IT202300007476A1 - TYING SYSTEM FOR PALLETIZING MACHINE AND RELATED PALLETIZING MACHINE - Google Patents

Description

TITLE: TYING SYSTEM FOR PALLETIZING MACHINE AND RELATED PALLETIZING MACHINE.

The present invention refers to a tying system suitable for application to trellising machines, in particular for fruit plants such as vines.

A further aspect of the present invention relates to a paling machine or green tying machine.

The trellising machine or green tying machine is used to arrange a row of plants, such as vines, in an espalier, gradually lifting the branches or shoots and fixing them against appropriate supports, proving particularly useful for tying the summer shoots of the vine. In fact, during late spring the vegetation of the vineyard sprouts vigorously, lengthening the shoots considerably, making it necessary to tie these shoots to the support wires.

This operation, if done manually, is particularly onerous as it requires several hours of labor. As is known to the technician in the viticulture sector, this process must be performed at the right time, since the shoots must be of the appropriate length, in order to be properly tied, but at the same time they must not be excessively long to avoid damaging them. In fact, in this vegetative phase of the vine plant the shoots are very delicate, and it is therefore required that these shoots be handled with care without breaking them.

Furthermore, this work must be carried out at least twice during the production season. It is therefore evident the need to operate quickly and promptly.

For the purposes of this description, the term "palizing machine" also includes a green tying machine. In the remainder of the description, the term "palizing machine" will be used exclusively.

The trellising machines normally comprise a frame, applied to a tractor at the front, in the shape of a portal which is moved by hydraulic jacks for adjustments to adapt to the row. In the trellising machines currently known, the front connection involves the need to adapt to the different models of tractors, in addition to placing a load, even considerable, on a portion of the tractor that is often not designed to support high loads. Last but not least, the front connection of the trellising machines involves a distribution of the loads which could reduce the stability of the tractor and trellising machine assembly, particularly in hilly environments and on sloping surfaces.

On both sides of the portal there are lifting devices to lift the branches or shoots that have moved away from the row, in some cases touching the ground, collecting them to be able to tie them later. Two types of lifting devices are currently known: a first type uses two augers to collect the branches or shoots, which however are aggressive on the vegetation, bulky and heavy; and a second type which uses sliding belts, equipped with protuberances to collect the vegetation, which is less aggressive with the vegetation, less bulky and of reduced weight.

The frame also includes a binding system which comprises two movable arms, located at the base of the machine, which are designed to guide a cord, for example made of fabric, nylon and/or hemp, where said cords are designed to support the branches or shoots. Said arms are connected in such a way as to open, moving away from each other, and close, moving closer to each other. When they get closer, the binding device comes into operation which ties the two cords together as the machine advances. These cords are then stretched by the trellising machine as it advances along the row.

There are known paling machines that include a binding system that uses preformed staples, usually made of plastic material, which must be housed in a special loader or magazine located on an arm of the binding system. This type of machine is described for example in the following patent documents EP0318406B1, DE20304800U1, EP4032397A1, and DE102007019187B3.

All the tying machines described in these patent titles use metal or plastic points or staples to tie the support cords together. There is therefore a major economic disadvantage for the user since it is necessary to purchase specific consumables, in particular specific points or staples for each tying machine, and it is necessary to periodically recharge the tying system with such staples, once the magazine or loader present in the tying system has run out of such staples.

The use of a loader or magazine means that the tying system has a considerable weight and that this additional mass is placed at the distal end of the arms of the system, leading to the need to increase the overall weight of the tying system and consequently of the entire paling machine.

The problem of the weight of the trellising machine is particularly felt for work in vineyards located in hilly areas, where it is necessary to have more compact and lighter machines to ensure easier handling and control of the machine even in conditions of steep slopes, in complete safety for the operator.

There are also known palisade machines which use a rigid wire, for example iron wire, which is appropriately cut to size and subsequently, through the tying system, the wire cut to size is bent in order to trap and retain said cords.

These types of machines have the disadvantage that both arms of the binding system are equipped with essential elements to give the appropriate shape to the wire cut to size. In particular, one arm must act as a hammer and the other arm must act as an anvil, thus requiring that both arms have a structure that can absorb the blows that must be delivered in order to give the shape of a staple or point to this piece of wire cut to size. This type of machine is described for example in the following patent documents EP0897661B1 and IT1030384B.

This type of trellising machine therefore suffers from problems related to weight, making it difficult to use for work in vineyards in hilly areas.

The present invention aims to solve the problems present in the prior art by proposing an innovative solution, which is reliable, easy to implement and which reduces the overall weight of the tying system and consequently of the entire trellising machine, making it usable on any type of terrain, even those with a steep slope.

The solution according to the present invention allows the two cords to be tied together quickly and easily, without requiring the use of points or staples placed in magazines or magazines located on an arm of the tying system.

One aspect of the present invention relates to a binding system with the features of the appended claim 1.

A further aspect of the present invention concerns a paling machine, with the characteristics of the attached claim 10.

The features and advantages of the system and the machine will be clear and evident from the following description of various possible embodiments, exemplifying and not limiting, of the system and the machine, and from the following figures which illustrate respectively:

- figure 1 shows a palisade machine applied to a tractor, in a rear axonometric view;

- Figures 2A and 2B show the binding system in two different operating configurations; Figure 2A shows the binding system in a first configuration or open configuration; Figure 2B shows the binding system in a second configuration or closed configuration;

- Figure 3 shows a tying device applied to an arm in the second configuration of the tying system, in which the wire is bent but not yet cut;

- figure 4 shows a detail of the forming device and the cutting device included in the tying device;

- Figures 5A, 5B and 5C show the tying device in three different operating configurations; in particular, Figure 5A shows the tying system in the second configuration in which said tying device is in the first operating configuration, not having yet been activated; Figure 5B shows the tying system in the second configuration in which said tying device is in the second operating configuration in which the forming device has appropriately bent the wire; Figure 5C shows the tying system in the second configuration in which said tying device is in the third operating configuration in which the cutting device has cut the wire, already appropriately bent by said forming device, separating it from the rest of the wire coming from the feeding system.

With reference to the above figures, the numerical reference 3 refers to the binding system, as a whole, as such; while the numerical reference 2 refers to a palisade machine, as a whole, as such.

The tying system 3, according to the present invention, is particularly suitable for application in paling machines 2.

The binding system 3, according to the present invention, comprises: a support structure 31 suitable for connecting the binding system 3 to a paling machine 2; a first arm 32, suitably connected to said support structure 31, in which said first arm 32 is suitable for assuming a first configuration and a second configuration, different from said first configuration; and a second arm 34, suitably connected to said support structure 31, in which said second arm 34 is suitable for interacting with said first arm 32 in said second configuration.

