Patent Description:
Conventionally, tasks including tying or twisting an agricultural item of interest and a support structure together, and fastening the agricultural item of interest to the support structure have been manual labor tasks that are expensive and timing-consuming. For example, in a case in which the agricultural item of interest is a grape vine cane and a support structure is a wire trellis found in a vineyard, the tasks of tying or twisting the grape vine cane to the wire trellis and fastening the grape vine cane to the wire trellis with tape requires a person to walk through the vineyard and manually perform these tasks. Furthermore, a technique of tying or twisting the grape vine cane to the wire trellis, and fastening or attaching the grape vine cane to the wire trellis with tape, may vary from person to person, which can decrease the reliability and consistency of the grape vine cane being secured and fastened to the wire trellis. This unreliability and inconsistency is undesirable because the grape vine cane being secured and fastened to the wire trellis is important with respect to the health and growth of the grape vine and the quality of the grapes produced by the grape vine. <CIT>, <CIT> and <CIT> disclose additional examples of an agricultural tool for attaching an agricultural item of interest and a support structure together.

For the foregoing reasons, there is a need for a tool that can inexpensively and reliably tie/twist an agricultural item of interest and a support structure together.

The invention concerns an agricultural tool for tying/twisting an agricultural item of interest and a support structure together, according to the combination of features of independent claim <NUM>.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear and includes a base portion, and a mounting assembly to which the frame and the motor are attached. The mounting assembly can include a base plate, a first recess to accommodate the base portion of the frame, and a second recess to accommodate the motor; and the base plate can be mountable to a robotic arm.

In a preferred embodiment of the present invention, the motor can include a motor shaft, and the base portion of the frame can include a motor shaft hole through which the motor shaft extends.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear. The frame can include a main gear frame portion that houses the main gear, a first driving gear frame portion that houses the first driving gear, and a second driving gear frame portion that houses the second driving gear.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear. The frame can include a main gear frame portion that houses the main gear and includes at least one of a bottom groove portion and a top groove portion. The main gear can include at least one of a bottom track portion that is attached to a bottom surface of the main gear to extend within the bottom groove portion of the main gear frame portion, and a top track portion that is attached to an upper surface of the main gear to extend within the top groove portion of the main gear frame portion.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear. The main gear can include a channel, and the frame can include a main gear frame portion that houses the main gear and includes a track to slide within the channel of the main gear.

In a preferred embodiment of the present invention, the agricultural tool further includes a motor pulley, a belt to be driven by the motor pulley, a first driving pulley to be driven by the belt, a second driving pulley to be driven by the belt, a first driving shaft to which the first driving pulley is attached such that the first driving shaft rotates when the first driving pulley is driven by the belt, and a second driving shaft to which the second driving pulley is attached such that the second driving shaft rotates when the second driving pulley is driven by the belt. The motor can include a motor shaft to which the motor pulley is attached such that the motor pulley rotates when the motor is driven. The first driving gear is attached to the first driving shaft such that the first driving gear rotates when the first driving shaft rotates, and the second driving gear is attached to the second driving shaft such that the second driving gear rotates when the second driving shaft rotates.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear, a first driving shaft bearing that rotatably supports the first driving shaft via the frame, and a second driving shaft bearing that rotatably supports the second driving shaft via the frame.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear, and a tensioner attached to the frame. The frame can include an elongated hole that extends through a bottom surface of the frame, and the tensioner slides within the elongated hole to adjust an amount of tension applied to the belt.

In a preferred embodiment of the present invention, the agricultural tool further includes a frame that supports the main gear, and a cover that is attached to the frame. The cover surrounds the belt, the first driving pulley, and the second driving pulley.

In a preferred embodiment of the present invention, at least one of the first receiving portion and the second receiving portion of the main gear can be curved.

In a preferred embodiment of the present invention, at least one of the first receiving portion and the second receiving portion of the main gear can include an inside surface that includes rubber or felt.

In a preferred embodiment of the present invention, the plurality of openings are equally spaced along the periphery of the main gear.

In a preferred embodiment of the present invention, when each of the first driving gear and the second driving gear is engaged with the periphery of the main gear and the motor is driven, the main gear is driven by both the first driving gear and the second driving gear. When the first driving gear is not engaged with the periphery of the main gear and the motor is driven, the main gear is driven by the second driving gear. When the second driving gear is not engaged with the periphery of the main gear and the motor is driven, the main gear is driven by the first driving gear.

In a preferred embodiment of the present invention, the agricultural tool further includes a controller configured or programed to control the motor.

An agricultural tool according to a preferred embodiment of the present invention includes a motor, a first driving gear to be driven by the motor, a second driving gear to be driven by the motor, a main gear including a plurality of openings along a periphery of the main gear, and a frame that supports the main gear and includes a frame opening. The plurality of openings include a first opening and a second opening, the main gear includes a first receiving portion that defines a first receiving space, and the main gear includes a second receiving portion that defines a second receiving space. The first opening corresponds and is attached to the first receiving space, the second opening corresponds and is attached to the second receiving space, and the first driving gear and the second driving gear engage with the periphery of the main gear to drive the main gear.

In a preferred embodiment of the present invention, the agricultural tool further includes a controller configured or programed to control the motor. The controller is configured or programed to drive the motor to rotate the main gear such that the first opening of the main gear is aligned with the frame opening.

In a preferred embodiment of the present invention, the controller is configured or programed to control a robotic arm to which the agricultural tool is attached to move the agricultural tool such that the agricultural item of interest is positioned within the first receiving space. The controller is configured or programed to, after the agricultural item of interest is positioned within the first receiving space, drive the motor a predetermined amount, and in a predetermined direction, that causes the main gear to rotate such that the agricultural item of interest is captured within a first enclosed space defined by the first receiving portion and the frame.

In a preferred embodiment of the present invention, the controller is configured or programed to control the robotic arm to move the agricultural tool such that the support structure is positioned within the second receiving space after the agricultural item of interest has been captured within the first enclosed space. The controller is configured or programed to, after the support structure is positioned within the second receiving space, drive the motor by a predetermined amount, and in the predetermined direction, that causes the main gear to rotate such that the support structure is captured within a second enclosed space defined by the second receiving portion and the frame.

In a preferred embodiment of the present invention, the controller is configured or programed to, after the support structure has been captured within the second enclosed space, drive the motor by a predetermined amount, and in the predetermined direction, that causes the main gear to rotate to tie/twist the agricultural item of interest and the support structure together.

The above and other features, elements, steps, configurations, characteristics, and advantages of the present invention will become more apparent from the following detailed description of preferred embodiments of the present invention with reference to the attached drawings.

<FIG> shows a front perspective view of an agricultural tool <NUM> according to a preferred embodiment of the present invention. As shown in <FIG>, the agricultural tool <NUM> includes a mounting assembly <NUM>, a frame <NUM> attached to the mounting assembly <NUM>, a motor <NUM> attached to the mounting assembly <NUM>, a cover <NUM> attached to the frame <NUM>, a main gear <NUM> supported by the frame <NUM>, a magazine <NUM> attached to the frame <NUM>, and a sliding arm <NUM> that is supported by the frame <NUM>. <FIG> shows a y-axis (a front-rear direction of the agricultural tool <NUM>), an x-axis (a right-left direction of the agricultural tool <NUM>), and a z-axis (an up-down direction of the agricultural tool <NUM>).

<FIG> is a front perspective view of the mounting assembly <NUM> according to a preferred embodiment of the present invention. The mounting assembly <NUM> includes a base plate <NUM>, which can be mounted to a robotic arm R known to a person of ordinary skill in the art and discussed in more detail below. Alternatively, the base plate <NUM> can be mounted to another structure (e.g., a handle that can be held by a person). The base plate <NUM> preferably has a circular shape, but the base plate <NUM> can be shaped differently and have a rectangular shape, for example. The mounting assembly <NUM> includes a first recess <NUM> to accommodate a portion of the frame <NUM> (e.g., a base portion <NUM> of the frame <NUM>), as discussed in more detail below. The first recess <NUM> includes a plurality of mounting holes for mounting the frame <NUM> to the mounting assembly <NUM>. For example, <FIG> shows a front mounting hole 1023a and a rear mounting hole 1023b which can be used to mount the frame <NUM> to the mounting assembly <NUM>, as discussed in more detail below.

In a preferred embodiment of the present invention, the mounting assembly <NUM> includes a second recess <NUM> to accommodate the motor <NUM>, and the second recess <NUM> includes a motor mount recess <NUM> to accommodate a motor mount <NUM> of the motor <NUM>. Preferably, the motor mount recess <NUM> has a rounded shape to accommodate a circular shape of the motor mount <NUM> shown in <FIG>, however, the motor mount recess <NUM> can be shaped differently, for example, based on a shape of the motor mount.

In a preferred embodiment of the present invention, the mounting assembly <NUM> includes a third recess <NUM> located between the first recess <NUM> and the second recess <NUM>. Preferably, the third recess <NUM> is a stepped recess portion located between the first recess <NUM> and the second recess <NUM> and accommodates a motor pulley <NUM> in a front-rear direction, as discussed in more detail below with respect to <FIG>.

As shown in <FIG>, the motor <NUM> is attached to the mounting assembly <NUM>. For example, the motor <NUM> can be fixed to the mounting assembly <NUM> using a plurality of bolts or screws or other fasteners, such that a main body of the motor <NUM> is accommodated within the second recess <NUM> of the mounting assembly <NUM>, and the motor mount <NUM> is accommodated within the motor mount recess <NUM>.

<FIG> is a front perspective view of the frame <NUM>, <FIG> is a plan view of the frame <NUM>, <FIG> is a bottom view of the frame <NUM>, and <FIG> and <FIG> are front perspective views of portions of the frame <NUM>. The frame <NUM> according to a preferred embodiment of the present invention will be described below with respect to <FIG>.

