ES2645211A2 - MACHINE FOR PLANTING IN THE GROUND PLANTS TUTORS (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Machine (10) for planting tutors (9) of plants in predefined environments (P1-PN) according to a predefined line (L1), the machine comprising a traction frame (1), a work frame (3) mounted on the frame of traction (1) by a rotation about the longitudinal axis X and a translation along a transverse axis indicated as Y, a control calculation element (7, 71) and a display screen (7, 72), an insertion device (4) of the tutors (9), a GPS receiver (5) in differential mode, placed in the vertical of the insertion device of the tutors (9), comprising the insertion device of the tutors (9) a mobile trolley (6), moved by a nailing cylinder (8), the nailing cylinder (8) being associated with a position sensor (81) of the mobile trolley (6) with respect to the sliding guide, and the cylinder control is carried out by means of a hydraulic proportional valve (18), so that the Descent of the mobile trolley (6) with its combined retraction is synchronized with the advance of the traction frame (1), which causes the nailing of the guardian according to a vertical. (Machine-translation by Google Translate, not legally binding)

Description

MACHINE TO PLANT IN THE GROUND FLOOR TUTORS

5 Technical sector

The present invention relates to machines for planting plant tutors, specifically for vineyard plants or garden plants.

10 State of the art

Machines for planting tutors are known in the art, also called "posts" or "markings", such as the one disclosed in FR2897235. However, it is still very difficult to line up correctly and compensate for

15 possible slopes of the land with a machine of this type.

Therefore, there has been a need to increase the accuracy of the placement of the tutors and associated plants in order to facilitate subsequent work (maintenance, weeding, leaf removal and mechanized harvesting) necessary in the

20 vineyards and orchards and also to improve the geometric aesthetic appearance. Therefore, a need has arisen to propose new solutions.

Object of the invention

25 To this end, in this case a machine adapted to plant tutors of vineyard-type vegetable plants or shrubs in predefined environments is proposed in accordance with a predefined line with a precision of centimeters, the machine comprising:

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 a traction frame, which travels along a direction of advance X called 30 longitudinal, at a predefined speed between 1 and 3 km / h,

-

 a work chassis mounted on the traction frame by means of a joint with two motorized degrees of freedom, specifically a rotation around the longitudinal axis X and a translation along an axis called transverse indicated as Y, perpendicular

35 to the longitudinal axis,

-

 a control calculation element and a display screen, which makes it possible to provide indications of trajectory correction with respect to the predefined line,

5 - a device for inserting the tutors,

-

 a top element equipped with a GPS receiver that receives signals from GPS satellites and coupled to a nearby stationary base for receiving GPS signals,

10 - placing the GPS receiver substantially on the vertical of the tutors insertion device,

-

 the guardians insertion device comprising a mobile trolley mounted by means of a sliding guide in the work chassis, the sliding guide being

15 inclined with respect to the X axis a predefined angle between 50 ° and 65 °, preferably close to 55 °,

-

 a nailing cylinder configured to control the position of the mobile cart,

20 - the mobile cart comprising a hollow way to receive a tutor in a position prepared for insertion and a push head to drive the tutor into the ground when the cart moves down,

-

 the nailing cylinder being associated with a position sensor of the mobile cart with

25 with respect to the sliding guide, and the control of the cylinder is carried out by means of a hydraulic proportional valve, so that the descent of the mobile carriage with its combined recoil is synchronized with the advance of the traction frame which causes the nailing of the tutor according to a vertical in one of the predefined environments.

30 Therefore, the rotational movement around X makes it possible to compensate for the slope of the terrain, and the translational movement according to Y makes it possible to correct deviations in the placement of the traction frame with respect to the predefined line.

In addition, the use of a differential GPS allows to define and follow with great precision the desired cartography for vineyard plants, with an accuracy of centimeters, because the inaccuracy of position is of the order of the centimeter.

