A wine grape harvesting device and method

Abstract

The present invention discloses a wine grape harvesting device and method, comprising a support mechanism, a positioning mechanism and a harvesting mechanism, characterized in that: the harvesting mechanism includes a top bracket, the top bracket is fixedly connected to a guiding shell, the guiding shell is fixedly connected to a motor, the output shaft of the motor passes through the guiding shell, the output shaft of the motor is fixedly connected to a first gear, and the central shaft of a second gear is connected by a bearing within the guiding shell. The present invention relates to the field of agricultural equipment. Specifically, it relates to a wine grape harvesting device and method. The technical problem to be solved by the present invention is to provide a wine grape harvesting device and method that facilitate the harvesting of wine grapes.

Description

Technical Field

[0001] The present invention relates to the field of agricultural equipment, and more specifically, to a wine grape harvesting device and method. Background Art

[0002] Wine is an international beverage with nutritional and health care functions, and its consumption ranks second in the world's beverage wines after beer. In developed countries in Europe and America, the mechanization of wine grape production has been realized. However, in China, the cultivation and management of wine grapes mainly rely on manual operations, with a backward mechanization level. In particular, production links such as pruning and harvesting completely depend on manual labor, resulting in low operation efficiency, high labor intensity, and high labor costs.

[0003] If a device can be provided to achieve grape harvesting for grapevines in different growth states, it will be beneficial to realize grape harvesting. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a wine grape harvesting device and method to facilitate the harvesting of wine grapes.

[0005] The present invention adopts the following technical solutions to achieve the invention purpose:

[0006] A wine grape harvesting device and method, including a support mechanism, a positioning mechanism, and a harvesting mechanism, characterized in that:

[0007] The harvesting mechanism includes a top bracket, the top bracket is fixedly connected to a guide shell, the guide shell is fixedly connected to a motor, the output shaft of the motor passes through the guide shell, and the output shaft of the motor is fixedly connected to a first gear;

[0008] The central shaft of a second gear is connected to the guide shell through a bearing, the first gear meshes with the second gear, and the central shaft of the second gear is fixedly connected to the eccentric position of a circular plate;

[0009] One end of a connecting rod is rotatably connected to the circular plate, the other end of the connecting rod is rotatably connected to an upper saw blade, and the square rod of the upper saw blade passes through the guide shell;

[0010] The top bracket is fixedly connected to a lower saw blade;

[0011] The top bracket is fixedly connected to an eccentric shaft motor, the output shaft of the eccentric shaft motor passes through the top bracket, and the output shaft of the eccentric shaft motor is fixedly connected to an eccentric shaft;

[0012] The top bracket is connected to a round rod through a bearing, the round rod is fixedly connected to a group of spring teeth, and the eccentric shaft contacts the spring teeth;

[0013] The equation of the motion range l of the spring teeth with respect to time t is:

[0014]

[0015] Wherein: R1 is the inner circle radius of the eccentric shaft;

[0016] R2 is the outer circle radius of the eccentric shaft;

[0017] O1 is the center of the inner circle of the eccentric shaft;

[0018] O2 is the center of the outer circle of the eccentric shaft;

[0019] d is the eccentricity

[0020] θ is the angle through which the eccentric shaft rotates;

[0021] Point Q is the intersection point of the spring tooth and the eccentric shaft at the initial time;

[0022] Point P is the intersection point of the spring tooth and the eccentric shaft after the eccentric shaft rotates through the angle θ;

[0023] l is the distance of the straight line PO1;

[0024] l0 is the distance of QP;

[0025] The rotational speed of the eccentric shaft motor is ω, and the forward speed of this device is v. Then the motion trajectory equation of point A on the spring tooth is:

[0026]

[0027] Since the average length of the fruit stalks is 4 cm, the swing amplitude of point A is 4 cm. Its design not only satisfies the requirement of swinging the grapes on the grapevine to the cutting position, but also will not cause excessive damage to the grapes;

[0028] The top bracket is fixedly connected to the protective cover;

[0029] The top bracket is fixedly connected to the upper U-shaped block 1 and the upper U-shaped block 2;

[0030] The harvesting mechanism is rotationally connected to the swing positioning mechanism.