As shown in <FIG>, the frame <NUM> includes a base portion <NUM>, a first sliding arm support portion <NUM> attached to the base portion <NUM>, a connection portion <NUM> connected to the first sliding arm support portion <NUM>, and a second sliding arm support portion <NUM> connected to the connection portion <NUM>. The frame <NUM> further includes a left driving gear frame portion <NUM> attached to the second sliding arm support portion <NUM>, a right driving gear frame portion 1045R attached to the second sliding arm support portion <NUM>, a left main gear frame portion <NUM> connected to the left driving gear frame portion <NUM>, and a right main gear frame portion 1046R connected to the right driving gear frame portion 1045R. The left main gear frame portion <NUM> and the right main gear frame portion 1046R surround, house, and support the main gear <NUM>, as shown in <FIG>, for example.

In a preferred embodiment of the present invention, the frame <NUM> can include a plurality of frame layers that, in combination, form the frame <NUM> described herein. For example, the frame <NUM> can include an upper portion (e.g., an upper layer), a middle portion (e.g., a middle layer), and a lower portion (e.g., a lower layer) which are fastened together to form the frame <NUM>. The frame <NUM> can include a plurality of frame shaft holes, e.g., frame shaft holes 414a, 414b, 414c, 414d, 414e, and 414f shown in <FIG> through which a frame connection shaft or bolt that connects the plurality of frame layers together extends. Preferably, the plurality of frame shaft holes 414a, 414b, 414c, 414d, 414e, and 414f are spaced apart in a left-right direction of the agricultural tool <NUM>, as shown in <FIG>. Alternatively to the plurality of frame layers discussed above, the frame <NUM> can be formed from a single unitary piece.

As shown in <FIG>, which is a plan view of the frame <NUM>, the base portion <NUM> includes a plurality of mounting holes, e.g., a front mounting hole 411a and a rear mounting hole 411b. In a preferred embodiment of the present invention, a first shaft or bolt that attaches the frame <NUM> (the base portion <NUM>) to the mounting assembly <NUM> extends through the front mounting hole 411a of the frame <NUM> and the front mounting hole 1023a of the mounting assembly <NUM>, and a second shaft or bolt that attaches the frame <NUM> (the base portion <NUM>) to the mounting assembly <NUM> extends through the rear mounting hole 411b of the frame <NUM> and the rear mounting hole 1023b of the mounting assembly <NUM>.

The base portion <NUM> can include a gear shaft hole <NUM> that holds a gear shaft <NUM>, shown in <FIG> and discussed in more detail below. Preferably, the gear shaft hole <NUM> does not extend completely through the base portion <NUM>, such that a bottom end of the gear shaft <NUM> abuts a bottom of the gear shaft hole <NUM> when the gear shaft <NUM> is located within the gear shaft hole <NUM>. Preferably, the base portion <NUM> includes a motor shaft hole <NUM> forward of the gear shaft hole <NUM> in a front-rear direction of the agricultural tool <NUM>, and a motor shaft <NUM> of the motor <NUM> extends through the motor shaft hole <NUM>, as discussed in more detail below.

As shown in <FIG>, for example, the base portion <NUM> is attached to the first sliding arm support portion <NUM>. As shown in <FIG>, the first sliding arm support portion <NUM> includes a left wall portion <NUM>, a right wall portion <NUM>, and a sliding arm platform portion <NUM> located between the left wall portion <NUM> and the right wall portion <NUM>. Preferably, the left wall portion <NUM> and the right wall portion <NUM> extend higher than the sliding arm platform portion <NUM> in the up-down direction of the agricultural tool <NUM>.

In a preferred embodiment of the present invention, the frame <NUM> includes the connection portion <NUM> that is connected to the first sliding arm support portion <NUM> and the second sliding arm support portion <NUM>. Preferably, the second sliding arm support portion <NUM> includes a left wall portion <NUM>, a right wall portion <NUM>, and a clip platform portion <NUM>, discussed in more detail below. Preferably, the left wall portion <NUM> and the right wall portion <NUM> extend higher than the clip platform portion <NUM> in the up-down direction of the agricultural tool <NUM>.

In a preferred embodiment of the present invention, the frame <NUM> includes a left magazine slide track <NUM> attached to an outer surface of the left wall <NUM> of the second sliding arm support portion <NUM>, as shown in <FIG>, for example. Preferably, the left magazine slide track includes a hole <NUM> that extends through the left magazine slide track <NUM> in a left-right direction. The frame <NUM> includes a right magazine slide track <NUM> attached to an outer surface of the right wall <NUM> of the second sliding arm support portion <NUM>, as shown in <FIG>, for example. The right magazine slide track <NUM> includes a hole <NUM> that extends through the right magazine slide track <NUM> in the left-right direction.

In a preferred embodiment of the present invention, the frame <NUM> includes the left driving gear frame portion <NUM> attached to the second sliding arm support portion <NUM>, as shown in <FIG>, for example. The left driving gear frame portion <NUM> houses and surrounds a first driving gear <NUM> (a left driving gear), as discussed in more detail below. As shown in <FIG> and <FIG>, the left driving gear frame portion <NUM> includes a left driving gear shaft hole <NUM> through which a first driving shaft <NUM> (a left driving shaft) extends, and a left driving shaft bearing recess <NUM> that holds a first driving shaft bearing <NUM>, as discussed in more detail below. The left driving gear frame portion <NUM> also includes a frame connection shaft nut recess <NUM> that holds a nut used with a bolt or shaft that extends through frame shaft hole 414e.

In a preferred embodiment of the present invention, the frame <NUM> includes the right driving gear frame portion 1045R attached to the second sliding arm support portion <NUM>, as shown in <FIG>, for example. The right driving gear frame portion 1045R houses and surrounds a second driving gear <NUM> (a right driving gear), as discussed in more detail below. As shown in <FIG> and <FIG>, for example, the right driving gear frame portion 1045R includes a right driving gear shaft hole 451R through which a second driving shaft <NUM> (a right driving shaft) extends, and a driving shaft bearing recess 452R that holds a second driving shaft bearing <NUM>, as discussed in more detail below. The right driving gear frame portion 1045R also includes a frame connection shaft nut recess 453R that holds a nut used with a bolt or shaft that extends through frame shaft hole 414f.

In a preferred embodiment of the present invention, the frame <NUM> includes a left main gear frame portion <NUM>, as shown in <FIG>, for example. The left main gear frame portion <NUM> includes a first end attached to the left driving gear frame portion <NUM> and a second end which is a free end. The left main gear frame portion <NUM> includes a frame connection hole <NUM>, as shown in <FIG>, through which a bolt or shaft that connects the plurality of frame layers extends.

As shown in <FIG>, in a preferred embodiment, a left clasp <NUM> is attached to an outer surface of the left main gear frame portion <NUM> and holds the plurality of frame layers of the frame <NUM>. The bolt or shaft that extends through the frame connection hole <NUM> also extends through the left clasp <NUM> such that the left clasp is fixed to the left main gear frame portion <NUM>.

In a preferred embodiment of the present invention, a portion of the left main gear frame portion <NUM> (e.g., an inner surface of the left main gear frame portion <NUM>) includes a bottom groove portion <NUM>, a top groove portion <NUM>, and a track portion <NUM>, as shown in <FIG>. The bottom groove portion <NUM>, the top groove portion <NUM>, and the track portion <NUM> assist with movement of the main gear <NUM>, as discussed in more detail below.

In a preferred embodiment of the present invention, the frame <NUM> includes a right main gear frame portion 1046R, as shown in <FIG>, for example. The right main gear frame portion 1046R includes a first end attached to the right driving gear frame portion 1045R and a second end which is a free end. The right main gear frame portion 1046R includes a frame connection hole 461R, as shown in <FIG>, through which a bolt or shaft that connects the plurality of frame layers extends.

In a preferred embodiment, as shown in <FIG>, for example, a right clasp 105R is attached to an outer surface of the right main gear frame portion 1046R and holds the plurality of frame layers of the frame <NUM>. The bolt or shaft that extends through the frame connection hole 461R also extends through the right clasp 105R such that the right clasp 105R is fixed to the right main gear frame portion 1046R.

In a preferred embodiment of the present invention, a portion of the right main gear frame portion 1046R (e.g., an inner surface of the right main gear frame portion 1046R) includes one or more of a bottom groove portion 462R, a top groove portion 463R, and a track portion 464R, as shown in <FIG>. The bottom groove portion 462R, the top groove portion 463R, and the track portion 464R assist with movement of the main gear <NUM>, as discussed in more detail below.

In a preferred embodiment of the present invention, the frame <NUM> includes a frame opening <NUM> which is located between the second end of the left main gear frame portion <NUM> and the second end of the right main gear frame portion 1046R, as shown in <FIG> and <FIG>, for example. Preferably, the frame <NUM> also includes an elongated hole <NUM> that extends through a bottom surface of the frame <NUM> and extends in a front-rear direction of the agricultural tool <NUM>, as shown in <FIG> and <FIG>, for example. In a preferred embodiment, the elongated hole <NUM> is included at least partially in the connection portion <NUM> of the frame <NUM>.

In a preferred embodiment of the present invention, the cover <NUM> (e.g., shown in <FIG>) is attached to the frame <NUM>. For example, the cover includes a plurality of tabs that each include a tab hole through which a bolt or shaft that connects the cover <NUM> to the frame <NUM> extends. For example, as shown in <FIG>, the plurality of tabs can include a rear left tab 1081a that includes a tab hole 1082a, a rear right tab 1081b that includes a tab hole 1082b, a front left tab 1081c that includes a tab hole 1082c, and a front right tab 1081d that includes a tab hole 1082d. In a preferred embodiment, a plurality of bolts that connect the cover <NUM> to the frame <NUM> extend through the tab hole 1082a, the tab hole 1082b, the tab hole 1082c, and the tab hole 1082d and attach to nuts housed within a plurality of nut recesses 1047a, 1047b, 1047c, and 1047d located on a bottom surface of the frame <NUM> (see <FIG>).

