The utility model relates to a terminal execution structure of a grape picking
robot, which comprises a mechanical arm, a protective cover hinged to the mechanical arm, a
micro motor mounted on the mechanical arm, a sliding groove formed in the protective cover, an I-shaped sliding block arranged in the sliding groove in a sliding manner, a clamping block fixed on the I-shaped sliding block, shearing pieces arranged outside the clamping block in a rotating manner, and a pressure spring arranged between the shearing pieces. A connecting plate is fixed to the protective cover, the shearing piece and the connecting plate are connected with a pull
rope, and the protective cover is provided with a driving
assembly. A driving motor is started to drive a rotating rod and a half gear to rotate synchronously, when the half gear is meshed with a clamping groove, an I-shaped sliding block and two shearing pieces are driven to move in the opening direction of a protective cover, and in cooperation with pulling limitation of a pull
rope on the shearing pieces, knife edges of the two shearing pieces can be closed while the shearing pieces stretch out of the protective cover, so that the shearing effect is achieved. And the protective cover not only can prevent the
vine from winding the shearing sheet, but also is convenient for a worker to maintain.