[0031] As a further limitation of the present technical solution, the positioning mechanism includes an electric push rod four. The upper U-shaped block one is rotatably connected to the electric push rod four. The push rod end of the electric push rod four is rotatably connected to the middle U-shaped plate four. The middle U-shaped plate four is fixedly connected to a bent rod. The bent rod is fixedly connected to the middle U-shaped plate one. The middle U-shaped plate one is rotatably connected to the push rod end of the electric push rod one. The electric push rod one is rotatably connected to the middle U-shaped plate three. The middle U-shaped plate three is fixedly connected to a swing plate. The swing plate is fixedly connected to the middle U-shaped plate two. The bent rod is rotatably connected to the middle U-shaped plate two. The swing plate is fixedly connected to the middle U-shaped plate two. The swing plate is fixedly connected to the lower U-shaped plate five. The lower U-shaped plate five is rotatably connected to the push rod end of the electric push rod three. The electric push rod three is rotatably connected to the lower U-shaped plate four. The lower U-shaped plate four is fixedly connected to the vehicle body. The vehicle body is fixedly connected to the lower U-shaped plate one. The swing plate is rotatably connected to the lower U-shaped plate one. The vehicle body is fixedly connected to the lower U-shaped plate three. The lower U-shaped plate three is rotatably connected to the push rod end of the electric push rod two. The electric push rod two is rotatably connected to the lower U-shaped plate two. The vehicle body is connected to two groups of symmetric wheels by bearings. The positioning mechanism is fixedly connected to the support mechanism.

[0032] As a further limitation of the present technical solution, the support mechanism includes a track. The lower U-shaped plate two is fixedly connected to the track. The wheels are nested in the track. The track is fixedly connected to a mounting plate.

[0033] A method for harvesting wine grapes, characterized by comprising the following steps:

[0034] Step 1: Install the mounting plate on the linear moving mechanism to realize the overall movement of the device.

[0035] Step 2: By controlling the telescopic amounts of the electric push rod one, the electric push rod two, the electric push rod three and the electric push rod four of the positioning mechanism, move the harvesting mechanism to a suitable position.

[0036] Step 3: Operate the motor and the eccentric shaft motor to make the upper saw blade reciprocate, cooperate with the lower saw blade, realize the cutting and separation of the grape cluster from the grape tree, make the spring teeth swing reciprocally, beat the grape tree, make the grape cluster fall, and set the protective cover to prevent the grape cluster from falling outside.

[0037] The specific adjustment process of the positioning mechanism is as follows: when the second electric push rod expands and contracts, the second electric push rod drives the third lower U-shaped plate to move, the third lower U-shaped plate drives the vehicle body to move, the vehicle body drives the wheels to move along the track, and the vehicle body drives the fourth lower U-shaped plate, the first lower U-shaped plate, the third electric push rod, the fifth lower U-shaped plate, the swing plate, the third middle U-shaped plate, the second middle U-shaped plate, the first electric push rod, the bending rod, the fifth middle U-shaped plate, the fourth electric push rod and the harvesting mechanism to move. When the third electric push rod expands and contracts, the third electric push rod swings, the third electric push rod drives the fifth lower U-shaped plate to swing, and the fifth lower U-shaped plate drives the swing plate, the third middle U-shaped plate, the second middle U-shaped plate, the first electric push rod, the bending rod, the fifth middle U-shaped plate, the fourth electric push rod and the harvesting mechanism to swing. When the first electric push rod expands and contracts, the first electric push rod drives the bending rod, the fifth middle U-shaped plate, the fourth electric push rod and the harvesting mechanism to swing. When the fourth electric push rod expands and contracts, the third electric push rod drives the harvesting mechanism to swing.