In a preferred embodiment of the present invention, the cover <NUM> houses and surrounds a belt <NUM>, a first driving pulley <NUM>, a second driving pulley <NUM>, a tensioner bearing <NUM>, and at least a portion of a tensioner shaft <NUM>, shown in <FIG> and as discussed in more detail below. Preferably, the cover <NUM> includes a first driving pulley portion <NUM> (left driving pulley portion) that surrounds the first driving pulley <NUM> and a second driving pulley portion 1083R (right driving pulley portion) that surrounds the second driving pulley <NUM>. Preferably, the cover <NUM> includes a first stepped portion <NUM> (left stepped portion) and a second stepped portion 1084R (right stepped portion). The cover <NUM> can include a first diagonal portion <NUM> (left diagonal portion) that extends between the left rear tab 1081a and the left stepped portion <NUM>, and a second diagonal portion 1085R (right diagonal portion) that extends between the right rear tab 1081b and the right stepped portion 1084R. The first driving pulley portion <NUM> extends from the left stepped portion <NUM> to the left front tab 1081c, and the second driving pulley portion 1083R extends from the right stepped portion 1084R to the right front tab 1081d. Preferably, the cover <NUM> includes a curved portion <NUM> that extends between the left front tab 1081c and the right front tab 1081d.

In a preferred embodiment of the present invention, the motor <NUM> is used to rotate the main gear <NUM> as discussed in more detail below with reference to <FIG> and <FIG>. <FIG> is a rear perspective view of the agricultural tool <NUM> in which the frame <NUM> and the cover <NUM> have been removed to facilitate the illustration of how the motor <NUM> is used to rotate the main gear <NUM>. <FIG> is a rear perspective view that shows components used to rotate the main gear <NUM> using the motor <NUM>.

As shown in <FIG>, the motor <NUM> includes a motor shaft <NUM> that is driven when the motor <NUM> is running. The motor <NUM> includes a motor mount <NUM>, and the motor shaft <NUM> extends through a center hole of the motor mount <NUM>. As shown in <FIG>, in a preferred embodiment of the present invention, a motor pulley <NUM> is attached to the motor shaft <NUM> such that the motor pulley <NUM> rotates when the motor <NUM> is driven. For example, the motor pulley <NUM> can be press fit onto the motor shaft <NUM> or can be attached the motor shaft <NUM> using another fastening technique.

In a preferred embodiment of the present invention, as shown in <FIG>, a belt <NUM> is driven by the motor pulley <NUM>. For example, the belt <NUM> can include teeth which mesh with teeth provided on the motor pulley such that the belt <NUM> is driven when the motor pulley <NUM> is driven by the motor <NUM>. In a preferred embodiment, a first driving pulley <NUM> (e.g., a left driving pulley) and a second driving pulley <NUM> (e.g., a right driving pulley) are in contact with, and driven by, the belt <NUM>. For example, the belt <NUM> can include teeth which mesh with teeth provided on the first driving pulley <NUM> and teeth provided on the second driving pulley <NUM> such that the first driving pulley <NUM> and the second driving pulley <NUM> are driven and rotated when the belt <NUM> is driven.

In a preferred embodiment of the present invention, the first driving pulley <NUM> includes a center hole through which a first driving shaft <NUM> extends. Preferably, the first driving pulley <NUM> is press fit onto the first driving shaft <NUM>, but the first driving pulley <NUM> can be attached to the first driving shaft <NUM> using another fastening technique. Similarly, the second driving pulley <NUM> includes a center hole through which a second driving shaft <NUM> extends. Preferably, the second driving pulley <NUM> is press fit onto the second driving shaft <NUM>, but the second driving pulley <NUM> can be attached to the second driving shaft <NUM> using another fastening technique.

In a preferred embodiment of the present invention, as shown in <FIG>, a first driving gear <NUM> (a left driving gear) is attached to the first driving shaft <NUM>, and the first driving gear <NUM> rotates when the first driving shaft <NUM> rotates. For example, the first driving gear <NUM> includes a center hole through which the first driving shaft <NUM> extends, and the first driving gear <NUM> is press fit onto the first driving shaft <NUM> such that when the first driving shaft <NUM> rotates when the first driving pulley <NUM> is driven by the belt <NUM>, the first driving gear <NUM> is driven. In a preferred embodiment of the present invention, the first driving gear <NUM> includes <NUM> teeth, for example.

In a preferred embodiment of the present invention, as shown in <FIG>, a second driving gear <NUM> is attached to the second driving shaft <NUM>, and the second driving gear <NUM> rotates when the second driving shaft <NUM> rotates. For example, the second driving gear <NUM> includes a center hole through which the second driving shaft <NUM> extends, and the second driving gear <NUM> is press fit onto the second driving shaft <NUM> such that when the second driving shaft <NUM> rotates when the second driving pulley <NUM> is driven by the belt <NUM>, the second driving gear <NUM> is driven. In a preferred embodiment of the present invention, the second driving gear <NUM> includes <NUM> teeth, for example.

In a preferred embodiment, a first driving shaft bearing <NUM> is attached to an upper portion of the first driving shaft <NUM>. Preferably, the first driving shaft bearing <NUM> is housed within the driving shaft bearing recess <NUM> of the frame <NUM>, and the first driving shaft bearing <NUM> is press fit into the driving shaft bearing recess <NUM>. The first driving shaft bearing <NUM> rotatably supports the first driving shaft <NUM> via the frame <NUM> and facilitates rotation of the first driving shaft <NUM> with respect to the frame <NUM>.

Similarly, as shown in <FIG>, a second driving shaft bearing <NUM> is attached to an upper portion of the second driving shaft <NUM>. Preferably, the second driving shaft bearing <NUM> is housed within the driving shaft bearing recess 452R of the frame <NUM>, and the second driving shaft bearing <NUM> is press fit into the driving shaft bearing recess 452R. The second driving shaft bearing <NUM> rotatably supports the second driving shaft <NUM> via the frame <NUM> and facilitates rotation of the second driving shaft <NUM> with respect to the frame <NUM>.

In a preferred embodiment of the present invention, as shown in <FIG>, the agricultural tool <NUM> includes a tensioner <NUM>, which is attached to the frame <NUM>. Preferably, the tensioner <NUM> includes a tensioner shaft <NUM>, a tensioner bearing <NUM> attached to a first end of the tensioner shaft <NUM>, and a tensioner nut <NUM> attached to a second end of the tensioner shaft <NUM>. The tensioner shaft <NUM> extends through the tensioner bearing <NUM>, and the tensioner bearing <NUM> is in contact with the belt <NUM>. The tensioner shaft <NUM> can slide within the elongated hole <NUM> of the frame <NUM> in a front-rear direction to adjust an amount of tension applied to the belt <NUM>. The tensioner nut <NUM> is used to fix the tensioner shaft <NUM> at a fixed position within the elongated hole <NUM> when a desired amount of tension is being applied to the belt <NUM>.

As discussed above with respect to <FIG> and <FIG>, for example, the motor <NUM> drives the motor pulley <NUM> which in turn drives the belt <NUM>. When the belt <NUM> is driven, the first driving pulley <NUM> and the second driving pulley <NUM>, which are in contact with the belt <NUM>, are driven and rotated. When the first driving pulley <NUM> and the second driving pulley <NUM> rotate, the first driving shaft <NUM> and the second driving shaft <NUM> rotate. As a result, the first driving gear <NUM> which is attached to the first driving shaft <NUM> rotates, and the second driving gear <NUM> which is attached the second driving shaft <NUM> rotates. Thus, a single motor (the motor <NUM>) can be used to drive (simultaneously drive) the first driving gear <NUM> and the second driving gear <NUM>.

Although a preferred embodiment of the present invention discussed above includes the motor pulley <NUM>, the belt <NUM>, the first driving pulley <NUM>, and the second driving pulley <NUM> to drive the first driving gear <NUM> and the second driving gear <NUM> using the motor <NUM>, a gear system including a plurality of gears (e.g., gear with teeth, magnetic gears, etc.) can be used in place of the motor pulley <NUM>, the belt <NUM>, the first driving pulley <NUM>, and the second driving pulley <NUM> to drive the first driving gear <NUM> and the second driving gear <NUM> using the motor <NUM>.

<FIG> is a front perspective view of a main gear <NUM> according to a preferred embodiment of the present invention. <FIG> is a bottom view of a main gear <NUM> according to a preferred embodiment of the present invention. A main gear <NUM> according to a preferred embodiment of the present invention will be discussed below with respect to <FIG> and <FIG>.

In a preferred embodiment, the main gear <NUM> includes a plurality of layers. For example, the main gear can include a bottom layer <NUM>, a center layer <NUM>, and an upper layer <NUM>, as shown in <FIG>. The plurality of layers of the main gear <NUM> can be fastened together using bolts, screws, or the like that extend through fastening holes of the bottom layer <NUM>, the center layer <NUM>, and the upper layer <NUM>. For example, <FIG> shows fastening holes 1110a, 1110b, and 1110c that extend through each of the bottom layer <NUM>, the center layer <NUM>, and the upper layer <NUM>, and <FIG> shows an example of a main gear shaft <NUM> that extends through fastening holes of the bottom layer <NUM>, the center layer <NUM>, and the upper layer <NUM> to fix the bottom layer <NUM>, the center layer <NUM>, and the upper layer <NUM> together.

Preferably, the bottom layer <NUM> includes a plurality of teeth portions along a periphery of the bottom layer <NUM>, and a plurality of openings between the plurality of teeth portions along the periphery of the bottom layer <NUM>. For example, <FIG> shows a preferred embodiment in which the bottom layer <NUM> includes a first teeth portion 1101a and a second teeth portion 1101b along the periphery of the bottom layer <NUM>, and two openings between the first teeth portion 1101a and the second teeth portion 1101b, along the periphery of the bottom layer <NUM>. In the preferred embodiment shown in <FIG>, the first teeth portion 1101a and the second teeth portion 1101b each include <NUM> teeth, for example. Furthermore, although <FIG> shows a bottom layer <NUM> of the main gear <NUM> that includes two teeth portions (the first teeth portion 1101a and the second teeth portion 1101b) and two openings, the bottom layer <NUM> of the main gear <NUM> can include three or more teeth portions and openings along the periphery of the bottom layer <NUM>.

In a preferred embodiment of the present invention, as shown in <FIG> and <FIG>, the main gear <NUM> includes a bottom track portion <NUM> that is attached to a bottom surface of the bottom gear layer <NUM>. Preferably, the bottom track portion <NUM> includes a first bottom track portion 1104a that is attached only to a portion of the bottom surface of the bottom layer <NUM> that corresponds to the first teeth portion 1101a. Preferably, the bottom track portion <NUM> includes a second bottom track portion 1104b that is attached only to a portion of the bottom surface of the bottom layer <NUM> that corresponds to the second teeth portion 1101b. The bottom track portion <NUM> extends within the left bottom groove portion <NUM> and the right bottom groove portion 462R of the frame <NUM> when the main gear <NUM> rotates within the frame <NUM>, as discussed in more detail below.