In addition, thanks to the position of the GPS receiver substantially in the vertical position of the tutors' insertion point, it can be proposed to plant in a “round trip”, that is to say without a “vacuum return”, always scrupulously respecting the planned cartography.

It should be noted, in the case of the present invention, that the predefined line L1 will be in most cases rectilinear (hence a straight line), but the predefined line L1 can also have a slight curvature for example to follow a curved contour of the plot.

Also, it should be noted that the planned cartography may include particularities such as the “closure to the Bordeaux” at the edges of the plot or at the limit of the path (s).

In several embodiments of the invention, optionally, one and / or other of the following provisions may be used further.

According to a possible configuration, the machine can be a cover-type machine and the traction frame is intended to be attached to a 3-point type hitch of an agricultural tractor type apparatus; in this way a machine for planting of this type can be coupled to any agricultural tractor equipped with a usual hitch.

According to another possible configuration, the machine can be an automotive device and the traction frame is linked or coincides with the chassis of the automotive device. The functionalities and specifications of such an automotive device can be adapted with the greatest precision to the needs of tutors and vineyard planting operations.

or bushes

In addition, it can be provided that this automotive device is equipped with tracks; what allows to have a pressure in the ground inferior to the one of the tires, and a better portabilidad / grip in case of humid terrain.

The articulation with two degrees of motorized freedom can advantageously comprise an intermediate support mounted in rotation in the traction frame, which forms the rotation movement around the X axis, and the work chassis is mounted in translation in the intermediate support, which forms the translation movement along the axis

5 transverse, each of the two movements being controlled by a double acting hydraulic cylinder. In this way, by means of a relatively simple kinematics, the slope of the terrain and the transversal / lateral deviation of the tractor path can be compensated at the same time.

10 Advantageously, temporary control ramps are provided for control of the nailing cylinder; so that the impacts are reduced and even the impacts are eliminated at the end of the route, which allows reducing the noise for the operators.

Advantageously, the control calculation element regulates the speed of the nailing cylinder

15 in real time depending on the speed of the traction frame. In this way, the case of a slide during the advance is taken into account.

The machine also comprises a groove opening rail and oblique groove closing wheels. In this way a particularly clean closed interval is obtained.

20 Advantageously, an irrigation of the plant is provided with a reservoir, a nozzle and a dispensing synchronized with the insertion of the tutor. Therefore water is dispensed in the right place, in the right amount and at the right time.

25 According to one configuration, the mobile cart position sensor is an incremental encoder. This represents a reliable solution to measure the position in a movement path directed by a cylinder.

The upper support forms a roof that protects from the sun and the weather; what it provides

30 comfort and protection for operators who perform non-automated machine operations.

Description of the figures

Other features and advantages of the invention will appear throughout the following description, given by way of non-limiting example, with respect to the accompanying drawings, in which:

5 - Figure 1 represents a profile view of a planting work area of new vineyard plants,

-

Figure 2 represents in view from above the desired mapping of the plants for the plantation to be carried out,

-

Figure 3 illustrates the compensation kinematics implemented in the machine according to the invention,

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Figure 4 represents a top view illustrating the track 15 of the tractor with respect to the predefined line,

-

Figure 5 schematically shows in axial section the essential elements of the machine,

20 -Figure 6A shows in particular the guardian insertion device, the mobile cart being in an elevated position,

-

Figure 6B is analogous to Figure 6A with the guardian insertion device, the mobile cart being in a low position,

-

Figures 7A and 7B represent a variant embodiment for the mobile cart, analogous to Figures 6A and 6B,

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Figure 8 illustrates the display and indication of the path correction,

-

Figure 9A shows the fence in more detail in profile view, while Figure 9B shows the fence in top view,

35 - Figure 10 illustrates a functional control diagram of the system that regulates the machine,

-

Figure 11 illustrates a variant with an automotive apparatus,

-Figure 12 illustrates particular cases of cartography, 5 - Figures 13A and 13B are detailed views of the guardians insertion device,

-

Figure 14 illustrates a hydraulic control schedule of the nailing cylinder,

10 - Figure 15 illustrates the geometric construction of the vertical insert despite the continuous advance,

-

Figure 16 shows an example of a concrete and detailed embodiment of the traction frame, as well as the intermediate support,

15 - Figure 17 is similar to Figure 16, with the structural elements of the work chassis.

