly greater extent than that afforded by more directly (albeit remotely) comparable drive equipment of the prior art.

[0035] It is a further task of the present invention to provide a drive equipment which, compared to the current state of the art, reduces the time and operating costs associated with the pruning cycle of plants.

[0036] A last but not least purpose of the invention is to provide a drive equipment, preferably traction or electricity powered, which, unlike what is available in the prior art, ensures operative continuity not only throughout the day but also throughout an entire calendar year.

[0037] Said purposes are achieved by a drive equipment for agile pruning of plants as per the attached claim 1 , to which reference is made for the sake of brevity.

[0038] Further technical detail features of the drive equipment for agile pruning of plants, particularly plants growing in a cultivation ground, of the invention are set forth in the respective dependent claims.

[0039] The aforementioned claims, specifically and concretely defined below, are to be considered as integral part of this specification.

[0040] Advantageously, the drive equipment of the invention allows the most significant, most salient, and most onerous operations involved in the pruning of fruit plants, especially vineyards, to be performed automatically and mechanized.

[0041] This is favorably because the drive equipment, object of the invention, generally self-propelled (or self-driving) and electrically powered, specifically used for pruning plants, for instance fruit plants such as grapevines, olive groves, apple orchards, pear orchards, peach orchards and others present in a cultivation ground, integrates in a single operating unit not only cutting means for severing superfluous or renewable shoots but also, in an innovative manner:

[0042] - binding means, coupled to the load-bearing frame and suitable to at least bind to a support body through a binding wire, following (or according to) theprefixed cultivation system, each of the selected production shoots of the plants left out of the cutting performed by the cutting means;

[0043] - bending (or curving) means, coupled to the load-bearing frame and cooperating with the binding means, suitable to bend, following the prefixed cultivation system, each of the selected production shoots of the plants during or immediately after the binding of those selected production shoots.

[0044] Equally advantageously, the drive equipment of the invention simplifies the work of growers responsible for pruning fruit plants, making the operations associated with this specific agricultural activity less tiring than the current state of the art.

[0045] Equally advantageously, the drive equipment of the present invention allows for a significant reduction in the time and costs associated with pruning fruit plants compared to prior art, thanks also to the greater continuity of operation that, preferably, it is able to offer when it is provided in the self-propelled version.

[0046] Even more advantageously, the drive equipment of the present invention preferably includes GPS technology that allows for precise planning of its movements, tracing a map of the cultivation ground on which it operates.

[0047] As an alternative to GPS technology, the drive equipment of the invention includes a front scanner for inter-row position and guidance and / or a rear scanner for interrow position and guidance, preferably of the infrared type.

[0048] Specifically, the GPS system receiver or the scanner allows the drive equipment of the invention to autonomously determine the route to be taken or followed on the cultivation ground.

[0049] As soon as it reaches the edge (or boundary or margin) of the cultivation ground, the drive equipment of the invention, when configured as self-propelled and electrically powered, automatically and autonomously changes its direction of travel.

[0050] Equally advantageously, the drive equipment, usually agricultural and self-propelled, of the current invention is cutting-edge, sustainable and producible at a competitive cost; thanks to the use of GPS technology or the infrared scanner and to the low forward speeds, the invention allows for high precision in the mechanized pruning of plants, especially fruit plants, thus limiting the invasiveness that impacts both production yields and environmental protection.Moreover, in an advantageous although preferred manner, the multifunctionality of the drive equipment, in general agricultural, self-propelled and electrically powered, of the invention makes it suitable for various types of cultivation systems of plants, especially fruit plants and ideal for the market as well, given the complex biodiversity of the cultivation ground for producing raw materials, in this case, fruit, intended for the food sector.

[0051] Choosing the electrical power supply means reducing polluting gas emissions, noises and maintenance, even in the sector of agricultural machinery for ground working or plants cultivation, or even for the maintenance of public spaces: taking into consideration that 40% of the European Union's territory is used for agricultural purposes, the preferred embodiment of the drive equipment of the invention, in general self-propelled and electrically powered, protects the environment and the resulting food excellences.

[0052] Said purposes and advantages, as well as others that will emerge as the paper progresses, will become more evident from the following description, relating to a preferred embodiment of the drive equipment for agile pruning of plants of the present invention, given for illustrative and non-limitative purposes, with reference to the attached drawings in which:

[0053] - figures 1 and 2 are two distinct simplified assonometric views of the drive equipment of the invention;

[0054] - figure 3 is an enlarged and in cross-section view of figure 1 ;

[0055] - figure 4 is a first simplified view of figure 1 ;

[0056] - figure 5 is a second simplified view of figure 1 ;

[0057] - figure 6 is a first simplified view of figure 4;

[0058] - figure 7 is a second simplified view of figure 4, from the opposite side with respect to figure 6;

[0059] - figure 8 is a front view of figure 5;

[0060] - figure 8a is an enlarged assonometric view of a first detail of figure 8;

[0061] - figure 8b is an enlarged assonometric view of a second detail of figure 8;

[0062] - figure 9 is an enlarged and truncated view of a first assembly of figure 4;

[0063] - figure 10 is an enlarged and truncated view of a second assembly of figure 4; - figure 11 is an enlarged and truncated side view of figure 7;- figure 12 is a partially exploded assonometric view of an assembly of figure 11 ;

[0064] - figure 13 is an enlarged and truncated assonometric view of an assembly of figure 9;

[0065] - figure 14 is the partly exploded view of figure 13;

[0066] - figure 15 is a partially exploded assonometric view of the assembly of figure 13, complete with the cutting means;

[0067] - figure 16 is the view of figure 15, complete with the binding means in place of the cutting means;

[0068] - figure 17 is the view of figure 15 or figure 16, complete with the bending means in place of the cutting means or the binding means;

[0069] - figure 18 is the view of figure 15, figure 16 or figure 17, complete with the gripping and moving means in place of the cutting means, the binding means or the bending means;

[0070] - figure 19 is the enlarged assonometric view of a detail of figures 15, 16, 17 or 18;

[0071] - figure 20 is an exemplary plan view of a typical working scheme of a plot of cultivation ground carried out by the drive equipment for agile pruning of plants of the invention;

[0072] - figure 21 is an enlarged and simplified assonometric view of a component of figure 15;

[0073] - figure 22 is a partial view of figure 21 , integrated with the probe means;

[0074] - figure 23 is the exploded view of figure 21 ;

[0075] - figure 24 is an enlarged assonometric view of a component of figure 17;

[0076] - figure 25 is the exploded view of figure 24;

[0077] - figure 26 is a plan view of figure 24;

[0078] - figure 27 is a view of figure 26 according to the section plane XXVI l-XXVI I; - figure 28 is an enlarged assonometric view of a variant embodiment of the assembly shown in figures 12 and 13;

[0079] - figure 29 is the partially exploded view of a first component (the tool holder block) of figure 28;

[0080] - figure 30 is the exploded view of a second component of figure 28.The drive equipment, generally and preferably agricultural, self-propelled and electrically powered, object of the invention, useful for the agile, quick, easy, and simplified pruning of plants, especially fruit plants such as vineyards or olive groves present in a working or cultivation ground, is illustrated in figures 1 and 2, where it is globally numbered with 1.

[0081] As it can be seen, the drive equipment 1 comprises:

[0082] - a load-bearing frame 2 designed to rest at a predetermined distance from a cultivation ground T where it is positioned laterally to one or more rows F of plants to be worked (illustrated only schematically in figure 15) present in such a cultivation ground T;

[0083] - a plurality of kinematic elements 4 protruding from a lower portion 3 of the load-bearing frame 2 to which they are coupled through transmission means, collectively indicated by 5: the kinematic elements 4 are designed to rest in a movable - in this specific example, rotatory - manner on the cultivation ground T when the drive equipment 1 is operative;

[0084] - first actuation means, generically and indicatively numbered by 6, temporarily or permanently integral with the load-bearing frame 2 and cooperating with the kinematic members 4; the first actuation means 6 are suitable to intervene to move (rotationally, in this case) the kinematic members 4 and thus make the load-bearing frame 2 movable on the cultivation ground T;

[0085] - cutting means, as a whole indicated by 7, coupled to the load-bearing frame 2 and having at least the function of cutting, following a prefixed cultivation system (or technology) of the plants, one or more superfluous or renewable shoots from a plurality of plants, leaving on the plants themselves one or more renewal spurs and one or more selected production shoots (or ready-to-flower, also called fruiting canes).