Preferably, the center layer <NUM> includes a plurality of curved portions along the periphery of the center layer <NUM>, and a plurality of openings between the plurality of curved portions, along a periphery of the center layer <NUM>. For example, <FIG> shows a preferred embodiment in which the center layer <NUM> includes a first curved portion 1102a and a second curved portion 1102b along the periphery of the center layer <NUM>, and two openings between the first curved portion 1102a and the second curved portion 1102b, along the periphery of the center layer <NUM>. Furthermore, although <FIG> shows a main gear <NUM> that includes two curved portions (the first curved portion 1102a and the second curved portion 1102b) and two openings, the center layer <NUM> of the main gear can include three or more curved portions and openings along a periphery of the center layer <NUM>.

Preferably, the upper layer <NUM> includes a plurality of teeth portions along the periphery of the upper layer <NUM>, and a plurality of openings between the plurality of teeth portions, along the periphery of the upper layer <NUM>. For example, <FIG> shows a preferred embodiment of the present invention in which the upper layer <NUM> includes a first teeth portion 1103a and a second teeth portion 1103b along the periphery of the upper layer <NUM>, and two openings between the first teeth portion 1103a and the second teeth portion 1103b, along the periphery of the upper layer <NUM>. In the preferred embodiment shown in <FIG>, the first teeth portion 1103a and the second teeth portion 1103b each include <NUM> teeth, for example. Furthermore, although <FIG> shows an upper layer <NUM> of the main gear <NUM> that includes two teeth portions (the first teeth portion 1103a and the second teeth portion 1103b) and two openings, the upper layer <NUM> of the main gear <NUM> can include three or more teeth portions and openings along a periphery of the upper layer <NUM>.

In a preferred embodiment of the present invention, as shown in <FIG>, the main gear <NUM> includes a top track portion <NUM> that is attached to an upper surface of the upper gear layer <NUM>. Preferably, the top track portion <NUM> includes a first top track portion 1105a that is attached only to a portion of the upper surface of the upper layer <NUM> that corresponds to the first teeth portion 1103a of the upper layer <NUM>, and a second top track portion 1105b that is attached only to a portion of the upper surface of the upper layer <NUM> that corresponds to the second teeth portion 1103b of the upper layer <NUM>. The top track portion <NUM> extends within the left top groove portion <NUM> and the right top groove portion 463R of the frame <NUM> when the main gear <NUM> rotates within the frame <NUM>, as discussed in more detail below.

In a preferred embodiment of the present invention, the main gear <NUM> can include the bottom track portion <NUM> without including the top track portion <NUM>. Similarly, in a preferred embodiment, the main gear <NUM> can include the top track portion <NUM> without including the bottom track portion <NUM>.

In a preferred embodiment of the present invention, and as shown in <FIG>, a diameter of the bottom layer <NUM> and a diameter of the upper layer <NUM> are larger than a diameter of the center layer <NUM>. Thus, a combination of the bottom layer <NUM>, the upper layer <NUM>, and the center layer <NUM> forms a first channel that corresponds to the first curved portion 1102a and a second channel that corresponds to the second curved portion 1102b. The left track portion <NUM> and the right track portion 464R of the frame <NUM> slide within the first channel and the second channel when the main gear <NUM> rotates within the frame <NUM>.

In a preferred embodiment of the present invention, the openings of the bottom layer <NUM>, the center layer <NUM>, and the upper layer <NUM> are included in and define a plurality of openings of the main gear <NUM>. For example, as shown in <FIG> and <FIG>, the main gear includes a first opening <NUM> and a second opening <NUM> along a periphery of the main gear <NUM>.

In a preferred embodiment of the present invention, the first opening <NUM> corresponds and is attached to a first receiving space 1108a (see <FIG>) defined by a first receiving portion <NUM>, shown in <FIG>, for example. In a preferred embodiment, the first receiving portion <NUM> includes a curved portion and is C-shaped, however the first receiving portion <NUM> may have a different shape. Preferably, at least a portion of an inside surface of the first receiving portion <NUM> includes rubber or felt.

In a preferred embodiment of the present invention, the second opening <NUM> corresponds and is attached to a second receiving space 1109a (see <FIG>) defined by a second receiving portion <NUM>, shown in <FIG>, for example. In a preferred embodiment of the present invention, the second receiving portion <NUM> includes a curved portion and is C-shaped, however the second receiving portion <NUM> may have a different shape. Preferably, at least a portion of an inside surface of the second receiving portion <NUM> includes rubber or felt or a similar material.

In a preferred embodiment of the present invention, the plurality of openings of the main gear <NUM> along a periphery of the main gear <NUM> (e.g., the first opening <NUM> and the second opening <NUM>) are equally spaced along the periphery of the main gear <NUM>. However, the plurality of openings of the main gear <NUM> do not need to be equally spaced along the periphery of the main gear <NUM>. For example, the first opening <NUM> and the second opening <NUM> can both be located on a same half of the main gear <NUM> along the periphery of the main gear <NUM>.

In a preferred embodiment of the present invention, the first driving gear <NUM> and the second driving gear <NUM> are configured to engage the main gear <NUM> to drive and rotate the main gear <NUM> when the motor <NUM> is driven, as discussed below. As discussed above with respect to <FIG>, the motor <NUM> can simultaneously drive the first driving gear <NUM> and the second driving gear <NUM>. In a preferred embodiment of the present invention, the main gear <NUM> is driven by both the first driving gear <NUM> and the second driving gear <NUM> when each of the first driving gear <NUM> and the second driving gear <NUM> is in contact with the main gear <NUM>. For example, when the first driving gear <NUM> is in contact with the first teeth portion 1101a of the bottom layer <NUM> and the first teeth portion 1103a of the upper layer <NUM> (or the second teeth portion 1101b of the bottom layer <NUM> and the second teeth portion 1103b of the upper layer <NUM>) and the second driving gear <NUM> is in contact with the second teeth portion 1101b of the bottom layer <NUM> and the second teeth portion 1103b of the upper layer <NUM> (or the first teeth portion 1101a of the bottom layer <NUM> and the first teeth portion 1103a of the upper layer <NUM>) the main gear <NUM> is driven by both the first driving gear <NUM> and the second driving gear <NUM>.

However, when the first driving gear <NUM> is not in contact with the main gear <NUM> (e.g., when the main gear <NUM> has been rotated such that the first opening <NUM> or the second opening <NUM> of the main gear <NUM> faces the first driving gear <NUM>), the main gear <NUM> can still be driven by the second driving gear <NUM>, which is still in contact with the main gear <NUM>. Similarly, when the second driving gear <NUM> is not in contact with the main gear <NUM> (e.g., when the main gear <NUM> has been rotated such that the first opening <NUM> or the second opening <NUM> of the main gear <NUM> faces the second driving gear <NUM>), the main gear <NUM> can still be driven by the first driving gear <NUM>, which is still in contact with the main gear <NUM>. In this manner, because at least one of the first driving gear <NUM> and the second driving gear <NUM> is always in contact with the main gear <NUM>, the motor <NUM> (a single motor) can continuously drive and rotate the main gear <NUM> even though the main gear <NUM> includes the first opening <NUM> and the second opening <NUM> along the periphery of the main gear <NUM>.

In a preferred embodiment of the present invention discussed above, the first driving gear <NUM>, the second driving gear <NUM>, and the main gear <NUM> include teeth. However, one or more of the first driving gear <NUM>, the second driving gear <NUM>, and the main gear <NUM> can be a magnetic gear or another type of gear.

In a preferred embodiment of the present invention, as shown in <FIG>, the motor <NUM> can also be used to drive a taping gear <NUM>, which is attached to the motor shaft <NUM>. For example, the taping gear <NUM> can be press fit onto the motor shaft <NUM> such that the taping gear <NUM> rotates when the motor shaft <NUM> rotates. In a preferred embodiment of the present invention, the taping gear <NUM> includes <NUM> teeth, for example.

In a preferred embodiment, a base gear <NUM> is in contact with and driven by the taping gear <NUM>, as shown in <FIG>. As shown in <FIG>, the base gear <NUM> includes a plate portion <NUM>, a center hole portion <NUM> that includes a center hole that extends through in the plate portion <NUM>, and a teeth portion <NUM> attached to an outer periphery of the plate portion <NUM>. In a preferred embodiment, the gear shaft <NUM> shown in <FIG> extends through the center hole of the center hole portion <NUM>. In the preferred embodiment shown in <FIG>, the teeth portion <NUM> includes <NUM> teeth, for example. Preferably, the teeth portion <NUM> extends higher than the plate portion <NUM> in the up-down direction, and the center hole portion <NUM> extends higher than the plate portion <NUM> in the up-down direction. In a preferred embodiment of the present invention, the base gear <NUM> includes four protrusions <NUM> attached to a top surface of the plate portion <NUM>. The protrusions <NUM> shown in <FIG> are pill-shaped, but the protrusions <NUM> can have a different shape.

In a preferred embodiment of the present invention, as shown in <FIG>, a timing gear <NUM> is supported by and connected to the base gear <NUM>, and rotates with the base gear <NUM>. For example, the timing gear <NUM> includes recesses (not shown) on a bottom surface of the timing gear <NUM>, and the recesses accommodate the protrusions <NUM> of the base gear <NUM> such that the timing gear <NUM> rotates with the base gear <NUM>.

In a preferred embodiment, as shown in <FIG>, the timing gear <NUM> includes a plate portion <NUM>, a center hole portion <NUM> that includes a center hole that extends through in the plate portion <NUM>, and an outer edge portion <NUM> that is attached to an outer periphery of the plate portion <NUM>. Preferably, the center hole portion <NUM> includes a plurality of steps that extend from the plate portion <NUM>, and the gear shaft <NUM> extends through the center hole of the center hole portion <NUM>. The outer edge portion <NUM> can extend higher than the plate portion <NUM> in the up-down direction, and the timing gear <NUM> can include a reinforcement portion <NUM> that is attached to a portion of the outer edge portion <NUM>. The timing gear includes a teeth portion <NUM>, and the teeth portion <NUM> is preferably attached to a portion of the reinforcement portion <NUM>. Thus, the teeth portion <NUM> is only attached to a portion of a periphery of the outer edge portion <NUM>. In the preferred embodiment shown in <FIG>, the teeth portion <NUM> includes <NUM> teeth, for example.

