GROWING WORK

The invention concerns an automated machine to perform fruit growing work according to the preamble of claim 1.

As examples of fruit growing work it can be mentioned, for example, the thinning of buds and flowers, the spraying of specific products, for example chemicals, on plants and the harvesting of fruits.

Carrying out these fruit growing work activities by human operators, as traditionally happens, involves tiring and often poorly paid jobs, so it is of general interest to develop and make available to agricultural entrepreneurs machines that allow them to automate such activities.

Document WO2018/057562A1 shows a known machine for carrying out fruit growing work activities presenting the characteristics of the preamble of claim 1. It comprises:

. a platform, equipped with means to move on the ground;

. a supporting structure, arranged on the platform;

. a plurality of support bodies, each of which is supported by the main structure;

. support means, for supporting the support bodies on the supporting structure;

. a plurality of arms, each of which is supported with a proximal end thereof on a support body; . a plurality of work devices suitable for carrying out fruit growing work , each of which is connected to a distal end of an arm;

. connecting means, for connecting the working devices to the distal ends of the arms;

. a plurality of cameras, which acquire images of the area in which the fruit growing work must be carried out;

. a command and data processing unit, which controls the operation of the machine and its components on the basis of the images acquired by the cameras.

In the case of this known machine for carrying out fruit growing work, each support body is supported on the supporting structure in a rotatable way around at least one rotation axis, in particular two rotation axes, and supports several arms. These arms are arranged in a distributed manner on the respective support body and each of them is made of two parts mutually hinged. Furthermore, each working device is positioned at the distal ends of at least two arms, i.e. it connects to each other at least two of the arms which are supported on a support body.

The machine is therefore organized in groups of working devices and each group of working devices is associated with the arms which are supported on a respective support body. To position the working devices of a group in their working position, it is possible to rotate the support body on which the associated arms are supported around its rotation axes, and to extend or retract as much as needed.

The rotations of the support body involve a group rotation, i.e. all together, of the arms and therefore also of the working devices which are located at the distal ends of them. As a result of these rotations, there is a movement along a direction that is parallel to the direction of advancement of the machine, to associate each work device with its own work area, and / or a movement along a direction that is instead perpendicular to the direction of advancement. , to approach the plants or move away from them the work devices.

Due to the extension or retraction movements of those arms at the ends of which the same working device is positioned, on the other hand, an additional movement towards the plants or away from them can take place, i.e. each working device can be moved further individually.

The possibility, which has just been described, of carrying out individual and autonomous movements for each work device, i.e. independent from the other work devices, is not however able to satisfy all the possible displacement needs that may arise at the time of carrying out fruit growing works. This is mainly due to the fact that said additional movements are possible only starting from a situation which is determined by the rotations of the support body, but these rotations are however common for all the working devices that refer to that support body. It may then happen that the rotation of the support body favors the optimal positioning of one of the working devices, but at the same time disadvantages the optimal positioning of one or more of the other working devices and that the further individual autonomous movements of each working device do not are able to fully compensate for this unfavorable circumstance.

In this context, the task underlying the present invention therefore consists in developing and making available an automated machine for carrying out fruit growing work which has been improved in its ability to carry out fruit growing work, due to the fact that it is always possible and easy to position individually in an optimal way each of its working devices. According to the invention, this task is solved if an automated machine for carrying out fruit growing works presenting the characteristics indicated in the preamble of claim 1 additionally also has the characteristics indicated in the distinctive part of claim 1.

It is now envisaged that the support means support each support body in a singularly translatable way along a respective part of the load-bearing structure and that there are displacement means, which act individually on each support body to translate it along said respective part of the load-bearing structure . In addition to this, it is also provided that the arms are orientable arms, each of which is supported on a respective support body and can be rotated around a respective first axis of rotation, and that rotation means are also part of the machine. , which act individually on each pivoting arm to make it rotate around the respective first axis of rotation. In this way, each work device corresponds to a single rotatable arm and to each rotatable arm corresponds to a single support body.

The movements that are carried out by a support body, therefore involve a corresponding movement of only the swivel arm which is supported on the moving support body, while the other swivel arms, which are supported on other support bodies, are not involved in any way from these movements. The possible rotations of the orientable arm caused by the rotation means then allow to move the working device with respect to the support body and contribute, together with the movement of the support body, to the optimal positioning of the working device.