[0086] According to the invention, the drive equipment 1 also comprises:

[0087] - binding means, generally indicated by 9, coupled to the load-bearing frame 2 and suitable at least to bind to a supporting through a binding wire L (or tie, visible in figure 5), following the prefixed cultivation system, each of the selected production shoots of the plants that have been excluded from the cutting carried out by the cutting means 7;- bending means, overall indicated by 10, coupled to the load-bearing frame 2 and cooperating with the binding means 9, suitable to bend, following (or according to) the prefixed cultivation system, each of the selected production shoots of said plants during (simultaneously with) or immediately after the binding of the selected production shoots.

[0088] It should be noted from the outset that the binding wire L is preferably made of a standard material typically mounted on a reel on electric binding machines, such as steel, aluminum, copper, synthetic (for example polyethylene), but this does not exclude the possibility that it can be made of biodegradable textile wire, bio-photodegradable wire or paper wire.

[0089] Currently, in viticulture the tendence is to use manual binding techniques facilitated by power tools and to employ increasingly eco-friendly, sustainable, and plant-friendly materials. Indeed, avoiding damage to branches as much as possible and reducing the dispersion of pollutants into the vineyard environment has become essential, and the most innovative processing strategies allow this purpose to be achieved while keeping the practicality of operations.

[0090] It should also be noted that, when dealing with grapevines, a prefixed cultivation system (or technology) of plants, followed by the drive equipment 1 of the invention, means any of the cultivation systems yet previously listed - by exemplary, indicative and partial way - selected from the group consisting of Guyot system, double inverted system, spurred cordon system, Sylvoz system, and so on.

[0091] The drive equipment 1 of the invention is particularly, but not exclusively, suitable to be used in grapevine cultivation systems that utilize renewable shoots.

[0092] By way of preference but not limitation, the drive equipment 1 of the invention also comprises gripping and moving means, indicated as a whole and by way of example with 8 in figure 4, coupled to the load-bearing frame 2 and cooperating with the cutting means 7, suitable to grasp the superfluous or renewable shoots before they are cut by the cutting means 7 and for moving them towards the cultivation ground T, releasing them onto it after they have been cut by the cutting means 7 themselves.

[0093] Furthermore, it is highlighted as- the first actuation means 6 and / or

[0094] - the cutting means 7, the binding means 9, the bending means 10 and, in this constructive example, even the gripping and moving means 8

[0095] are preferably of mechanical type, in such a way that the drive equipment 1 can be configured as totally automatic.

[0096] It is, however, understood that in other embodiments of the drive equipment of the invention, not illustrated in the following, the first actuation means may be manual and consist of the upper limbs of an operator assigned to the cultivation of the plants in the orchard concerned.

[0097] In this regard, in a preferred, appropriate but not binding manner, the drive equipment 1 of the invention comprises, in fact, a central processing and control unit, installed in a general command panel 40 (shown in figures 6 and 7, where it is noted that it is located in a technical room 14 made in the load-bearing frame 2) and suitable to be electrically connected to an electrical power source 12 and to manage the actuation and operation of the entire drive equipment 1.

[0098] The central processing and control unit can be controlled by the operator through a control panel 39 installed on the load-bearing frame 2 and accessible from the outside, as shown in figures 1 and 3.

[0099] Figures 1-8 also show that the kinematic elements 4 protrude from the loadbearing frame 2 so as to remain completely outside the width of the load-bearing frame 2 and partly outside the height of the load-bearing frame 2: this constructive measure is particularly important for moving the drive equipment 1 of the invention between one row and another as it allows the kinematic elements 4 to freely rotate of 90° and to keep a given position of the drive equipment 1 with respect to the various rows F of plants to be worked, as it will be better explained later.

[0100] Preferably, but not necessarily, the first actuation means 6 include first motorization means, not illustrated for the sake of exposition simplicity and fixed to the load-bearing frame 2, which exploit the energy supply source 12, in this case electrical, to move the kinematic elements 4 on the cultivation ground T where the plants, such as grapevines, are located.

[0101] More specifically, the first motorization means preferably comprise a plurality of electric motors, each of which is electrically connected on one side to a pack ofelectric batteries 13, visible in figures 6 and 7, forming, in the specific example being described, the energy supply source 12 and housed in the technical room 14 defined in the lower portion 3 of the load-bearing frame 2.

[0102] On the opposite side, each of the aforesaid electric motors is operatively connected to a respective of the kinematic elements 4.

[0103] In particular, furthermore, the electric motors are in a number equal to a plurality of drive wheels 15 which, preferably but not limited to, define in this case the kinematic elements 4 and which are uniformly distributed on the load-bearing frame 2; the electric motors are also arranged, one at a respective drive wheel 15. As it can be seen again in figures 1-8, the drive wheels 15 are preferably four in number, arranged at four vertices of the load-bearing frame 2 which, in this specific but not exclusive embodiment, takes the shape of a parallelepiped: this arrangement of the drive wheels 15 maximizes the stability of the load-bearing frame 2 on the cultivation ground T.

[0104] Other embodiments of the drive equipment of the invention, not illustrated in the attached figures, may provide for electric motors in a number fewer than the drive wheels to which they may however be connected through auxiliary motion transmission units, likewise, other embodiments of the drive equipment of the invention, not yet depicted in the attached drawings, may provide for a number of drive wheels other than four, such a number varying depending on the project, starting from two.

[0105] With reference to the pack of said electric batteries 13, it can be removable and completely replaceable with a separate pack of electric batteries, or, more conveniently, rechargeable by means of

[0106] - a structurally autonomous and independent generator group, not illustrated, separate from the load-bearing frame 2 and available, for example, to the winemaker on the farm, suitable to be connected to the pack of electric batteries 13 when necessary, or

[0107] - an autonomous and separate buffer pack of electric batteries, kept charged when not in use and suitable to be connected to the pack of electric batteries 13 when necessary through a connection cable 11 applied to an electric socket outlet 16 accessible to an operator as it is present in an outer wall 26vertically delimiting the technical room 14 of the lower portion 3 of the loadbearing frame 2. In this preferred case, the rechargeable electric batteries are advantageously of the LFP type (i.e. lithium-iron-phosphate batteries) or of the LiPo type (lithium-polymer batteries), having a life of 50,000 cycles and rapid recharging times (approximately 30 minutes).

[0108] It is understood that in other embodiments of the invention, not illustrated below by explanatory figures, the drive equipment may be powered by the general electric grid, fossil fuels, biofuels, hydrogen, oils and blends, hybrid systems, power generators or alternative energy sources.

[0109] In preferred but not limited way, the drive equipment 1 of the invention comprises a front steering unit 17 and a rear steering unit 18, coupled to the load-bearing frame 2 and cooperating with the kinematic elements 4 and operatively connected to second drive means, also not illustrated and fixed to the load-bearing frame 2, suitable, when necessary, to operate the front steering unit 17 and the rear steering unit 18 to rotate the kinematic elements 4.

[0110] The second drive means also comprise, preferably but not necessarily, a plurality of electric motors, each of which, on one hand, is electrically connected to the pack of electric batteries 13 and, on the other hand, is operatively connected to a corresponding one of the kinematic elements 4: even the electric motors of the second drive means are equal in number to the drive wheels 15 which, as mentioned, preferably make up the kinematic elements 4.

[0111] Specifically, as it can be seen from figures 1-4, 6, 7 and 9 and from the detail of figure 12, the front steering assembly 17 is connected to the kinematic elements 4 through a first pair of vertical torsion rods 19, 20 symmetrically arranged with respect to a longitudinal development axis X of the load-bearing frame 2 and made mutually integral through a first horizontal connection bar 23.

[0112] Similarly, the rear steering assembly 18 is connected to the kinematic elements 4 through a second pair of vertical torsion rods 21, 22 symmetrically arranged with respect to the longitudinal development axis X of the load-bearing frame 2 and made mutually integral through a second horizontal connection bar 24.

[0113] Each of the torsion rods 19, 20, 21, 22 is, furthermore, provided with a stop plate 25 fixed to the load-bearing frame 2 and hinged, for example by means of twotubular elements 76, to one of the torsion rods 19, 20, 21 , 22 in such a way as to appropriately distance the latter and, with them, the kinematic elements 4 from the load-bearing frame 2.

[0114] In addition, the first pair of torsion rods 19, 20 and the second pair of torsion rods 21 , 22 are symmetrically arranged with respect to a transverse development axis Y, orthogonal to the longitudinal axis X, of the load-bearing frame 2.

