Grape harvesting integrated robot and use method thereof

Abstract

The invention provides a grape harvesting integrated robot and a using method thereof, and belongs to the technical field of grape harvesting. The grape harvesting integrated robot comprises a movable harvesting vehicle; the number of the rotating assemblies is two, each rotating assembly comprises two rotating sleeves, a rotating wheel and a plurality of fixing plates, the two rotating sleeves are fixedly connected to the inner walls of the two sides of the movable harvesting vehicle, and the rotating wheels are rotationally connected into the two rotating sleeves; the multiple fixing plates are fixedly connected to the circumferential surface of the rotating wheel. The collecting assemblies are arranged, each collecting assembly comprises a sleeving bag, a root base groove, an extrusion bag, a sleeving groove, a connecting plate, a connecting groove, an extrusion groove, an extrusion block, a cutting blade, a blade inserting opening and a guiding opening, the grapes are sleeved with the sleeving bags through guiding of the guiding openings, then root bases are cut off, and collecting of a whole string of grapes is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of grape harvesting, and in particular relates to a grape harvesting integrated robot and a use method thereof. Background Art

[0002] Grapes have the effects of replenishing qi and blood, relaxing tendons and collaterals, and promoting urination. They are mainly used to treat qi and blood deficiency, lung deficiency cough, palpitations, night sweats, thirst, rheumatism, gonorrhea, edema, and acne. They have strong anti-cancer properties, and their effects are recorded in "Ben Jing" and "Bie Lu". Grapes are regarded as precious fruits and are known as the top of the four major fruits in the world. They are not only rich in nutrition, widely used, beautiful in color, fragrant, and delicious, but also a good choice among fruits. They can be eaten fresh or made into wine. In addition, the fruit, roots, and leaves can all be used as medicine. The whole body is a treasure.

[0003] After searching, it was found that a semi-automatic harvester for muscadine grapes was disclosed in a Chinese patent with the authorization announcement number "CN113973576B", which includes a chassis, armrests, a vibration module, a collection module, a controller and a power supply. A cavity is set in the chassis. The vibration module is used to vibrate the grape trunk to shake off the muscadine grapes. The collection module has a large receiving area to collect the fallen muscadine grape berries. The entire device is pushed by the user and can be moved freely in the field, which is convenient for transfer. The controller is located in a position that the user can operate at any time with one hand, which is convenient for control. After the grape trunk is vibrated by the electric-driven impact head, the grapes are screened and gathered while falling, and finally the lower aggregate tray can be removed, which is convenient to use.

[0004] After the above patent uses an electrically driven impact head to vibrate the main stem of the grapes, the grapes are screened and gathered while falling, and finally the lower collection tray can be removed. It is easy to use, but the above patent harvests the grapes by vibration to collect the scattered grapes individually. When harvesting edible grapes, the integrity of the grapes cannot be guaranteed and the grapes will rot faster. Summary of the invention

[0005] The purpose of the present invention is to provide a grape harvesting robot and a method of using the same, aiming to solve the problem in the prior art of individually collecting scattered grapes by vibration, failing to ensure the integrity of the grapes when harvesting edible grapes, and causing the grapes to rot faster.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a grape harvesting robot, comprising: a mobile harvesting vehicle; a rotating assembly, wherein the rotating assembly is provided with two groups, each group of the rotating assembly comprises a rotating sleeve, a rotating wheel and a fixed plate, the rotating sleeve is provided with two, the fixed plates are provided with multiple, the two rotating sleeves are fixedly connected to the inner walls on both sides of the mobile harvesting vehicle, the rotating wheel is rotatably connected to the two rotating sleeves, and the multiple fixed plates are fixedly connected to the circumferential surface of the rotating wheel; a collecting assembly, wherein the collecting assembly is provided with multiple groups, each group of the collecting assembly comprises a sleeve bag, a root groove, an extrusion bag, a sleeve groove, a connecting plate, a connecting groove, an extrusion groove, an extrusion block, a cutting blade, a toughness plate, a blade socket and a guide port, the extrusion Blocks, cutting blades, blade sockets and two tough plates are provided, the sleeve bag is fixedly connected to the fixed plate, the root groove is opened at the upper end of the sleeve bag, the extrusion bag is slidably connected to the root groove, the sleeve groove is opened at the upper end of the extrusion bag, the guide port is opened at one side end of the sleeve bag and the extrusion bag, the connecting plate is fixedly connected to the upper end of the sleeve groove, the connecting groove is opened at the upper end of the sleeve bag, the extrusion groove is opened at the lower inner wall of the connecting groove, the two blade sockets are opened on the circumferential inner wall of the root groove and are connected with the extrusion groove, the two tough plates are fixedly connected to the lower end of the connecting plate, the two extrusion blocks are respectively fixedly connected to the lower ends of the two tough plates, and the two cutting blades are respectively fixedly connected to one side end of the two extrusion blocks.

