KR101818739B1 - Power supply transmission equipment and strawberry harvesting apparatus - Google Patents

Power supply transmission equipment and strawberry harvesting apparatus Download PDF

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Publication number
KR101818739B1
KR101818739B1 KR1020160022337A KR20160022337A KR101818739B1 KR 101818739 B1 KR101818739 B1 KR 101818739B1 KR 1020160022337 A KR1020160022337 A KR 1020160022337A KR 20160022337 A KR20160022337 A KR 20160022337A KR 101818739 B1 KR101818739 B1 KR 101818739B1
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South Korea
Prior art keywords
power supply
unit
power
wheel
guide
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KR1020160022337A
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Korean (ko)
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KR20170100153A (en
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박세현
김현재
임무수
이예찬
이훈민
김건희
박지열
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안동대학교 산학협력단
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a power supply transmission mechanism, wherein the power supply transmission mechanism includes a body support mounted on a main body, a conductive support disposed on the body support and electrically connected to the power supply, A first power supply unit and a second power supply unit which are respectively connected to the first power supply unit and the second power supply unit and are made of a conductive material, A first wheel unit and a second wheel unit to which the first power source and the second power source are respectively supplied from the first power source unit and the second power source unit and are connected to the first wheel unit and the second wheel unit, The first power supply line and the second power supply line being supplied with the first power supply and the second power supply applied to the first wheel portion and the second wheel portion, It includes the wiring.

Description

[0001] POWER SUPPLY TRANSMISSION EQUIPMENT AND STRAWBERRY HARVESTING APPARATUS [0002]

The present invention relates to a power transmission mechanism and a strawberry harvesting apparatus using the same.

Due to technological advances, many electronic devices are used in agriculture to grow crops or to harvest fruit.

This can reduce manpower required for cultivation of crops, thereby reducing labor costs, and the harvesting operation also uses the corresponding harvesting device, thereby improving the risk of safety accidents and the efficiency of work.

As such, crop plants for cultivating or harvesting crops are installed and operated in cultivating facilities such as a vinyl house where the installation space and the work space are mostly outdoor, such as an orchard, or where electricity facilities are not normally installed.

In addition, since the cropping device is not fixedly operated in any one place but is operated while moving its position to the place where the crops are grown such as furrows, the length of the plurality of power supply lines becomes long, .

In particular, unlike apple trees and pear trees, crops such as strawberries and tomatoes have a relatively short interval of abandonment of the crops, so that the time for the crops to stay in one place is relatively short, rail, and the like.

As a result, as the crop device moves along the path of the rail to the work, the power supply line must move as well, so that many power supply lines exposed to the outside during the operation of the crop device are tangled to each other and disturb the movement of the crop device. Thereby causing a failure of the cropping apparatus.

Korean Registered Patent Publication No. 10-0784830 (registered on Dec. 05, 2007, title: bench-harvested strawberry harvesting robotic system)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art.

The technical problem to be solved by the present invention is to improve strawberry harvesting efficiency more efficiently.

According to an aspect of the present invention, there is provided a power supply mechanism including: a body support mounted on a main body; a conductive member disposed on the body support, the conductive support being connected to the power supply, A first power supply unit and a second power supply unit which are respectively connected to the first power supply unit and the second power supply unit and are made of a conductive material, A first wheel unit and a second wheel unit to which the first power source and the second power source are respectively supplied from the first power source and the second power source unit and are connected to the first wheel unit and the second wheel unit, A first power supply line and a second power supply line to which the first power supply and the second power supply applied to the first and second wheels are applied.

The power transmission mechanism may further include a wheel connecting portion connected to the main body and connected to the first wheel portion and the wheel portion, respectively.

According to another aspect of the present invention, there is provided a strawberry harvesting apparatus including a main body having an empty space in a center portion thereof, a body support installed in the empty space, a movement guide disposed on the body support and extending in a first direction, A guide moving part installed on the main body and connected to the guide moving part and being connected to the guide moving part to control the rotation operation of the guide moving part, A motor unit for moving the main body in the first direction by allowing the guide moving unit to move in the first direction along the movement guide, a motor unit installed on the main body support, A power supply transmitting unit for receiving and transmitting the power supply and the second power supply, A control unit connected to the body and having a control device for controlling the operation of the strawberry harvesting device and capable of being supplied with the first and second power sources through the power transmitting unit to be supplied to the control device, And a robot arm unit connected to the control unit body and performing strawberry harvesting by the operation of the control unit.

