A trellis and DOV grape growing system utilized for grape vines, featuring an overhead training wire system that allows for the positioning of canes in a multi-quadrant arrangement. The canes are supported by posts positioned along adjacent rows of vines. The system includes a network of training wires which allow the canes to be directed in multi-axial directions from each vine. The trellis system allows the grapes to desiccate under solar warmth while on the vine, thus forming raisins. The DOV grapes may then be efficiently harvested by a vehicle having a canopy-shaking apparatus passing under the trellis canopy.

A trellis and DOV grape growing system utilized for grape vines, featuring an overhead training wire system that allows for the positioning of canes in a multi-quadrant arrangement. The canes are supported by posts positioned along adjacent rows of vines. The system includes a network of training wires which allow the canes to be directed in multi-axial directions from each vine. The trellis system allows the grapes to desiccate under solar warmth while on the vine, thus forming raisins. The DOV grapes may then be efficiently harvested by a vehicle having a canopy-shaking apparatus passing under the trellis canopy.

The invention aims at a mobile robotic platform designed to move between two rows of vegetation, vines in particular, comprising four wheels, a hollow chassis defining a chamber, a platform, configured to close the chamber, a propulsion system housed in the chamber and configured to drive the wheels, said system comprising two traction geared motors, each connected to a pair of wheels, each pair being placed on an opposite side of the chassis and facing each other, at least one battery placed in the chassis, two chain systems, each connecting two wheels of the same pair, placed on the same side of the chassis, and each being configured to synchronize the rotation of the wheels on the same side.

A destemmer for use in a fruit harvester includes a frame, a box carried by the frame, and an eccentric drive connected with the box. The box includes an inlet for receiving berries clusters. At least one top link interconnects the box and the frame. The top link include a first end pivotally connected to the frame, and a second end pivotally connected to the box. At least one bottom link interconnects the box and the frame. The bottom link include a first end pivotally connected to the frame, and a second end pivotally connected to the box. The longitudinal axis of each of the top link and the bottom link intersects at a virtual pivot axis, when viewed from a side of the box, which is located upstream from the inlet to the box, relative to a travel direction of the berries and MOG through the box.

A destemmer for use in a fruit harvester includes a frame, a box carried by the frame, and an eccentric drive connected with the box. The box includes an inlet for receiving berries clusters. At least one top link interconnects the box and the frame. The top link include a first end pivotally connected to the frame, and a second end pivotally connected to the box. At least one bottom link interconnects the box and the frame. The bottom link include a first end pivotally connected to the frame, and a second end pivotally connected to the box. The longitudinal axis of each of the top link and the bottom link intersects at a virtual pivot axis, when viewed from a side of the box, which is located upstream from the inlet to the box, relative to a travel direction of the berries and MOG through the box.

Provided are a greenhouse automatic vine dropping robot and a vine dropping method. The vine dropping robot includes a mobile chassis, a lifting mechanism, a control cabinet, a front mechanical arm, a rear mechanical arm, an electric gripper, a light curtain sensor, and an optoelectronic switch. The control cabinet and the lifting mechanism are installed on the mobile chassis, and the two mechanical arms are fixed to a surface of a top platform of the lifting mechanism. The electric gripper is installed at a tail end of each of the two mechanical arms, the optoelectronic switch is arranged at a top end of a main shaft of the front mechanical arm, and the light curtain sensor is installed on the gripper at the tail end of the mechanical arm. The robot is suitable for greenhouse crops in the form of hooked-based vine dropping.

A destemmer rotor includes a cylindrical shaft and a plurality of destemmer fingers. At least one finger is releasably attached to the shaft by an attachment mechanism. The base of the finger is configured to be inserted manually in a radial direction in a cavity provided in the shaft. The finger is locked in the inserted position via a locking pin. The locking pin is inserted radially in a through-opening provided through the base of the finger and is configured to exert a clamping force on two or more clamping legs of said base of the finger. An end portion of the pin extends beyond the through-opening when the pin is fully inserted, while the width of said end portion exceeds the spacing between the clamping legs, so that the end portion forces the clamping legs to become clamped in a clamping portion of the cavity.

A destemmer rotor includes a cylindrical shaft and a plurality of destemmer fingers (20) attached to the shaft, the fingers comprising a base and a portion extending outward from the base. At least one finger is configured to be inserted in a radial direction in a cavity provided in the shaft, the base of the finger comprising a pin inserted radially through the base and configured to: clamp the base into the cavity when the pin is inserted down to a first depth, the pin comprising an end portion and a mid portion, wherein the end portion is configured to force a plurality of clamping legs at the lower end of the base to be clamped in a clamping portion of the cavity when the pin is inserted down to said first depth; and remove the clamping force when the pin is inserted down to a second depth.