[0007] As a preferred solution of the present invention, the tough plate is made of elastic metal material.

[0008] As a preferred solution of the present invention, a plurality of return springs are fixedly connected to the lower ends of the plurality of extrusion blocks and the lower inner walls of the plurality of extrusion grooves respectively.

[0009] As a preferred solution of the present invention, the lower end of the sleeve bag is made of cardboard material.

[0010] As a preferred solution of the present invention, a collecting trough is provided at the lower end of the two collecting components, and two collecting nets are rotatably connected to the inner wall of one side of the two collecting troughs via a rotating shaft.

[0011] As a preferred solution of the present invention, the lower inner wall of the collecting tank is an inclined surface.

[0012] As a preferred solution of the present invention, a torque spring is provided at the connection between the rotating shaft and the collecting net.

[0013] As a preferred solution of the present invention, both side ends of the mobile harvesting vehicle are fixedly connected with fixed sleeves, and driving motors are fixedly connected inside the two fixed sleeves. The output ends of the two driving motors are respectively connected to one side end of the two rotating wheels.

[0014] As a preferred solution of the present invention, a rattan groove is provided at the upper end of the mobile harvesting vehicle.

[0015] A method for using a grape harvesting robot according to the present invention includes the following steps: S1, driving the mobile harvesting vehicle through the grape rack to collect grapes, the main vine of the grape tree passes through the vine-passing groove, and the driving motor drives the rotating wheel and multiple groups of collecting components to rotate to collect the grape bunches on both sides; S2, a guide opening is provided on one side of the sleeve bag and the squeeze bag, and the grape bunch and root stalk are guided into the trumpet mouth and root stalk groove at the lower end of the sleeve bag through the guide opening. The guide opening is on one side of the sleeve bag and the squeeze bag, and the outer opening is large and the inner opening is small. The lower end of the sleeve bag is a trumpet mouth to increase the contact area with the grape bunch. After the grape bunch contacts the two sides of the guide opening, the sleeve bag rotates and is guided by the guide opening, so that the root stalk of the grape bunch is inserted into the sleeve groove. As the sleeve bag rotates, the trumpet mouth at the lower end of the sleeve bag squeezes the grape bunch, and the squeeze bag contacts the upper end of the grape. The grape pushes the squeeze bag to slide upward, and drives the squeeze block to move upward. When the squeeze block is pushed upward, it contacts the upper inner wall of the squeeze groove, and the contact surface between the squeeze block and the inner wall of the squeeze groove is an inclined surface. The squeeze groove squeezes the two squeeze blocks to close to the middle while sliding upward, thereby pushing the two cutting blades to cut the grape root stalk in the root stalk groove, so that the grape falls and the grape is collected; S3. The fallen grapes fall into the collecting net and slide into the collecting trough through the collecting net buffer, completing the collection of the grape bunches. As the mobile harvesting vehicle travels, a large number of grape bunches are harvested, and the integrity of the grape bunches is ensured.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) Through the device, two cutting blades are inserted into the root groove through the opening of the blade insertion port to cut off the root in the root groove. The grapes with the cut root naturally fall down to complete the collection. The device guides the grapes into the set bag through the guide port and then cuts off the root to complete the collection of a whole bunch of grapes, thereby preventing the grapes from scattering during collection and ensuring the integrity and freshness of the grapes, which is conducive to subsequent processing, transportation and sales; (2) With this device, the bell mouth at the lower end of the sleeve bag is made of cardboard material, so that when the sleeve bag is moved to put the grapes in, the grape bunches will not be scratched, thus maintaining the completeness of the grapes; (3) Through this device, when the grapes fall on the collection net, the collection net is slightly rotated to cushion the grapes and prevent them from being damaged when they fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural stereogram of the present invention; Figure 2 It is an exploded view of the structure in the present invention; Figure 3 It is an exploded cross-sectional view of the structure in the present invention; Figure 4 It is a schematic diagram of the local structure in the present invention; Figure 5 It is a partial structural cross-sectional view of the present invention; Figure 6 It is a cross-sectional exploded view of a local structure in the present invention; Figure 7 For the present invention Figure 2 The enlarged view of point A in the middle; Figure 8 For the present invention Figure 3 The enlarged view of point B in the middle; Fig. 9 For the present invention Figure 5 Enlarged view of point C in the middle; Fig.10 For the present invention Figure 6 Enlarged view of point D in the middle.