Thanks to the aforementioned characteristics, each working device can be brought into its optimal working position independently of the positioning of the other working devices, i.e. without the positioning of a working device affecting the positioning of any other working device.

To position any work device, it is possible to proceed as follows.

Thanks to its means of moving on the ground, the machine approaches the orchards that must be subjected to the work: it is basically a movement along the direction of advancement of the machine. With reference to a specific work area, the command and data processing unit then chooses, on the basis of the images transmitted by the cameras, the most suitable support body to bring a work device to the optimal position to perform the intended work and commands the displacement means, so that the selected support body is translated along a respective part of the supporting structure. This respective part of the supporting structure appropriately extends obliquely upwards, or better still vertically, so that following this translation, a height positioning of the support body and also of the swivel arm that is supported on it takes place. At this point, the work device located at the distal end of this swivel arm is positioned in an optimal way and which, due to the effect of the previous movements, has already been brought close to the work area (along the direction of advancement of the machine) and at the right height from the ground (along a part of the supporting structure). This occurs due to the rotations of the swiveling arm about the first axis of rotation, which are caused by the rotation means acting on the swiveling arm. In this way the working device has been brought into its optimum working position, without any other support bodies having been moved in height or other adjustable arms having been rotated to achieve this result.

What has been described is also carried out for the other work devices and can occur simultaneously, since each support body can be moved individually and independently from the other support bodies and each swivel arm can be rotated individually and independently of the other rotatable arms.

An important aspect of the invention concerns the connection means, by means of which the various working devices are connected to the various distal ends of the adjustable arms, and allows to solve a further problem.

As is known, the known machines for carrying out fruit growing works are very specialized, in the sense that they have specific working devices: there are therefore machines equipped with gripping devices for harvesting fruit; machines equipped with jet sprayers, to spray specific products on the plants, for example chemicals, and finally machines equipped with laser light generators, to burn specific parts of the plants.

This fact obliges agricultural entrepreneurs to use different machines from time to time to carry out different jobs, while it would be advisable to be able to easily and quickly replace only the work devices from time to time, which would allow them to carry out the various agricultural jobs with the the same machine, equipped each time with the most suitable working devices. This possibility of equipping the machine each time with the most suitable work devices becomes real if the means of connection include:

. a plurality of first connecting plates, each of which is connected to the distal end of a respective swiveling arm and is equipped with a first protrusion, in which a first through hole is shaped, and with a first recess, into which two first through holes aligned with each other and parallel to the first through hole;

. a plurality of second connecting plates, each of which is connected to a respective working device and is equipped with a second protrusion, in which a second through hole is shaped, and with a second recess, into which two second aligned through holes open between them and parallel to the second through hole;

. a plurality of bolts.

To connect a working device to the distal end of a respective swivel arm, simply join the first and second plates together, so that the first protrusion is inserted into the second recess and the second protrusion is inserted into the first recess. Then the screw of a respective bolt is inserted into each of the two overall through holes which result from this and which are formed one by the first two aligned through holes of the first connection plate and the second through hole of the second connection plate and the other from the two second aligned through holes of the second connection plate and from the first through hole of the first connection plate. Instead, to disconnect a work device, proceed in the reverse order.

In order to further improve the machine and also make possible a possibility of movement of the working device with respect to the distal end of the swiveling arm, it is also provided that the connecting means also comprise a plurality of intermediate connecting devices, each of which is arranged, for connecting them together, between a respective first connecting plate and the distal end of a respective pivotable arm. Each intermediate connection device has a guide recess and in turn comprises:

. un motore, dotato di un albero di uscita;

. a motor gear, fixed to the output shaft;

. a driven gear, which engages in the engine gear to receive the rotational motion generated by the engine; . a transmission element, which is arranged in the guiding recess, is rotatably supported around a third rotation axis, which is perpendicular to the longitudinal axis of the swivel arm, and is connected in a fixed manner with the driven gear;

. a support arm, which is fixedly connected with the transmission element, is arranged inside the guide recess and is connected, with one end protruding from the guide recess, to the first connection plate.