The binding system 3 further comprises an actuator 33. Said actuator 33 is capable of at least moving said first arm 32 between said first configuration and said second configuration.

Said first arm 32 comprises a first guide element 321, positioned at a distal end of said first arm 32, with respect to said support structure 31. Said first guide element 321 is adapted to guide a first cord “C1”. Preferably, said first guide element 321 has a fork shape.

Said second arm 34 comprises a binding device 4 positioned at a distal end of the second arm 34 with respect to said support structure 31.

Said binding device 4 in turn comprises a second guide element 40 suitable for guiding a second cord ?C2?. Preferably, said second guide element 40 has a ?U? shape.

More generally, said binding system 3, according to the present invention, is suitable for placing said first cord ?C1? and said second cord ?C2? side by side in said second configuration of said first arm 32.

Said binding device 4 also comprises: a feeding system 41 suitable for moving a thread ?W? coming from a first collector ?R?; and a cutting device 42 suitable for cutting said thread ?W?.

Said binding device 4 further comprises a forming device 43. Said forming device 43 is suitable for suitably bending, in particular bending with plastic or permanent deformation, said thread ?W?, coming from said feeding system 41, trapping said first cord ?C1? and said second cord ?C2? side by side in said second configuration of said first arm 32.

Said cutting device 42 is suitable for cutting the wire ?W? suitably bent by said forming device 43, separating it from the rest of the wire ?W? coming from said feeding system 41.

The present invention does not require staples or points, in metal or plastic materials, already made and stored in magazines since the binding system 3, according to the present invention, comprises a binding device 4 that binds the two cords (C1, C2) together, trapping them, using a thread ?W?. There is therefore a great economic advantage for the user since he will not have to purchase specific consumables. Therefore the binding system 3, according to the present invention, and in particular said binding device 4, is such as to appropriately bend the thread ?W? before cutting it, operating in a different way with respect to the solutions of the known art.

The tying system 3, according to the present invention, can therefore be applied to an existing paling machine 2.

The tying system 3, according to the present invention, and consequently also the trellising machine 2 on which it is applied, is light and compact, allowing for easy work even in hilly and sloping vineyards, in complete safety for the operator.

More generally, through said binding system 3 the pair of cords (C1, C2) is laid out on both sides of a row and, depending on one or more variables, they are brought closer together, placing them side by side, to be tied by said thread ?W?. Said variables can be one or more of, for example, time, distance, quantity of vegetation, etc. Said variables can be detected by one or more sensors.

More generally, said binding device 4 comprises a protective casing in which the respective systems and devices are housed. Said binding device 4 is connected to the second arm 34 of the binding system 3 via said casing.

In a preferred embodiment of the tying system 3, according to the present invention, said wire ?W? is a metal wire, for example iron wire, steel wire, galvanized wire, etc., normally used in vineyard systems. By way of example and not limitation, said metal wire is a wire with a diameter between 1mm and 3mm, for example 1.8mm, 2.2mm or 2.7mm.

In a preferred embodiment, said first collector ?R? is placed in a remote position with respect to the binding system 3, for example in a remote position with respect to the staking machine 2, for example placed on a tractor ?T? to which the staking machine 2 is connected, for example in a rear part of the tractor ?T?. The present solution allows a load associated with the binding system 3, but more generally with the staking machine 2, to be positioned in a region which generates fewer problems with respect to the stability of the binding system 3 and of the staking machine 2 itself, being positionable in proximity to the tractor ?T?, for example in the rear part of the same tractor ?T?. Preferably, said cords (C1, C2) are cords commonly used in the agricultural field, such as for example in fabric, nylon and/or hemp.

In a preferred embodiment of the tying system 3, according to the present invention, said actuator 33 is also able to move said second arm 34. In the present embodiment, said second arm 34 is also able to assume a first configuration and a second configuration, in order to place said first cord ?C1? and said second cord ?C2? side by side in said second configuration. Preferably, said actuator 33 is able to move said first arm 32 and said second arm 34 synchronously. Preferably, said actuator 33 is able to move said first arm 32 and said second arm 34 in such a way that in said first configuration, said first guide element 321, included in the first arm 32, and said second guide element 40, included in the tying device 4 included in said second arm 34, are placed at the maximum inter-distance between them; while, in said second configuration said first guide element 321 and said second guide element 40 are at the minimum inter-distance between them, interacting with each other, in order to place said first cord ?C1? and said second cord ?C2? side by side.

In one possible embodiment, said actuator 33 being a single actuator.

In a possible embodiment, said actuator 33 is able to move said arms (32, 34) by making them perform an oscillatory movement around a respective axis. In an alternative embodiment, said actuator 33 is able to move said arms (32, 34) by making them perform linear movements along an axis, in both directions.

In a preferred embodiment, by way of example and without limitation, of the tying system 3, according to the present invention, said feeding system 41 and said cutting device 42 are driven by a single actuator device 5. The present embodiment allows for a further reduction in the weight of the tying system 3, since both said feeding system 41 and said cutting device 42 can be driven by a single actuator device 5. Furthermore, this embodiment, by reducing the number of actuators, allows for a reduction in the weight relating to the feeding circuit of said actuator device 5, as well as simplifying the design of said feeding circuit, since the number of cables, pipes, ducts and/or conductors necessary for the correct functioning of the tying device 4 and more generally of the tying system 3 and consequently of the entire paling machine 2 is reduced.

In a preferred embodiment of the binding system 3, according to the present invention, said actuator device 5 is a pair of opposed single-acting pistons, formed by two rods and a single stem. The present embodiment also simplifies the power supply of said actuator device 5, since only two supply lines are required, in particular two lines for the hydraulic supply, of said pair of hydraulic pistons. The present embodiment is reliable and simple to implement, as well as being simple to design.

An alternative embodiment, not illustrated, said power supply system 41 is driven by an actuator device different and independent from the actuator device that drives said cutting device 42.

Going now into more detail about the possible embodiments of the tying system 3, according to the present invention, in a possible embodiment of the tying device 4, said feeding system 41 comprises a blocking device 412. Said blocking device 412 is designed to allow the movement of the wire ?W? only towards said forming device 43, preventing the movement of the wire ?W? in the opposite direction. The present embodiment ensures that the forming device 43 can be correctly fed with said wire ?W?, preventing said wire ?W? from being accidentally removed from the tying system 3, or from the tying device 4, preventing the tying system 3 itself from being able to continue operating. The blocking device 412 allows the operational continuity of the tying device 4 and more generally of the tying system 3.