[0018] In the figure: 1. Mobile harvesting vehicle; 2. Rotating sleeve; 3. Rotating wheel; 4. Fixed plate; 5. Sleeve bag; 6. Root groove; 7. Extrusion bag; 8. Sleeve groove; 9. Connecting plate; 10. Connecting groove; 11. Extrusion groove; 12. Extrusion block; 13. Cutting blade; 14. Blade socket; 15. Tough plate; 16. Reset spring; 17. Collecting groove; 18. Rotating shaft; 19. Collecting net; 20. Torque spring; 21. Fixed sleeve; 22. Driving motor; 23. Vine groove; 27. Guide port. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0020] See also Figure 1-Figure 10The present invention provides the following technical solutions: a grape harvesting robot, comprising: a mobile harvesting vehicle 1; a rotating component, wherein the rotating component is provided with two groups, each group of the rotating components comprises a rotating sleeve 2, a rotating wheel 3 and a fixed plate 4, wherein two rotating sleeves 2 are provided, and a plurality of fixed plates 4 are provided, wherein the two rotating sleeves 2 are fixedly connected to the inner walls on both sides of the mobile harvesting vehicle 1, the rotating wheel 3 is rotatably connected in the two rotating sleeves 2, and the plurality of fixed plates 4 are fixedly connected to the circumferential surface of the rotating wheel 3; a collecting component, wherein the collecting component is provided with a plurality of groups, each group of the collecting components comprises a sleeve bag 5, a root groove 6, an extrusion bag 7, a sleeve groove 8, a connecting plate 9, a connecting groove 10, an extrusion groove 11, an extrusion block 12, a cutting blade 13, a blade socket 14 and a guide port 27, the extrusion block 12, the cutting blade 13, a toughness plate 15. There are two blade sockets 14 and tough plates 15. The sleeve bag 5 is fixedly connected to the fixed plate 4. The root groove 6 is opened at the upper end of the sleeve bag 5. The extrusion bag 7 is slidably connected to the root groove 6. The sleeve groove 8 is opened at the upper end of the extrusion bag 7, and the guide port 27 is opened at one side of the sleeve bag 5 and the extrusion bag 7. The connecting plate 9 is fixedly connected to the upper end of the sleeve groove 8, the connecting groove 10 is opened at the upper end of the sleeve bag 5, and the extrusion groove 11 is opened at the lower inner wall of the connecting groove 10. The two blade sockets 14 are both opened on the circumferential inner wall of the root groove 6 and are connected to the extrusion groove 11. The two tough plates 15 are both fixedly connected to the lower end of the connecting plate 9. The two extrusion blocks 12 are respectively fixedly connected to the lower ends of the two tough plates 15, and the two cutting blades 13 are respectively fixedly connected to one side end of the two extrusion blocks 12.