The transmission element then rotates, due to the effect of the motor and the gears, inside the guide slot and together with it also rotate the support arm, which is fixedly connected to the transmission element, and the first plate connection, which is connected to the end of the support arm that protrudes from the guide slot. As a consequence of this, when a second connection plate is joined to this first plate, to which a working device is connected, the working device which is connected to this second plate rotates together with the transmission element link.

To further improve the machine, it is also possible to provide that at least one of the adjustable arms, in reality all those which are considered appropriate, preferably all, is in two parts, of which the first part, which has the proximal end, is supported on the respective support body and rotatable about the respective first axis of rotation, while the second part, which has the distal end, is connected to the first part in a mutually rotatable way about a second axis of rotation. The latter passes through the two ends of mutual connection of the two parts and is parallel to the first axis of rotation.

In order to rotate the second part of the orientable arm around the respective second axis of rotation, further rotation means are provided which act for this purpose on the second part of each orientable arm. The advantage obtained is given by the fact that, with the same overall dimensions in the rest position, a two-part swivel arm has a greater range of action than that of a one-piece swivel arm or in other words that, equal range of action, it requires less space in the rest position, as it can be folded back on itself.

Further advantages and characteristics of the invention will become more evident from the following description of an example of embodiment of the automated machine for carrying out fruit growing works according to the invention, which is illustrated purely by way of example and indicative, but certainly not limiting, on the basis of the attached drawings. In the drawings they show schematically: fig. 1 a side view of the machine according to the invention, in which the support bodies are in their rest position and the adjustable arms are folded back on themselves; fig. 2 a three-dimensional representation of the machine of fig. 1, in which both the support bodies and the rotatable arms are in possible positions that they can assume during fruit growing work; fig. 3 a three-dimensional representation of a part of the machine of fig. 1, in which, together with other components, a portion of the supporting structure, a support body, an adjustable arm and partially the means for moving the support body are visible; fig. 4 is a side view of an adjustable arm in rest position, to make visible the first and second rotation means for the orientable arm, since no parts have been shown which, if they had been shown, would have hidden them; figs. 5 and 6 a three-dimensional representation of a part of the swivel arm of fig. 4, in which the first and second rotation means are shown in more detail; fig. 7 is a three-dimensional representation of the connection means which connect a working device to an adjustable arm; fig. 8 a three-dimensional representation similar to fig. 7, in which, to make the inside of a component of the connecting means visible, no parts have been represented which, if they had been represented, would have hidden the inside; fig. 9 a three-dimensional representation similar to fig. 3, which shows, together with other components, a portion of the supporting structure, a support body, an adjustable arm and a working device consisting of a gripping device; fig. 10 a three-dimensional representation of the distal end of an adjustable arm, of the connecting means and of a working device consisting of a gripping device; fig. 11 a three-dimensional representation of the machine according to the invention in the event that the fruit growing work to be carried out is the harvest of the fruit; fig. 12 a three-dimensional representation similar to fig. 9, in the case where the working device is a laser light generator; fig. 13 a three-dimensional representation similar to fig. 10, in the case where the working device is a laser light generator; fig. 14 a three-dimensional representation similar to fig. 9, in the case in which the working device is a jet sprinkler; fig. 15 a three-dimensional representation similar to fig. 10, in the case where the working device is a jet sprinkler; fig. 16 a three-dimensional representation of the connecting means of figs. 7 and 8 and of further connecting means; fig. 17 a three-dimensional representation similar to fig. 16, in which to make the inside of a component visible, no parts have been represented which, if they had been represented, would have hidden the inside; figs. 18 and 19 a three-dimensional representation of the machine according to the invention in the event that the fruit growing work to be carried out is the burning of portions of the plants or the spraying of specific products, such as chemicals, on the plants.

The figures show an automated machine to carry out fruit growing work.

Such a machine comprises, see for example figs. 1 and 2, a platform 1, which is equipped with means for moving on the ground, and a supporting structure 2, which is arranged on the platform 1. Also part of the machine is a plurality of support bodies 3, each of which is supported on the supporting structure 2 by suitable support means, which support each support body 3 in a singularly translatable way along a respective part of the supporting structure 2.

Said support means comprise a plurality of guide grooves 2a, provided in the bearing structure 2 and visible for example in fig. 3, and a plurality of guide projections 3a, which are instead provided on the support bodies 3.