Detailed description of the invention

20 In the different figures, the same references designate identical or similar elements.

In figure 1, a work area for planting young vineyards has been represented, either for a completely new vineyard or for a complete renovation of an old vineyard.

For this, thanks to a machine (10) according to the present invention, a new vineyard strain with an associated tutor (9) is inserted in predefined environments that will serve as support for the progression of the young vineyard plant.

30 As illustrated in Figure 2, the predefined environments (P1, P2, ...) in which a vineyard plant is to be planted are defined by precise cartography, it is desired that the plantation be according to this objective with a precision of centimeters, hence the denomination "planting with centimeters accuracy".

In addition, as already mentioned, it is important to insert the tutor (9) in the vertical, compensating the slope of the land, specifically when the vineyard rows are perpendicular to the slope.

5 In the figures, the axes and directions are named as follows:

X is the direction of advance corresponding to the longitudinal direction,

Y1 is the transverse direction corresponding to the axle of the carrier wheels, perpendicular 10 to X,

YT is the transverse direction corresponding to the local horizontal, that is, the perpendicular to X corrected with respect to the local slope,

15 Z is the vertical direction,

W1 is the direction of elevation of the tractor, perpendicular to X and Y1,

ZT is the elevation direction of the compensated tractor with respect to the local slope of the

20 terrain (1), that is compensated with respect to balancing, but not necessarily in pitching.

The forward direction X is locally close to a predefined line L1 in which the predefined environments (P1, P2, Pi ...) are placed.

In the example illustrated in the first figures, the machine (10) according to the invention is used in a configuration coupled to a conventional agricultural tractor type apparatus (95). Even so, it should be noted that the machine (10) can be automotive, as depicted in Figure 11 in which an automotive apparatus (96) implements the machine (10) according to the

30 invention. In this case, the automotive device (96) can be equipped with tracks (98).

Returning to the configuration with a tractor, the agricultural tractor (95) advances at a substantially constant predefined speed, without stopping at the level of the predefined positions, and the plants and tutors (9) are plants made "on the fly" as that advances.

Advantageously, for the working area of the plantation, a predefined speed between 1 km / h and 3 km / h, preferably between 1.5 km / h and 2 km, is used for the advancement speed (FT) of the machine / h.

5 A differential GPS type geolocation system is used. In practice, it is installed in the machine (10) that moves an integrated GPS receiver (5) (mobile), and a reference receiver (55) on a fixed base to the ground, each receiving GPS signals from the satellites (50). The reference receiver (55) transmits the received signals to the machine (10) that travels, which allows correcting errors due to transmission, and

10 which allows to obtain an accuracy of centimeters.

The differential GPS system, known per se, commonly referred to as D-GPS will not be described in more detail in this case.

15 It is observed that by GPS “receiver” (5) or GPS “sensor” (5) it can be understood only the antenna function (with remote processing) or the antenna function with a local implementation of the signals and even a decoding .

The machine (10) is responsible for assisting one or more operators to perform the operations

20 of insertion in the ground of a tutor (9) and of a young vineyard plant (91) planted right next to the tutor (9), adjacently.

Next, in this document, the predefined environments (P1, P2,…) will be considered as the environments in which the tutors are planted (9), knowing that the plant

25 vineyard will be planted in contact with said tutor (9).

As illustrated in Figure 2, a cartography for the vine to be planted from the predefined environments is determined; this usually includes rows of vines parallel to each other (at least locally) and separated by a distance (ER) than in the

30 practice is often between 2 m and 2 m 50cm, which allows an agricultural tractor (95) to pass between the rows for further work. Even so, it is not excluded that the distance (ER) is less than 2 m.