The power supply unit may include a first power supply unit and a second power supply unit. The first power supply unit and the second power supply unit are connected to the power supply unit and are supplied with power from the power supply unit. The first power supply unit and the second power supply unit, the first power supply unit, the second power supply unit, and the second power supply unit, the power supply unit, the first power supply unit, A first wheel portion and a second wheel portion to which a second power source is applied and a second wheel portion and a second wheel portion connected to the first wheel portion and the second wheel portion, And a first power supply line and a second power supply line for supplying the first power supply and the second power supply to the control unit body.

The first wheel portion and the second wheel portion are respectively connected to a wheel connecting portion, a wheel mounted on the connecting shaft and contacting one of the first power transmitting portion and the second power transmitting portion, And a bearing portion provided on the connection shaft and connected to one of the first power supply line and the second power supply line.

According to this aspect, in order to supply the power supplied from the power supply unit to the control unit of the control unit body installed in the main body, a power supply mechanism is provided in the main body.

As a result, the number of wires exposed to the outside among the wires for power supply is greatly reduced.

In addition, in the case of a strawberry harvesting apparatus having a power supply mechanism, the number of wires exposed to the outside is greatly reduced, so that inconvenience or danger due to electric wires is greatly reduced in moving strawberries to harvest strawberries such as houses.

This increases the efficiency of the strawberry harvesting process and also reduces the failure rate of the strawberry harvesting device.

1 is a perspective view of a strawberry harvesting apparatus according to an embodiment of the present invention.
Fig. 2 is a front view of the strawberry harvesting apparatus shown in Fig. 1;
3 is a plan view of the strawberry harvesting apparatus shown in Fig.
4 is a plan view showing a part of a power transmission mechanism of a strawberry harvesting apparatus according to an embodiment of the present invention.
5 is a partially enlarged view of a wheel portion of a strawberry harvesting apparatus according to an embodiment of the present invention.
6 is a perspective view showing a wiring connection state of a power supply mechanism of a strawberry harvesting apparatus according to an embodiment of the present invention.
7 is a view schematically showing a voltage supply state from a power supply unit to a control unit body in a strawberry harvesting apparatus according to an embodiment of the present invention.
8 is a schematic perspective view of a robot arm portion of a strawberry harvesting apparatus according to an embodiment of the present invention.
9 is a schematic block diagram of a control unit of a strawberry harvesting apparatus according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but it should be understood that there may be other elements in between do. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Hereinafter, a power supply mechanism and a strawberry harvesting apparatus using the same according to an embodiment of the present invention will be described with reference to the accompanying drawings.

Although the strawberry harvesting apparatus is provided as an example of the apparatus using the power supply mechanism according to the present invention, it is needless to say that the power supply apparatus of the present invention can be applied to various apparatuses.

1, the strawberry harvesting apparatus includes a main body 10 having an empty space in the center thereof, a body support 20 supporting the main body 10, a body support 20, A motor unit 32 for controlling the moving motion of the guide moving unit 31 and a motor unit 32 for controlling the moving operation of the guide moving unit 31. The upper inner surface of the main body 10 A plurality of first and second wheel portions 42a and 42b installed on the plurality of upper connection portions 41 and a plurality of first and second wheel portions 42a and 42b, First and second power supply lines 424a and 424b which are electrically and physically connected to the first and second wheel portions 42a and 42b, respectively, and a plurality of first and second wheel portions 42a and 42b The first and second wheel guides 43a and 43b for guiding the movement of the first and second wheel guides 43a and 43b and the body support 20 in the first and second wheel guides 43a and 43b First and second power transmission parts 44a and 44b in contact with the wheel part 42 and connected to the first and second power supply lines 424a and 424b, A robot arm portion 60 connected to the control unit body 50 and a support 70 connected to the body support 20.

The main body 10 has a hollow rectangular shape at its center portion and moves in a corresponding direction (e.g., longitudinal direction) Y in accordance with the movement of the movement guide 30.