[0038] As a further limitation of this technical solution, when the motor rotates, the motor drives the first gear to rotate, the first gear drives the second gear to rotate, the second gear drives the circular plate to rotate, the circular plate drives the connecting rod to swing reciprocally, and the connecting rod drives the upper saw blade to move reciprocally.

[0039] As a further limitation of this technical solution, the vehicle body is made of aluminum alloy material.

[0040] As a further limitation of this technical solution, the track is made of aluminum alloy material.

[0041] As a further limitation of this technical solution, the spring teeth are made of elastic material.

[0042] As a further limitation of this technical solution, the saw teeth of the upper saw blade and the saw teeth of the lower saw blade are arranged in a staggered manner.

[0043] Compared with the prior art, the advantages and positive effects of the present invention are:

[0044] 1. By setting the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod, this device realizes the swing of the harvesting mechanism in the horizontal plane, the movement in the front-rear direction and the swing in the vertical plane, and realizes the multi-angle swing of the harvesting mechanism to adapt to grapevines in different growth states for grape harvesting.

[0045] 2. This device sets a motor and adopts gear meshing to make the second gear fixedly connected to the eccentric part of the circular plate, so that the upper saw blade can move back and forth and work together with the lower saw blade to cut the grape bunches. By setting an eccentric shaft motor and an eccentric shaft, the spring teeth can achieve specific movements under the gravity of the spring teeth, as shown in the figure, so that the grape vines can be shaken, and the cut grape bunches can be shaken off the grape vines. By setting a protective cover, the grapes can be separated from the side close to this device to prevent the grape bunches from falling off to the outside far away from this device.

[0046] 3. Through ingenious design, this device can cut off the grape bunches of grape vines in different growth states, slap the vines to make the grape bunches fall, and harvest the grapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0048] Figure 2 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 1 .

[0049] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 2 .

[0050] Figure 4 The three-dimensional structure of the present invention is shown in FIG. Figure 2 .

[0051] Figure 5 The three-dimensional structure of the present invention is shown in FIG. Figure 3 .

[0052] Figure 6 The three-dimensional structure of the present invention is shown in FIG. Figure 4 .

[0053] Figure 7 This is an equivalent dimension diagram of the eccentric shaft of the present invention.

[0054] Figure 8 It is a diagram showing the range of motion of the spring teeth of the present invention.

[0055] Figure 9 It is a schematic diagram of the position of point A of the present invention.

[0056] In the figure: 1. Upper U-shaped block 1; 2. Upper U-shaped block 2; 3. Guide housing; 4. Motor; 5. Bent rod; 6. Middle U-shaped plate 1; 7. Electric push rod 1; 8. Middle U-shaped plate 2; 9. Middle U-shaped plate 3; 10. Lower U-shaped plate 1; 11. Vehicle body; 12. Mounting plate; 13. Track; 14. Lower U-shaped plate 2; 15. Electric push rod 2; 16. Lower U-shaped plate 3; 17. Lower U-shaped plate 4; 18. Electric push rod 3; 19. Lower U-shaped plate 5; 20. Swing plate; 21. Round rod; 22. Eccentric shaft; 23. Spring teeth; 24. Upper saw blade; 25. Lower saw blade; 26. Eccentric shaft motor; 27. Top bracket; 28. Gear 1; 29. Round plate; 30. Gear 2; 31. Connecting rod; 32. Protective cover; 33. Electric push rod 4; 34. Middle U-shaped plate 4; 35. Wheel. Specific implementation mode

[0057] The following combines the attached drawings to describe in detail a specific implementation mode of the present invention, but it should be understood that the protection scope of the present invention is not limited by the specific implementation mode.