[0115] More specifically, each of the vertical torsion rods 19, 20, 21, 22 is coupled to a box-shaped column 41 slightly spaced apart from one of the vertices of the loadbearing frame 2: this constructive feature also contributes to the advantage of allowing the free 90° rotation of the kinematic elements 4 and the maintenance of a given position of the drive equipment 1 with respect to the consecutive rows F of plants to be worked on the cultivation ground T, as it has already been previously mentioned.

[0116] Figures 1-5 allow to deduce that the cutting means 7, the gripping and moving means 8 (the presence of which, as already indicated, is optional and available based on the operative choices), the binding means 9 and the bending means 10 are positioned on the load-bearing frame 2 in such a way as to laterally and frontally face the plants (such as, for example, the grapevines which make up the various rows F placed side-by-side) and to be substantially hidden from view from the outside or at least not exposed to the surrounding environment when the drive equipment 1 of the invention is operating: in such a manner, while the working tools 7, 8, 9 and 10 of the drive equipment 1 of the invention are operative, appropriate safety conditions are maintained, since these tools are sheltered and in any case not easily accessible, even accidentally, by any person who happens to be nearby.

[0117] More particularly, the cutting means 7 comprise an automatic scissors (better visible in the detail of figure 8a and in figure 15, as well as separately in figures 21-23) of the type per se known to those skilled in the art, the gripping and moving means 8 comprise an automatic clamp (better visible in figure 18) of the type per se known to those skilled in the art, the binding means 9 comprise an automatic binding machine (better visible in the detail of figure 8a and in figure 16) of the type per se known to those skilled in the art and the bending means 10 comprisean innovative bender (better visible in the detail of figure 8b and in figure 17, as well as separately in figures 24-27).

[0118] The innovative bending machine of the invention, shown in the figures just cited, is a tool equipped with a laminar bracket and one or more pins shaped essentially like an hourglass that are coupled to the laminar bracket so as to protrude from it and which, when appropriately moved, allow the affected grapevine shoot to be bent in a controlled manner, as it will be discussed in greater detail shortly.

[0119] In relation to the cutting means 7 and binding means 9, they are coupled to a first anthropomorphic robot 27 fixed to the upper surface 29a of an intermediate basement 29 of the load-bearing frame 2, while the cutting means 7 (or, as an alternative, the gripping and moving means 8) and bending means 10 are coupled to a second anthropomorphic robot 28, in this case placed alongside the first anthropomorphic robot 27 in respect of which is functionally placed downstream, and fixed to the upper surface 29a of the intermediate basement 29 too.

[0120] It should be noted that the intermediate basement 29 delimits the upper part of the technical room 14 housing the electric battery pack 13 and, together with the outer wall 26 and the bottom 42 of the load-bearing frame 2, defines such a technical room 14, properly openable using a mobile (rotating or sliding) door or shutter, not shown.

[0121] It should be also noted that both the anthropomorphic robots 27, 28 operate at very low voltage, no higher than 48 volts.

[0122] In a preferred but not limiting manner, the cutting means 7 and the binding means 9 are removably and alternately coupled to the first anthropomorphic robot 27 at distinct times so as to operate in the order, alternating and sequentially with each other; similarly, the cutting means 7 and the bending means 10 are removably and alternately coupled to the second anthropomorphic robot 28 at distinct times so as to operate in the order, in alternation and succession with each other.

[0123] Moreover, the cutting means 7 removably coupled to the second anthropomorphic robot 28 operate simultaneously with the cutting means 7 removably installed on the first anthropomorphic robot 27, and the bending means 10 removably coupled to the second anthropomorphic robot 28 operate simultaneously with the binding means 9 removably installed on the first anthropomorphic robot 27.In a possible alternative operating condition, the gripping and moving means 8 are removably coupled to the second anthropomorphic robot 28 in place of the cutting means 7 and are configured to operate simultaneously with the cutting means 7 installed on the first anthropomorphic robot 27.

[0124] In essence, in a preferred operating condition of the drive equipment 1 of the invention, same cutting means 7 operate firstly on the plants to be subjected to the pruning cycle, from different positions corresponding to the application position of the anthropomorphic robots 27, 28 on the intermediate basement 29 of the loadbearing frame 2, and subsequently, in succession each other, the binding means 9 and the bending means 10 after having replaced the cutting means 7 on the respective anthropomorphic robots 27, 28.

[0125] On the other hand, in another preferred operating condition, different from that one described above, which can be assumed by the drive equipment 1 of the invention, the cutting means 7 and the gripping and moving means 8 operate firstly and in succession on the plants to be subjected to the pruning cycle, from different positions corresponding to the application position of the anthropomorphic robots 27, 28 on the intermediate basement 29 of the load-bearing frame 2, and subsequently, still in succession, the binding means 9 and the bending means 10 after having replaced the cutting means 7 and the gripping and moving means 8 on the respective anthropomorphic robots 27, 28, respectively.

[0126] It is understood that in alternative and optional embodiments of the drive equipment of the invention, not illustrated in the figures attached, the first and second anthropomorphic robots can be fixed to the upper surface of the intermediate base in opposite positions (facing or not facing each other), continuing to be operated sequentially together with their respective working tools. Advantageously, although not restrictively, the cutting means 7 include probe means, collectively indicated by 79 and better visible in figures 15 and 21-23: the probe means 79 have the function of detecting by contact the presence of superfluous or renewable shoots to be cut from the plants, with the ultimate aim of maintaining a constant cutting depth of such shoots to be cut, appropriately avoiding that each single cutting phase also affects adjacent shoots (generally posterior) with buds and, therefore, not to be cut.Particularly, the probe means 79 include a shaped arm 80, provided with an archshaped terminal portion 801 and at least partly interposed between the two cutting blades 81, 82 placed side-by-side and connected to an electric motor 83 of the automatic scissors: the shaped arm 80 is cantilever coupled to a support member 84 of the automatic scissors through a rotation pin 85 operatively connected to a return spring 86 fixed to the support member 84, as figure 22 shows.

[0127] Advantageously but not necessarily, the shaped arm 80 is arranged according to a transverse plane distinct from a transverse plane identified by the upper surface of each of the cutting blades 81 , 82 of the automatic scissors.

[0128] Even the gripping and moving means 8 preferably comprise the probe means 79 (and in particular the shaped arm 80), as shown in figure 18.

[0129] With particular reference to the working tool constituted by the bending machine, as already mentioned, it is shown separately in figures 24-27; as it can be seen, the bending machine comprises a pair of bending members 87, 88 (also defined as pins, as already highlighted above) arranged parallelly side-by-side to each other, each of which has an advantageous essentially hourglass shape suitable to allow a gradual, guided, and as "gentle" as possible (technically speaking) bending of the selected production shoots of the plants; this with the primary purpose of taking the utmost care not to damage the buds present on the selected shoots. In this specific case, furthermore, a first of these bending members 87 is movable, being operatively connected to a linear actuator 89 (visible in figures 25 and 27 and, preferably, of the electric type) contained in a box-shaped body 90 of the bending machine and suitable to move by sliding (for a maximum stroke of approximately 30 mm) the first bending member 87 with respect to the second bending member 88 along a operative longitudinal axis Zi identified by the linear actuator 89, to bring the bending members 87, 88 closer or further apart depending on the dimensions of the selected production shoots to be bent.

[0130] This is basically a system to adjust the mutual position of the bending members 87, 88 in relation to the selected shoot on which they’re made to operate.

[0131] In particular, as it can be seen better from figures 25 and 26, the first bending member 87 is made to slide axially and preferably within an open-profile through slot 91 made in a cover plate 92 that is stably and removably coupled to the box-shaped body 90 of the bending machine and has an outer wall 92a which the bending members 87, 88 protrude from.

[0132] In the figures cited in relation to the bending machine, the presence of end-of-stroke means, as a whole indicated by 93, is also observed, made in the cover plate 92 and are suitable to stop the sliding of the first bending member 87 as it approaches the second bending member 88.

[0133] It should be noted that in further embodiments of the drive equipment of the invention, not shown in the figures of the attached drawings, both the bending members could be movable relative to each other.

[0134] By way of preference, the cutting means 7 or the binding means 9 are made integral with the first anthropomorphic robot 27 through first magnetic means, overall indicated by 30, and the cutting means 7 (or, in their place, the gripping and moving means 8, as already indicated above) or the bending means 10 are made integral with the second anthropomorphic robot 28 through second magnetic means, overall indicated by 31.

