Abstract: Aiming at the problems of large pruning volume, low resource utilization rate, and high cost of leaving the orchard, a grape branch picking and crushing collection machine was designed by integrating harvesting, picking, crushing, and collection operations. The structure and working principle of the entire machine were explained, and key components such as the collection device, picking and feeding device, and crushing device were designed and analyzed based on the characteristics of grape branches. The performance test results show that under the condition of an average moisture content of 60.5% in grape branches, with a working speed of 1.4 km/h, a crushing shaft speed of 2 280 r/min, and a feeding roller speed of 147 r/min, the picking rate is 95.41%, and the crushing length qualification rate is 94.87%. The operation performance of the machine is stable and effective, which can meet the requirements of grape branch crushing and collection.