Accordingly, the main body 10 is a part that can be moved by a rotational force or the like applied from the outside.

The body support 20 is formed in the shape of a rectangular plate positioned in the middle hollow space of the main body 10 and is connected to the support 100 as described above so that the installation position is fixed to the support 100.

Thus, the body support 20 is fixed in position and is made of an insulating material.

The movement guide 30 has a cylindrical bar shape extending in the longitudinal direction Y and located in the middle portion of the body support 20, for example, the middle portion of the lateral direction X intersecting the longitudinal direction Y And is fixed to the corresponding position of the body support 20. [

The extension length of the movement guide 30 may be equal to or longer than the extension length of the body support 20 in the longitudinal direction Y

The movement guide 30 may also be made of an insulating material such as a lightweight plastic material.

2 to 3, a part of the guide moving part 31 is connected to the motor part 32 fixed to the upper inner surface of the main body 10 through the connecting shaft 311, Another part of the moving part 31 is positioned on the moving guide 30 and moves along the moving guide part 30 in the extending direction Y of the moving guide 30. [

Accordingly, when the rotation is transmitted to the guide moving part 31 by the operation of the motor part 32 fixed to the main body 10 as the movable part, the guide moving part 31 moves together with the main body 10 And moves along the guide 30 by the amount corresponding to the rotation direction and the rotation degree of the motor part 32 in the corresponding direction. As a result, the main body 10 is moved in the longitudinal direction Y by the guide moving part 31.

In this embodiment, since the outer surface of the movement guide 30 is curved, the guide moving portion 31 may have a curved portion in contact with the movement guide 30 so as to utilize the engagement with the movement guide 30 , And may have a long shape as an example.

The motor unit 32 is a drive unit for controlling the moving state of the guide moving unit 31 as described above.

2 and 4, the plurality of wheel connecting portions 41 are fixedly spaced apart from each other by a predetermined distance in the lateral direction X on the front surface of the upper inner surface of the main body 10, And is spaced apart by a predetermined distance in the transverse direction X on the rear surface portion of the upper inner surface of the upper portion.

Therefore, the number of the plurality of wheel connecting portions 41 fixed to the upper portion of the main body 10 is four, but is not limited thereto.

The two wheel connecting portions 41 located on the upper front portion and the two wheel connecting portions 41 located on the upper rear portion are positioned in the longitudinal direction Y to correspond to each other.

The first and second wheel portions 42a and 42b are rotatably mounted on the wheel connecting portions 41 so that the first and second wheel portions 43a and 43b are rotated along the first and second wheel guides 43a and 43b in accordance with the movement of the main body 10. [ Direction.

The wheel portions 42a and 42b have the same structure.

Referring to FIG. 5, the first wheel portion 42a is described as an example. The first wheel portion 42a has two wheel connecting portions 41 arranged in parallel in the longitudinal direction Y Two first wheels 422a fixed to the two connection shafts 421a and two bearing portions 423a provided on the respective connection shafts 421a, Respectively.

Accordingly, when the corresponding wheel connecting portion 41 fixed to the main body 10 is moved by the movement of the main body 10, the angles of the first and second wheel portions 42a and 42b connected to the wheel connecting portion 41 The wheels 422a and 422b rotate and move in the corresponding directions.

The movement of the guide moving unit 31 in the Y direction as well as the movement of the wheels 422a and 422b of the first and second wheels 42a and 42b connected to the main body 10 in the Y direction By the operation, the main body 10 moves more easily along the movement guide 30 in the corresponding direction, and the positional movement in the Y direction is performed.

Each of the bearing portions 423a provided on the first and second wheel portions 42a and 42b smoothly rotates the connection shaft 421a and is made of a conductive material.

The first power supply line 424a is connected to two bearing portions 422a provided on the connection axes 421a of the two first wheels 422a spaced apart in the Y direction, 424b are also connected to two bearing portions respectively provided on respective connecting shafts of the two second wheels 422a spaced in the Y direction.

Accordingly, the first power supply line 424a receives the first power supplied through the first power supply 44a, the first wheels 442a and the two bearings 423a, The power supply line 424b is also supplied with the second power supplied through the second power transmission unit 44b, the two second wheels 442b, and the two bearing units.