Each support body 3 has a guide projection 3a and, see fig. 3, each guide projection 3a is slidably inserted in a respective guide groove 2a, the development of which determines the possible path of the support body 3 along the bearing structure 2.

In order to move the support bodies 3 along their guide grooves 2a, which 2a therefore act as parts of the bearing structure 2 along which they 3 can be moved, suitable moving means are provided and these moving means act individually on each body of support 3 to translate it along the respective groove 2a. The actuation means comprise, see for example fig. 3, a plurality of flexible transmission elements 8 and a plurality of drive motors; however, the latter were not represented. Each of the flexible transmission elements 8, which can be for example a belt or a chain, is movable in both directions along a respective guide groove 2a and is connected to a respective support body 3, in order to drag it along the guide groove guide 2a, while each of the motors acts on a respective flexible transmission element 8 to move it in both directions along the respective guide groove 2a. In Figure 3, for example, two support bodies 3 for each guide groove 2a have been represented, so that in accordance with this also two flexible transmission elements 8 have been shown, but it is understood that also depending on the height of the bearing structure 2 could be provided for each guide groove 2a also three or more support bodies 3 and according to this also three or more flexible transmission elements 8 and three or more motors.

Thanks to these displacement means it is possible to position, independently of the positioning of the other support bodies 3, each support body 3 along the guide groove 2a, which is equivalent to positioning it in height.

As can be seen in figs. 1-6, the machine also comprises a plurality of orientable arms 4, each of which is supported with a proximal end 4a thereof on a respective support body 3, in particular in a rotatable manner around a respective first axis of rotation A-A.

For this purpose, suitable rotation means are provided, which act individually on each orientable arm 4, to make it rotate around the respective first axis of rotation A-A. These rotation means comprise, see figs. 4 and 5, a plurality of motors 9a, each of which is equipped with an output shaft. A plurality of drive gears 9b and a plurality of driven gears 9c also form part of the rotation means. Each of the drive gears 9b is fixed to the output shaft of a respective motor 9a, while each of the driven gears 9c is fixed to a respective orientable arm 4 and engages in the motor gear 9b of the respective motor 9a, to receive the motion of rotation generated by this 9a.

The orientable arms 4 are preferably in two parts, such as those shown for example in the figures, in which case the first part, which has the proximal end 4a, is supported on the respective support body 3 and can be rotated around the respective first axis of rotation AA, while the second part, which has the distal end 4b, is connected to the first part in a mutually rotatable way about a second axis of rotation BB. The latter B-B passes through the two ends of mutual connection of the two parts and is parallel to the first axis of rotation A-A, as shown for example in fig. 4. These axes of rotation are also preferably vertical.

Special further rotation means are also provided, which act on the second part of each orientable arm 4, to make it rotate around the respective second axis of rotation B-B. These further rotation means comprise, similarly to the rotation means, a plurality of motors 14a, each of which is equipped with an output shaft, as shown in figs. 4 and 6. The further rotation means also include a plurality of drive gears 14b and a plurality of driven gears 14c. Each of the motor gears 14b is fixed to the output shaft of a respective motor 14a, while each of the driven gears 14c is fixed to the second part of the respective swivel arm 4 and engages in the motor gear 14b of the respective motor 14a, to receive the rotational motion generated by this 14a.

The machine also comprises a plurality of work devices 5a; 5b; 5c, suitable for carrying out fruit growing work, a plurality of cameras 6, which acquire images of the area in which the fruit growing work must be carried out, and a unit command and data processing 7, which controls the operation of the machine and its components on the basis of the images that are acquired by the cameras 6.

As has been shown for example in figs. 1-3, the plurality of cameras 6 is arranged in a distributed manner on the support bodies 3 - for example, two cameras can be arranged on each support 3 - while the command and data processing unit 7 is instead arranged on the platform 1.

Each of the work devices 5a; 5b; 5c is connected to the distal end 4b of a swivel arm 4 and for this purpose special connection means are provided, to connect the work devices 5a; 5b; 5c to the distal ends 4b of the swivel arms 4.

These connecting means comprise, see for example Figs. 7 and 8, a plurality of first connecting plates 10, a plurality of second connecting plates 11 and a plurality of bolts 12, each of which 12 comprises a screw and a relative nut.