[0021] In a specific embodiment of the present invention, two collecting grooves are provided at the upper end of the mobile harvesting vehicle 1, the rotating wheel 3 rotates in the rotating sleeve 2 to drive the collecting assembly to collect grapes, the fixed plate 4 supports the sleeve bag 5, the sleeve bag 5 is trumpet-shaped to increase the contact area with the grapes, the guide port 27 is opened on one side of the sleeve bag 5 and the squeezing bag 7, and the outer opening is large and the inner opening is small, the squeezing bag 7 is arranged in the sleeve bag 5 and slides up and down in the root groove 6, the squeezing bag 7, the connecting plate 9, and the toughness plate 15 are integrated, and the sleeve bag 5 is driven to rotate by the rotating wheel 3. When the guide port 27 opened on one side of the sleeve bag 5 contacts the grape bunch, the grape bunch is stuck into the trumpet at the lower end of the sleeve bag 5 with the movement of the sleeve bag 5 and the guidance of the guide port 27, and the root is inserted into the sleeve groove 8 and the root groove 6. The rotation continues, and the grapes contact the squeezing bag 7 and squeeze the squeezing bag 7 to move upward, thereby driving the tough plate 15 and the squeezing block 12 to slide upward in the squeezing groove 11. When the squeezing block 12 moves upward, it contacts the upper inner wall of the squeezing groove 11, and the contact surface between the squeezing block 12 and the squeezing groove 11 is an inclined surface. The squeezing groove 11 squeezes the two squeezing blocks 12 to bend toward the middle, thereby causing the two cutting blades 13 to be inserted into the root groove 6 through the opening of the blade socket 14 to cut off the roots in the root groove 6. The grapes with cut roots naturally fall down to complete the collection. The device guides the grapes into the sleeve bag 5 through the guide port 27 and then cuts off the roots to complete the collection of a whole bunch of grapes, thereby avoiding the grapes from being scattered during collection, ensuring the integrity and freshness of the grapes, and facilitating subsequent processing, transportation and sales.

[0022] For details, please refer to Figure 1-Figure 10 , the tough plate 15 is made of elastic metal material.

[0023] In this embodiment, the tough plate 15 is made of spring steel material, so that the tough plate 15 has a certain toughness. When the squeezing bag 7 is squeezed by the grapes and moves, the tough plate 15 can bend, so that the two cutting blades 13 move closer to the root groove 6 and cut the root.

[0024] For details, please refer to Figure 1-Figure 10 A plurality of return springs 16 are fixedly connected to the lower ends of the plurality of extrusion blocks 12 and the lower inner walls of the plurality of extrusion grooves 11 .

[0025] In this embodiment: the return spring 16 is used to limit the position of the squeezing bag 7. When the squeezing bag 7 is squeezed and moved upward, the return spring 16 is stretched and extended. When the grapes are collected, the previously stretched return spring 16 rebounds to pull the squeezing bag 7 and the squeezing block 12 back to their original positions.

[0026] For details, please refer to Figure 1-Figure 10 , the lower end of the sleeve bag 5 is made of cardboard material.

[0027] In this embodiment, the bell mouth at the lower end of the sleeve bag 5 is made of cardboard material, so that the sleeve bag 5 will not scratch the grape bunch when it is moved to put the grapes in, and the grapes are kept complete.

[0028] For details, please refer to Figure 1-Figure 10 The lower ends of the two collecting components are each provided with a collecting trough 17 , and the inner walls of one side of the two collecting troughs 17 are rotatably connected to two collecting nets 19 via a rotating shaft 18 .

[0029] In this embodiment: the collecting trough 17 is arranged at the lower end of the collecting port of the mobile harvesting vehicle 1, and is used to collect the collected grapes. The rotating shaft 18 is arranged on the inner wall of the collecting trough 17, and the collecting net 19 is sleeved on the outer side of the rotating shaft 18 and can rotate. After the grapes fall into the upper end of the collecting net 19, they slide into the collecting trough 17 to complete the harvesting of the grapes.

[0030] For details, please refer to Figure 1-Figure 10 , the lower inner wall of the collecting tank 17 is an inclined surface.

[0031] In this embodiment, the inner wall of one side of the collecting tank 17 is a small-angle inclined surface, so that the grapes can slide into the bottom of the collecting tank 17 through the inclined surface, which is convenient for storing the harvested grapes.

[0032] For details, please refer to Figure 1-Figure 10 A torque spring 20 is provided at the connection between the rotating shaft 18 and the collecting net 19.

[0033] In this embodiment: a torque spring 20 is provided at the connection between the rotating shaft 18 and the collecting net 19 to limit the rotation of the collecting net 19 and to make the collecting net 19 slightly rotate when the grapes fall on the collecting net 19 to cushion the grapes and avoid damage when the grapes fall.