Each interval consists of a succession of planting points (P1, P2, Pi, Pi + 1), 35 points that are separated along the direction of the row a predefined distance

indicated as (EP), which in practice is close to 1 meter, often in a range of 95cm to 110cm.

For a given row, the predefined line (L1) is very often straight, but there are 5 cases in which the predefined line (L1) has a curvature and therefore is not rectilinear (refer to figure 12).

For each of the rows, a predefined line is defined (L1, L2, L3, etc.).

10 Usually, for a vineyard plot, a unique and homogeneous distance (EP) is retained, except at the edges of the plot (which will be seen below). Likewise, the distance between rows (ER) can typically be chosen, by means of a previous mapping calculation, once for all in a given plot.

According to the invention, the machine comprises a work chassis indicated as (3) connected to a traction frame indicated as (1) by two motorized movements, which is also referred to in this case as "articulation of two motorized movements", or even "articulation with two degrees of motorized freedom."

20 The traction frame (1) can also be called "traction support".

In the illustrated example, the kinematics with two degrees of motorized freedom comprise an intermediate support (2) mounted in rotation on the traction frame (1), which forms the rotational movement around the X axis, and the work chassis ( 3) is mounted on

25 translation in the intermediate support (2), which forms the translation movement along the transverse axis Y.

Each of the two movements are controlled by a double-acting hydraulic cylinder, as will be seen in more detail below.

30 In the illustrated example, specifically in Figure 3, it is observed that the rotational movement around the X axis makes it possible to compensate for a slope of the terrain indicated as (1) by a rotation indicated as (X), and that the translation to along the YT axis it is possible to compensate for the transverse deviation (also called the “lateral” deviation) indicated

35 as (∆Y), because in effect, the trajectory of the agricultural tractor indicated as (TT), never

It can be perfect. Even with a self-regulation system, there are always a few centimeters of lateral dispersion.

The lateral deviation correction path (∆Y) is usually between 50 5 mm and 120 mm.

The angular correction path recovered from slope (RolX) is usually between +/- 15 degrees.

10 Alternatively, it could have an inverted assembly, that is to say an intermediate support mounted in translation according to Y in the traction frame and a work chassis and in rotation in the intermediate support.

The traction frame (1) also includes depth measuring wheels (13) of

15 height adjustment. These rollers may have the objective of a manual or hydraulically controlled height adjustment.

Obviously, there is also a gate (12) for opening the groove. The fence (12) is equipped with a tooth that allows the soil to be removed (S). The width of the fence (12) is smaller

20 to 10 cm In addition, oblique wheels (14) of groove closure as well as rails (not shown) are provided.

In addition, a plant irrigation system is planned; This system comprises a water reserve (97) mounted for example on the front of the agricultural tractor (95), ducts

25 of water supply directed towards a volumetric piston pump not shown in the figures; and a conduit or pipe (17) that goes to the inside of the grate (12) with a nozzle (17S) directed backwards.

As specifically illustrated in Figure 10, the machine (10) comprises an element

30 control calculation (71), configured to control electro-hydraulic distributors, distributors that are coupled to hydraulic motion control cylinders. Among the controlled movements, there is the slope correction also called (“Role X”) (double acting cylinder indicated as (82)), the transverse deviation correction (∆Y) (double acting cylinder indicated as (83) ) and insertion movement

35 of the tutor (9), also called nailing. Among the controlled movements,

There is also obviously the nailing cylinder (8) directed by a proportional solenoid valve (18).

Optionally, the nailing cylinder (8) is associated with a position sensor (81) that 5 measures the travel of the mobile carriage (6) with respect to the sliding guide. Preferably, the position sensor (81) is an incremental code.

It should be noted that the solenoid valves that control the offset cylinders (82.83) in slope and lateral deflection will also preferably be

10 proportional control solenoid valves, allowing effective and uncut feedback loops.

The hydraulic pressure source can be the tractor's own hydraulic power plant (95) or a hydraulic power plant integrated in the machine (10) and driven by the power take-off of the

15 tractor (95).