In a possible embodiment of the tying system 3, according to the present invention, said feeding system 41 comprises an advance device 414. Said advance device 414 is able to move the wire ?W? towards said forming device 43, for example by making it advance towards said forming device 43 of a known length, therefore of a known quantity. The present embodiment guarantees that said forming device 43 can operate with a known length of wire ?W?, in order to be certain that said first cord ?C1? and said second cord ?C2? placed side by side in said second configuration of said arms (32, 34) are trapped by said suitably bent wire ?W?, before the same wire ?W? is cut.

In a possible embodiment of the tying system 3, according to the present invention, said feeding system 41 further comprises a guide element 416 suitable for guiding the wire ?W?. The present embodiment facilitates the movement of the wire ?W? inside the tying device 4, as well as facilitating the adjustment of the tying device 4, and more generally of the tying system 3, facilitating the insertion and positioning of the wire ?W? in the feeding system 41 and in the forming device 43, for example before the first use or following the exhaustion of the wire ?W? present in the first collector ?R?.

Said guide element 416 is connected to both said advancement device 414 and said locking device 412, moving in conjunction with them. In particular, one end of said guide element 416 is connected to said locking device 412.

In a preferred embodiment of the binding system 3, according to the present invention, said forming device 43 is able to bend said wire ?W? making it assume a circular shape, for example a ring, open or preferably closed. In particular, by using a closed ring it is certain that said ring cannot detach during the subsequent processing phases on the row, for example harvesting or grape harvesting, in particular in the case in which automatic machines are used.

More generally, in a possible embodiment of the binding system 3, according to the present invention, said forming device 43 comprises: an input 430 for the wire ?W?; and a first movable element 431 suitable for guiding the wire ?W? to define a first bend of the wire ?W?. Preferably, said first movable element 431 comprises a guide portion suitable for guiding said wire ?W? by imparting a first bend to it.

Preferably, said input 430 and said first movable element 431 are positioned relative to each other in such a way that the action of the wire ?W? on said first movable element 431 is such as to avoid jamming and facilitate the impression of a curvature on the wire ?W?.

Preferably, said forming device 43 further comprises a second movable element 432. Said second movable element 432 is preferably connected to said first movable element 431.

Said second movable element 432 is adapted to guide said wire ?W? to define a second fold of the wire ?W?. The present embodiment ensures that a second fold of the wire ?W? is performed using a second movable element 432, in order to avoid possible jamming of the wire ?W? during the execution of the second fold, thus ensuring that said cords (C1, C2) are trapped.

In a possible embodiment, said second movable element 432 is a rolling element, for example one capable of rotating freely around an axis, for example being a wheel or a roller, preferably a ball bearing. More specifically, the wire ?W? pushed by the feeding system 41, to which a first bend is impressed, in particular a curvature, by said first movable element 431, strikes said second movable element 432 which, by rotating, directs it in the desired direction, further bending the same wire ?W?, in particular impressing a second bend, in particular a curvature.

Preferably, said first movable element 431 and said second movable element 432 are positioned in such a way that the wire ?W?, coming from said first movable element 431, acts on said second movable element 432 in such a way as to generate a continuous and uniform bend in the wire ?W?, in particular causing it to assume a circular shape, preferably a ring, even more preferably a closed ring.

Preferably, said second movable element 432 is fixed to said first movable element 431 and can rotate about an axis.

Said forming device 43 further comprises a fixed element 433, relative to which said first movable element 431 moves. Preferably, said fixed element 433 defines an axis of rotation around which said first movable element 431 is able to rotate, for example with an oscillating movement. Preferably, the axis of rotation of said first movable element 431 is parallel to the axis of rotation of said second movable element 432.

In a possible embodiment, said fixed element 433 defines a guide suitable for guiding the wire ?W? to ensure that a third bend is applied to the wire ?W?. The present embodiment ensures that if the bends imparted by said first movable element 431 and by said second movable element 432 are not sufficient to trap said cords (C1, C2) the same fixed element 433 provides the necessary bend.

Preferably, said fixed element 433 is constrained to the casing of the binding device 4.

More generally, said forming device 43 is able to bend said wire ?W? into the shape of a ring, preferably closed, before the same wire ?W? is cut by said cutting device 42.

In a preferred embodiment of the tying system 3, according to the present invention, said cutting device 42 is integrated into said forming device 43. The present embodiment allows the tying system 3 to be made more compact and consequently reduce the overall size and weight of both the tying system 3 and the staking machine 2. Furthermore, the present embodiment allows the use of a single actuator device 5 to control the feeding system 41 and the cutting device 42. Preferably, in fact, the forming device 43 does not require an actuator in order to operate, since the bend in the wire ?W? is given solely thanks to the shape of the forming device 43 itself and the thrust force generated by the actuator device 5 and transmitted via the feeding system 41 which pushes the wire ?W? towards said forming device 43.

In a possible embodiment, by way of example and not as a limitation, said cutting device 42 is integrated into said first mobile element 431 of the forming device 43. Preferably, the movement of said first mobile element 431 with respect to said fixed element 433 causes the wire ?W? to be cut. In fact, the wire ?W? passes through said fixed element 433 and said first mobile element 431, and through the movement of said first mobile element 431 a specific cutting force acts on the wire ?W? such as to sever it.

In a preferred embodiment of the tying system 3, according to the present invention, said cutting device 42 is connected to said actuator device 5 by means of a push rod 52. In particular, said actuator device 5 acts on said push rod 52 only upon reaching a predetermined stroke of said actuator device 5. The present embodiment allows for a much more extended overall stroke of the actuator device 5, in particular to drive the feeding system 41, and only upon reaching a specific stroke of the actuator device 5, said actuator device 5 is actually able to actively drive said cutting device 42 in order to cut the wire ?W?.

In a preferred embodiment of the binding system 3, according to the present invention, said actuator device 5 is connected to said feeding system 41 via a collar 51, allowing it to be moved along an axis ?X?. Preferably, said actuator device acts on said push rod 52 via said collar 51.

More generally, said actuator device 5, in its movement allows the tying device 4 to assume different operating configurations, in particular it allows to assume: a first operating configuration or initial configuration in which the tying device 4 is waiting to be activated to tie together said cords (C1, C2); a second operating configuration or bending configuration, in which the wire ?W? has been bent to trap the cords (C1, C2); and a third configuration or cutting configuration, in which the wire ?W? is cut.

More generally, said actuator device 5 is activated to allow the binding device 4 to assume the different operating configurations only when said binding system 3 has reached said second configuration of said arms (32, 34).

