Full-automatic tree disk soil mixing and shaping all-in-one machine

Abstract

The invention belongs to the technical field of agricultural machinery devices, and provides a full-automatic tree disk soil mixing and shaping all-in-one machine which comprises a main machine body, a crawler belt is installed on the bottom face of the main machine body, and a storage hopper is installed on the upper surface of the main machine body in a driving mode; the spiral soil turning assembly comprises a first motor, a rotating frame, a second motor, a speed reducer and spiral blades, a bin opening is formed in the side wall of the storage hopper, a connecting frame is fixed to the side wall of the bin opening, the first motor is installed on the outer wall of the connecting frame, the rotating frame is installed at the output end of the first motor, and a mounting table is fixed to the side wall of the rotating frame; second motors and speed reducers are mounted on the upper surfaces of the mounting tables; a ridging and shaping assembly; by arranging the spiral soil turning assembly and the ridging and shaping assembly, precise space positioning of a ridging disc and a blade wheel is achieved, efficient soil collection is completed while a root system is protected, soil turning over, collection, ridging or grooving can be completed synchronously by winding a tree by one circle, the ridging and grooving functions are achieved, and diversified requirements are flexibly met.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery devices, and in particular relates to a fully automatic tree tray soil mixing and shaping integrated machine. Background Art

[0002] Throughout the entire fruit tree cultivation and management cycle, meticulous soil treatment in the tree basin is a core technical step in ensuring healthy root growth and improving fruit quality. This management measure isn't a single agricultural operation; it's a systematic process encompassing multiple tasks, including tillage, fertilizer mixing, soil breakup and leveling, and terrain shaping. Each task functions independently while also working in synergy to create a rhizosphere microenvironment ideal for fruit tree growth.

[0003] Terrain shaping, including ridge formation and trenching, is a crucial step in adapting to varying cultivation needs and environmental conditions. In orchards with low-lying terrain and high groundwater levels, ridge cultivation, which raises the soil in the tree pits to form ridges, effectively improves soil drainage and prevents root rot caused by waterlogging and lack of oxygen. Refined soil treatment in the tree pits, through the coordinated implementation of complex tasks such as tillage, fertilizer mixing, soil crushing and leveling, and terrain shaping, creates an ideal environment for fruit tree root growth from multiple dimensions, including improved physical structure, precise nutrient supply, and efficient water regulation. This is a key technical guarantee for achieving high-quality fruit tree yields and improving the overall efficiency of orchards.

[0004] Traditional equipment can only perform a single function (such as tillers only turning the soil, ridging machines only shaping the soil), resulting in processes such as fertilization, soil mixing, and leveling requiring multiple devices to operate step by step, resulting in low efficiency, high costs, and insufficient standardization of tree circle operations.

[0005] To this end, those skilled in the art have proposed a fully automatic tree tray soil mixing and shaping machine to solve the problems raised in the background technology. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides a fully automatic tree tray soil mixing and shaping machine to solve the problem that the equipment in the prior art can only perform a single function, resulting in low tree tray operation efficiency.

[0007] A fully automatic tree-plate soil mixing and shaping machine comprises: a main body, a crawler is installed on the bottom surface of the main body, and a storage bucket is driven and installed on the upper surface of the main body;

[0008] The spiral tillage assembly includes a first motor, a rotating frame, a second motor, a reducer, and a spiral blade. The storage bucket side wall is provided with a hatch, a connecting frame is fixed to the hatch side wall, the first motor is mounted on the outer wall of the connecting frame, the rotating frame is mounted on the output end of the first motor, a mounting platform is fixed to the side wall of the rotating frame, a second motor and a reducer are mounted on the upper surface of the mounting platform, the spiral blade is connected to the reducer via a coupling, and the output end of the second motor is connected to the reducer;

[0009] The ridge shaping component includes a fixed frame, a connecting shaft and a ridge forming disk. A storage component is installed on the upper surface of the main body. The control end of the storage component is connected to the fixed frame. The connecting shaft is installed at the bottom of the fixed frame. Two groups of ridge forming disks are symmetrically assembled on the circumference of the connecting shaft, and a positioning shaft is installed between the two groups of ridge forming disks.

[0010] Preferably, a third motor is installed at the end of the fixed frame, and a transmission shaft is installed at the output end of the third motor. The position of the transmission shaft corresponds to the positioning shaft. A blade wheel is installed on the circumference of the positioning shaft. A driven sprocket is fixed on the side wall of the blade wheel, and a driving sprocket is installed on the circumference of the transmission shaft. A chain is installed between the driving sprocket and the driven sprocket.