[0034] For details, please refer to Figure 1-Figure 10 Both side ends of the mobile harvesting vehicle 1 are fixedly connected with fixed sleeves 21, and driving motors 22 are fixedly connected inside the two fixed sleeves 21. The output ends of the two driving motors 22 are respectively connected to one side end of the two rotating wheels 3.

[0035] In this embodiment: the fixed sleeve 21 is arranged on both sides of the mobile harvesting vehicle 1 to support the driving motor 22, the output end of the driving motor 22 is connected to one side of the rotating wheel 3, and the driving motor 22 drives the rotating wheel 3 to rotate to drive the collecting component to automatically harvest the grapes.

[0036] For details, please refer to Figure 1-Figure 10 A rattan groove 23 is provided at the upper end of the mobile harvesting vehicle 1 .

[0037] In this embodiment: the vine-passing groove 23 is arranged in the middle section of the mobile harvesting vehicle 1, the main vine of the grape tree passes through the vine-passing groove 23, and the grapes on the grape vine are harvested by the collecting devices on both sides.

[0038] It should be noted that the mobile harvesting vehicle 1 and the driving motor 22 used in the present device are both prior art and will not be described in detail here.

[0039] The working principle and use process of the present invention are as follows: the mobile harvesting vehicle 1 is driven through the grape rack to collect grapes, the main vine of the grape tree passes through the vine groove 23, the driving motor 22 drives the rotating wheel 3 and the multiple groups of collecting components to rotate to collect the grape bunches on both sides, and a guide port 27 is opened on one side of the sleeve bag 5 and the squeezing bag 7. The grape bunches and roots are guided into the trumpet mouth and the root groove 6 at the lower end of the sleeve bag 5 through the guide port 27. The guide port 27 is on one side of the sleeve bag 5 and the squeezing bag 7, and the outer opening is large and the inner opening is small. The lower end of the sleeve bag 5 is a trumpet mouth to increase the contact area with the grape bunches. After the grape bunches contact the two sides of the guide port 27, the roots of the grape bunches are inserted into the sleeve groove 8 through the rotation of the sleeve bag 5 and the guidance of the guide port 27. The rotating sleeve bag 5 squeezes the grape bunches through the trumpet mouth at the lower end thereof, and makes the squeezing bag 7 contact the upper end of the grapes. The grapes push the squeezing bag 7 to slide upward, and drive the squeezing block 12 to move upward. When the squeezing block 12 is pushed upward, it contacts the upper inner wall of the squeezing groove 11, and the contact surface between the squeezing block 12 and the inner wall of the squeezing groove 11 is an inclined surface. The squeezing groove 11 squeezes the two squeezing blocks 12 and closes toward the middle while sliding upward, thereby pushing the two cutting blades 13 to cut off the grape roots in the root groove 6, so that the grapes fall down to complete the collection of the grapes. The fallen grapes fall into the collecting net 19, and slide into the collecting groove 17 through the collecting net 19 to complete the collection of the grape bunches. As the mobile harvesting vehicle 1 travels, a large number of bunches of grapes are harvested, and the integrity of the grape bunches is ensured.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grape harvesting robot, characterized in that: include: Mobile harvesting vehicle (1); A rotating assembly, wherein the rotating assembly is provided in two groups, each group of the rotating assembly comprises a rotating sleeve (2), a rotating wheel (3) and a fixed plate (4), the rotating sleeves (2) are provided in two groups, the fixed plates (4) are provided in a plurality, the two rotating sleeves (2) are fixedly connected to the inner walls of both sides of the mobile harvesting vehicle (1), the rotating wheel (3) is rotatably connected in the two rotating sleeves (2), and the plurality of fixed plates (4) are fixedly connected to the circumferential surface of the rotating wheel (3); A collection component, wherein the collection component is provided in a plurality of groups, each group of the collection components comprising a sleeve bag (5), a root groove (6), an extrusion bag (7), a sleeve groove (8), a connecting plate (9), a connecting groove (10), an extrusion groove (11), an extrusion block (12), a cutting blade (13), a tough plate (15), a blade socket (14) and a guide port (27), wherein two of the extrusion blocks (12), the cutting blade (13), the blade socket (14) and the tough plate (15) are provided, the sleeve bag (5) is fixedly connected to the fixing plate (4), the root groove (6) is opened at the upper end of the sleeve bag (5), the extrusion bag (7) is slidably connected to the root groove (6), and the sleeve groove (8) is opened at the extrusion bag (7), the guide port (27) is opened at one side of the sleeve bag (5) and the extrusion bag (7), the connecting plate (9) is fixedly connected to the upper end of the sleeve groove (8), the connecting groove (10) is opened at the upper end of the sleeve bag (5), the extrusion groove (11) is opened at the lower inner wall of the connecting groove (10), the two blade insertion openings (14) are opened at the circumferential inner wall of the root groove (6) and are connected to the extrusion groove (11), the two tough plates (15) are fixedly connected to the lower end of the connecting plate (9), the two extrusion blocks (12) are respectively fixedly connected to the lower ends of the two tough plates (15), and the two cutting blades (13) are respectively fixedly connected to one side of the two extrusion blocks (12).