[0058] The present invention includes a support mechanism, a positioning mechanism and a harvesting mechanism, and is characterized in that:

[0059] The harvesting mechanism includes a top bracket 27, the top bracket 27 is fixedly connected to the guide housing 3, the guide housing 3 is fixedly connected to the motor 4, the output shaft of the motor 4 passes through the guide housing 3, and the output shaft of the motor 4 is fixedly connected to the gear 1 28;

[0060] The central axis of the gear 2 30 is connected by a bearing in the guide housing 3, the gear 1 28 meshes with the gear 2 30, and the central axis of the gear 2 30 is fixedly connected to the eccentric part of the round plate 29;

[0061] One end of the connecting rod 31 is rotatably connected to the round plate 29, the other end of the connecting rod 31 is rotatably connected to the upper saw blade 24, and the square rod of the upper saw blade 24 passes through the guide housing 3;

[0062] The top bracket 27 is fixedly connected to the lower saw blade 25;

[0063] The top bracket 27 is fixedly connected to the eccentric shaft motor 26, the output shaft of the eccentric shaft motor 26 passes through the top bracket 27, and the output shaft of the eccentric shaft motor 26 is fixedly connected to the eccentric shaft 22;

[0064] The top bracket 27 is connected to the round rod 21 by a bearing, the round rod 21 is fixedly connected to a set of spring teeth 23, and the eccentric shaft 22 contacts the spring teeth 23;

[0065] The equation of the motion range l of the spring teeth 23 with respect to time t is:

[0066]

[0067] Wherein: R1 is the inner circle radius of the eccentric shaft;

[0068] R2 is the outer circle radius of the eccentric shaft;

[0069] O1 is the center of the inner circle of the eccentric shaft;

[0070] O2 is the center of the outer circle of the eccentric shaft;

[0071] d is the eccentricity

[0072] θ is the angle through which the eccentric shaft rotates;

[0073] Point Q is the intersection point of the spring tooth and the eccentric shaft at the initial time;

[0074] Point P is the intersection point of the spring tooth and the eccentric shaft after the eccentric shaft rotates through the angle θ;

[0075] l is the distance of the straight line PO1;

[0076] l0 is the distance of QP;

[0077] The rotational speed of the eccentric shaft motor is ω, and the forward speed of this device is v. Then the motion trajectory equation of point A on the spring tooth is:

[0078]

[0079] Since the average length of the fruit stalks is 4 cm, the swing amplitude of point A is 4 cm. Its design not only satisfies the requirement of swinging the grapes on the grapevine to the cutting position but also will not be too large to cause damage to the grapes;

[0080] The top bracket 27 is fixedly connected to the protective cover 32;

[0081] The top bracket 27 is fixedly connected to the upper U-shaped block 1 and the upper U-shaped block 2;

[0082] The harvesting mechanism is rotationally connected to the swing positioning mechanism.

[0083] The positioning mechanism includes an electric push rod four 33. The upper U-shaped block one 1 is rotatably connected to the electric push rod four 33. The push rod end of the electric push rod four 33 is rotatably connected to the middle U-shaped plate four 34. The middle U-shaped plate four 34 is fixedly connected to the bending rod 5. The bending rod 5 is fixedly connected to the middle U-shaped plate one 6. The push rod end of the electric push rod one 7 is rotatably connected to the middle U-shaped plate one 6. The electric push rod one 7 is rotatably connected to the middle U-shaped plate three 9. The middle U-shaped plate three 9 is fixedly connected to the swing plate 20. The swing plate 20 is fixedly connected to the middle U-shaped plate two 8. The bending rod 5 is rotatably connected to the middle U-shaped plate two 8. The swing plate 20 is fixedly connected to the middle U-shaped plate two 8. The swing plate 20 is fixedly connected to the lower U-shaped plate five 19. The push rod end of the electric push rod three 18 is rotatably connected to the lower U-shaped plate five 19. The electric push rod three 18 is rotatably connected to the lower U-shaped plate four 17. The lower U-shaped plate four 17 is fixedly connected to the vehicle body 11. The vehicle body 11 is fixedly connected to the lower U-shaped plate one 10. The swing plate 20 is rotatably connected to the lower U-shaped plate one 10. The vehicle body 11 is fixedly connected to the lower U-shaped plate three 16. The push rod end of the electric push rod two 15 is rotatably connected to the lower U-shaped plate three 16. The electric push rod two 15 is rotatably connected to the lower U-shaped plate two 14. The vehicle body 11 is connected to two sets of symmetric wheels 35 by bearings. The positioning mechanism is fixedly connected to the support mechanism.