In a preferred embodiment of the present invention, the teeth portion <NUM> of the timing gear <NUM> is used to drive and rotate a linking gear <NUM>, as shown in <FIG>. <FIG> shows a linking gear <NUM> according to a preferred embodiment of the present invention. The linking gear <NUM> can include a first diameter portion <NUM> and a second diameter portion <NUM> attached to the first diameter portion <NUM>. The first diameter portion <NUM> can include a first center hole that extends through the first diameter portion <NUM>, and the first diameter portion <NUM> includes teeth that are able to contact and be driven directly by the teeth portion <NUM> of the timing gear <NUM>. In the preferred embodiment shown in <FIG>, the first diameter portion <NUM> includes <NUM> teeth, for example.

In a preferred embodiment, the second diameter portion <NUM> is directly attached to the first diameter portion <NUM> and rotates with the first diameter portion <NUM>. For example, the first diameter portion <NUM> and the second diameter portion <NUM> can be formed from a unitary piece. The second diameter portion <NUM> can include a second center hole that is larger than the first center hole of the first diameter portion <NUM>, and the second center hole can accommodate a linking gear bearing <NUM> which is attached to an upper portion of the motor shaft <NUM>, as shown in <FIG>. In the preferred embodiment shown in <FIG>, the second diameter portion <NUM> includes <NUM> teeth, for example.

In a preferred embodiment, the teeth of the second diameter portion <NUM> of the linking gear <NUM> are in contact with, and used to drive and rotate, a sliding arm gear <NUM>, shown in <FIG>. Preferably, as shown in <FIG>, the sliding arm gear <NUM> includes a center hole <NUM> that accommodates a gear shaft bearing <NUM> that is attached to an upper portion of the gear shaft <NUM>. Preferably, the sliding arm gear <NUM> includes a hole <NUM> (e.g., a threaded hole) that extends through the sliding arm gear <NUM>. A bolt or shaft <NUM> extends through the hole <NUM> and is attached to the sliding arm gear <NUM>, such that the bolt or shaft <NUM> is fixed to the sliding arm gear <NUM> and rotates when the sliding arm gear <NUM> rotates. In a preferred embodiment shown in <FIG>, the sliding arm gear includes <NUM> teeth, for example.

In a preferred embodiment of the present invention discussed above, the taping gear <NUM>, the base gear <NUM>, the timing gear <NUM>, the linking gear <NUM>, and the sliding arm gear <NUM> include teeth. However, one or more of the taping gear <NUM>, the base gear <NUM>, the timing gear <NUM>, the linking gear <NUM>, and the sliding arm gear <NUM> can be a magnetic gear or another type of gear.

As shown in <FIG> and <FIG>, the sliding arm <NUM> includes a first end portion <NUM> connected to a second end portion <NUM> by a main body portion <NUM>. The first end portion <NUM> includes a horizontal base portion 1141a including an elongated hole 1141b that extends in a left-right direction and through which the bolt or shaft <NUM> fixed to the sliding arm gear <NUM> extends, so as to attach the sliding arm <NUM> to the sliding arm gear <NUM>. The main body portion <NUM> of the sliding arm <NUM> is slidingly supported by the first sliding arm support portion <NUM> and the second sliding arm support portion <NUM> of the frame <NUM>, shown in <FIG> and <FIG>, for example. In a preferred embodiment of the present invention, the sliding arm <NUM> is T-shaped.

As shown in <FIG>, the second end portion <NUM> of the sliding arm <NUM> can include a holder configured to hold a clip <NUM>, discussed in more detail below. Preferably, the holder includes a base recess <NUM> configured to hold a base portion <NUM> of the clip <NUM>, and clip arm portions <NUM> and 1145R configured to hold arm portions of the clip <NUM>. In a preferred embodiment, the clip arm portions <NUM> and 1145R are curved to hold arm portions of the clip <NUM>.

In a preferred embodiment of the present invention, a combination of the sliding arm gear <NUM>, the bolt or shaft <NUM>, and the sliding arm <NUM> form a Scotch Yoke mechanism. A Scotch Yoke mechanism, also known as slotted link mechanism, is a reciprocating motion mechanism that converts a rotational motion into a linear motion of a slider, or vice versa. In a preferred embodiment of the present invention, the rotational motion of the sliding arm gear <NUM> and the bolt or shaft <NUM> attached thereto is converted into a linear motion of the sliding arm <NUM> in a front-rear direction of the agricultural tool <NUM>. More specifically, as the sliding arm gear <NUM> and the bolt or shaft <NUM> rotate, the bolt or shaft <NUM> slides within the elongated hole 1411b of the sliding arm <NUM> which causes the sliding arm <NUM> to move in a forward-rearward direction.

In a preferred embodiment, the sliding arm <NUM> is moved in a forward-rearward direction between a retracted position (e.g., a rearmost position of the sliding arm <NUM>) and a deployed position (e.g., a forwardmost position of the sliding arm). Preferably, the holder of the sliding arm <NUM> is located on (directly above) the clip platform portion <NUM> of the second sliding arm support portion <NUM> shown in <FIG> when the sliding arm <NUM> is in the retracted position, and the holder of the sliding arm <NUM> is located forward of, and extending beyond, the clip platform portion <NUM> of the second sliding arm support portion <NUM> when the sliding arm <NUM> is in the deployed position.

In a preferred embodiment of the present invention, the agricultural tool <NUM> includes a magazine <NUM>, as shown in <FIG>, for example. The magazine <NUM> is configured to house/hold one or more clips <NUM>, as discussed in more detail below. Preferably, the magazine <NUM> includes a main body <NUM> configured to house the plurality of clips, and an attachment portion <NUM> attached to a bottom of the main body <NUM>. <FIG> shows a preferred embodiment of the present invention in which the main body <NUM> and the attachment portion <NUM> of the magazine <NUM> are made transparent to facilitate illustration of the magazine <NUM>.

<FIG> shows the main body <NUM> and the attachment portion <NUM> of the magazine <NUM>. Preferably, the main body <NUM> includes a front wall 1441a, a rear wall 1441b, a left wall 1441c, a right wall 1441d, and a curved portion <NUM> at the bottom of main body <NUM> (e.g., at a bottom of the front wall 1441a). The front wall 1441a can include a front vertical window 1141a1 that extends through the front wall 1441a and extends in an up-down direction. The rear wall 1441b can include a rear vertical window 1441b1 that extends through the rear wall 1441b and extends in an up-down direction.

The attachment portion <NUM> can include a left wall 1442a and a right wall 1442b. The left wall 1442a can include a left sliding groove 1442a1 to accommodate the left magazine slide track <NUM> of the frame <NUM>. The left wall 1442a can include a left fixing hole 1442a2 that extends through the left wall 1442a in a left-right direction and is located in a same location as the left sliding groove 1442a1 in an up-down direction so as to intersect the left sliding groove 1442a1. The right wall 1442b can include a right sliding groove 1442b1 to accommodate the right magazine slide track <NUM> of the frame <NUM>, and the right wall 1442b includes a right fixing hole (not shown) that extends through the right wall <NUM> in a left-right direction and is located in a same location as the right sliding groove 1442b1 in an up-down direction so as to intersect the right sliding groove 1442b1.

The left magazine slide track <NUM> of the frame <NUM> can slide within the left sliding groove 1442a1, and the right magazine slide track <NUM> of the frame <NUM> can slide within the right sliding groove 1442b1, such that the frame <NUM> can slidingly support the magazine <NUM>. In a preferred embodiment of the present invention, a left magazine fixing bolt <NUM> shown in <FIG> can extend through the left fixing hole 1442a2 and the hole <NUM> (see <FIG>, for example) to fix the magazine <NUM> to the frame <NUM>. Similarly, a right magazine fixing bolt (not shown) can extend through the right fixing hole (not shown) and the hole <NUM> to fix the magazine <NUM> to the frame <NUM>.

In a preferred embodiment of the present invention, as shown in <FIG>, for example, the magazine <NUM> can include a push plate <NUM> that slides within the main body <NUM> of the magazine <NUM> in an up-down direction. As shown in <FIG> and <FIG>, the push plate can include a main plate 1446a connected to a front guide tab 1446b by a front connection portion 1446c and to a rear guide tab 1446d by a rear connection portion 1446e. The front connection portion 1446c can extend through the front vertical window 1141a1 and the rear connection portion 1446e can extend through the rear vertical window 1441b1. Preferably, the push plate <NUM> includes a spring protrusion portion which includes a disk portion 1446f and a ring portion <NUM>. The disk portion 1446f is attached to a top surface of the main plate and the ring portion <NUM> surrounds the disk portion 1446f.

In a preferred embodiment of the present invention, as shown in <FIG>, for example, the magazine <NUM> includes a magazine cap <NUM>. Preferably, the magazine cap <NUM> includes a lower portion 1447a and an upper portion 1447b attached to the lower portion 1447a, as shown in <FIG>. Preferably, the lower portion 1447a is rectangularly shaped and is configured to fit within an upper portion of the main body <NUM> of the magazine <NUM>. In a preferred embodiment, the magazine cap <NUM> includes a spring protrusion portion that is attached to a lower surface of the lower portion 1447a. The spring protrusion can include a disk portion 1447c and a ring portion 1447d that surrounds the disk portion 1447c.

In a preferred embodiment of the present invention, the magazine <NUM> includes a magazine spring <NUM>, as shown in <FIG>, for example. Preferably, an upper end of the magazine spring <NUM> is held within the spring protrusion portion of the magazine cap <NUM> and a lower end of the magazine spring <NUM> is held within the spring protrusion portion of the push plate <NUM>. The magazine spring <NUM> pushes the push plate <NUM> away from the magazine cap <NUM> and towards the clip platform <NUM> of the frame <NUM> when the magazine <NUM> is attached to the frame <NUM>, as shown in <FIG>, for example. A preferred embodiment of the present invention can also include a biasing or elastic member other than the magazine spring <NUM> to bias the push plate <NUM> towards the clip platform <NUM>.