Each first connection plate 10 is connected to the distal end 4b of a respective adjustable arm 4 and is equipped with a first protrusion 10a, in which a first through hole 10b is shaped. Each first connecting plate 10 also has a first recess 10c, into which two first mutually aligned through holes 10d open, which are parallel to the first through hole 10b and are also provided in the first connecting plate 10.

Each second connecting plate 11 is instead connected, directly or by means of a further component as will be explained below, to a respective working device 5a; 5b; 5c, see figs. 10, 13 and 15, and is provided with a second protrusion 11a, in which a second through hole 11b is shaped. Each second connection plate 11 also has a second recess 11c, into which two mutually aligned second through holes 11 d open, which are parallel to the second through hole 11b and are also provided in the second connection plate 11. When connecting a work device 5a; 5b; 5c to the distal end 4b of a respective swing arm 4, the first protrusion 10a is inserted into the second recess 11c, while the second protrusion 11a is inserted into the first recess 10c. As a result of this union, two overall through holes are created, which are formed one by the two first aligned through holes 10d of the first connecting plate 10 and by the second through hole 11b of the second connecting plate 11 and the other by the two second through holes aligned 11 d of the second connecting plate 11 and by the first through hole 10b of the first connecting plate 10. To complete the connection, the screw of a respective bolt 12 is inserted into each of these two overall holes, onto which the relative nut is then screwed. To replace a working device 5a; 5b; 5c it is therefore sufficient to unscrew the nut of the bolt 12, remove the screw of this 12 and detach the connecting plates 10, 11 and then connect, in the manner described, to the first connecting plate 10 the second connecting plate 11 of a working device 5a; 5b; 5c different from the one that has been removed.

In each first connection plate 10 and in each second connection plate 11 there is a respective through opening 10e, 11e through which the respective contact terminals for an electric power supply cable and for a data transfer cable extend. In this way the working device 5a; 5b; 5c can operate and be controlled by the command and data processing unit 7. In the figures, these through openings 10e, 11 e show a socket in the first connection plate 10 and a plug in the second connection plate 11.

It should be noted that the connecting means further comprise a plurality of intermediate connecting devices 13, each of which is arranged, to connect them together as shown for example in figs. 7 and 8, between a respective first connecting plate 10 and the distal end 4b of a respective swiveling arm 4. Thanks to these intermediate connecting devices 13, movements of the working device 5a; 5b; 5c with respect to the arm are possible adjustable 4 to which it is connected.

Each intermediate connection device 13 has, see figs. 7 and 8, a guide recess 13a and in turn comprises a motor 13b, equipped with an output shaft, a motor gear 13c and a driven gear 13d. The motor gear 13c is fixed to the output shaft of the motor 13b, while the driven gear 13d engages in the motor gear 13c, to receive the rotation motion generated by the motor 13b.

Each intermediate connecting device 13 also has a transmission element 13e and a support arm 13f.

The transmission element 13e is arranged in the guide recess 13a and is rotatably supported about a third rotation axis (not shown), which is perpendicular to the longitudinal axis of the swing arm 4. The transmission element 13e is connected in a fixed manner with the driven gear 13d, to receive from this 13d the rotational motion generated by the motor 13b. The support arm 13f is also fixedly connected to the transmission element 13e, again to receive from this 13d the rotational motion generated by the motor 13b, and is arranged inside the guide recess 13a, within which it can rotate by effect of the rotational motion transmitted to it by the transmission element 13e. The support arm 13f is also connected, with its end protruding from the guide recess 13a, to the first connecting plate 10, to transmit to it 10 the rotation motion transmitted by the transmission element 13e. In this way the working device 5a; 5b; 5c connected to the first connection plate can rotate with respect to the swivel arm 4 to which it is connected.

The work devices can comprise, depending on the work to be performed, a plurality of gripping devices 5a, as can be seen for example from fig. 11, a plurality of laser light generators 5b, as can be seen for example from fig. 18, the laser beam of which is directed towards the plants, or a plurality of jet sprayers 5c, as can be seen for example from fig. 19, to spray the plants with a specific product, for example a chemical product. Although this has not been shown, it is evidently also possible that the same machine has two or even all three of the above mentioned types of working devices 5a; 5b; 5c at the same time, given that, as has been described, it is very easy to replace them and that the way in which they 5a; 5b; 5c are connected to the orientable arms 4 is the same, regardless of the type of work device 5a; 5b; 5c.