Since the first and second power supply lines 424a and 424b are electrically and physically connected to the corresponding bearing portion 422a which is not affected by the rotation of the connection shaft 421a, A phenomenon of winding on the connection shaft 421a does not occur even during the rotation operation of the connection shaft 421a.

The first and second power supply lines 424a and 424b may be inserted and disposed in a protective tube made of plastic or the like. In this case, the first and second power supply lines 424a and 424b , 424b)

The first and second wheel guides 43a and 43b all have a bar shape extending in the Y direction on the upper surface of the body support 20.

The first wheel guide 43a is moved so that the pair of first wheels 422a of the first wheel portion 42a located at the wheel connecting portion 41 located at the same position in the Y direction can move safely in the Y direction Guide the operation.

The second wheel guide 43b is separated from the first wheel guide 43a by a pair of second wheels 422b of the second wheel portion 42b which are spaced apart from each other in the X direction, So as to stably move in the Y direction.

The first and second wheels 42a and 42b are located on the upper surface of the body support 20 surrounded by the first and second wheel guides 43a and 43b and are positioned on the respective first and second wheel guides 43a and 43b, 43a, 43b in the Y direction of the upper surface of the body support 20. [

In this example, at least the outer surface of the first and second wheels 42a and 42b is coated with a conductive material such as copper (Cu), and each connecting shaft 421a connected to the wheels 42a and 42b is also made of copper And the like.

At this time, the first and second wheel guides 43a and 43b are all made of an insulating material, and the first and second power transmission parts 44a and 44b are each made of a conductive material.

The first power transmission portion 44a is located on a portion of the body support 20 surrounded by the first wheel guide 43a and the second power transmission portion 44b is located on the body surrounded by the second wheel guide 44b. Is located above the portion of the support (20).

The first and second power transmission parts 44a and 44b are positioned within the first and second wheel guides 43a and 43b which are the movement paths of the first and second wheels 422a and 422b and the wheels 422a And 422b, respectively.

The first power transmission unit 44a is connected to a power supply line (e.g., a first power supply line) to which a corresponding size power supply (e.g., a first power supply) Vcc output from the power supply unit (e.g., SMPS) The second power transmission unit 44b is connected to a power supply line (e.g., a second power supply) to which a corresponding magnitude power (e.g., a second power supply) GND output from the power supply unit 100 is supplied. Supply line (102).

Therefore, the first and second power transmission units 44a and 44b, which are supplied with power from the power supply unit 100 through the first and second power supply lines 101 and 102, The corresponding power sources Vcc and GND of the corresponding size supplied to the first and second power transmission units 44a and 44b are in contact with the second and fourth wheels 422a and 422b which are in contact with the two wheels 422a and 422b, And the corresponding connection shaft 421a connected to the first and second wheels 422a and 422b.

Therefore, the power source (Vcc, GND) is also connected to the corresponding bearing portion 423a electrically and physically connected to the connection shaft 421a, so that the first and second power sources The power supply (Vcc, GND) is also supplied to the application lines 424a and 424b.

In this case, the first power supply line Vcc may be applied to the first power supply line 424a and the second power supply GND may be applied to the second power supply line 424b.

The first and second power supply lines 424a and 424b extend through the lower surface of the main body 10 and extend into the control body 50 so that the control body 50 is not exposed to the outside of the main body 10. [ So that the necessary power can be supplied to the control devices installed in the control module mounted in the body 50 of the control unit.

The power supply mechanism for transmitting power from the power supply unit 10 to the control unit body 50 receives the first power supply Vcc and the second power supply GND supplied from the power supply unit 100, A main body 10 and a body support 20 on which the power transmission unit is installed.

The power transmission unit includes first and second power supply lines 101 and 102, first and second power transmission units 44a and 44b, a connection shaft 421, first and second wheels 42a and 42b A wheel connecting portion 41 for connecting the first and second wheels 42a and 42b to the main body 10 and first and second power supply lines 424a and 424b.

Unlike the present example, some components of the power supply mechanism may be omitted as necessary.