The control calculation element controls a display screen (72). The driver of the agricultural tractor (95) has a trajectory correction indicator, shown below the screen in the example illustrated with reference (74) and the deviation to be corrected

20 designated as (75). In a variant in which the tractor is controlled by an "automatic pilot" system without a human driver, the path correction indicator (74) is used by the automated servomechanism steering system.

In the illustrated example, the control calculation element (71) and the display screen 25 (72) make the same unit indicated as (7), but could be dissociated.

The tutors (9) prepared for use are kept in a container (19), while the vine plants (91) arranged for use are kept in another container not shown in the figures on the other side of the machine in relation to the vertical plane

30 medium (X, ZT).

The control calculation element (71) also controls the irrigation water dispensing piston, which can be done by means of a fourth cylinder (84) as illustrated, or otherwise.

The control calculation element (71) uses as input the information from the integrated GPS receiver (5), the correction information that is received from the stationary GPS base (55) in the vicinity of the regulated work area, information provided by a slope inclination sensor (57), a transverse travel position sensor (58) and a mobile cart position sensor (59). In the illustrated example, the position sensor of the mobile cart (59) is an incremental encoder that provides reliable and accurate information.

As illustrated in Figures 5, 6A and 6B, an insertion device of the tutors (9) generally indicated by the reference (4) is provided. This insertion device (4) comprises a mobile trolley (6) mounted by means of a slide guide (40) in the work chassis, the slide guide inclined with respect to the X axis a predefined angle (β) comprised between 50 ° and 65 °, preferably close to 55 °. It is noted that this angle is the angle complementary to the angle indicated as () (in this case 35 °) that form the plane of the slide guide and the local elevation direction ZT.

In a solution drawn in Figures 6A and 6B, the slide guide is formed by two tubes (48) each slidingly receiving a supportive column of the mobile carriage (6), the control cylinder, called a cylinder of intervening, being interposed. nailed between the two tubes. In an alternative solution drawn in Figures 7A and 7B, the guidance is carried out by means of a plurality of rollers (49) to guarantee a translation movement only, being able to exist rollers that guide the mobile cart according to several directions. It is noted that there can also be two control cylinders (8.8 ’).

In figures 13A and 13B an element of the mobile carriage (6) that forms a mechanical contact surface with the tutor (9) to be inserted is shown. There is armor

(60) with an upper guide (61) that has a hollow shape, advantageously of a V section open to the rear, and is intended to receive a tutor (9) placed in that environment by one of the operators sitting on the machine ( 10).

At the top, a thrust head (62) is provided to drive the guard (9) into the ground when the mobile carriage (6) travels obliquely downwards.

A second V-shaped guide (63) is installed either in the mobile trolley (6), or fixedly in relation to the work chassis (3) below.

The operator in charge of making the tutors available (9) introduces with his hand (M) a tutor

(9) at the bottom of the V-shapes. Then, the operator waits for the start of the downward movement of the push head (62) to release the tutor (9) directing his hand to catch the next tutor (9) in the container (19).

In the machine (10), during the development of planting operations, there is at least one operator sitting in a seat (25). In practice, there are often even two operators, an operator in charge of placing the tutors (9) near each other in a suitable position before their automatic insertion in the ground, and another operator in charge of placing the vine plant (91 ) just behind the tutor (9) in the open groove.

In addition, it is noted that the on-board GPS receiver (5) is arranged in an upper element, which in the illustrated example is formed as a roof (15), that is to say a rigid or flexible horizontal wall, arranged above the seats of the Operators Advantageously, this roof (15) allows the operators to be protected from rain and sun, which allows the machine to use intervals that are too large in terms of climatic conditions and in terms of schedules carried out.

Also, lighting bulbs are planned to be able to use the machine very soon in the morning or late in the afternoon. Indeed, the driver does not need to see through the windshield because he has enough information on the display screen (72) to correct the direction of the agricultural tractor (95).