[0011] Preferably, the storage assembly includes a rotating seat driven and installed on the upper surface of the main body, a first rotating arm installed on the upper surface of the rotating seat, a hydraulic cylinder installed on the driving part of the first rotating arm, a second rotating arm installed on the telescopic end of the hydraulic cylinder, and a connecting plate installed on the driving part of the second rotating arm, and the fixing frame is fixedly connected to the connecting plate.

[0012] Preferably, the bottom wall of the storage hopper is provided with a discharge port, and the discharge port is installed with a discharge cover.

[0013] Preferably, a screen is slidably mounted on the inner wall of the storage bucket, and a vibration motor is also driven and mounted on the inner wall of the storage bucket, and an output end of the vibration motor is connected to the screen.

[0014] Preferably, a threaded shaft is fixedly connected to the end of the spiral blade, an auxiliary wheel is installed on the shaft body of the threaded shaft, and a soil hardness sensor is installed at the front end of the spiral blade shaft.

[0015] Preferably, a control screen is installed on the upper surface of the host body, the control screen is integrated with a human-machine interface, and a main controller and a sensor module are installed inside the host body.

[0016] Preferably, the sensor module includes a position sensor installed at the bottom of the host body and a displacement sensor installed at the position of the storage component.

[0017] Preferably, the main controller is configured to perform multi-modal coordinated control, including a soil tillage adaptive module and a ridging and grooving switching module:

[0018] The soil tillage adaptive module adjusts the speed of the second motor in real time based on the data fed back by the soil hardness sensor;

[0019] The ridging and grooving switching module includes ridge mode and grooving mode;

[0020] In ridging mode, the main controller controls the hydraulic cylinder to lower the ridging disc and locks the power supply to the third motor;

[0021] In the slotting mode, the main controller triggers the third motor to drive the blade wheel and controls the lifting of the ridging disc.

[0022] Preferably, the sensor module is integrated with a position dynamic compensation unit and a blade depth precision control unit;

[0023] The position dynamic compensation unit monitors the device offset in real time through a position sensor and controls the differential rotation of the crawler to correct the circular motion trajectory;

[0024] The blade depth precision control unit calculates the extension and contraction amount of the hydraulic cylinder through the main controller and verifies the actual displacement through the displacement sensor installed at the connecting plate.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention provides a spiral tillage component and a ridge-forming and shaping component, drives the first rotating arm to rotate horizontally through a rotating seat, and cooperates with the hydraulic cylinder to push the second rotating arm to swing in pitch, so as to realize the precise spatial positioning of the ridge-forming disk and the blade wheel, and complete the efficient soil collection while protecting the root system. The soil can be tilled, collected, ridged or grooved simultaneously by walking around the tree once; by reversely installing the ridge-forming disk and then adding the blade wheel, it has both ridge-forming and grooved functions, realizing rapid function conversion, adapting to various agronomic scenarios such as fertilization, drainage, and drip irrigation tape laying, and flexibly adapting to diverse needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 for Figure 1 A partial enlarged view of part A;

[0029] Figure 3 This is a structural schematic diagram of a first embodiment of a ridging assembly;

[0030] Figure 4 This is a structural schematic diagram of a second embodiment of a ridging assembly;

[0031] Figure 5 A schematic diagram of the cross-sectional structure of the storage bin.

[0032] In the picture:

[0033] 1. Main machine body; 101. Control panel; 2. Crawler track; 3. Storage bucket; 4. Manhole; 401. Discharge port; 402. Discharge cover; 5. Connecting frame; 6. First motor; 7. Rotating frame; 8. Mounting table; 9. Second motor; 10. Reducer; 11. Spiral blade; 12. Threaded shaft; 13. Auxiliary wheel; 14. Rotating seat; 15. First rotating arm; 16. Hydraulic cylinder; 17. Second rotating arm; 18. Connecting plate; 19. Fixed frame; 20. Connecting shaft; 21. Ridging disc; 22. Positioning shaft; 23. Drive shaft; 24. Third motor; 25. Driven sprocket; 26. Chain; 27. Blade wheel; 28. Vibration motor; 29. ​​Screen. DETAILED DESCRIPTION

[0034] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0035] Example 1: As shown in the attached Figure 1 To the attached Figure 5 As shown: The present invention provides a fully automatic tree-plate soil mixing and shaping integrated machine, including a main body 1, a spiral soil turning component and a ridge shaping component:

[0036] The bottom surface of the main body 1 is installed with a crawler 2, and the upper surface of the main body 1 is driven by a storage bucket 3. The main body 1 is internally installed with a drive motor, which can control the overall rotation and position adjustment of the storage bucket 3, the spiral tillage component and the ridging and shaping component.