Going now into more detail of a possible embodiment, by way of example and not limitation, of the feeding system 41, said locking device 412, designed to allow the movement of the wire ?W? only towards said forming device 43, comprises a housing structure defining two converging inclined planes. Said housing structure is preferably made of metal material. Said housing structure houses two first rollers, preferably of a metal type, which are designed to slide respectively on an inclined plane. Said housing structure also houses a second roller, preferably made of plastic material such as Teflon, which is designed to act on said first rollers under the action of an elastic element, for example a helical spring, so that said first rollers act both on the wire ?W? and on the respective inclined planes. Said first rollers are therefore positioned on inclined planes to retain the wire ?W? in order to prevent such wire ?W? from sliding on the respective inclined planes. can move in the opposite direction to the movement towards said forming device 43. The present embodiment, through a purely mechanical device without the aid of actuators, allows the movement of the wire ?W? exclusively in the desired direction, preventing the movement of the wire ?W? in the opposite direction, with respect to an axis ?X?.

In a possible embodiment, by way of example and not as a limitation, of the advancement device 414, it comprises an elastic element 4141, in particular a helical spring, capable of acting at one end against said collar 51, connected to the actuator device 5, and at the other end on a blocking element 4143 to which said guide element 416 is also connected, extending from said blocking element 4143 towards said forming device 43.

Said guide element 416 is passing through said collar 51 and at the opposite end is connected to said locking device 412, for example to said housing structure.

The movement of the actuator device 5 along an axis parallel to said axis "X", in particular for the passage from said first configuration to said second configuration, causes said collar 51, moving in solidarity with said actuator device 5, to cause the movement of said advance device 414. The movement of the advance device 414 involves the movement of the guide element 416 and the locking device 412.

More generally, said collar 51 acting on said advance device 414 causes the integral movement of said advance device 414, of said locking device 412, and of said guide element 416, in particular in the passage between said first configuration and said second configuration.

The stroke of the advancement device 414 is delimited by a limit switch 53, against which said blocking element 4143 abuts. Preferably, said limit switch 53 comprises a through hole such as to allow the passage of said guide element 416. Preferably, said limit switch 53 is constrained to the casing of the binding device 4.

Since said collar 51 acts on the elastic element 4141 which at the opposite end acts on the blocking element 4143 to which said guide element 416 is fixed, at the end of which said blocking device 412 is fixed, the movement of the actuator device 5 during its stroke, in particular in the passage from said first configuration to said second configuration, pulls the wire ?W? pushing it towards said forming device 43, preventing the same wire ?W? from moving in the opposite direction.

The length of the stroke that said advance device 414 makes until it comes to rest against said limit switch 53 is such as to ensure that the wire ?W? is appropriately bent by the forming device 43 so as to trap the cords (C1, C2). Preferably, the stroke of the actuator device 5, sufficient to ensure that the wire ?W? is appropriately bent by the forming device 43, is at least 5cm, preferably at least 7cm. Preferably, the stroke of said actuator device 5 is sufficient to create a ring, preferably closed, of wire ?W?, in particular the stroke for the transition from said first configuration to said second configuration. The present embodiment allows for the creation of rings, open or closed, with a diameter less than or equal to 2.5cm, sufficient to trap said two cords (C1, C2).

The preferred embodiment of the tying device 4 provides that upon reaching a predetermined stroke of the actuator device 5, for example corresponding to said second configuration, the forming device 43 has appropriately bent said thread ?W? trapping said cords (C1, C2). A further feature of the actuator device 5 ensures the activation of the cutting device 42, in particular this further stroke causes the actuator device 5 to act against said push rod 52 in such a way as to activate said cutting device 42, in particular by rotating said first mobile element 431 of the forming device 43 where said cutting device 42 is integrated. Preferably said further stroke is approximately 1.5 cm. In particular, said further stroke allows the tying device 4 to pass from the second configuration to said third configuration.

During this further stroke of the actuator device 5, the elastic element 4141, contacting said limit switch 53, via said blocking element 4143 and under the thrust of the actuator device 5, via said collar 51, compresses. This solution allows for better control of the stroke of the actuator device 5, as there is a further elastic force to overcome to allow the movement of the actuator device 5.

The compression of such elastic element 4141 ensures that said locking device 412 and said guiding element 416 are not moved, and that the wire ?W? is not pushed further towards the forming device 43, keeping the wire ?W? still so that the cutting device 42 can operate correctly.

Once the actuator device 5 has completed this further stroke and the cutting device 42 has cut the wire ?W?, in particular reaching said third configuration, said actuator device 5 is activated to perform the stroke in the reverse direction, in order to return to said first configuration or initial configuration. On this occasion, the kinetic energy released by the elastic element 4141, when it re-stretches following compression, facilitates the return to said first operating configuration or initial configuration.

Preferably, said cutting device 42 comprises a recall element, not illustrated. Said recall element is capable of returning said first mobile element 431 to its position following the action imparted by the actuator device 5 via said push rod 52. Said recall element is for example a spring.

Figures 2A and 2B show the binding system 3 in the two different operating configurations. In particular, Figure 2A shows the binding system 3 in a first configuration or open configuration. In this figure it is visible how the arms (32, 34) connected to said support structure 31 are appropriately constrained to each other so that through the action of a single actuator 33 the same arms (32, 34) can move synchronously between the different configurations. From Figure 2A it is visible how the guide elements (321, 40) and the arms (32, 34) are at their maximum inter-distance. Said first arm 32 at the distal end comprises the first guide element 321, which has a fork shape.

Said second arm 34 comprises said binding device 4, which in turn comprises a feeding system 41, a cutting device 42 and a forming device 43.

At the distal end of the binding device 4 is included the second guide element 40, which has a ?U? shape.

Said feeding system 41 and said cutting device 42 are driven by a single actuator device 5 which allows the feeding system 41 to move the wire ?W? along an axis ?X? towards said forming device 43.

Figure 2B instead shows the tying system 3 in a second or closed configuration. As visible in the figure, the actuator 33 has moved the arms (32, 34) causing them to reach their minimum inter-distance. In this configuration the cords guided by the respective guide elements (321, 40) are placed side by side at said tying device 4. Said tying device 4, via said forming device 43, is able to bend a wire ?W? in such a way as to trap the cords. Once said wire ?W? has been bent, the cutting device 42 cuts the wire ?W? from the remaining part of the wire ?W?. To allow the forming device 43 to bend the wire ?W?, the same is moved by the feeding system 41 towards said forming device 43 by performing a movement along said axis ?X?. Said cutting device 42 and said feeding system 41 are driven by said actuator device 5.