[0135] The first magnetic means 30 and the second magnetic means 31, illustrated in detail in figures 13 and 14, are of the same type and are provided with electric conduction means, as a whole indicated by 32, which take:

[0136] • an operating condition, in which they are electrically powered, when the cutting means 7 or the binding means 9 are coupled to the first anthropomorphic robot 27 to operate on the plants and when the gripping and moving means 8 or the bending means 10 are coupled to the second anthropomorphic robot 28 for working on plants;

[0137] • a non-operating condition, in which the electric conduction means 32 are electrically isolated (or not powered), to release the cutting means 7 or the binding means 9 from the first anthropomorphic robot 27 or to release the gripping and moving means 8 or the bending means 10 from the second anthropomorphic robot 28.

[0138] In particular, as shown in figures 13 and 14, the magnetic means 30, 31 comprise in this case:

[0139] a holding electromagnet 43, for example of the type known as “ctmp” (with permanent magnet), conjugated in a front seat 44 made axially in a tool holderblock 45 fixed to the first anthropomorphic robot 27 or to the second anthropomorphic robot 28 through an interconnection plate 46 and provided with copper-plated contacts 47 arranged on an inner perimetrical wall 48 surrounding such a front seat 44;

[0140] - a metal attachment plate 49 coupled to a rear seat 50 made axially in a toolholding counter-block 51 provided with copper-plated counter-contacts 52 arranged on an outer perimetrical wall 53 surrounding such a rear seat 50, said tool-holding counter-block 51 being axially coupled to the tool-holding block 45 and supporting, as applicable, the tool of the cutting means 7, the gripping and moving means 8, the binding means 9 or the bending means 10 through a fixing bracket 54.

[0141] In addition, advantageously but not limitedly, each between the cutting means 7 and the binding means 9 is coupled to the first anthropomorphic robot 27 and each between the cutting means 7 (or, in their place, the gripping and moving means 8) and the bending means 10 is coupled to the second robot anthropomorphic robot 28 not only through the magnetic means 30, 31 but also through re-centering means, as a whole indicated by 77, highlighted in figures 15-19.

[0142] The re-centering means 77 have the function of spontaneously and immediately (i.e., automatically, although purely mechanically) placing the cutting means 7, the binding means 9, the bending means 10 and, if necessary, the gripping and moving means 8 in the correct position, suitable for the respective operation on the selected production shoots.

[0143] This results to be very useful and effective in cases where any of the working tools - cutting means 7, binding means 9, bending means 10 and gripping and moving means 8 -, when moved by the respective anthropomorphic robot 27, 28, inadvertently jams against a branch, spur, or shoot of the plant being to be cultivated, allowing it to be promptly repositioned in the correct position defined above.

[0144] In particular, the re-centering means 77 comprise elastically yielding means, not illustrated in the accompanying figures cited heretofore and comprising, for example, a helical spring arranged along the linear axis Z, installed on a shockabsorbing swing plate 78 (visible separately in figure 19) facing or oriented, on oneside, towards each of the anthropomorphic robots 27, 28 and, on the opposite side, towards the cutting means 7, the binding means 9, the bending means 10 and, if necessary, the gripping and moving means 8.

[0145] The shock-absorbing swing plate 78 is, therefore, free to slide laterally by rotation according to the arrows G and K shown in particular at figures 15, 18 and 19, in case the working tool 7, 8, 9 or 10 involved, to which it is coupled, interferes incorrectly or imprecisely with a branch or shoot of the plant to be worked, thus settling itself into the ideal and effective position thanks to the recovery exerted by the helical spring.

[0146] It should also be noted that, in this specific case, the re-centering means 77 therefore cooperate with the first magnetic means 30 and the second magnetic means 31 to couple the cutting means 7, the binding means 9, the bending means 10 and, if applicable, the gripping and moving means 8 to the anthropomorphic robots 27, 28, combining their respective operational advantages.

[0147] Preferably but not exclusively, the first anthropomorphic robot 27 cooperates with a first tool-change station 33 to alternately pick up the cutting means 7 or the binding means 9, and with a second tool-change station 34 to alternately release the binding means 9 or the cutting means 7.

[0148] Likewise, preferably, the second anthropomorphic robot 28 cooperates with a third tool-change station 35 to alternately pick up the cutting means 7 (or, in their place and possibly, the gripping and moving means 8, as already described above) or the bending means 10, and with a fourth tool-change station 36 to alternately release the bending means 10 or the cutting means 7 (or, in place of the latter, the gripping and moving means 8).

[0149] As better highlighted in figure 9, the first, second, third, and fourth tool-change stations 33, 34, 35, and 36 are arranged on the upper surface 29a of the intermediate basement 29 of the load-bearing frame 2.

[0150] In practice, in the preferred example described and depending on the specific type of magnetic means 30 and 31 described above, the tool-change associated with the first anthropomorphic robot 27 occurs by moving the latter (assuming the industrial scissors of the cutting means 7 are already attached) towards the first tool-change station 33, which is free, then by interrupting the power supply to thefirst anthropomorphic robot 27, thus deactivating the electrical conduction means 32 and allowing the tool (the industrial scissors, for example) to be released and placed on such a first station 33.

[0151] Thanks to the magnetic means 30 and 31 and the tool-change stations 33, 34, 35, and 36, the replacement of the working tools 7, 8, 9, and 10 in the anthropomorphic robots 27 and 28 is advantageously quick, practical, easy, and effective, even for an operator with average experience in the field.

[0152] Then, the tool-change operation goes on by moving the first anthropomorphic robot 27 towards the second tool-change station 34 where it’s possible to attach a different and alternate tool (for instance, the industrial binding machine of the binding means 9) by restoring the power supply to the first anthropomorphic robot 27 which thus activates the electrical conduction means 32.

[0153] Completely similar operations are also performed for the second anthropomorphic robot 28 and the tools (industrial scissors and industrial bending machine) of the cutting means 7 and the bending means 10 that can be connected to it in an alternate manner, depending on the working to be performed on the plants of the various rows F.

[0154] In figure 6 it is possible to note the presence of first control means, as a whole indicated by 37, of the first anthropomorphic robot 27 and second control means, as a whole indicated by 38, of the second anthropomorphic robot 28: even these first and second control means 37, 38 are housed in the technical room 14 made in the lower portion 3 of the load-bearing frame 2 and underlying the intermediate basement 29 of the latter and are electrically connected to the central processing and control unit installed in the general electric command panel 40 located in such a technical room 14.

[0155] According to the preferred embodiment described herein of the present invention, the drive equipment 1 comprises balancing (or compensation) means, collectively numbered with 55, coupled to the load-bearing frame 2, operatively connected to the kinematic elements 4 and suitable to keep the load-bearing frame 2 substantially arranged always according to a horizontal plane even when the cultivation ground T on which the drive equipment 1 of the invention moves is uneven, steep, irregular, inclined, sloping or sunken.The balancing means 55, yet visible in figures 1-4, 6, and 7 but shown in greater detail in figures 9, 11, and 12, comprise, for each of the kinematic elements 4, a vertical-axis linear actuator 56 cooperating with third motorization means, as a whole indicated with 57 and electrically connected to the energy supply source 12 and mechanically connected to the transmission means 5.

[0156] More in detail, the third motorization means 57 preferably comprise an electric gearmotor 58 electrically connected to the energy supply source 12, cooperating with the vertical axis linear actuator 56 and keyed to a central hub 59 of the transmission means 5.

[0157] Thanks to balancing means 55, the drive equipment 1 of the invention is advantageously able to operate effectively and safely even on rather rough cultivation ground, having a slope of the order of 15%-20%.

[0158] In a preferred but not binding manner, the drive equipment 1 for agile pruning of plants of the present invention also comprises a protection and shading structure, overall numbered with 60, coupled laterally to the load-bearing frame 2 and defining a work chamber 61 communicating with the outer environment and suitable to progressively surround consecutive sections of rows F of plants to be worked while the drive equipment 1 advances on the cultivation ground T.

[0159] In a preferred but not limiting way, such a protection and shading structure 60 comprises, as shown in figures 1-4:

[0160] - a support framework 62 integral with the load-bearing frame 2 from which it protrudes in a cantilevered manner, thus remaining spaced apart by a certain height from the cultivation ground T;

[0161] - a reinforced cover 63, applied above and laterally to the support framework 62 and suitable to ensure the operational continuity of the drive equipment 1 even in presence of adverse, extreme or severe weather conditions;

[0162] - a pair of first flexible shutters 64, 65, made for example of rubber, arranged in the front part 62a of the support framework 62 and a pair of second flexible shutters 66, 67 arranged in the rear part 62b, opposite said front part 62a from which it is divided by the reinforced cover 63, of the support framework 62, suitable to allow respectively the entry and exit of consecutive sections of rows F of plants to be worked in and from said work chamber 61.Advantageously but not exclusively, the drive equipment 1 of the invention also includes first detection means, collectively numbered with 68, coupled to the loadbearing frame 2 above the cutting means 7, the gripping and moving means 8, the binding means 9 and the bending means 10: the first detection means 68 have the function of intercepting the presence and / or morphology of the plants to be worked or cultivated located next to the load-bearing frame 2 and transmitting the captured two-dimensional and / or three-dimensional image (according to a sort of scan) to the central processing and control unit present in the general command panel 40 installed in the technical room 14.