[0037] The spiral tillage assembly includes a first motor 6, a rotating frame 7, a second motor 9, a reducer 10 and a spiral blade 11. The side wall of the storage bucket 3 is provided with a warehouse opening 4, a connecting frame 5 is fixed to the side wall of the warehouse opening 4, the outer wall of the connecting frame 5 is installed with the first motor 6, the rotating frame 7 is installed at the output end of the first motor 6, the side wall of the rotating frame 7 is fixed with a mounting platform 8, the upper surface of the mounting platform 8 is installed with the second motor 9 and the reducer 10, the spiral blade 11 is connected to the reducer 10 through a coupling, and the output end of the second motor 9 is connected to the reducer 10; the rotating frame 7 can be driven to rotate by the first motor 6, The spiral blade 11 is thereby lowered from the main body 1 to the ground. The second motor 9 cooperates with the reducer 10 to drive the spiral blade 11 to rotate. The spiral blade 11 adopts an Archimedean screw shaft with a total length of 800 mm and a variable pitch design. The proximal pitch is 100 mm, the distal pitch is 150 mm, the shaft diameter is 80 mm, and a soil guide groove is provided on the surface with a groove width of 30 mm. The second motor 9 is a Y90S-4 model with a power of 1.5 kW and a rotation speed of 1400 rpm. The spiral blade 11 can collect soil into the storage bucket 3 and screen it.

[0038] The ridge shaping component includes a fixed frame 19, a connecting shaft 20 and a ridge shaping disk 21. A storage component is installed on the upper surface of the main body 1. The storage component controls the lifting and rotation of the ridge shaping component. The control end of the storage component is connected to the fixed frame 19. The connecting shaft 20 is installed at the bottom of the fixed frame 19. Two groups of ridge shaping disks 21 are symmetrically assembled around the connecting shaft 20, and a positioning shaft 22 is installed between the two groups of ridge shaping disks 21.

[0039] A third motor 24 is installed at the end of the fixed frame 19, and a transmission shaft 23 is installed at the output end of the third motor 24. The position of the transmission shaft 23 corresponds to the positioning shaft 22. A blade wheel 27 is installed on the circumference of the positioning shaft 22. A driven sprocket 25 is fixed on the side wall of the blade wheel 27, and a driving sprocket is installed on the circumference of the transmission shaft 23. A chain 26 is installed between the driving sprocket and the driven sprocket 25.

[0040] The storage assembly includes a rotating base 14 installed on the upper surface of the main body 1, a first rotating arm 15 installed on the upper surface of the rotating base 14, a hydraulic cylinder 16 installed at the driving part of the first rotating arm 15, a second rotating arm 17 installed at the telescopic end of the hydraulic cylinder 16, and a connecting plate 18 installed at the driving part of the second rotating arm 17. The fixing frame 19 is fixedly connected to the connecting plate 18; the hydraulic cylinder 16 can be driven to rotate by the first rotating arm 15, and then with the rotation of the second rotating arm 17, the rotating frame 7 can be rotated from the top of the main body 1 to the side of the main body 1, and the ridge shaping assembly can be adjusted from the storage state to the working state; when the ridge shaping assembly is lowered, the longitudinal position of the ridge shaping assembly can be adjusted by controlling the hydraulic cylinder 16.

[0041] The bottom wall of the storage hopper 3 is provided with a discharge port 401 , and a discharge cover 402 is installed at the discharge port 401 .

[0042] A threaded shaft 12 is fixedly connected to the end of the spiral blade 11, an auxiliary wheel 13 is installed on the shaft body of the threaded shaft 12, and a soil hardness sensor is installed on the front end of the shaft body of the spiral blade 11.

[0043] A control screen 101 is installed on the upper surface of the host body 1 , and the control screen 101 is integrated with a human-machine interface. A main controller and a sensor module are installed inside the host body 1 .

[0044] The sensor module includes a position sensor installed at the bottom of the main body 1 and a displacement sensor installed at the storage component position; when the displacement sensor detects that the first rotating arm 15 or the second rotating arm 17 exceeds the preset stroke, the oil circuit of the hydraulic cylinder 16 is immediately cut off and an audible and visual alarm is triggered.