[0084] The support mechanism includes a track 13. The lower U-shaped plate two 14 is fixedly connected to the track 13. The wheels 35 are nested in the track 13. The track 13 is fixedly connected to the mounting plate 12.

[0085] A method for harvesting wine grapes includes the following steps:

[0086] Step 1: Install the mounting plate 12 on a linear movement mechanism to achieve the overall movement of the device.

[0087] Step 2: By controlling the telescopic amounts of the electric push rod one 7, the electric push rod two 15, the electric push rod three 18, and the electric push rod four 33 of the positioning mechanism, move the harvesting mechanism to a suitable position.

[0088] Step 3: Operate the motor 4 and the eccentric shaft motor 26 to make the upper saw blade 24 move reciprocally, cooperate with the lower saw blade 25, and achieve the cutting and separation of the grape cluster from the grapevine. The spring teeth 23 swing reciprocally to beat the grapevine and make the grape cluster fall. Set the protective cover 32 to prevent the grape cluster from falling outside.

[0089] The specific adjustment process of the positioning mechanism is as follows: When the second electric push rod 15 expands and contracts, the second electric push rod 15 drives the third lower U-shaped plate 16 to move, the third lower U-shaped plate 16 drives the vehicle body 11 to move, the vehicle body 11 drives the wheels 35 to move along the track 13, and the vehicle body 11 drives the fourth lower U-shaped plate 17, the first lower U-shaped plate 10, the third electric push rod 18, the fifth lower U-shaped plate 19, the swing plate 20, the third middle U-shaped plate 9, the second middle U-shaped plate 8, the first electric push rod 7, the bending rod 5, the fifth middle U-shaped plate 34, the fourth electric push rod 33 and the harvesting mechanism to move. When the third electric push rod 18 expands and contracts, the third electric push rod 18 swings, the third electric push rod 18 drives the fifth lower U-shaped plate 19 to swing, and the fifth lower U-shaped plate 19 drives the swing plate 20, the third middle U-shaped plate 9, the second middle U-shaped plate 8, the first electric push rod 7, the bending rod 5, the fifth middle U-shaped plate 34, the fourth electric push rod 33 and the harvesting mechanism to swing. When the first electric push rod 7 expands and contracts, the first electric push rod 7 drives the bending rod 5, the fifth middle U-shaped plate 34, the fourth electric push rod 33 and the harvesting mechanism to swing. When the fourth electric push rod 33 expands and contracts, the third electric push rod 18 drives the harvesting mechanism to swing.

[0090] When the motor 4 rotates, the motor 4 drives the first gear 28 to rotate, the first gear 28 drives the second gear 30 to rotate, the second gear 30 drives the circular plate 29 to rotate, the circular plate 29 drives the connecting rod 31 to swing reciprocally, and the connecting rod 31 drives the upper saw blade 24 to move reciprocally.

[0091] The vehicle body 11 is made of aluminum alloy material.

[0092] The track 13 is made of aluminum alloy material.

[0093] The spring teeth 23 are made of elastic material.

[0094] The saw teeth of the upper saw blade 24 and the saw teeth of the lower saw blade 25 are staggered.

[0095] The working process of the present invention is: Install the mounting plate 12 on the linear moving mechanism to realize the overall movement of the device.