In a preferred embodiment of the present invention, as discussed above, the magazine <NUM> is configured to hold one or more clips <NUM> within the main body <NUM>. The push plate <NUM>, which is pushed away from the magazine cap <NUM> by the magazine spring <NUM>, applies a downward force to the one or more clips <NUM> housed within the magazine <NUM>. More specifically, the one or more clips <NUM> are pushed downwards towards the clip platform portion <NUM> of the second sliding arm support portion <NUM> of the frame <NUM>. In a preferred embodiment of the present invention, when the sliding arm <NUM> is moved to the retracted position (e.g., a rearmost position of the sliding arm <NUM>), a bottommost clip included in the one or more clips <NUM> being pushed downwards towards the clip platform portion <NUM> is attached to the holder of the sliding arm <NUM>, which is located on (directly above) the clip platform portion <NUM>, by the downward force applied by the push plate <NUM>.

<FIG> shows a clip <NUM> according to a preferred embodiment of the present invention. Preferably, the clip <NUM> includes a base portion <NUM> including a rear wall surface 1461a, a front wall surface 1461b, a left wall surface 1461c, and a right wall surface 1461d. Preferably, the base portion <NUM> is rectangularly shaped.

The clip <NUM> can include a left arm portion including a first left portion 1463a and a second left portion 1465a connected to the first left portion 1463a by a left tapered portion 1464a. Preferably, the first left portion 1463a is curved and includes a flat outer surface, and the left arm portion (the first left portion 1463a) is connected to the base portion <NUM> (the front wall surface 1461b) by a left connection portion 1462a. In a preferred embodiment, the left connection portion 1462a defines a curved recess.

Preferably, the second left portion 1465a includes a first end attached to the left tapered portion 1464a and a second end which is a free end. The second left portion 1465a extends diagonally outward from the first end towards the second end, and the second end of the second left portion 1465a includes a flat outer surface.

Preferably, the clip <NUM> can include a right arm portion including a first right portion 1463b and a second right portion 1465b connected to the first right portion 1463b by a right tapered portion 1464b. Preferably, the first right portion 1463b is curved and includes a flat outer surface, and the right arm portion (the first right portion 1463b) is connected to the base portion <NUM> (the front wall surface 1461b) by a right connection portion 1462b. In a preferred embodiment, the right connection portion 1462b defines a curved recess.

Preferably, the second right portion 1465b includes a first end attached to the right tapered portion 1464b and a second end which is a free end. The second right portion 1465b extends diagonally outward from the first end towards the second end, and the second end of the second right portion 1465b includes a flat outer surface.

In a preferred embodiment, the first left portion 1463a and the first right portion 1463b define a clip receiving space <NUM>. A curved protrusion <NUM> can be located within the clip receiving space <NUM>. In the preferred embodiment shown in <FIG>, the curved protrusion <NUM> includes a first end attached to the first left portion 1463a at a position located closer to the left tapered portion 1464a than to the left connection portion 1462a, and a second end which is a free end that protrudes/cantilevers into the clip receiving space <NUM>. However, the first end of the curved protrusion <NUM> does not need to be attached to the first left portion 1463a, and the first end of the curved protrusion <NUM> can instead be attached to the first right portion 1463b or another portion of the clip <NUM>. For example, <FIG> shows a clip <NUM>' according to a preferred embodiment of the present invention in which the first end of the curved protrusion <NUM>' is attached to the first right portion 1463b at a position located closer to the right connection portion 1462b than the right tapered portion 1464b.

In a preferred embodiment of the present invention, the curved protrusion <NUM> is configured to contact and hold an agricultural item of interest A when the clip <NUM> is attached to the agricultural item of interest A. As discussed in more detail below, an agricultural item of interest A can be a grape vine cane, a branch, a stem, a vine or another object. In a preferred embodiment, the second end of the curved protrusion <NUM> protrudes/cantilevers into the clip receiving space <NUM> so that the curved protrusion <NUM> is configured to be flexible and able to bend if the agricultural item of interest A, such as a grape vine cane, grows when the clip <NUM> is attached to the agricultural item of interest A. For example, the curved protrusion <NUM> is able to bend when a diameter of an agricultural item of interest A, such as a grape vine cane, increases so that the curved protrusion <NUM> can more securely hold the agricultural item of interest A as the agricultural item of interest A grows.

In a preferred embodiment of the present invention, as shown in <FIG>, for example, the left wall surface 1461c of the base portion <NUM>, the flat outer surface of the first left portion 1463a, and the flat outer surface of the second end of the second left portion 1465a are coplanar, and abut an inside surface of the left wall 1441c of the main body <NUM> of the magazine <NUM> when the clip <NUM> is housed within the magazine <NUM>. Similarly, the right wall surface 1461d of the base portion <NUM>, the flat outer surface of the first right portion 1463b, and the flat outer surface of the second end of the second right portion 1465b are coplanar, and abut an inside surface of the right wall 1441d of the main body <NUM> of the magazine <NUM> when the clip <NUM> is housed within the magazine <NUM>.

In a preferred embodiment of the present invention, as shown in <FIG>, for example, the first left portion 1463a can include a middle portion located between the connection portion 1462a and the tapered portion 1464a that is thinner than a rear portion of the first left portion 1463a which is located closer to the connection portion 1462a than to the tapered portion 1464a. The middle portion of the first left portion 1463a is also thinner than a forward portion of the first left portion 1463a which is located closer to the tapered portion 1464a than to the connection portion 1462a.

Similarly, in the preferred embodiment shown in <FIG>, the first right portion 1463b can include a middle portion, which is located between the right connection portion 1462b and the right tapered portion 1464b, and that is thinner than a rear portion of the first right portion 1463b which is located closer to the right connection portion 1462b than to the right tapered portion 1464b. The middle portion of the first right portion 1463b is also thinner than a forward portion of the first right portion 1463b which is located closer to the right tapered portion 1464b than to the right connection portion 1462b.

In a preferred embodiment of the present invention, as shown in <FIG>, for example, the left arm portion of the clip <NUM> includes a left protrusion 1468a attached to the first left portion 1463a. However, the left protrusion 1468a may be attached to one or more of the first left portion 1463a, the left tapered portion 1464a, and the second left portion 1465a. In <FIG>, the left protrusion 1468a includes a base attached to the first left portion 1463a and a main body that extends inwardly (towards the clip receiving space <NUM>) from the base to a tip of the left protrusion 1468a.

In a preferred embodiment, the right arm portion of the clip <NUM> includes a right protrusion 1468b attached to the first right portion 1463b. However, the right protrusion 1468b may be attached to one or more of the first right portion 1463b, the right tapered portion 1464b, and the second right portion 1465b. In <FIG>, the right protrusion 1468b includes a base attached to the first right portion 1463b and a main body that extends inwardly (toward the clip receiving space <NUM>) from the base to a tip of the right protrusion 1468b.

In a preferred embodiment of the present invention, a space <NUM> is located between the tip of the left protrusion 1468a and the tip of the right protrusion 1468b. In a preferred embodiment, the space <NUM> defines an opening of the clip receiving space <NUM>.

In a preferred embodiment of the present invention, the holder included in the second end portion <NUM> of the sliding arm <NUM> is configured to hold the clip <NUM>. More specifically, the base recess <NUM> of the sliding arm <NUM> can be configured to hold the base portion <NUM> of the clip <NUM>, the clip arm portion <NUM> of the sliding arm <NUM> can be configured to hold the first left portion 1463a of the clip <NUM>, and the clip arm portion 1145R of the sliding arm <NUM> can be configured to hold the first right portion 1463b of the clip <NUM>.

As discussed above, in a preferred embodiment of the present invention, the push plate <NUM>, which is pushed away from the magazine cap <NUM> by the magazine spring <NUM>, applies a downward force to the one or more clips <NUM> housed within the magazine <NUM> to push the one or more clips <NUM> downwards towards the clip platform portion <NUM> of the second sliding arm support portion <NUM> of the frame <NUM>. In a preferred embodiment of the present invention, the push plate <NUM> pushes the one or more clips <NUM> downwards towards the clip platform portion <NUM> of the second sliding arm support portion <NUM> such that a bottommost clip of the one or more clips <NUM> housed within the magazine is positioned such that the base recess <NUM> of the sliding arm <NUM> holds the base portion <NUM> of the clip <NUM>, the clip arm portion <NUM> of the sliding arm <NUM> holds the first left portion 1463a of the clip <NUM>, and the clip arm portion 1145R of the sliding arm <NUM> holds the first right portion 1463b of the clip <NUM> when the sliding arm <NUM> is in a retracted position.

In a preferred embodiment of the present invention, the agricultural tool <NUM> can be used to perform a plurality of tasks, including, but not limited to, tying/twisting an agricultural item of interest A and a support structure S together, and fastening or attaching the agricultural item of interest A to the support structure S using a clip, such as the clip <NUM> described above.

The task of tying/twisting an agricultural item of interest A and a support structure S together is discussed below with reference to steps <NUM> through <NUM> in the flow chart shown in <FIG>.

In step S2401, the first opening <NUM> of the main gear <NUM> (see <FIG>, for example) is aligned with the frame opening <NUM> (see <FIG>, for example), as shown in <FIG>, for example. More specifically, in a preferred embodiment, the motor <NUM> is driven to rotate the main gear <NUM> such that the first opening <NUM> of the main gear <NUM> is aligned with the frame opening <NUM> of the frame <NUM>.

In step <NUM>, the agricultural tool <NUM> is positioned with respect to an agricultural item of interest A, which is indicated with the dashed line A in <FIG>. As discussed above, an agricultural item of interest A can include a grape vine cane, a branch, a stem, a vine or another object. More specifically, in step <NUM>, a robotic arm R to which the agricultural tool <NUM> is attached is controlled to move the agricultural tool <NUM> such that the agricultural item of interest A is positioned within the first receiving space 1108a of the main gear <NUM>, as shown in <FIG>. In a preferred embodiment, the robotic arm R can be controlled such that a particular portion of the agricultural item of interest A is positioned within the first receiving space 1108a. For example, in a case where the agricultural item of interest A is a grape vine cane, the robotic arm R can be controlled such that a portion of the grape vine cane (e.g., a portion <NUM>% of a distance from a first end of the grape vine cane attached to a trunk of the grape vine and a second end of the grape vine cane which is a free end) is positioned within the first receiving space 1108a.