[0163] As shown in particular in figure 5 and in greater detail in figure 10, the first detection means 68 preferably face the work chamber 61 of the support framework 62 and are coupled to the inner surface (front or upper) of an auxiliary body (such as the vertical panel 69 of figure 5 or the horizontal rod 69 of figure 4) of an upper box-shaped portion 70 (substantially shaped like a vertically-arranged box) of the load-bearing frame 2, projecting upwardly from the lower portion 3 of the loadbearing frame 2 itself.

[0164] For its part, the aforementioned reinforced cover 63 comprises for example a rollup sheet, is made of a darkening material (for example PVC of a shielding color) suitable to ease the acquisition of two-dimensional or three-dimensional images of the plants contained in the work chamber 61 by the first detection means 68, in any lighting condition.

[0165] Still advantageously, the drive equipment 1 of the invention comprises first lighting means, generally indicated with 71 , coupled to the load-bearing frame 2 above the cutting means 7, the gripping and moving means 8, the binding means 9 and the bending means 10: the function of the first lighting means 7 consist in facilitating the acquisition of two-dimensional or three-dimensional images of the plants contained in the work chamber 61 by the detection means 68, in any lighting condition.

[0166] The drive equipment 1 of the invention also conveniently but strictly preferably comprises second lighting means, not shown for the sake of exposition simplicity and installed externally on the load-bearing frame 2 (for example, on the superior cover 701 of the upper box-shaped portion 70) and suitably adapted to illuminatethe surrounding environment of the cultivation ground T during night-time operation of the drive equipment 1.

[0167] In addition, the drive equipment 1 of the invention also includes second detection means, collectively indicated with 73 and installed externally on the load-bearing frame 2 (for example, on the external face 72 of the front portion 2a and / or the rear portion 2b of the load-bearing frame 2) and having the function of detecting the presence of possible obstacles in the path followed by the drive equipment 1 while moving on the cultivation ground T, in order to ensure operative safety thereof. The second detection systems 73 comprise emergency barriers, photocells, cameras, lasers, detectors, radar (as figure 5 shows), and visual and audible alarms, necessary for the safe execution of the procedures of the drive equipment 1 and for the safety and protection of people, animals and surrounding environment.

[0168] Emergency barriers and systems, photocells, cameras, lasers, detectors, movement lights, and visual and audible alarms are installed, necessary for the safe execution of the machinery procedures and for the safety of people, animals, and the surrounding environment.

[0169] Both the first detection means 68 and the second detection means 73 are electrically connected to the central processing and control unit that controllable by the operator through the control panel 39 and present in the general command panel 40 located in the technical room 14 of the load-bearing frame 2.

[0170] As shown in figures 1-4, 6, and 7, the drive equipment 1 of the invention also comprises preferred ventilation means, overall indicated with 74, arranged in at least one between the front portion 2a and the rear portion 2b of the load-bearing frame 2 and facing the technical room 14 made in the lower portion 3 of the loadbearing frame 2: these ventilation means 74 have the function of cooling the drive and operating devices of the components of the drive equipment 1 contained in this technical room 14.

[0171] In particular, the ventilation means 74 comprise any of the systems for through cutting, notching, or drilling of a body, such as a perforated grid, a plurality of slots aligned in various ways (as in the case described herein, which are visible in the figures just cited where they are numbered 75) and / or similar.Advantageously but not limitedly, the drive equipment 1 of the current invention also comprises an electronic receiver for assisted satellite positioning and navigation, located in the technical room 14 of the load-bearing frame 2, communicating via a radio signal with a network of artificial satellites in orbit and electrically connected to the central processing and control unit installed in the general electric command panel 40 located in such a technical room 14 of the load-bearing frame 2: the electronic receiver for assisted satellite positioning and navigation allows the path to be traced on the cultivation ground T by the drive equipment 1 of the invention, thus making it self-propelled.

[0172] Preferably but not necessarily, the electronic satellite receiver is a GPS receiver. In other embodiments of the invention, not illustrated in the figures of the attached drawings, the drive equipment could include - in addition to or as an alternative to the electronic receiver for assisted satellite positioning and navigation - a front scanner for inter-row position and guidance and / or a rear scanner for inter-row position and guidance, preferably of the infrared type.

[0173] Preferably but not limitingly, the drive equipment 1 of the invention comprises sterilization means, not shown for the sake of simplicity, coupled (permanently or temporarily) to the load-bearing frame 2 and suitable to face, if necessary, the cutting means 7, the binding means 9, the bending means 10 and, if present, also the optional gripping and moving means 8.

[0174] Particularly, the sterilization means preferably comprise a spray pump connected by an inlet pipe to a distribution tank fixed to the load-bearing frame 2 and containing an emulsifying or disinfecting product, and by an outlet pipe to a spray nozzle suitable to be placed near the cutting means 7, the binding means 9, the bending means 10 and, optionally, the gripping and moving means 8 to direct the emulsifying or disinfecting product towards such working tools, 7, 8, 9 and 10 at the end of their respective use and / or when the drive equipment 1 is not operative. Finally, figures 28-30 show a further possible embodiment of the drive equipment of the invention, however not shown in its entirety herein but only for presentation simplicity, which differs from that one previously described and indicated with 1 in the composition of the elastically yielding means, numbered overall with 179, and the re-centering means, numbered overall with 177.As it can be seen in particular in figure 30, the elastically yielding means 179 comprise in this case a pair of first load springs 180, 181 contained in the shockabsorbing swing plate 178, each of which:

[0175] • is arranged along a first linear axis Z', Z" transversal to a longitudinal development axis J of the shock-absorbing plate 178;

[0176] • cooperates with a contact pusher 182, 183 having an outer surface, in this case totally convex, contained in the shock-absorbing plate 178 and arranged along a second linear axis Xi, X2 orthogonal to the first linear axis Z', Z".

[0177] In this way, the shock-absorbing plate 178 and each of the cutting means, the binding means, and the bending means rotate around the second linear axis Xi, X2 when these working tools of the plants to be cultivated come into contact with a branch, a spur, or a shoot of the plants themselves.

[0178] Furthermore, preferably, the elastically yielding means 179 also comprise two pairs of second load springs 184, 185 and 186, 187, arranged in pairs opposite each other along two respective linear directions (not shown) parallel to each other and to the longitudinal development axis J of the shock-absorbing plate 178.

[0179] More specifically, the second load springs 184, 185 and 186, 187 are arranged between the shock-absorbing plate 178 and each of the cutting means, the binding means, and the bending means along respective third linear axes X', X" and X'", X'", parallel to each other and transversal to the longitudinal development axis J of the shock-absorbing plate 178.

[0180] Moreover, the second load springs 184, 185 and 186, 187 cooperate with an oscillation pin 188 contained in the shock-absorbing plate 178 and arranged along a fourth linear axis Z2 orthogonal to the third linear axes X', X", X'"; X"".

[0181] Constructively, therefore, the second load springs 184, 185 and 186, 187 are arranged in pairs symmetrically with respect to the fourth linear axis Z2 of the oscillation pin 188, as well as the two first load springs 180, 181 and the two related contact pushers 182, 183.

[0182] It follows that each among the cutting means, the binding means and the bending means rotates around the fourth linear axis Z2 when these tools for working the plants to be cultivated come into contact with a branch, a spur, or a shoot of the plants themselves.Still figure 30 shows that the two pairs of second load springs 184, 185, and 186, 187 are integral on one side with the shock-absorbing plate 178 and on the opposite side with a front attachment plate 189 coupled to each of the cutting means, the binding means and the bending means in any case through the interposition of the tool-holder block 145 (of the type described previously and indicated by 45).

[0183] It should be noted that figure 29 highlights the components of the tool-holder block 145, including in particular the holding electromagnet 143, the electrical connector 190 and the electric lock 191.

[0184] It is understood that other embodiments of the drive equipment of the invention, not shown below, could provide that the elastically yielding means comprise only a pair of second load springs symmetrically arranged with respect to the fourth linear axis defined by the oscillation pin.