Figure 3 instead shows a binding device 4 applied to the second arm 34 in the second configuration of the binding system 3, in which the wire ?W? is bent but not yet cut.

Further details of the tying device 4 attached to the distal end of the second arm 34 of the tying system 3 are visible from the figure. In particular, figure 3 shows a wire ?W? placed along an axis ?X? which passes through a locking device 412 of the feeding system 41. figure 3 shows the locking device 412 which is connected to the guide element 416.

Said actuator device 5 acts on the feed system 41 via a collar 51. In particular, said collar 51 acts against one end of the elastic element 4141, in the form of a helical spring, of the advance device 414. The opposite end of the elastic element 4141 acts on a blocking element 4143, to which said guide element 416 is connected.

In figure 3, said blocking element 4143 is visible in contact with the limit switch 53 which allows the passage of said guide element 416. Said collar 51 also allows the passage of said guide element 416.

Figure 3 shows the binding device 4 in the second configuration, in which the wire ?W? has already been bent, in the shape of a closed ring, by the forming device 43 but the wire ?W? has not yet been cut by the cutting device 42 so as to separate the ring of wire ?W? from the remaining part of the wire ?W?. From Figure 3 it is visible how in this second configuration, the collar 51 connected to the actuator device 5 is in contact with the push rod 52 which will allow the actuator device 5 to drive the cutting device 42 to cut the wire ?W? and separate the wire ?W? bent into a ring from the remaining part of the same wire ?W?.

From figure 3 it is in fact visible how the forming device 43 has already appropriately bent the wire ?W? making it assume the shape of a closed ring, trapping the cords flanked by the guide elements (321, 40) of the two arms (32, 34).

Figure 4 shows a detail of the forming device 43 and the cutting device 42 included in the tying device 4 of a tying system 3 according to the present invention. Figure 4 shows the first arm 32 and the second arm 34 in the second configuration in which the two cords (C1, C2) are placed side by side thanks to their respective guide elements (321, 40). In particular, Figure 4 shows the tying device 4 in the second configuration in which the wire ?W? has already been appropriately bent by the forming device 43, assuming a closed ring shape, but the cutting device 42 has not yet been activated by the actuator device 5, via said push rod 52, to cut said wire ?W?.

In the embodiment illustrated in figure 4, the forming device 43 is visible, comprising an inlet 430 from which the wire ?W? enters, passes inside the fixed element 433 and then enters said first mobile element 431 which is capable of imparting a first bend, and in particular a first curvature, to the wire ?W?. The wire ?W? continues to meet the second mobile element 432 which is constrained, free to rotate, on said first mobile element 431. Said second mobile element 432 is capable of imparting a second bend, in particular a second curvature, to the wire ?W?. In particular, the curvature imparted by said second mobile element 432 on the wire ?W? is such as to create the ring structure shown in figure 4.

Said first movable element 431 rotates around said fixed element 433, in particular with an oscillatory motion.

Said cutting device 42 is integrated into the forming device 43, in particular into said first movable element 431. Said actuator device 5, by moving said first movable element 431 via said push rod 52, activates the cutting device 42 and the wire ?W? is cut.

Finally, Figures 5A, 5B and 5C show the binding device 4 in three different operating configurations. In particular, Figure 5A shows the binding system 3 in the second configuration in which said binding device 4 is in the first operating configuration and therefore has not yet been activated.

Figure 5A shows, the wire ?W? placed along an axis ?X? which passes through a blocking device 412 of the feeding system 41. Figure 5A shows the blocking device 412 connected to the guide element 416. Said actuator device acts on the feed device 414 via a collar 51. In particular, said collar 51 acts against one end of the elastic element 4141, in the form of a helical spring, of the feed device 414. The opposite end of the helical spring 4141 acts on a blocking element 4143, to which said guide element 416 is connected.

In figure 5A it is visible that said blocking element 4143 is not yet in contact with the limit switch 53. Figure 5A shows the binding device 4 in the first configuration, in which the wire ?W? has not yet been bent by the forming device 43, the end of the wire ?W? being in correspondence with said forming device. From figure 5A it is visible that in this second configuration, the collar 51 connected to the actuator device 5 has not yet reached the contact with the push rod 52 which will allow the actuator device 5 to control the cutting device 42 to cut the appropriately bent wire ?W?.

Figure 5B shows the tying system 3 in the second configuration in which said tying device 4 is in the second operating configuration in which the forming device 43 has appropriately bent the wire ?W?. From figure 5B, in comparison with figure 5A, it is visible how the actuator device 5 has been activated causing said collar 51 to perform a pre-established stroke. During this stroke, the locking device 412 has blocked the wire ?W? allowing the movement of the wire ?W? exclusively towards said forming device 43, preventing the same wire ?W? from moving in the opposite direction along said axis ?X?.

The feed device 414 allows the wire ?W? to slide towards the forming device 43. As can be seen from figure 5B. The collar 51 acts against one end of the helical spring 4141 of the feed device 414 and the opposite end of the same helical spring 4141 acts on the blocking element 4143, to which said guiding element 416 is connected. In figure 5B, the blocking element 4143 is visible abutting against the limit switch 53 which allows the passage of said guiding element 416. Figure 5B shows the forming device 43 in which the wire ?W? has already been bent, in the shape of a closed ring, but the same wire ?W? has not yet been cut by the cutting device 42 so as to separate the ring of wire ?W? from the remaining part of the wire ?W?. From figure 5B, visible as in this second configuration, the collar 51 connected to the actuator device 5 is in contact with the push rod 52 which will allow the actuator device 5 to drive the cutting device 42 to cut the wire ?W?.

Figure 5C shows the binding system 3 in the second configuration in which said binding device 4 is in the third operating configuration in which the cutting device 42 has cut the wire ?W?, already appropriately bent by said forming device 43, separating it from the rest of the wire ?W? coming from said feeding system 41.

From figure 5C, in comparison with figures 5A and 5B, it is visible how the actuator device 5 was further activated by making the collar 51 perform a further stroke. This further stroke caused the compression of the helical spring 4141 of the advancement device 414, while keeping said guide element 416 and said blocking device 412 in position, preventing the wire ?W? from being pushed towards the forming device 43. In fact, said blocking element 4143 is in contact with the limit switch 53, preventing further advancement.

Furthermore, the action of said collar 51 on the push rod 52, caused said first movable element 431 to rotate with respect to said fixed element 433, actuating said cutting device 42 integrated into the forming device 43. The movement of said first movable element 431 with respect to said fixed element 433 was such as to cut the wire ?W?. In this way the wire ring ?W? is separated and can retain said trapped cords (C1, C2). In fact, the wire ?W?, already bent into the shape of a closed ring by the forming device 43, is cut by the cutting device 42 so as to separate the wire ring ?W? from the remaining part of the wire ?W?.