[0045] As can be seen above, the equipment moves across the orchard floor via tracks 2 to the target tree tray. After the drive motor inside the main body 1 is activated, it controls the storage bucket 3, the spiral tillage assembly, and the ridging and shaping assembly to rotate about the central axis of the main body 1 to adjust the operating position. At this point, the first motor 6 is energized, and its output drives the rotating frame 7 to rotate downward about the axis of the bin opening 4, causing the spiral blade 11 to descend from the upper surface of the main body 1 to the surface of the soil. Simultaneously, the second motor 9 transmits power to the spiral blade 11 via the reducer 10, causing it to rotate at 1400 rpm. The spiral blade 11 utilizes a variable-pitch Archimedean screw shaft with a total length of 800 mm. The surface soil guide grooves convey the surface soil toward the storage bucket 3 during rotation, and the soil enters the storage bucket 3 through the bin opening 4. A threaded shaft 12 at the end of the spiral blade 11 is connected to an auxiliary wheel 13, which supports the spiral shaft in a horizontal position to prevent it from tilting during operation. A soil hardness sensor at the front end of the shaft detects soil resistance in real time and provides feedback to the main controller.

[0046] Simultaneously, the swivel base 14 in the storage assembly rotates on the upper surface of the main body 1, driving the first swivel arm 15 to swing. The hydraulic cylinder 16 retracts and extends, driving the second swivel arm 17 to rotate. The mounting frame 19 is lowered via the connecting plate 18, adjusting the ridging and shaping assembly from its stored position to its operating height. The connecting shaft 20 at the bottom of the mounting frame 19 deploys the two sets of ridging discs 21, preparing for ridging operations. The discharge opening 401 on the bottom wall of the storage bucket 3 is sealed by a discharge cover 402, temporarily storing the plowed soil. The human-machine interface integrated into the control panel 101 receives operator commands. The main controller coordinates the operation of the drive motor, the first motor 6, the second motor 9, and the hydraulic cylinder 16 of the storage assembly. The position sensor in the sensor module monitors the movement of the main body 1, and the displacement sensor monitors the travel of the first and second swivel arms 15, 17 in real time. If the travel exceeds a preset range, the hydraulic cylinder 16 oil circuit is immediately disconnected, triggering an audible and visual alarm to ensure safe operation.

[0047] Example 2: The main controller is configured to perform multi-modal coordinated control, including a soil tillage adaptive module and a ridging and grooving switching module:

[0048] The soil tillage adaptive module adjusts the speed of the second motor 9 in real time based on the data fed back by the soil hardness sensor; when the soil resistance exceeds 2000N, the speed is reduced to 800rpm; when the resistance is less than 1000N, the speed is increased to 1400rpm;

[0049] Ridging and grooving switching module: responds to the operation mode instructions input from the human-machine interface:

[0050] In the ridging mode, the main controller controls the hydraulic cylinder 16 to lower the ridging disc 21 and locks the power supply of the third motor 24;

[0051] In the grooving mode, the main controller triggers the third motor 24 to drive the blade wheel 27 to rotate at 800 rpm and lift the ridging disc 21 to a safe height.

[0052] The sensor module integrates a position dynamic compensation unit and a blade depth precision control unit;

[0053] The position dynamic compensation unit monitors the equipment offset in real time through the position sensor. When the radial offset error is greater than 5cm, it controls the differential rotation of track 2 to correct the circular motion trajectory.

[0054] The blade depth precision control unit calculates the extension and contraction of the hydraulic cylinder 16 through the main controller according to the groove depth setting value (0-25cm), and verifies the actual displacement through the displacement sensor installed at the connecting plate 18, with an accuracy error of ≤±1cm.

[0055] As can be seen above, when the device is plowing the soil, the soil hardness sensor at the front end of the spiral blade 11 continuously collects soil resistance data and transmits it to the main controller inside the main body 1. The main controller analyzes this data through the soil plowing adaptive module: if the resistance exceeds 2000N, it is determined that the soil is hard and the speed of the second motor 9 is automatically reduced from 1400rpm to 800rpm to prevent the spiral blade 11 from overloading and stalling. If the resistance is less than 1000N, it is determined that the soil is loose and the speed is increased to 1400rpm to improve plowing efficiency.

[0056] When it is necessary to switch the operation mode, the operator inputs the instruction through the human-machine interface of the control panel 101, and the ridging and grooving switching module responds and executes the corresponding logic:

[0057] Ridging mode: The module is in normal installation state, and the outward-expanding trumpet-shaped disc of the ridging disc 21 moves in a circular motion with the chassis; the soil is squeezed into trapezoidal ridges under the action of the disc's serrated texture and trapezoidal cross-section, and the ridge shape error is controlled within ±2cm; the main controller sends an electrical signal to the solenoid valve of the hydraulic cylinder 16 to control its piston rod to extend, pushing the second rotating arm 17 to swing downward, so that the ridging disc 21 drops to the set height from the ground, and at the same time cuts off the power circuit of the third motor 24 to prevent the blade wheel 27 from malfunctioning.