[0185] Upon operation, the drive equipment 1 of the invention moves on the cultivation ground T, among the rows F of vineyard plants, according to the diagram shown in figure 20, where the references indicated by P represent GPS interaction points traced by the operator and the references indicated by S represent GPS interaction points traced by the operator for the movement and handling of the drive equipment 1 between one row and another of the cultivation ground T.

[0186] Figure 20 is in itself explanatory of the operation of the drive equipment 1 of the invention, showing how it always remains alongside the row F being worked, with the anthropomorphic robots 27 and 28, complete with the working tools 7 and 9, respectively, or with the working tools 7 (in other operative situations, the tool numbered with 7 can be replaced with the tool numbered with 8) and 10, respectively, which face the work chamber 61, in turn surrounding or embracing the row F.

[0187] It is worth noting how the drive equipment 1 of the invention is moved at the end of a row just worked, at the edge of the cultivation land or ground T: in such a position, indeed, the central processing and control unit activates the second motorization means which thus rotate, in a synchronized manner, only the front steering assembly 17 and the rear steering assembly 18 and with them the drive wheels 15 of the kinematic elements 4.The rotation of the drive wheels 15 occurs in such a way that the drive wheels 15 of the front portion 2a of the load-bearing frame 2, associated with the front steering assembly 17, rotate towards each other by 90° (therefore, one in one direction and the other in the opposite direction) at the outside of the load-bearing frame 2, thus moving closer to each other and correctly positioning themselves in the direction of travel of the drive equipment 1 to allow its effective and appropriate movement (without any dragging on the cultivation ground T) towards the adjacent row F to be worked.

[0188] The same analogous system of movement occurs for the drive wheels 15 of the rear portion 2b of the load-bearing frame 2, associated with the rear steering assembly 18.

[0189] When the drive equipment 1 of the invention is in the correct position, intended to begin processing the next row F of plants, the drive wheels 15 are again rotated by 90°, in the opposite direction, by the second motorization means to return them to their original position, suitable for the advancement of the drive equipment 1 alongside the new row F to be processed with the working tools 7, 8 and 10 in the sequence already described.

[0190] In the rotation of the drive wheels 15, the position of the support framework 62 and with it, of the work chamber 61 , is never changed with respect to that of the loadbearing frame 2, so that each row F of plants is progressively worked by the main working tools 7, 8 and 10 always from the same side position: in essence, therefore, the drive equipment 1 of the invention moves from one row F to the other (in the direction given by the arrows indicated with S in figure 20) modifying only the angular position of the drive wheels 15 and operates progressively on the various rows F (as illustrated by the arrows P in figure 20) preferably always remaining on the same side with respect to such rows F along which it advances due to the rotation imparted to the drive wheels 15.

[0191] By virtue of the description provided above, it is therefore clear that the drive equipment for agile pruning of plants, especially fruit plants, of the present invention achieves the purposes and reaches the advantages mentioned above. The purpose of the innovation associated with the drive equipment of the invention is to offer agricultural companies or companies providing dedicated agriculturalprocessing, to be carried out at third parties, an innovative and, preferably, fully automated and autonomous technology that can be integrated into the production process of the orchard, especially vineyard, development.

[0192] By means of the drive equipment of the present invention, in the version described above, also complete with some of the accessory and preferred technical features, it is possible to prune grapevines completely autonomously throughout the day (24 hours a day) and the entire week (7 days a week), even in adverse weather conditions (such as rain, snow, frost).

[0193] In essence, the innovative technical concept of the invention is to make mechanical and automatic till even preferably completely automated, the pruning systems of orchards, especially vineyards, through the use of a self-propelled drive equipment which includes means for thinning, cutting, gripping and groundreleasing, bending and binding the shoots of the grapevine, wherein such means are operated by respective mechanical members.

[0194] To this end, preferably but not limited to, the innovative drive equipment of the invention integrates, as mentioned, the use of two anthropomorphic robots with the technology of a self-propelled load-bearing frame (shaped like a cart or trolley), to fully automate the orchard pruning phase.

[0195] Initial rough calculations provided by the inventor have shown that the drive equipment of the invention completes the pruning cycle on a single grapevine of a row in 2 minutes and 15 seconds (for a total of 135 seconds). For his part, the winegrower completes the pruning (understood as cutting, leaf removal, thinning, release to the ground, bending, and binding) of a single grapevine approximately in 3 minutes, so that for each grapevine, the drive equipment of the invention saves approximately 45 seconds.

[0196] Since, as seen above, the drive equipment of the invention, in its preferred embodiment equipped with accessories that make it self-propelled and electrically powered by a battery pack mounted on board the load-bearing frame, is able to function autonomously for the entire span of a day (24 hours), 4.5 men per day are replaced through the invention. Indeed:

[0197] • considering the winter (or dry) pruning period from November 1 to March 30 (for a total of 150 days),• considering that the drive equipment of the invention can operate 24 hours a day, so that the actual hours it can work to perform winter pruning are 3,600 (150 x 24), which corresponds to 12,960 seconds,

[0198] • considering that for each grapevine in the vineyard, the drive equipment of the invention takes, as mentioned, 135 seconds,

[0199] it is obtained that 12,960,000 / 135 = 96,000 vine plants are pruned in one season by a single exemplar of the drive equipment exclusively claimed herein.

[0200] Upon implementation, changes could be made to the drive equipment for pruning of plants of the invention, consisting, for example, of kinematic components other than those ones previously described and illustrated in the attached figures, and consisting, for example, of tracked means symmetrically arranged with respect to the load-bearing frame of the drive equipment itself.

[0201] It should be noted that a drive equipment for agile pruning of plants in which, in particular, the cutting means, the binding means, the bending means, and, preferably, also the gripping and moving means are positioned on the load-bearing frame so as to face the side of the plants and to be substantially hidden from view when the drive equipment is in operation, could also be the subject of a separate and dedicated patent application by filing a divisional patent application including a specific formulation of the main and independent claim that generically claims the aforementioned technical concept.

[0202] Likewise, a drive equipment for agile pruning of plants which, specifically, comprises first detection means, coupled to the load-bearing frame above the cutting means, the binding means and the bending means and configured to intercept the presence and / or morphology of the plants to be cultivated present next to the load-bearing frame, could also be the subject of a possible separate patent by filing a divisional patent application including a specific formulation of the independent claim which generically claims this technical concept.

[0203] Furthermore, a drive equipment for agile pruning of plants in which the cutting means are specifically equipped with probe means suitable to detect the presence of superfluous or renewable shoots to be cut of the plants to maintain a constant cutting depth could also be the subject of a separate and independent patent application through the filing of a divisional patent application, including a specificformulation of the independent claim that generically claims such a technical concept.

[0204] Even a drive equipment for agile pruning of plants, specifically equipped with re-centering (or oscillating, swiveling, or tilting) means of the working tools coupled to the respective anthropomorphic robots, suitable to spontaneously and immediately placing these working tools in the correct position, i.e., the position that allows the respective operation to be effectively performed on the selected production shoots, could also be the subject of a separate and independent patent application through the filing of a divisional patent application, including a specific formulation of the independent claim that generically claims this technical concept.

[0205] A drive equipment for agile pruning of plants in which the independent claim concerns the particular shape of the bending device of the bending means could also be the subject of an independent and separate patent application, through the filing of a divisional patent application based substantially on the subject-matter described herein.

[0206] Finally, it is apparent that many other changes could be made to the preferably self-propelled and electrically powered drive equipment for agile pruning of fruit plants concerned, without departing from the principles of novelty inherent in the inventive idea, as it is equally apparent that in the practical implementation of the invention, the materials, shapes and sizes of the details shown may be any kind, according to the needs.

[0207] Where the structural features and techniques mentioned in the following claims are followed by reference signs or numerals, such reference signs were introduced for the sole purpose of increasing the intelligibility of the claims themselves and therefore have no limiting effect on the interpretation of each element that is identified, purely by way of example, by those reference signs.