A control unit such as the first and second battery charging units 511 and 512, the motor control unit 53, the robot arm control unit 54 and the like located in the control unit body 50 as shown in FIG. 7, And power sources Vcc and GND of a corresponding magnitude applied through the first and second power supply lines 424a and 424b are applied to the first and second battery charging units 511 and 512

Accordingly, a plurality of voltages (+ 12V, + 5V, GND) of a corresponding magnitude applied in the operations of the first and second battery charging units 511 and 512 are applied to the corresponding control unit located at the rear end.

As described above, the power is transmitted through the power transmitting mechanism located in the inner hollow space of the main body 10 to deliver the power (Vcc, GND) supplied from the power supply unit 100 located outside the strawberry harvesting apparatus to the control body 50 .

Therefore, since only the first and second power supply lines 101 and 102 are exposed to the outside, a plurality of electric wires for power supply are prevented from being exposed to the outside.

The robot arm portion 60 is connected to the control unit body 50 so that the operation is controlled according to the operation of the control unit built in the control unit body 50 to perform the gathering operation of the strawberry located at the corresponding position.

8, the robot arm portion 60 includes a plurality of motors (for example, a servo motor) 61, a plurality of motor frames 63 for supporting the positions of the motors 61, Collectors 651 and 652 for collecting strawberries, teeth 67 for opening and closing the collectors 651 and 652, and the like.

In this robot arm portion 60, collectors 651 and 652 for picking strawberries are attached to a generally used articulated robot arm, and the diagram shown in FIG. 8 schematically shows the structure of the robot arm portion 60 The present invention is not limited to the drawings shown in Fig.

The motors 651 and 652 are provided with motors (not shown), such as dynamixel motors, for controlling the rotation and rotation of the teeth 67 in the opposite directions An operating collector 651 652 executes the collection operation of the desired strawberry while performing the folding operation and the spreading operation.

Power supply to a plurality of motors provided in the robot arm portion 60 is connected to the control unit body 50 to supply power from one of the first and second battery charging units 511 and 512 of the control unit body 50 (Not shown). At this time, the power supply line is attached to the robot arm portion 60 using a fixing pin or the like without flowing down to the extended robot arm portion 60, so that the movement of the strawberry harvesting apparatus The operation is not adversely affected.

Although the support 70 is installed on the body support 20 so that the strawberry harvesting device can be installed at a desired position, the strawberry harvesting device can be mounted on a support rail such as a ceiling of a house, (70) may be omitted.

The structure of the control unit 300 for controlling the operation of the strawberry harvesting apparatus will be described with reference to FIG.

9, the control unit 300 is connected to the first and second battery charging units 511 and 512, the first and second image acquisition units 521 and 522, and the motor unit 32, A robot arm control unit 54 connected to the robot arm unit 60 and a communication unit 55 for communicating with the master terminal 200.

8, the first and second image acquiring units 521 and 522 are installed in a mounting portion 52 mounted on the robot arm portion 60. The first and second image acquiring units 521 and 522 are disposed at predetermined intervals The image is stored in an internal storage unit (not shown), and is transmitted to the master terminal 200 through the communication unit 55.

In this example, the voltage supply to the first and second image acquisition units 521 and 522 is performed respectively from the first battery charging unit 511 and the second battery charging unit 512 mounted in the control unit body 50, Through the power line attached to the arm portion 60.

Accordingly, the master terminal 200 uses the images obtained by the first and second image acquiring units 521 and 522 to calculate the distance between each strawberry to be harvested and the robot arm unit 600 , And the like, and if there is a strawberry to be harvested by the images obtained by the first and second image acquiring units 521 and 522, the harvest signal for strawberry harvesting and the strawberry harvesting strawberry to be harvested And transmits the position information and the distance information to the corresponding control device of the control unit.

The motor control part 52 connected to the motor part 32 is a control device for controlling the operation of the motor part 32 and outputs a control signal in the corresponding state according to the control state of the motor part 32 to the motor part 32 .

Accordingly, the motor unit 32 determines the operation state and the rotation direction according to the applied control signal to control the rotation state of the guide movement unit 31 so that the guide movement unit 31 moves along the movement guide 30 in the corresponding direction (Y). The main body 10 is also moved in the corresponding direction Y in accordance with the operation of the guide moving unit 31. [

At this time, since the motor control unit 53 is controlled by the master terminal 200, the operation state is controlled according to the control signal transmitted from the MR terminal 200.