[0096] By controlling the telescopic amounts of the electric push rod 1 (7), electric push rod 2 (15), electric push rod 3 (18) and electric push rod 4 (33) of the positioning mechanism, the harvesting mechanism is moved to a proper position. When the electric push rod 2 (15) telescopes, the electric push rod 2 (15) drives the lower U-shaped plate 3 (16) to move, the lower U-shaped plate 3 (16) drives the vehicle body (11) to move, the vehicle body (11) drives the wheels (35) to move along the track (13), and the vehicle body (11) drives the lower U-shaped plate 4 (17), lower U-shaped plate 1 (10), electric push rod 3 (18), lower U-shaped plate 5 (19), swing plate (20), middle U-shaped plate 3 (9), middle U-shaped plate 2 (8), electric push rod 1 (7), bending rod (5), middle U-shaped plate 5 (34), electric push rod 4 (33) and the harvesting mechanism to move. When the electric push rod 3 (18) telescopes, the electric push rod 3 (18) swings, the electric push rod 3 (18) drives the lower U-shaped plate 5 (19) to swing, and the lower U-shaped plate 5 (19) drives the swing plate (20), middle U-shaped plate 3 (9), middle U-shaped plate 2 (8), electric push rod 1 (7), bending rod (5), middle U-shaped plate 5 (34), electric push rod 4 (33) and the harvesting mechanism to swing. When the electric push rod 1 (7) telescopes, the electric push rod 1 (7) drives the bending rod (5), middle U-shaped plate 5 (34), electric push rod 4 (33) and the harvesting mechanism to swing. When the electric push rod 4 (33) telescopes, the electric push rod 3 (18) drives the harvesting mechanism to swing.

[0097] Operate the motor (4) and the eccentric shaft motor (26) to make the upper saw blade (24) reciprocate, cooperate with the lower saw blade (25), and separate the grape clusters from the grapevines. The spring teeth (23) reciprocate and swing to beat the grapevines to make the grape clusters fall off, and a protective cover (32) is provided to prevent the grape clusters from falling off to the outside. When the motor (4) rotates, the motor (4) drives the gear 1 (28) to rotate, the gear 1 (28) drives the gear 2 (30) to rotate, the gear 2 (30) drives the circular plate (29) to rotate, the circular plate (29) drives the connecting rod (31) to reciprocate, and the connecting rod (31) drives the upper saw blade (24) to reciprocate. The eccentric shaft motor (26) drives the eccentric shaft (22) to reciprocate. Under the action of gravity, the eccentric shaft (22) drives the spring teeth (23) to reciprocate, and the spring teeth (23) drive the round rod (21) to reciprocate.

[0098] By providing the electric push rod 1 (7), electric push rod 2 (15), electric push rod 3 (18) and electric push rod 4 (33), the present device realizes the swinging of the harvesting mechanism in the horizontal plane, the moving in the front-rear direction and the swinging in the vertical plane, and realizes the multi-angle swinging of the harvesting mechanism to adapt to grapevines in different growth states for grape harvesting.

[0099] By providing the motor (4) and adopting gear meshing in the present device, the gear 2 (30) is fixedly connected to the eccentric part of the circular plate (29) to realize the reciprocating movement of the upper saw blade (24), and cooperate with the lower saw blade (25) to cut the grape clusters; by providing the eccentric shaft motor (26) and the eccentric shaft (22), under the action of the gravity of the spring teeth (23), the specific movement of the spring teeth (23) is realized, such as Figure 8 shown, to shake the grapevines, so that the cut grape clusters are shaken off from the grapevine tendrils, and by providing the protective cover (32), the grapes are separated to the side close to the present device to prevent the grape clusters from falling off to the outside far from the present device.

[0100] Through ingenious design, this device can cut grape clusters from grapevines in different growth states, pat the vines of the grapevines to make the grape clusters fall, and achieve grape harvesting.

[0101] The specific embodiments of the present invention disclosed above are only examples, but the present invention is not limited thereto. Any changes that can be conceived by those skilled in the art shall fall within the protection scope of the present invention.