To allow this movement for cutting the wire ?W?, said actuator device 5 must perform a further stroke, thus reaching said third configuration.

In said third configuration, in order to return to the first configuration of the binding device 4, the actuator device 5 is powered in order to move the other piston, completing the sum of the two strokes specified previously.

The tying system 3, according to the present invention, is particularly suitable to be included in a trellising machine 2, the latter being suitable for lifting and tying the shoots of vegetable plants, such as the green shoots of the vine.

Said stake machine 2 comprises: a frame 22 and fastening elements 23, connected to said frame 22, suitable for allowing the removable connection of the stake machine 2 to a tractor ?T?. Preferably, said fastening elements 23 are structured to connect to the rear part of the tractor ?T?, in particular to the three-point connection included in the tractor ?T?. The present embodiment allows the stake machine 2, according to the present invention, to be easily adapted to both rubber-tyred tractors ?T? and tracked tractors ?T?. In fact, the rear three-point attachment of the tractors is standardized, thus avoiding the need to apply brackets or flanges to the structure of the tractor ?T? or to create fastening elements or particular applications to be able to fix the stake machine 2 to the tractor ?T?. This embodiment allows the paling machine 2 to be attached and detached quickly on all types of ?T? tractors. Furthermore, the rear three-point hitch of the ?T? tractors is specially designed to withstand high loads, and is therefore more robust and reliable.

Preferably, said frame 22 is such that it straddles a row of plants, preferably on both sides of the row, in particular rows of vineyards.

Said trellising machine 2, according to the present invention, further comprises a plurality of actuators 24. Said actuators 24 are suitable for moving the parts of the trellising machine 2 to adjust at least one of its positions with respect to a row of plants.

Said trellising machine 2, according to the present invention, comprises at least one lifting system 25, suitable for lifting the shoots of the vegetable plants, in particular the vine shoots. Preferably, two lifting systems 25 placed on a respective side of the row are included.

The trellising machine 2, according to the present invention, also comprises a tying system 3, according to the present invention, suitable for tying the shoots of the vegetable plants lifted by said at least one lifting system 25, by stretching a first cord ?C1? and a second cord ?C2? and tying them together by means of a thread ?W?, at intervals defined by one or more variables, for example being at regular intervals, pre-established and/or defined as a function of external variables, such as for example determining the most favourable points for tying the cords (C1, C2), for example in points with a reduced quantity of vegetation. Said cords (C1, C2) are cords commonly used in the agricultural field, such as for example in fabric, nylon and/or hemp.

The staking machine 2, according to the present invention, comprises a first collector ?R? in which said wire ?W? is collected. Preferably, said first collector ?R? is placed in a remote position with respect to said binding system 3, for example in proximity of the tractor ?T? for example in correspondence with the portion of frame 22 in proximity of the fastening elements 23. The present embodiment allows to position a load associated with the binding system 3, but more generally with the staking machine 2, in a region which generates fewer problems with respect to the stability of the binding system 3 and of the staking machine 2 itself, being positioned in proximity of the fastening elements 23. This solution allows to position the load associated with said first collector ?R? in correspondence with a region of the tractor ?T? specifically designed to support high loads.

The staking machine 2, according to the present invention, comprises second collectors ?S? in which said first cord ?C1? and said second cord ?C2? are collected. Preferably, said second collectors ?S? are placed in a remote position with respect to said binding system 3, for example in proximity to the tractor ?T? for example in correspondence with the portion of frame 22 in proximity to the fastening elements 23. The present embodiment allows the load associated with said second collectors ?S? to be positioned in a region which generates fewer problems with respect to the stability of the binding system 3 and of the staking machine 2 itself, being positioned in proximity to the fastening elements 23, in particular in correspondence with a region of the tractor ?T? specifically designed to support high loads.

In a possible embodiment, said lifting system 25 comprises a sliding belt, preferably made of rubber, comprising protrusions or fingers that delicately lift the vegetation, in particular said shoots. Said lifting systems 25 are advantageously placed in a front portion of the trellising machine 2, in particular in front of the binding system 3, according to the present invention, with respect to the direction of advancement of the trellising machine 2 and tractor assembly ?T?.

In a preferred embodiment of the trellising machine 2, said fastening elements 23 are adapted to connect to a tractor ?T? at a three-point connection system located at the rear of said tractor ?T?. In the present embodiment, the frame 22 comprises a post 220 to allow the frame 22 to straddle a row of plants, in a front position of said tractor ?T?. Said post 220 allows the frame 22 to pass over a cabin or driving position of the tractor ?T? to reach the front of said tractor ?T? and allow the trellising machine 2 to straddle a row. The present embodiment allows the creation of a trellising machine 2 of compact dimensions suitable for working even on slopes, for example on hills, even in conditions where the distance between the rows is reduced. Furthermore, the present embodiment can be used on tractors ?T? both rubberized and tracked. The present embodiment connecting via said fastening elements 23 to the three-point hitch of the tractor ?T? located in the rear part does not require brackets or flanges to adapt the tractor ?T? to the agricultural machine. Furthermore, the present embodiment allows for quick coupling and uncoupling of the stake machine 2 from the tractor ?T?. Finally, the present embodiment increases the stability of the stake machine 2 and tractor ?T? assembly and consequently the safety for the operator.

In a possible embodiment of said trellising machine 2, during advancement in a row, the frame 22 is placed astride the row, its position being able to be adjusted by means of the actuators 24.

In a possible embodiment, said trellising machine 2 comprises two lifting systems 25, where each lifting system 25 comprises a sliding belt equipped with protuberances in order to allow the lifting of the hanging shoots of the plant. Said lifting systems 25 are placed one on each side of the row, in order to lift the shoots on both sides of the row.

By means of said binding system 3, the pair of cords (C1, C2) is laid out on both sides of the row and, depending on one or more variables, they are brought closer together, placing them side by side, to be tied by said wire ?W?. In a preferred embodiment, by means of the actuator 33, said arms (32, 34) pass from the first configuration to the second configuration, so that said arms (32, 34) of the binding system 3 move closer to each other. In particular, the first cord ?C1? guided by the first guide element 321 of the first arm 32, is brought closer to the second cord ?C2? guided by the second guide element 40 included in the binding device 4 included in said second arm 34. In particular, said first arm 32 and said second arm 34 are placed on the two sides of the row and move reciprocally by performing an oscillatory movement, passing from said first configuration to said second configuration.