Claims

1. CLAIMS1. Drive equipment (1) for agile pruning of plants, in particular orchard and / or vineyard plants, comprising:- a load-bearing frame (2) suitable to be positioned laterally to one or more rows (F) of plants to be worked present in a cultivation ground (T);- a plurality of kinematic elements (4) protruding from a lower portion (3) of said load-bearing frame (2) to which they’re coupled through transmission means (5) and suitable to rest in a mobile manner on said cultivation ground (T) when said drive equipment (1) is operative;- first actuation means (6), temporarily or permanently integral with said loadbearing frame (2) and cooperating with said kinematic elements (4), suitable to intervene to move said kinematic elements (4) and thus make said loadbearing frame (2) mobile on said cultivation ground (T);- cutting means (7) coupled to said load-bearing frame (2) and suitable to at least cut, following a prefixed cultivation system of said plants, one or more superfluous or renewable shoots of a plurality of plants, leaving on said plants one or more renewal spurs and one or more selected production shoots, characterized in that it comprises:- binding means (9), coupled to said load-bearing frame (2) and suitable at least to bind to a supporting body through a binding wire (L), following said prefixed cultivation system, each of said selected production shoots of said plants that have been excluded from the cutting carried out by said cutting means (7); - bending means (10), coupled to said load-bearing frame (2) and cooperating with said binding means (9), suitable to bend, following said prefixed cultivation system, each of said selected production shoots of said plants during or immediately after the binding of said selected production shoots.

2. Equipment (1) according to claim 1), characterized in that it comprises gripping and moving means (8), coupled to said load-bearing frame (2) and cooperating with said cutting means (7), suitable to grasp said superfluous or renewable shoots before they’re cut by said cutting means (7) and to move them on said cultivation ground (T) after they’ve been cut by said cutting means (7);3. Equipment (1) according to any of the previous claims, characterized in that said first actuation means (6) include first motorization means (11) exploiting a thermal, electrical and / or their combinations energy supply source (12) to move said kinematic elements (4) on said cultivation ground (T) where said plants are.

4. Equipment (1) according to claim 3), characterized in that said first motorization means (11) comprise a plurality of electric motors, each of which is electrically connected on one side to a pack of electric batteries (13) forming said energy supply source (12) and housed in a technical room (14) defined in said lower portion (3) of said load-bearing frame (2), and is operatively connected on the opposite side to one of said kinematic elements (4).

5. Equipment (1) according to claim 4), characterized in that said electric motors are in a number equal to a plurality of drive wheels (15) belonging to said kinematic elements (4) and uniformly distributed on said load-bearing frame (2), said electric motors being arranged one at one of said drive wheels (15).

6. Equipment (1) according to claim 4) or 5), characterized in that said pack of said electric batteries (13) is of removable type and replaceable with a separate pack of electric batteries, or rechargeable by means of- a structurally autonomous and independent generator group separated from said load-bearing frame (2), suitable to be connected when necessary to said pack of electric batteries (13), or- an autonomous and separate buffer pack of electric batteries, kept charged when not in use and suitable to be connected when necessary to said pack of electric batteries (13) through a connection cable (11) applied to an electric socket outlet (16) accessible to an operator as it is present in an outer wall (3a) delimiting said technical room (14) of said lower portion (3) of said loadbearing frame (2).

7. Equipment (1) according to any of the previous claims, characterized in that it comprises a front steering unit (17) and a rear steering unit (18), coupled to said load-bearing frame (2) and cooperating with said kinematic elements (4) and operatively connected to second motorization means suitable to operate said front (17) and rear (18) steering units to rotate said kinematic elements (4).

8. Equipment (1) according to claim 8), characterized in that:- said front steering assembly (17) is connected to said kinematic elements (4) through a first pair of vertical torsion rods (19, 20) symmetrically arranged with respect to a longitudinal development axis (X) of said load-bearing frame (2) and made mutually integral through a first horizontal connection bar (23);- said rear steering assembly (18) is connected to said kinematic elements (4) through a second pair of vertical torsion rods (21, 22) symmetrically arranged with respect to said longitudinal development axis (X) of said load-bearing frame (2) and made mutually integral through a second horizontal connection bar (24),each of said torsion rods (19, 20, 21, 22) being provided with a stop plate (25) fixed to said load-bearing frame (2) and hinged to one of said torsion rods (19, 20, 21 , 22), and said first pair of torsion rods (19, 20) and said second pair of rods (21 , 22) being symmetrically arranged with respect to a transverse development axis (Y), orthogonal to said longitudinal axis (X), of said load-bearing frame (2).

9. Equipment (1) according to claim 9), characterized in that each of said vertical torsion rods (19, 20, 21, 22) is coupled to a box-shaped column (41) spaced apart from said load-bearing frame (2).

10. Equipment (1) according to any of the previous claims, characterized in that said cutting means (7), said binding means (9) and said bending means (10) are positioned on said load-bearing frame (2) in such a way as to laterally and frontally face said plants and to be substantially hidden from view when said drive equipment (1) is operating.

11. Equipment (1) according to claim 2), characterized in that said gripping and moving means (8) are positioned on said load-bearing frame (2) in such a way as to laterally and frontally face said plants and to be substantially hidden from view when said drive equipment (1) is operating.

12. Equipment (1) according to any of the previous claims, characterized in that said cutting means (7) comprise an automatic scissors, said binding means (9) comprise an automatic binding machine and said bending means (10) comprise a bender.

13. Equipment (1) according to claim 2), characterized in that said gripping and moving means (8) comprise an automatic clamp.

14. Equipment (1) according to any of the previous claims, characterized in that said cutting means (7) and said binding means (9) are coupled to a first anthropomorphic robot (27) fixed on the upper surface (29a) of an intermediate basement (29) of said load-bearing frame (2), and at least said bending means (10) are coupled to a second anthropomorphic robot (28), fixed to said upper surface (29a) of said intermediate basement (29) and placed alongside or opposite said first anthropomorphic robot (27) with respect to which it is functionally arranged downstream.

15. Equipment (1) according to claim 14), characterized in that said cutting means (7) and said binding means (9) are removably coupled to said first anthropomorphic robot (27) at distinct moments in time so as to operate in order, in alternation and succession each other, and said cutting means (7) and said bending means (10) are removably coupled to said second anthropomorphic robot (28), at distinct moments in time so as to operate in order, in alternation and succession each other, and after said cutting means (7) and said binding means (9) respectively.

16. Equipment (1) according to claim 15) when claim 14) depends on claim 2), characterized in that said gripping and moving means (8) are removably coupled to said second anthropomorphic robot (27) in place of said cutting means (7) and are configured to operate simultaneously with said cutting means (7) mounted on said first anthropomorphic robot (27).

17. Equipment (1) according to any of the previous claims, characterized in that said cutting means (7) comprise probe means (79) suitable to detect by contact the presence of said superfluous or renewable shoots to be cut of said plants and maintaining a constant cutting depth of said shoots to be cut.

18. Equipment (1) according to claim 17) when dependent on claim 12), characterized in that said probe means (79) comprise a shaped arm (80) at least partly interposed between two cutting blades (81, 82) side-by-side each other and connected to an electric motor (83) of said automatic scissors, said shaped arm (80) being coupled to a support member (84) of said automatic scissors through a rotation pin (85) operatively connected to a return spring (86) fixed to said support member (84).

19. Equipment (1) according to claim 18), characterized in that said shaped arm (80) is arranged according to a transverse plane distinct from a transverse plane defined by the upper surface of each of said cutting blades (81, 82) of said automatic scissors.

20. Equipment (1) according to claim 12), characterized in that said bending machine comprises a pair of bending members (87, 88) arranged parallelly side-by-side to each other, each of which presents a substantially hourglass shape suitable to allow a gradual and guided bending of said selected production shoots of said plants.

21. Equipment (1) according to claim 20), characterized in that at least a first of said bending members (87) is movable being operatively connected to a linear actuator (89) contained in a box-shaped body (90) of said bending machine and suitable to move said first bending member (87) with respect to said second bending member (88) along an operative longitudinal axis (Zi) identified by said linear actuator (89) to bring said bending members (87, 88) closer or further away depending on the dimensions of said selected production shoots to be bent.

22. Equipment (1) according to claim 21), characterized in that said first bending member (87) slides axially inside an open profile through slot (91) made in a cover plate (92) stably and removably coupled to said box-shaped body (90) of said bending machine and having an outer wall (92a) which said bending members (87, 88) protrude from.

23. Equipment (1) according to claim 14), characterized in that said cutting means (7) or said binding means (9) are made integral with said first anthropomorphic robot (27) through first magnetic means (30), and said cutting means (7) or said bending means (10) are made integral with said second anthropomorphic robot (28) through second magnetic means (31), said first magnetic means (30) and said second magnetic means (31) being of the same type and provided with electric conduction means (32) which take:• an operating condition, in which they’re electrically powered, when said cutting means (7) or said binding means (9) are coupled to said first anthropomorphic robot (27) to operate on said plants and when said cutting means (7) or saidbending means (10) are coupled to said second anthropomorphic robot (28) to operate on said plants;• a non-operating condition, in which they’re electrically isolated, to release said cutting means (7) or said binding means (9) from said first anthropomorphic robot (27) or to release said cutting means (7) or said bending means (10) from said second anthropomorphic robot (28).