The robot arm control unit 54 is connected to the robot arm unit 60. The robot arm unit 60 controls the motors 61 and the like provided in the robot arm units 60 to move the straw arm 60 to a desired position, Let it be harvested.

At this time, the robot arm control unit 54 receives the harvest signal, the position information and the distance information of the strawberry to be harvested from the master terminal 200, and based on these signals and information, Thereby controlling the operation of the arm portion 60.

The communication unit 55 is for communication between the master terminal 200 and the control unit 300 and is a communication module for wireless communication in this example.

The master terminal 200 includes a communication unit for communication with the control unit 300, an operation control unit for processing the image transmitted from the first and second image acquisition units 521 and 522, a storage unit, And an image output unit for outputting the image transmitted from the acquisition units 521 and 522. [

As described above, the master terminal 200 processes the image supplied from the first and second image acquiring units 521 and 522 to calculate position information and distance information of the strawberry to be harvested and transmits the position information and distance information to the control unit 300 And also transmits the control signal and the harvesting signal of the motor control unit 53 to the control unit 300 as well.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

10: main body 20: body support
30: movement guide 31: guide movement part
32: motor section 41: wheel connecting section
42a, 42b: wheels 424a, 424b: power supply lines
43a, 43b: wheel guides 44a, 44b: power transmission parts,
50: control body 60: robot arm part
421a: connection shaft 422a, 422b:
423a: bearing part

Claims (5)

delete delete In a strawberry harvesting device,
A main body having an empty space in the center thereof;
A body support installed in the hollow space;
A movement guide positioned on the body support and extending in a first direction,
A guide moving unit positioned on the movement guide and moving in the first direction along the movement guide;
The guide moving unit is connected to the guide moving unit and is connected to the main body to control the rotating operation of the guide moving unit so that the guide moving unit moves in the first direction along the moving guide, A motor unit for moving the main body in the first direction;
A power supply unit installed in the body support and configured to receive and deliver a first power and a second power supplied from a power supply unit;
A control unit connected to the main body and having a control device for controlling the operation of the strawberry harvesting device and capable of being supplied with the first and second power sources through the power source transfer unit, ; And
And a robot arm part connected to the control unit body and performing strawberry harvesting by the operation of the control device. 4. The method of claim 3,
The power supply unit includes:
A first power supply unit and a second power supply unit which are disposed on the body support and are made of a conductive material and are respectively connected to the power supply unit and are supplied with the first power supply and the second power supply supplied from the power supply unit;
The first power supply unit and the second power supply unit are disposed in contact with the first power supply unit and the second power supply unit and are made of a conductive material, A first wheel portion and a second wheel portion that are applied; And
The first power source and the second power source applied to the first and second wheels are connected to the first and second wheels and the body of the control unit, The first power supply line and the second power supply line. 5. The method of claim 4,
Wherein the first wheel portion and the second wheel portion each comprise a first wheel portion,
A connecting shaft rotatably installed on the wheel connecting portion;
A wheel installed on the connection shaft and contacting one of the first power transmission unit and the second power transmission unit; And
And a bearing installed in the connection shaft and connected to one of the first power supply line and the second power supply line.
KR1020160022337A 2016-02-25 2016-02-25 Power supply transmission equipment and strawberry harvesting apparatus KR101818739B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110476614A (en) * 2019-09-25 2019-11-22 合肥工业大学 The automatic picking machine of strawberry

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108064554B (en) * 2018-01-10 2020-08-25 重庆大学 Strawberry picking vehicle

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006034257A (en) 2004-07-30 2006-02-09 Si Seiko Co Ltd Crop harvesting apparatus
JP2010233459A (en) 2009-03-30 2010-10-21 Nagasaki Prefecture Agricultural robot system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006034257A (en) 2004-07-30 2006-02-09 Si Seiko Co Ltd Crop harvesting apparatus
JP2010233459A (en) 2009-03-30 2010-10-21 Nagasaki Prefecture Agricultural robot system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110476614A (en) * 2019-09-25 2019-11-22 合肥工业大学 The automatic picking machine of strawberry
CN110476614B (en) * 2019-09-25 2020-09-01 合肥工业大学 Automatic strawberry picking machine

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