In the example illustrated in Figure 12, the mapping can take into account a pre-existing obstacle (37) on the plot, such as an electric pole, a cabin, etc.

Another example with a passing path (38). It is noted that the edge of the road is equipped with a tutor (9) according to the principle of "closing to the Bordeaux".

As illustrated in Figure 14, the control calculation element (71) triggers the lowering of the mobile carriage (6) in a timely manner by means of the solenoid valve of

proportions (18) that sends pressurized oil to one of the double-acting cylinder chambers (82.83) to cause the nailing element and the guardian (9) that has been prepared to be lowered.

As shown in the indicated figure, the proportional solenoid valve (18) is not directed 5 at all or nothing but a ramp for starting (87) is foreseen after a bearing

(89) and another ramp (88) more pronounced to dominate the end of the route without impacts.

For lifting the cylinder, ramps are also provided so as to avoid an impact that is too violent when stopping in order to travel.

10 Figure 15 illustrates the adjustment of the rate of descent that is made possible by the use of a proportional control solenoid valve (18). In the example illustrated, for reasons of simplicity of construction and reliability, a fixed inclination of the slide guide has been chosen. The sliding guide guides the mobile trolley (6) according to a direction of guidance

15 predefined, in this case specifically according to an angle () equal 55 ° with respect to X other than said inclination () of 35 ° in front of the ZT direction (vertical corrected slope).

Under these conditions, terrain conditions and cartography dictate the speed of

20 admissible advance indicated as (FT); and the average speed of descent of the mobile carriage (6) in the slide guide can be deduced by the following formula: Ct = FT / cosβ.

Depending on this speed (Ct), in the control calculation element (71), the

The control parameterization of the proportional solenoid valve (18) must then be adjusted so that an insertion in the vertical of the tutor (9) is obtained.

Advantageously, if the agricultural tractor (95) slides, and the forward speed (FT) decreases, then the lowering speed of the mobile cart (Ct) can also decrease

30 correlatively, thus retaining an insertion in the vertical.

Figure 16 illustrates an industrial embodiment for the traction frame (1). The traction frame (1) comprises two anchors for the lifting arms indicated respectively as (1AD) and (1AG), as well as an anchor (1AS) for the third arm

35 point of the agricultural tractor (95).

It is observed in this case that, as indicated above, the case of the ascending or descending vineyard row is not generally compensated, the ZT direction being corrected from the slope for the rows planted perpendicular to the slope

5 largest local. Also, it can also have a third-point arm adjustable in length to partially compensate for a rising or falling interval.

The rotation movement bearing around X is referenced (11).

The intermediate support (2) comprises a cylindrical part (20) received in the bearing (11) and a parallelepiped piece (21) integral with the cylindrical part.

In the parallelepiped piece, two transverse sliding tubes are indicated respectively (44) and (45), as well as the body of the control cylinder (83).

15 Referring to figures 16 and 17, the slope correction cylinder (RolX), indicated as (82), is connected on one side to the traction frame (1) by means of the fixing (82A) and, on the other hand, to the intermediate support (2) by fixing (82B).

The work chassis (3) comprises a main skeleton with a left crossbar (30G) and a right crossbar (30D), which extend mainly along the longitudinal direction X, each of the stringers ending (30G, 30D ) on a lateral protuberance (31G, 31D) that supports the oblique wheel (14) of the groove closure.

Between the two stringers (30G, 30D) is the longitudinal crack (32) received by the fence (12). It is also noted that the armor (40) that supports the sliding guide equipment of the mobile cart (6).

Usually, the tutors (9) can be metal stems of predetermined diameter

30 between 5mm and 10mm, length between 50cm and 150cm, preferably between 80cm and 100cm. The tutors (9) can also be stems of plastic material, or of synthetic material or even of composite material obtained from recycling and biodegradable with a view to five years.