With reference to the case in which the working devices consist of a plurality of gripping devices 5a, the latter 5a can be provided to carry out a work of mechanical thinning, of flower buds or even of fruits, or to carry out a work of harvest of the fruits. In the latter case it is advantageous that the machine also includes a plurality of conveyor belts 15 and a collection box 16. As shown in fig. 11, the conveyor belts 15 are arranged in such a way distributed on the supporting structure 2, that they 15 create a plurality of paths leading to the collection box 16, which is in turn arranged on the platform 1.

In the case of the working devices in the form of laser light generators 5b and jet sprinklers 5c, it is advantageous that the machine also comprises a plurality of further intermediate connecting devices 17, represented for example in figs. 13 and 15 and in more detail in figs. 16 and 17, thanks to which 17 further specific movements are possible, represented by the double arrows F1 and F2 in figs. 13 and 15, of the laser light generators 5b and / or of the jet sprinklers 5c.

Each of the further intermediate connecting devices 17 is arranged, to connect them together, between a respective second connecting plate 11 and a respective working device 5b; 5c and is also connected, through the second connecting plate 11, to a first connecting plate connection 10, whereby it 17 can be moved, in the manner described above, with respect to the orientable arm 4 to which it is connected.

Each further intermediate connecting device 17 comprises a motor 17a, equipped with an output shaft, a motor gear 17b and a driven gear 17c. The motor gear 17b is fixed to the output shaft of the motor 17a, while the driven gear 17c engages in the motor gear 17b to receive the rotation motion generated by the motor 17a.

Also part of each further intermediate connection device 17 is also a support plate 17d, which is connected in a fixed way with the driven gear 17c, to receive from this 17c the rotation motion generated by the motor 17a. The working device 5b; 5c is then supported on the support plate 17d and in this way the latter 5b; 5c can rotate around an axis of rotation which is parallel to the longitudinal axis of the output shaft of the motor 17a, the which, with reference to figs. 13 and 15, is equivalent to being able to rotate in the directions of the double arrows F1 and F2, and allows the laser light generator 5b or the jet sprayer 5c to be tilted up or down while performing their work.

Finally, to control the movements of the machine even better, it should also include a GPS (Global Satellite Position) receiver 18, which allows the position of the machine to be known at any time and is arranged, as shown for example in fig. 1, on the supporting structure 2. This is very important to make the operation of the machine even more automatic.

All the motors 9a, 14a, 17a and also the drive motors of the flexible transmission elements 8 are preferably electric and for their operation and for the operation of the machine in general, the latter also comprises at least one battery 19, preferably arranged on the platform 1 , as can be seen for example in figs. 1 and 2.

As means for moving on the ground, the machine comprises wheels 20, of which the driving ones can be driven by at least one motor 21 , which is integrated in the hub of these driving wheels and which is preferably also electric. Two driving wheels 20 and two motors 21 have been shown in the figures, but it is understood that all the wheels 20 could be driving if the machine has to move on terrain that requires it.

The machine works as follows.

Each time, by means of the connection means 10, 11 and 12, the work devices 5a or 5b or 5c most suitable for the work to be performed are mounted.

From this point on, the machine is completely controlled by the command and data processing unit 7 which, based on the images transmitted by the cameras 6 and the data provided by the GPS 18, acts as follows:

. makes the machine advance on the ground by means of the motors 21 ;

. translates, by means of the flexible transmission elements 8, each support body 3 into its own working position;

. rotates, by means of the rotation means 9a, 9b, 9c, each pivotable arm 4 into its own working position;

. if the swivel arm is in two parts, it extends at least partially, by means of the further rotation means 14a, 14b, 14c, each swivel arm 4 into its own working position;

. if intermediate connecting devices 13 are provided, each working device 5a, 5b, 5c rotates by means of these 13 and with respect to the swivel arm 4 in its own working position; . in the case of the working devices 5b or 5c and if further intermediate connecting devices 17 are provided, each working device 5b, 5c further rotates, by means of these 17 and with respect to the intermediate connecting devices 13, in its own working position;

. it operates the working devices 5a, 5b, 5c and in the case of the working devices 5a it also operates the conveyor belts 15.