When said arms (32, 34) are in the second configuration, the binding device 4 is activated in order to tie said cords together by means of a thread ?W?. In particular, said forming device 43 is able to bend said thread ?W?, preferably generating a loop of thread ?W?, in such a way as to tie said cords (C1, C2) together.

In a preferred embodiment of the tying device 4, the same comprises a single actuator device 5 which is in the form of two opposed single-acting pistons, formed by two rods and a single stem, the latter sliding along a stroke which is calibrated to allow said forming device 43 to bend said wire ?W?, in order to trap said cords (C1, C2) in particular creating a ring of wire ?W?, and subsequently cut said wire ?W? by means of said cutting device 42. In particular, to bend said wire ?W? a stroke of approximately 7cm is required, while to cut said bent wire ?W? a further stroke of approximately 1.5cm is required.

Said power supply system 41 comprises a locking device 412, movable by the action of said actuator device 5.

Said feeding system 41 also comprises a feed device 414, which comprises an elastic element 4141 in the form of a helical spring, which slides with the movement of the actuator device 5, said spring being able to act at one end against a collar 51, connected to said actuator device 5, and at the opposite end against said blocking element 4143. More specifically, starting from said first configuration, the actuator device 5 moves said feeding system 41 until said blocking element 4143 comes to rest against the limit switch 53. During this stroke, the moved wire ?W? allows said forming device 43 to bend the same wire ?W?, preferably creating a ring. When said blocking element 4143 comes to rest against the limit switch 53, the wire ?W? is no longer moved. advanced by said advance device 414. At the same time, the collar 51 reaches the abutment on the push rod 52 connected to the cutting device 42. Continuing its stroke, the actuator device 5 causes a compression of the elastic element 4141 ensuring that the wire ?W? is not pushed further towards the forming device 43, but at the same time the motion imparted to the push rod 52 allows the cutting device 42 to activate, and in particular by rotating said first mobile element 431 which, by rotating with respect to said fixed element 433, causes the wire ?W? to be cut, separating the bent portion of the wire ?W?, for example in a closed ring, from the remaining part of the wire ?W?. Said fixed element 433, constrained to said casing, allows, with the movement of the first mobile element 431, to cut the wire ?W? following its bending and in particular to the creation of the ring.

The wire ?W?, in the passage between the blocking device 412 and the feed device 414 to reach the forming device 43, is guided by said guide element 416, for example in the form of a wire holder tube. Said guide element 416 slides freely inside said limit switch 53.

In a possible embodiment of the tying system 3, the following operations are performed to switch from said first configuration of the tying device 4 to said third configuration of the tying device 4. To switch from the first configuration to the second configuration of the tying device 4, the actuator device 5, in the form of a pair of opposed single-acting hydraulic pistons, is powered in such a way that the actuator device 5, via said collar 51, pushes the advance device 414, and in particular the elastic element 4141, until said blocking element 4143 comes into contact with said limit switch 53. This stroke of the actuator device 5 is, for example, equal to 7 cm. This movement involves movement of wire ?W? of the same length which will be bent by the forming device 43 so as to create said ring and trap said cords (C1, C2). Once this stroke has been completed, the tying device 4 is arrived in said second configuration, in which the wire ring ?W? is formed but the wire ?W? has not yet been cut. At this stroke of the actuator device 5, the collar 51 meets the push rod 52 which is suitable for driving said cutting device 42. Continuing the movement, the actuator device 5, on the one hand, will compress said elastic element 4141 of the feed device 414 preventing the wire ?W? from being pushed further towards the forming device 43; on the other hand, the action of said collar 51 on the push rod 52, causes said first mobile element 431 to rotate with respect to said fixed element 433, actuating said cutting device 42 integrated into the forming device 43.

The movement of said first mobile element 431 with respect to said fixed element 433 is such as to cut the thread ?W?. In this way the thread ring ?W? is separated and can retain said cords (C1, C2) trapped.

To allow such movement for cutting the wire ?W? said actuator device 5, starting from said second configuration, must perform a further stroke thus arriving in said third configuration. Once said third configuration of the binding device 4 has been reached, the actuator device 5 is powered in order to move the other piston in order to return to said first configuration.

Figure 1 shows a stake machine 2 applied to a tractor ?T?, in a rear axonometric view. From figure 1 it is visible how the stake machine 2 is connected by means of fastening elements 23 to the tractor at the rear, where there is a three-point connection system not visible from the figure but well known to a technician in the sector.

The frame 22 of the paling machine 2 departs from said fastening elements 23 by means of an upright 220 which allows the frame 22 to pass over the cabin or driving position of the tractor ?T? to reach the front part of the same tractor ?T?.

The said trellising machine 2, and in particular the frame 22, is shaped like a portal, allowing the machine to straddle a row. Figure 1 shows a plurality of actuators 24 that allow the position of the trellising machine 2 to be adjusted with respect to the row.

Two lifting systems 25 facing each other are connected to said frame 22. Said lifting systems 25 are in the form of sliding belts with protrusions to lift the shoots on both sides of the row. Said lifting systems 25 are located in the front part of the trellising machine 2.

Said binding system 3 is placed behind said lifting systems 25. Said binding system 3 comprises: a support structure 31 connected to the frame 22 of the paling machine 2. The binding system 3 comprises a first arm 32 and a second arm 34 connected to said support structure 31. Said arms (32, 34) are shown in figure 1 in the second configuration in which their inter-distance is minimal, interacting with each other. The binding system 3 comprises an actuator 33 suitable for moving said arms (32, 34) between said first configuration and said second configuration, with an oscillatory movement.

Said second arm 34 comprises a tying device 4 placed at a distal end of the second arm 34. The tying system 3 is designed to place a first cord ?C1? and a second cord ?C2? side by side in said second configuration of the arms (32, 34), and tie them together by means of a thread ?W?, suitably bent by said tying device 4.

Each of said cords (C1, C2) is collected in a second collector ?S?. Said second collectors ?S?, as visible in figure 1, are placed in a remote position with respect to said binding system 3, for example in proximity to the fastening elements 23 suitable for connecting to the tractor ?T?.

Said wire ?W? is collected in a first collector ?R?, also placed in a remote position with respect to said binding system 3, for example in proximity to the fastening elements 23 suitable for connecting to the tractor ?T?. From figure 1 it is visible how said collectors (R, S) are placed close to each other, for example enclosed in a special protective casing, shown partially open in figure 1. From figure 1 it is also visible, at least in part, the paths of the cords (C1, C2) and of the wire ?W? to reach said binding system 3.