35 It is also understood by tutors (9) wooden posts or markings.

It should be noted that the semiautomatic assisted insertion system of the tutors (9) discussed above is not incompatible with a semi-automatic or automatic insertion of the vineyard plants (91). In addition, a manipulator could be arranged

5 controlled by the control unit, this manipulator being responsible for raising a vineyard plant in a storage container and placing it in the opening created by the fence (12), usually just behind the guardian (9). Naturally, in this context, extraction, handling and insertion would also be fully automated.

Claims (5)

1.- Machine (10) for planting in the ground tutors (9) of vineyard plants (or trees) in predefined environments (P1-PN) according to a predefined line (L1) with an accuracy of 5 centimeters, comprising the machine :

-

 a traction frame (1), configured to move along a direction of forward X called longitudinal, at a predefined speed (FT) between 1 and 3 km / h,

10 - a work chassis (3) mounted on the traction frame (1) by means of a joint with two degrees of motorized freedom, specifically a rotation around the longitudinal axis X and a translation along an axis called transverse indicated as Y , perpendicular to the longitudinal axis, 15 - a control calculation element (7.71) and a display screen (7.72), which allow to provide indications of trajectory correction with respect to the predefined line,

-

 an insertion device (4) of the tutors (9), 20

- a top element equipped with a GPS receiver (5) that receives the signals from the GPS satellites and coupled to a nearby stationary base for receiving GPS signals,

-

 placing the GPS receiver (5) substantially vertically of the insertion device 25 of the tutors (9),

-

 the insertion device (4) of the tutors (9) comprising a mobile carriage (6) mounted by means of a sliding guide in the work chassis (3), the sliding guide being inclined with respect to the X axis of a predefined angle (β) included

30 between 50 ° and 65 °, preferably close to 55 °,

-

 a nailing cylinder (8) configured to control the position of the mobile cart (6),

-

 the mobile carriage (6) comprising a hollow way to receive a tutor (9) in a position prepared for insertion and a push head to drive the tutor (9) into the ground when the mobile carriage (6) moves down ,

5 - the nailing cylinder (8) being associated with a position sensor of the mobile carriage (6) with with respect to the sliding guide, and the control of the cylinder is carried out by means of a hydraulic proportional valve (18), so that the descent of the mobile cart (6) with its Combined recoil is synchronized with the traction frame advance (1), which causes the nailing of the tutor (9) according to a vertical in one of the predefined environments (P1 10 PN). 2. Machine according to claim 1, wherein said machine (10) is a cover-type machine and the traction frame (1) is intended to engage a 3-point type hitch of an agricultural tractor type apparatus ( 95). 3. Machine according to claim 1, wherein said machine (10) is an automotive device (96), preferably equipped with tracks, and the traction frame (1) is linked or coincides with the chassis of the automotive device ( 96). Machine according to one of claims 1 to 3, in which the articulation with two degrees of motorized freedom comprises an intermediate support (2) mounted in rotation on the traction frame (1), which forms the movement of rotation around the X axis, and the work chassis (3) is mounted in translation on the intermediate support (2), which forms the translation movement along the transverse axis, each of the two being 25 movements controlled by a double acting hydraulic cylinder (82, 83). 5. Machine according to one of claims 1 to 4, wherein temporary control ramps (87.88) are provided for controlling the nailing cylinder. Machine according to claim 1, wherein the control calculation element (71) regulates the speed of the nailing cylinder (8) in real time as a function of the feed rate (FT) of the traction frame ( one). 7. Machine according to one of claims 1 to 6, in which a groove opening gate (12) and oblique wheels (14) for closing the groove are also provided. 8. Machine according to one of claims 1 to 7, in which an irrigation of the plants with a tank (97), a nozzle (17S) and a dispensing synchronized with the insertion of the tutor (9) is provided. Machine according to one of claims 1 to 8, in which the nailing cylinder (8) is associated with a position sensor (81) of the mobile carriage (6) with respect to the sliding guide and in the that the position sensor (81) of the mobile cart (6) is preferably an incremental encoder. 10. Machine according to one of claims 1 to 6, wherein the upper support forms a roof (15) that protects from the sun and the weather.