In step <NUM>, the main gear <NUM> is rotated to capture the agricultural item of interest A within a first enclosed space defined by the first receiving space 1108a and the frame <NUM>, as shown in <FIG>, for example. More specifically, the motor <NUM> is driven by a predetermined amount that causes the main gear <NUM> to rotate <NUM> rotations, for example, such that the agricultural item of interest A is captured within a first enclosed space defined by the first receiving portion <NUM>, facing rearwardly after the <NUM> rotations of the main gear <NUM>, and the frame <NUM>. As shown in <FIG>, the second opening <NUM> of the main gear <NUM> (see <FIG>, for example) is aligned with the frame opening <NUM> after the main gear <NUM> has been rotated in step <NUM>.

In step <NUM>, the agricultural tool <NUM> is positioned with respect to a support structure S, which is indicated by the fine dashed line S in <FIG>. The support structure S can include a trellis, wire, string, or another support structure object. More specifically, in step <NUM>, a robotic arm R to which the agricultural tool <NUM> is attached is controlled to move the agricultural tool <NUM> such that the support structure S is positioned within the second receiving space 1109a of the main gear <NUM>, as shown in <FIG>. In a preferred embodiment, the robotic arm R can be controlled such that a particular portion of the support structure S is positioned within the second receiving space 1109a. For example, in a case in which the support structure S is a wire, the robotic arm R can be controlled such that a middle point along a length of the wire is positioned within the second receiving space 1109a.

In step <NUM>, the main gear <NUM> is rotated to capture the support structure S within a second enclosed space defined by the second receiving portion <NUM> and the frame <NUM>, as shown in <FIG>, for example. More specifically, the motor <NUM> is driven by a predetermined amount that causes the main gear <NUM> to rotate <NUM> rotations, for example, such that the support structure S is captured within the second enclosed space defined by the second receiving portion <NUM> (facing rearwardly after the <NUM> rotations of the main gear <NUM> in step S2405) and the frame <NUM>. As shown in <FIG>, the first opening <NUM> of the main gear <NUM> is aligned with the frame opening <NUM> after the main gear <NUM> has been rotated in step <NUM>, and the agricultural item of interest A remains positioned within the first receiving space 1108a.

In step <NUM>, the main gear <NUM> is further rotated to tie/twist the agricultural item of interest A and the support structure S together, as shown in <FIG>, for example. More specifically, the motor <NUM> is driven by a predetermined amount that causes the main gear <NUM> to rotate <NUM> rotations such that the agricultural item of interest A and the support structure S are twisted/tied together. When the agricultural item of interest A and the support structure S are twisted/tied together, the support structure S supports the agricultural item of interest A which has been twisted over and under the support structure S.

In a preferred embodiment of the present invention, the agricultural tool <NUM> can fasten or attach the agricultural item of interest A to the support structure S using a clip, such as the clip <NUM> described above. For example, in a preferred embodiment, the agricultural tool <NUM> can fasten the agricultural item of interest A to the support structure S using the clip <NUM>, after the agricultural item of interest A and the support structure S have been twisted/tied together in step <NUM>.

The task of fastening the agricultural item of interest A to the support structure S using a clip is discussed below with reference to steps <NUM> through <NUM> in the flow chart shown in <FIG>.

In step <NUM>, the sliding arm <NUM> is moved forward from a retracted position to a deployed position to attach a clip <NUM> to the agricultural item of interest A and the support structure S. More specifically, a forward movement of the sliding arm <NUM> pushes the agricultural item of interest A and the support structure S through the space <NUM> located between the tip of the left protrusion 1468a and the tip of the right protrusion 1468b of the clip <NUM> and into the clip receiving space <NUM> of the clip <NUM> (see <FIG>).

In a preferred embodiment of the present invention, the sliding arm <NUM> starts to move forward from the retracted position (e.g., a rearmost position of the sliding arm <NUM>) towards the deployed position (e.g., a forwardmost position of the sliding arm <NUM>) when the teeth portion <NUM> of the timing gear <NUM> starts to contact and drive the first diameter portion <NUM> of the linking gear <NUM>. As discussed above with respect to <FIG>, the teeth portion <NUM> of the timing gear <NUM> is only attached to a portion of a periphery of the timing gear <NUM>, such that a portion of the periphery of the timing gear <NUM> does not have teeth attached thereto.

When the timing gear <NUM> has been rotated such that the teeth portion <NUM> contact and drive the first diameter portion <NUM> of the linking gear <NUM>, the linking gear <NUM> is driven, which in turn rotates the sliding arm gear <NUM> and the bolt or shaft <NUM> attached thereto which causes the sliding arm <NUM> to move in a forward-rearward direction. On the contrary, when the timing gear <NUM> has been rotated such that the teeth portion <NUM> do not contact the first diameter portion <NUM> of the linking gear <NUM>, i.e., when a portion of the periphery of the timing gear <NUM> that does not have teeth attached thereto faces the first diameter portion <NUM> of the linking gear <NUM>, then the linking gear <NUM> is not driven, and the sliding arm <NUM> does not move in a forward-rearward direction.

In a preferred embodiment of the present invention, a number of teeth of each of the taping gear <NUM>, the base gear <NUM>, the timing gear <NUM>, the linking gear <NUM>, and the sliding arm gear <NUM> can be set such that the sliding arm <NUM> starts to move forward from the retracted position towards the deployed position (i.e., when the teeth portion <NUM> of the timing gear <NUM> starts to drive the first diameter portion <NUM> of the linking gear <NUM>) after a predetermined number of rotations of the main gear <NUM> (after the motor <NUM> has been driven by a predetermined amount). For example, in a preferred embodiment of the present invention, a number of teeth of each of the taping gear <NUM>, the base gear <NUM>, the timing gear <NUM>, the linking gear <NUM>, and the sliding arm gear <NUM> can be set such that the sliding arm <NUM> starts to move forward from the retracted position towards the deployed position after the main gear <NUM> has been rotated <NUM> times, which is a number of rotations of the main gear <NUM> completed in steps <NUM> (<NUM> rotations), <NUM> (<NUM> rotations), and <NUM> (<NUM> rotations) during which the agricultural item of interest A and the support structure S are tied/twisted together. Thus, the sliding arm <NUM> can be controlled to start to move forward from a retracted position to a deployed position to attach a clip <NUM> to the agricultural item of interest A and the support structure S, which have been tied/twisted together, in response to step <NUM> in <FIG> having been completed.

In step <NUM>, the agricultural tool <NUM> is moved to release the clip <NUM> from the sliding arm <NUM>. For example, in step <NUM>, the robotic arm R to which the agricultural tool <NUM> (and the sliding arm <NUM>) is attached can be controlled to move the agricultural tool <NUM> (and the sliding arm <NUM>) laterally, e.g., in the direction of arrow L in <FIG>, by a first predetermined distance to release the clip <NUM> from the holder of the sliding arm <NUM>.

In step <NUM>, the sliding arm <NUM> is moved back to a retracted position from the deployed position. For example, the motor <NUM> can be driven in reverse by a predetermined amount to retract the sliding arm <NUM> from the deployed position to the retracted position.

In step <NUM>, the agricultural tool <NUM> (and the sliding arm <NUM>) is moved so that the agricultural item of interest A is no longer located within the first receiving space 1108a. For example, in step <NUM>, the robotic arm R to which the agricultural tool <NUM> is attached can be controlled to move the agricultural tool <NUM> laterally (e.g., direction of arrow L in <FIG>) by a second predetermined distance so that the agricultural item of interest A is no longer located within the first receiving space 1108a. For example, the agricultural tool <NUM> can be moved laterally so that an end A1 of the agricultural item of interest A passes through the first receiving space 1108a such that the agricultural item of interest A is no longer located within the first receiving space 1108a. After the agricultural tool <NUM> is moved so that the agricultural item of interest A is no longer located within the first receiving space 1108a, the agricultural tool <NUM> can be moved freely (e.g., to a new location). In a preferred embodiment of the present invention, the second predetermined distance in step <NUM> is larger than the first predetermined distance in step <NUM>.

In a preferred embodiment of the present invention discussed above, a number of teeth of each of the taping gear <NUM>, the base gear <NUM>, the timing gear <NUM>, the linking gear <NUM>, and the sliding arm gear <NUM> can be set such that the sliding arm <NUM> starts to move forward from the retracted position towards the deployed position (i.e., when the teeth portion <NUM> of the timing gear <NUM> starts to drive the first diameter portion <NUM> of the linking gear <NUM>) after a predetermined number of rotations of the main gear <NUM> (after the motor <NUM> has been driven by a predetermined amount). Accordingly, the motor <NUM> (a single motor) can effectively be used to rotate the main gear <NUM> to tie/twist the agricultural item of interest A and the support structure S together as well as move the sliding arm <NUM> from a retracted position to deployed position to attach a clip <NUM> to the agricultural item of interest A and the support structure S which have been tied/twisted together. However, as an alternative, the agricultural tool can include a first motor to rotate the main gear, and a second motor to control the forward-rearward movement of the sliding arm <NUM>.

In a preferred embodiment of the present invention discussed above, the agricultural tool <NUM> can be used to perform a plurality of tasks including tying/twisting an agricultural item of interest A and a support structure S together, and fastening or attaching the agricultural item of interest A to the support structure S using a clip, such as the clip <NUM> described above. However, an agricultural tool <NUM>' according to a preferred embodiment may be configured to perform the task of tying/twisting an agricultural item of interest A and a support structure S together without also being configured to perform the task of fastening the agricultural item of interest A to the support structure S using a clip. For example, the agricultural tool <NUM>' shown in <FIG> may not include the taping gear <NUM>, the base gear <NUM>, the timing gear <NUM>, the linking gear <NUM>, the sliding arm gear <NUM>, the sliding arm <NUM>, and the magazine <NUM>. Preferably, the agricultural tool <NUM>' may only perform the steps <NUM> through <NUM> discussed with respect to <FIG>.