2. The grape harvesting robot according to claim 1, characterized in that: The tough plate (15) is made of elastic metal material.

3. The grape harvesting robot according to claim 2, characterized in that: A plurality of return springs (16) are respectively fixedly connected to the lower ends of the plurality of extrusion blocks (12) and the lower inner walls of the plurality of extrusion grooves (11).

4. The grape harvesting robot according to claim 3, characterized in that: The lower end of the sleeve bag (5) is made of cardboard material.

5. The grape harvesting robot according to claim 4, characterized in that: The lower ends of the two collection components are each provided with a collection trough (17), and the inner walls of one side of the two collection troughs (17) are rotatably connected to two collection nets (19) via a rotating shaft (18).

6. The grape harvesting robot according to claim 5, characterized in that: The lower inner wall of the collecting tank (17) is an inclined surface.

7. The grape harvesting robot according to claim 6, characterized in that: A torque spring (20) is provided at the connection between the rotating shaft (18) and the collecting net (19).

8. The grape harvesting robot according to claim 7, characterized in that: Both side ends of the mobile harvesting vehicle (1) are fixedly connected to fixed sleeves (21), and both fixed sleeves (21) are fixedly connected to drive motors (22), and the output ends of the two drive motors (22) are respectively connected to one side end of two rotating wheels (3).

9. The grape harvesting robot according to claim 8, characterized in that: A rattan groove (23) is provided at the upper end of the mobile harvesting vehicle (1).

10. The method for using the grape harvesting robot according to claim 9, characterized in that: The steps include: S1, driving the mobile harvesting vehicle (1) through the grape rack to collect grapes, the main vine of the grape tree passes through the vine-passing groove (23), and the driving motor (22) drives the rotating wheel (3) and the multiple groups of collecting components to rotate to collect the grape bunches on both sides; S2, a guide opening (27) is provided on one side of the sleeve bag (5) and the squeezing bag (7), and the grape bunch and the root stalk are guided into the trumpet mouth at the lower end of the sleeve bag (5) and the root stalk groove (6) through the guide opening (27). The guide opening (27) is provided on one side of the sleeve bag (5) and the squeezing bag (7), and has a large opening on the outside and a small opening on the inside. The lower end of the sleeve bag (5) is a trumpet mouth to increase the contact area with the grape bunch. After the grape bunch contacts the two sides of the guide opening (27), the sleeve bag (5) rotates and the guide opening (27) is guided, so that the root stalk of the grape bunch is inserted into the sleeve groove (8) and the root stalk groove (6). The sleeve bag (5) rotates so that the bell mouth at the lower end of the sleeve bag (5) squeezes the grape bunch and makes the squeezing bag (7) contact the upper end of the grape. The grape pushes the squeezing bag (7) to slide upward and drives the squeezing block (12) to move upward. When the squeezing block (12) is pushed upward, it contacts the upper inner wall of the squeezing groove (11). The contact surface between the squeezing block (12) and the inner wall of the squeezing groove (11) is an inclined surface. The squeezing groove (11) squeezes the two squeezing blocks (12) to close toward the middle while sliding upward, thereby pushing the two cutting blades (13) to cut the grape roots in the root groove (6), so that the grapes fall down and the grapes are collected. S3, the fallen grapes fall into the collecting net (19), and slide into the collecting trough (17) through the collecting net (19) to complete the collection of the grape bunches. As the mobile harvesting vehicle (1) moves, a large number of grape bunches are harvested, and the integrity of the grape bunches is ensured.

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