Claims

1. A wine grape harvesting device, comprising a support mechanism, a positioning mechanism and a harvesting mechanism, characterized in that: The harvesting mechanism includes a top bracket (27), the top bracket (27) is fixedly connected to a guide housing (3), the guide housing (3) is fixedly connected to a motor (4), the output shaft of the motor (4) passes through the guide housing (3), and the output shaft of the motor (4) is fixedly connected to a first gear (28); The central shaft of a second gear (30) is connected to the guide housing (3) by bearings, the first gear (28) meshes with the second gear (30), and the central shaft of the second gear (30) is fixedly connected to the eccentric position of a circular plate (29); One end of a connecting rod (31) is rotatably connected to the circular plate (29), the other end of the connecting rod (31) is rotatably connected to an upper saw blade (24), and the square rod of the upper saw blade (24) passes through the guide housing (3); The top bracket (27) is fixedly connected to a lower saw blade (25); The top bracket (27) is fixedly connected to an eccentric shaft motor (26), the output shaft of the eccentric shaft motor (26) passes through the top bracket (27), and the output shaft of the eccentric shaft motor (26) is fixedly connected to an eccentric shaft (22); The top bracket (27) is connected to a round rod (21) by bearings, the round rod (21) is fixedly connected to a group of spring teeth (23), and the eccentric shaft (22) contacts the spring teeth (23); The equation of the motion range l of the spring teeth (23) with respect to time t is: Where: R1 is the inner circle radius of the eccentric shaft; R2 is the outer circle radius of the eccentric shaft; O1 is the center of the inner circle of the eccentric shaft; O2 is the center of the outer circle of the eccentric shaft; d is the eccentricity θ is the angle turned by the eccentric shaft; Point Q is the intersection point of the spring teeth and the eccentric shaft at the initial time; Point P is the intersection point of the spring teeth and the eccentric shaft after the eccentric shaft turns an angle θ; l is the distance of the straight line PO1; l0 is the distance of QP; The rotational speed of the eccentric shaft motor is ω, and the forward speed of the device is v. Then the motion trajectory equation of point A on the spring teeth is: Since the average length of the fruit stalks is 4 cm, the swing amplitude of point A is 4 cm. Its design not only satisfies the requirement of swinging the grapes on the grapevine to the cutting position, but also will not cause excessive damage to the grapes; The top bracket (27) is fixedly connected to a protective cover (32); The top bracket (27) is fixedly connected to an upper U-shaped block one (1) and an upper U-shaped block two (2); The harvesting mechanism is rotatably connected to the positioning mechanism; The positioning mechanism includes an electric push rod four (33). The upper U-shaped block one (1) is rotatably connected to the electric push rod four (33). The push rod end of the electric push rod four (33) is rotatably connected to the middle U-shaped plate four (34). The middle U-shaped plate four (34) is fixedly connected to the bent rod (5). The bent rod (5) is fixedly connected to the middle U-shaped plate one (6). The middle U-shaped plate one (6) is rotatably connected to the push rod end of the electric push rod one (7). The electric push rod one (7) is rotatably connected to the middle U-shaped plate three (9). The middle U-shaped plate three (9) is fixedly connected to the swing plate (20). The swing plate (20) is fixedly connected to the middle U-shaped plate two (8). The bent rod (5) is rotatably connected to the middle U-shaped plate two (8). The swing plate (20) is fixedly connected to the middle U-shaped plate two (8). The swing plate (20) is fixedly connected to the lower U-shaped plate five (19). The lower U-shaped plate five (19) is rotatably connected to the push rod end of the electric push rod three (18). The electric push rod three (18) is rotatably connected to the lower U-shaped plate four (17). The lower U-shaped plate four (17) is fixedly connected to the vehicle body (11). The vehicle body (11) is fixedly connected to the lower U-shaped plate one (10). The swing plate (20) is rotatably connected to the lower U-shaped plate one (10). The vehicle body (11) is fixedly connected to the lower U-shaped plate three (16). The lower U-shaped plate three (16) is rotatably connected to the push rod end of the electric push rod two (15). The electric push rod two (15) is rotatably connected to the lower U-shaped plate two (14). The vehicle body (11) is connected to two groups of symmetric wheels (35) by bearings. The positioning mechanism is fixedly connected to the support mechanism.