An agricultural tool <NUM>" according to a preferred embodiment may be configured to perform the task of fastening or attaching the agricultural item of interest A to the support structure S using a clip, such as the clip <NUM>. Preferably, the agricultural tool <NUM>" may only perform the steps <NUM> through <NUM> discussed with respect to <FIG>.

In a preferred embodiment of the present invention, the agricultural tool <NUM> can include a controller <NUM> configured or programed to control the motor <NUM>. For example, the controller <NUM> can be configured or programed to control the timing, and in what direction, the motor <NUM> is running. For example, the controller <NUM> can be configured or programed to control the timing, and in what direction, the motor <NUM> is running in accordance with the steps discussed above with respect to <FIG> and <FIG>. More specifically, in step <NUM>, the controller <NUM> can be configured or programed to drive the motor <NUM> by a predetermined amount, and in a predetermined direction, to rotate the main gear <NUM> such that the first opening <NUM> of the main gear <NUM> is aligned with the frame opening <NUM> of the frame <NUM>.

In step <NUM>, the controller <NUM> can be configured or programed to drive the motor <NUM> by a predetermined amount, and in a predetermined direction (forward direction), that causes the main gear <NUM> to rotate <NUM> rotations such that the agricultural item of interest A is captured within the first enclosed space defined by the first receiving portion <NUM> and the frame <NUM>.

In step <NUM>, the controller <NUM> can be configured or programed to drive the motor <NUM> by a predetermined amount, and in a predetermined direction (forward direction) that causes the main gear <NUM> to rotate <NUM> rotations, for example, such that the support structure S is captured within the second enclosed space defined by the second receiving portion <NUM> and the frame <NUM>.

In step <NUM>, the controller <NUM> can be configured or programed to drive the motor <NUM> by a predetermined amount, and in a predetermined direction (forward direction), that causes the main gear <NUM> to rotate <NUM> rotations, for example, such that the agricultural item of interest A and the support structure S are twisted/tied together.

In step <NUM>, the controller <NUM> can be configured or programed to drive the motor <NUM> by a predetermined amount, and in a predetermined direction (forward direction), that causes the sliding arm <NUM> to move from a retracted position to a deployed position to attach a clip to the agricultural item of interest A and the support structure S.

In step <NUM>, the controller <NUM> can be configured or programed to drive the motor <NUM> by a predetermined amount, and in a determined direction (reverse direction), that causes the sliding arm <NUM> to move to a retracted position of the sliding arm <NUM>.

In a preferred embodiment of the present invention, the controller <NUM> can be located within a housing of the motor <NUM> as shown in <FIG>, but may be provided in other locations. Additionally, part or whole of the controller <NUM> and/or the functional units or blocks thereof as described herein with respect to the various preferred embodiments of the present invention can be implemented in one or more circuits or circuitry, such as an integrated circuit(s) or as an LSI (large scale integration). Each functional unit or block of the controller <NUM> may be individually made into an integrated circuit chip. Alternatively, part or whole of the functional units or blocks may be integrated and made into an integrated circuit chip. Additionally, the method of forming a circuit or circuitry defining the controller <NUM> is not limited to LSI, and an integrated circuit may be implemented by a dedicated circuit or a general-purpose processor or controller that is specifically programed to define a special-purpose processor or controller. Further, if technology of forming an integrated circuit, which replaces LSI, arises as a result of advances in semiconductor technology, an integrated circuit formed by that technology may be used.

Furthermore, a program which is operated in the controller <NUM> and/or other elements of various preferred embodiments of the present invention, is a program (program causing a computer to perform a function or functions) controlling a controller, in order to realize functions of the various preferred embodiments according to the present invention, including each of the various circuits or circuitry described herein and recited in the claims. Therefore, information which is handled by the controller is temporarily accumulated in a RAM at the time of the processing. Thereafter, the information is stored in various types of circuitry in the form of ROMs and HDDs, and is read out by circuitry within, or included in combination with, the controller as necessary, and modification or write-in is performed thereto. As a recording medium storing the program, any one of a semiconductor medium (for example, the ROM, a nonvolatile memory card or the like), an optical recording medium (for example, a DVD, an MO, an MD, a CD, a BD or the like), and a magnetic recording medium (for example, a magnetic tape, a flexible disc or the like) may be used. Moreover, by executing the loaded program, the functions of the various preferred embodiments of the present invention are not only realized, but the functions of preferred embodiments of the present invention may be realized by processing the loaded program in combination with an operating system or other application programs, based on an instruction of the program.

Moreover, in a case of being distributed in a market, the program can be distributed by being stored in the portable recording medium, or the program can be transmitted to a server computer which is connected through a network such as the Internet. In this case, a storage device of the server computer is also included in preferred embodiments of the present invention. In addition, in the preferred embodiments described above, a portion or an entirety of the various functional units or blocks may be realized as an LSI which is typically an integrated circuit. Each functional unit or block of the controller may be individually chipped, or a portion thereof, or the whole thereof may be chipped by being integrated. In a case of making each functional block or unit as an integrated circuit, an integrated circuit controller that controls the integrated circuits, may be added.

Additionally, the method for making an integrated circuit is not limited to the LSI, and may be realized by a single-purpose circuit or a general-purpose processor that is programmable to perform the functions described above to define a special-purpose computer. Moreover, in a case of an appearance of a technology for making an integrated circuit which replaces the LSI due to an advance of a semiconductor technology, it is possible to use an integrated circuit depending on the technology.

Finally, it should be noted that the description and recitation in claims of this patent application referring to "controller", "circuit", or "circuitry" is in no way limited to an implementation that is hardware only, and as persons of ordinary skill in the relevant art would know and understand, such descriptions and recitations of "controller", "circuit", or "circuitry" include combined hardware and software implementations in which the controller, circuit, or circuitry is operative to perform functions and operations based on machine readable programs, software or other instructions in any form that are usable to operate the controller, circuit, or circuitry.

In a preferred embodiment of the present invention, the motor <NUM> may not be controlled by the controller <NUM>, or may not fully be controlled by the controller <NUM>. For example, a timing and/or in what direction the motor <NUM> is running can be controlled by a user operated device or another technique of controlling the motor <NUM>.

In a preferred embodiment of the present invention, the agricultural tool <NUM> can include a battery which is arranged to supply power to components, such as, the motor <NUM> and the controller <NUM>, etc. For example, the battery can be a rechargeable battery. Alternatively, components included in the agricultural tool, such as the motor <NUM> and the controller <NUM>, can be provided power using an external power supply.

In a preferred embodiment of the present invention, the robotic arm R discussed above can include a robotic arm known to a person of ordinary skill in the art. For example, the robotic arm R, also known as an articulated robotic arm, can include a plurality of joints that act as axes that enable a degree of movement, wherein the higher number of rotary joints the robotic arm R includes, the more freedom of movement the robotic arm has. For example, although not shown in the figures included herein, the robotic arm R can include four to six joints, which provide the same number of axes of rotation for movement.

In a preferred embodiment of the present invention, the controller <NUM> can be configured or programed to control movement of the robotic arm R. For example, the controller <NUM> can be configured or programed to control the movement of the robotic arm R to which the agricultural tool <NUM> is attached to position the agricultural tool <NUM> in accordance with the steps discussed above with respect to <FIG> and <FIG>. For example, the controller <NUM> can be configured or programed to control movement of the robotic arm R based on a location of an object such as the agricultural item of interest A or the support structure S, whose location can be determined using a stereo camera, a depth camera such as an INTEL® REALSENSE™ LiDAR Camera L515, GPS (Global Positioning System) data, or another method of determining a location of an object.

More specifically, in step <NUM>, the controller <NUM> can be configured or programed to control the robotic arm R to which the agricultural tool <NUM> is attached is to move the agricultural tool <NUM> such that that a particular portion of the agricultural item of interest A is positioned within the first receiving space 1108a of the main gear <NUM>.

In step <NUM>, the controller <NUM> can be configured or programed to control the robotic arm R to which the agricultural tool <NUM> is attached to move the agricultural tool <NUM> such that a particular portion of the support structure S is positioned within the second receiving space 1109a of the main gear <NUM>.

In step <NUM>, the controller <NUM> can be configured or programed to control the robotic arm R to which the agricultural tool <NUM> is attached to move the agricultural tool <NUM> to release the clip <NUM> from the sliding arm <NUM>.

In step <NUM>, the controller <NUM> can be configured or programed to control the robotic arm R to which the agricultural tool <NUM> is attached is to move the agricultural tool <NUM> so that the agricultural item of interest A is no longer located within the first receiving space 1108a of the main gear <NUM>.

In a preferred embodiment of the present invention, the robotic arm R may not be controlled by the controller <NUM>, or may not fully be controlled by the controller <NUM>. For example, movement of the robotic arm R can be controlled by a user-operated device or another known technique of controlling a robotic arm. Furthermore, in a preferred embodiment of the present invention that does not include a robotic arm, such as a preferred embodiment in which the base plate <NUM> is mounted to another structure such as a handle, the movement of the agricultural tool <NUM> can be performed by a person holding and moving the handle.

Claim 1:
An agricultural tool for tying/twisting an agricultural item of interest and a support structure together, the agricultural tool comprising a motor (<NUM>), characterised in that the agricultural tool further comprises:
a first driving gear (<NUM>) to be driven by the motor (<NUM>);
a second driving gear (<NUM>) to be driven by the motor (<NUM>); and
a main gear (<NUM>) including a plurality of openings along a periphery of the main gear (<NUM>); wherein
the plurality of openings include a first opening (<NUM>) and a second opening (<NUM>);
the main gear (<NUM>) includes a first receiving portion (<NUM>) that defines a first receiving space (1108a);
the main gear (<NUM>) includes a second receiving portion (<NUM>) that defines a second receiving space (1109a);
the first opening (<NUM>) corresponds and is attached to the first receiving space (1108a);
the second opening (<NUM>) corresponds and is attached to the second receiving space (1109a); and
the first driving gear (<NUM>) and the second driving gear (<NUM>) engage with the periphery of the main gear (<NUM>) to drive the main gear (<NUM>), the agricultural tool optionally comprising a controller (<NUM>) configured or programmed to control the motor (<NUM>).