More generally, the binding system 3, according to the present invention, allows the use of a wire reel ?W?, placed in the first collector ?R? which can be conveniently positioned in the rear part of the tractor ?T?.

The binding device 4, according to the present invention, allows the creation of loops of wire ?W? which trap the two cords (C1, C2), in particular closed loops, and subsequently the cutting of said folded wire ?W?, separating it from the rest of the wire ?W?.

The binding system 3, according to the present invention, allows the cords (C1, C2) to be tied at intervals, defined by one or more variables, when said arms (32, 34) are in said second configuration.

The binding system 3, according to the present invention, does not require any type of staples or points since the binding device 4 appropriately bends the wire ?W? autonomously, preferably generating closed rings. In fact, the binding device 4 simply uses wire ?W?, for example a traditional iron wire, galvanized wire, etc., used in vineyard systems.

The present invention guarantees a significant economic advantage for the user since he will not have to purchase specific consumables.

The binding system 3, and consequently the trellising machine 2, is light and compact, allowing for easy work even in hilly and sloping vineyards, in complete safety for the operator.

Alternative embodiments of the tying system 3 and the paling machine 2, not explicitly described but easily deducible by a person skilled in the art in light of the technical content of this patent application, must be considered as included within the scope of protection of this patent application.

NUMERICAL REFERENCES

Palier machine 2 Frame 22 Upright 220 Fastening elements 23 Actuators 24 Lifting system 25 Tying system 3 Support structure 31 First arm 32 First guiding element 321 Actuator 33 Second arm 34 Tying device 4 Second guiding element 40 Feeding system 41 Locking device 412 Feeding device 414 Spring element 4141 Locking element 4143 Guiding element 416 Cutting device 42 Forming device 43 Inlet 430 First movable element 431 Second movable element 432 Fixed element 433 Actuating device 5 Collar 51 Push rod 52 Limit switch 53 First cord ?C1? Second cord ?C2? First collector ?R?

Second collectors ?S?

Tractor ?T?

Thread ?W? Axis ?X?

Claims (13)

CLAIMS: 1. Tying system (3) for paling machines (2) comprising: - a support structure (31) designed to allow the connection of the tying system (3) to a trellising machine (2); - a first arm (32), appropriately connected to said support structure (31), capable of assuming a first configuration and a second configuration different from said first configuration; - a second arm (34), suitably connected to said support structure (31), capable of interacting with said first arm (32) in said second configuration; - an actuator (33) capable of at least moving said first arm (32) between said first configuration and said second configuration; said first arm (32) comprising a first guide element (321), placed at a distal end of said first arm (32) with respect to said support structure (31), wherein said first guide element (321) is adapted to guide a first cord (C1); said second arm (34) comprising a binding device (4) placed at a distal end of the second arm (34) with respect to said support structure (31); said binding device (4) comprising a second guide element (40) suitable for guiding a second cord (C2); said binding system (3) being able to place said first cord (C1) and said second cord (C2) side by side in said second configuration of said first arm (32); said binding device (4) comprising: - a power supply system (41) designed to move a wire (W) coming from a first collector (R); - a cutting device (42) suitable for cutting said wire (W); said tying system (3) being characterised in that said tying device (4) comprises a forming device (43), suitable for suitably bending said wire (W) coming from said feeding system (41), trapping said first cord (C1) and said second cord (C2) side by side in said second configuration of said first arm (32); said cutting device (42) being able to cut the wire (W) suitably bent by said forming device (43), separating it from the rest of the wire (W) coming from said feeding system (41). 2. Binding system (3) according to claim 1, wherein said actuator (33) is able to also move said second arm (34), said second arm (34) being able to assume a first configuration and a second configuration, in order to place said first cord (C1) and said second cord (C2) side by side in said second configuration. 3. Binding system (3) according to one of the preceding claims, wherein said feeding system (41) and said cutting device (42) are driven by a single actuator device (5). 4. Binding system (3) according to one of the preceding claims, wherein said feeding system (41) comprises: - a locking device (412) designed to allow the movement of the wire (W) only towards said forming device (43), preventing the movement of the wire (W) in the opposite direction; - a feed device (414) suitable for moving the wire (W) towards said forming device (43); - a guide element (416) suitable for guiding the wire (W). 5. Binding system (3) according to one of the preceding claims, wherein said forming device (43) comprising: - an input (430) for the wire (W); - a first movable element (431) suitable for guiding the wire (W) to define a first bend of the wire (W); - a second movable element (432), connected to said first movable element (431), suitable for guiding said wire (W) to define a second bend of the wire (W); - a fixed element (433) with respect to which said first movable element (431) moves. 6. Binding system (3) according to one of the preceding claims, wherein said cutting device (42) is integrated into said forming device (43). 7. Binding system (3) according to claims 5 and 6 wherein said cutting device (42) being integrated into said first movable element (431) of the forming device (43). 8. Binding system (3) according to claim 3, wherein said actuator device (5) is a pair of single-acting opposed pistons, formed by two barrels and a single stem. 9. Binding system (3) according to claim 3 or 8, wherein said actuator device (5) is connected to said feeding system (41) via a collar (51), allowing its movement along an axis (X); said cutting device (42) is connected to said actuator device (5) via a push rod (52). 10. Trellising machine (2) for lifting and tying shoots of vegetable plants, such as green vine shoots, comprising: - a frame (22) - fastening elements (23), connected to said frame (22), suitable for allowing the removable connection of the paling machine (2) to a tractor (T); - a plurality of actuators (24), suitable for moving the parts of the trellising machine (2) to adjust at least one of its positions with respect to a row of plants; - at least one lifting system (25), suitable for lifting the shoots of vegetable plants; - a tying system (3) designed to tie the shoots of the vegetable plants lifted by the lifting system (25), by stretching a first cord (C1) and a second cord (C2) and tying them together using a thread (W) at intervals defined by one or more variables; - a first collector (R) in which said thread (W) is collected; - second collectors (S) in which said first cord (C1) and said second cord (C2) are collected; said paling machine (2) being characterised in that said tying system (3) is a tying system (3) according to claim 1. 11. A stake machine (2) according to claim 10, wherein said fastening elements (23) are adapted to connect to a tractor (T) at a three-point connection system located at the rear of said tractor (T). 12. Palisading machine (2) according to claim 11, wherein said frame (22) comprises an upright (220) to allow the same frame (22) to be positioned astride a row of plants, in a front position of said tractor (T). 13. A paling machine (2) according to claim 11, wherein said first collector (R) is placed in a remote position with respect to said tying system (3), in correspondence with the portion of frame (22) in proximity to the fastening elements (23).