2. The wine grape harvesting device according to claim 1, characterized in that: The support mechanism includes a track (13). The lower U-shaped plate two (14) is fixedly connected to the track (13). The wheels (35) are nested in the track (13). The track (13) is fixedly connected to the mounting plate (12).

3. The harvesting method of the wine grape harvesting device according to claim 2, characterized in that, It includes the following steps: Step 1: Install the mounting plate (12) on the linear movement mechanism to realize the overall movement of the device. Step 2: By controlling the telescopic amounts of the electric push rod one (7), the electric push rod two (15), the electric push rod three (18) and the electric push rod four (33) of the positioning mechanism, make the harvesting mechanism move to a suitable position. Step 3: Operate the motor (4) and the eccentric shaft motor (26) to make the upper saw blade (24) move reciprocally, cooperate with the lower saw blade (25), and realize the cutting and separation of the grape cluster from the grapevine. The spring teeth (23) swing reciprocally to beat the grapevine to make the grape cluster fall, and set the protective cover (32) to prevent the grape cluster from falling outside.

4. The harvesting method according to claim 3, characterized in that: The specific adjustment process of the positioning mechanism is as follows: When the second electric push rod (15) expands and contracts, the second electric push rod (15) drives the third lower U-shaped plate (16) to move, the third lower U-shaped plate (16) drives the vehicle body (11) to move, the vehicle body (11) drives the wheels (35) to move along the track (13), and the vehicle body (11) drives the fourth lower U-shaped plate (17), the first lower U-shaped plate (10), the third electric push rod (18), the fifth lower U-shaped plate (19), the swing plate (20), the third middle U-shaped plate (9), the second middle U-shaped plate (8), the first electric push rod (7), the bending rod (5), the fourth middle U-shaped plate (34), the fourth electric push rod (33) and the harvesting mechanism to move. When the third electric push rod (18) expands and contracts, the third electric push rod (18) swings, the third electric push rod (18) drives the fifth lower U-shaped plate (19) to swing, and the fifth lower U-shaped plate (19) drives the swing plate (20), the third middle U-shaped plate (9), the second middle U-shaped plate (8), the first electric push rod (7), the bending rod (5), the fourth middle U-shaped plate (34), the fourth electric push rod (33) and the harvesting mechanism to swing. When the first electric push rod (7) expands and contracts, the first electric push rod (7) drives the bending rod (5), the fourth middle U-shaped plate (34), the fourth electric push rod (33) and the harvesting mechanism to swing. When the fourth electric push rod (33) expands and contracts, the third electric push rod (18) drives the harvesting mechanism to swing.

5. The harvesting method according to claim 4, characterized in that: When the motor (4) rotates, the motor (4) drives the first gear (28) to rotate, the first gear (28) drives the second gear (30) to rotate, the second gear (30) drives the circular plate (29) to rotate, the circular plate (29) drives the connecting rod (31) to swing reciprocally, and the connecting rod (31) drives the upper saw blade (24) to move reciprocally.

6. The harvesting method according to claim 5, characterized in that: The vehicle body (11) is made of aluminum alloy material.

7. The harvesting method according to claim 5, characterized in that: The track (13) is made of aluminum alloy material.

8. The harvesting method according to claim 5, characterized in that: The spring teeth (23) are made of elastic material.

9. The harvesting method according to claim 5, characterized in that: The saw teeth of the upper saw blade (24) are distributed alternately with the saw teeth of the lower saw blade (25).

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