24. Equipment (1) according to any of the claims 14) to 23), characterized in that each between said cutting means (7) and said binding means (9) is coupled to said first anthropomorphic robot (27) and each between said cutting means (7) and said bending means (10) is coupled to said second anthropomorphic robot (28) through re-centering means (77; 177) suitable to place in spontaneous and immediate way said cutting means (7), said binding means (9) and said bending means (10) in the correct position, suitable for the respective operation on said selected production shoots.

25. Equipment (1) according to claim 24) when dependent on claim 23), characterized in that said re-centering means (77; 177) cooperate with said first magnetic means (30) and said second magnetic means (31) to couple said cutting means (7), said binding means (9) and said bending means (10) to said anthropomorphic robots (27, 28).

26. Equipment (1) according to claim 24), characterized in that said re-centering means (77; 177) comprise elastically yielding means (179) installed on a shockabsorbing swing plate (78; 178) facing, on one side, each of said anthropomorphic robots (27, 28) and, on the opposite side, said cutting means (7), said binding means (9) or said bending means (10).

27. Equipment claim 26), characterized in that said elastically yielding means (179) include a pair of first load springs (180, 181) contained in said shockabsorbing plate (178), each of which:• is arranged along a first linear axis (Z', Z") transversal to a longitudinal development axis (J) of said shock-absorbing plate (178);• cooperates with a contact pusher (182, 183) having a partly convex outer surface, contained in said shock-absorbing plate (178) and arranged along a second linear axis (Xi, X2) orthogonal to said first linear axis (Z', Z"),in such a way that said shock-absorbing plate (178) and each between said cutting means, said binding means and said bending means rotates around said second linear axis (Xi, X2) when said cutting means, said binding means and said bending means get stuck against a branch, a spur, or a shoot of the plants to be grown.

28. Equipment according to claim 26) or 27), characterized in that said elastically yielding means (179) comprise at least one pair of second load springs (184, 185, 186, 187) which:• are arranged between said shock-absorbing plate (178) and each of said cutting means, said binding means and said bending means along third linear axes (X’, X”, X’”; X””) parallel to each other and transversal to a longitudinal development axis (J) of said shock-absorbing plate (178);• cooperate with an oscillation pin (188) contained in said shock-absorbing plate (178) and arranged along a fourth linear axis (Z2) orthogonal to said third linear axes (X’, X”, X’”; X””),in such a way that each between said cutting means, said binding means and said bending means rotates around said fourth linear axis (Z2) when said cutting means, said binding means and said bending means come into contact with a branch, a spur or a shoot of said plants to be grown.

29. Equipment according to claim 28), characterized in that said pair of second load springs (184, 185, 186, 187) is integral on one side with said shock-absorbing plate (178) and on the opposite side with a front attachment plate (189) coupled to each of said cutting means, said binding means and said bending means.

30. Equipment (1) according to claim 14), characterized in that:- said first anthropomorphic robot (27) cooperates with a first tool-change station (33), to alternately pick up said cutting means (7) or said bending means (9), and with a second tool-change station (34) to alternately release said binding means (9) or said cutting means (7);- said second anthropomorphic robot (28) cooperates with a third tool-change station (35), to alternately pick up said cutting means (7) or said binding means (10), and with a fourth tool-change station (36) to alternately release said bending means (10) or said cutting means (7),wherein said first, second, third and fourth stations (33, 34, 35, 36) are arranged on said upper surface (29a) of said intermediate basement (29) of said loadbearing frame (2).

31. Equipment (1) according to claim 14), characterized in that said first anthropomorphic robot (27) is provided with first control means (37) and said second anthropomorphic robot (28) is provided with second control means (38), said first and second control means (37, 38) being housed in a technical room (14) made in said lower portion (3) of said load-bearing frame (2) and underlying said intermediate basement (29).

32. Equipment (1) according to any of the previous claims, characterized in that it comprises balancing means (55), coupled to said load-bearing frame (2), operatively connected to said kinematic elements (4) and suitable to keep said load-bearing frame (2) arranged substantially according to a horizontal plane even when said cultivation ground (T) on which said drive equipment (1) moves is uneven, irregular, inclined or sloping.

33. Equipment (1) according to claim 32) when dependent on claim 3), characterized in that said balancing means (55) comprise, for each of said kinematic elements (4), a vertical axis linear actuator (56) cooperating with third motorization means (57) electrically connected to said energy supply source (12) and connected to said transmission means (5).

34. Equipment (1) according to claim 33), characterized in that said third motorization means (57) comprise an electric gearmotor (58) cooperating with said vertical axis linear actuator (56) and keyed to a central hub (59) of said transmission means (5).

35. Equipment (1) according to any of the previous claims, characterized in that it comprises a protection and shading structure (60) coupled laterally to said loadbearing frame (2) and defining a work chamber (61) suitable to progressively surround consecutive sections of said rows (F) of said plants to be worked while said drive equipment (1) advances on said cultivation ground (T).

36. Equipment (1) according to claim 35), characterized in that said protection and shading structure (60) comprises:- a support framework (62) integral with said load-bearing frame (2) from which it protrudes in a cantilevered manner;- a reinforced cover (63), applied above and laterally to said support framework (62) and suitable to ensure the operational continuity of said drive equipment (1) even in adverse weather conditions;- a pair of first flexible shutters (64, 65), placed in the front part (62a) of said support framework (62), and a pair of second flexible shutters (66, 67) placed in the rear part (62b), opposite to said front part (62a) from which it is divided by said reinforced cover (63), of said support framework (62), suitable to allow respectively the entry and exit of the consecutive sections of said rows (F) of said plants to be worked in and from said work chamber (61).

37. Equipment (1) according to any of the previous claims, characterized in that it comprises first detection means (68), coupled to said load-bearing frame (2) above said cutting means (7), said binding means (9) and said bending means (10), suitable to intercept presence and / or morphology of said plants to be worked present next to said load-bearing frame (2).

38. Equipment (1) according to claim 37) when dependent on claim 35), characterized in that said first detection means (68) face said work chamber (61) of said protection and shading structure (60) and are coupled to the inner surface of an auxiliary body (69) of an upper box-shaped portion (70), projecting upwardly from said lower portion (3), of said load-bearing frame (2).

39. Equipment (1) according to claim 37) when dependent on claim 36), characterized in that said reinforced cover (63) is made of a darkening material suitable to ease the acquisition of two-dimensional or three-dimensional images of said plants contained in said work chamber (61) by said first detection means (65), in any lighting condition.

40. Equipment (1) according to claim 37) when dependent on claim 36), characterized in that it includes first lighting means (71) coupled to said loadbearing frame (2) above said cutting means (7), said binding means (9) and said bending means (10), suitable to ease said first detection means (65) in the acquisition of images of said plants contained in said work chamber (61), in any lighting condition.

41. Equipment (1) according to any of the previous claims, characterized in that it comprises second lighting means (72), installed externally on said load-bearing frame (2) and suitable to illuminate the surrounding environment of said cultivation ground (T) during night-time operation of said drive equipment (1).

42. Equipment (1) according to any of the previous claims, characterized in that it comprises second detection means (73), installed externally on said load-bearing frame (2) and suitable to detect presence of possible obstacles in the path followed by said drive equipment (1) in motion on said cultivation ground (T) to ensure its operative safety.

43. Equipment (1) according to any of the previous claims, characterized in that it comprises ventilation means (74), arranged in at least one of the front portion (2a) and the rear portion (2b) of said load-bearing frame (2) and facing a technical room (14) made in said lower portion (3) of said load-bearing frame (2), suitable to cool the actuation devices of the components of said drive equipment (1).

44. Equipment (1) according to any of the previous claims, characterized in that it comprises sterilization means coupled to said load-bearing frame (2) and suitable to face said cutting means (7), said binding means (9) and said bending means (10).

45. Equipment (1) according claim 44), characterized in that said sterilization means comprise a spray pump connected by an inlet pipe to a distribution tank fixed to said load-bearing frame (2) and containing an emulsifying or disinfectant product, and by an outlet pipe to a spray nozzle suitable to be placed in proximity to said cutting means (7), said binding means (9) and said bending means (10) to direct said emulsifying or disinfectant product towards said cutting means (7), said binding means (9) and said bending means (10) at the end of their use.

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