[0058] Slotting mode: Remove the connecting shaft 20, and you can take down the two sets of ridging discs 21. Rotate the two sets of ridging discs 21 180 degrees and then assemble them to form an inward-locked closed state. Fix them with the positioning shaft 22 and adjust the distance between the two sets of ridging discs 21 to a suitable value.

[0059] A blade wheel 27 is installed on the inner side of a set of ridging discs 21, and the extension length of the blade is adjusted by a screw.

[0060] When the grooving mode is selected on the control panel 101, the main controller first controls the hydraulic cylinder 16 to retract, lifting the ridging disc 21 to a safe height (≥30 cm from the ground), and then triggers the third motor 24 to start. The transmission shaft 23 at its output end drives the blade wheel 27 on the side of the positioning shaft 22 to rotate at a speed of 800 rpm through the active sprocket and chain 26.

[0061] After the operation is completed, the folding program is activated through the control panel 101, the hydraulic cylinder 16 is retracted, and the spiral tillage assembly and the ridging and shaping assembly are turned upward and stored. The auxiliary wheels 13 are removed to facilitate transfer or transportation within the orchard.

[0062] During operation, the dynamic position compensation unit monitors the radial offset of the equipment in real time via a position sensor at the bottom of the main body 1. When the offset error exceeds 5 cm, the main controller calculates the speed difference between the drive wheels on both sides of the crawler 2 and controls the left and right crawler 2 to rotate at different speeds, correcting the circular motion trajectory. The blade depth precision control unit calculates the extension and retraction of the hydraulic cylinder 16 based on the grooving depth set by the operator on the human-machine interface using the main controller's built-in mathematical model and sends a control signal to the hydraulic system. Simultaneously, a displacement sensor installed on the connecting plate 18 measures the actual displacement of the piston rod of the hydraulic cylinder 16 in real time and feeds this back to the main controller for comparison, ensuring a grooving depth accuracy error of ≤±1 cm, meeting the requirements of operations such as drip irrigation tape laying.

[0063] Example 3: As shown in the attached Figure 5 As shown in the figure, based on the first embodiment, a screen 29 is slidably mounted on the inner wall of the storage bucket 3, and a vibration motor 28 is also driven and mounted on the inner wall of the storage bucket 3, with the output end of the vibration motor 28 connected to the screen 29. The main controller dynamically adjusts the vibration frequency of the screen 29 (0-50 Hz) based on the current load changes of the vibration motor 28. When the current suddenly increases, it is determined that there is a gravel blockage and the vibration direction is automatically reversed for 3 seconds to clear the blockage. After the soil is transported to the storage bucket 3 by the spiral blade 11, the vibration motor 28 drives the screen 29 to vibrate at a set frequency (50 Hz for clay and 20 Hz for sand). The load of the vibration motor 28 is monitored in real time by a current sensor. When the current value suddenly increases by 30% (determining a gravel blockage), the main controller immediately reverses the motor direction for 3 seconds to clear the blockage and then resumes normal vibration. The 5 mm pore size of the screen 29 filters out stones and root residues, and the screened soil is discharged through the discharge port 401 for use in ridging.

[0064] As can be seen above, when the plowed soil enters the storage hopper 3 through the hopper opening 4, the screen 29 slidingly mounted on the inner wall of the storage hopper 3 generates high-frequency vibrations driven by the vibration motor 28, thereby screening the soil. The output shaft of the vibration motor 28 is fixedly connected to the screen 29, and the main controller dynamically adjusts the vibration frequency according to the current load of the vibration motor 28:

[0065] Normal screening stage: If the current load is stable, the main controller maintains the current vibration frequency, so that the screen 29 separates impurities such as gravel and root residues in the soil at the optimal frequency. The impurities pass through the screen 29 and fall into the bottom of the storage bucket 3, and qualified soil remains above the screen 29.

[0066] Blockage processing stage: When gravel gets stuck on the screen 29, the load on the vibration motor 28 suddenly increases and the current exceeds 1.5 times the rated value. The main controller immediately determines that the screen 29 is blocked and automatically sends a reverse command to make the vibration motor 28 rotate in the opposite direction for 3 seconds. The vibration direction of the screen 29 is reversed, and the stuck gravel is shaken off by inertia, and then the positive vibration is restored.

[0067] The screened soil can be discharged through discharge port 401 for subsequent ridging or backfilling operations. The main controller monitors the current waveform of vibration motor 28 in real time and dynamically adjusts the vibration frequency to ensure that screen 29 adapts to soil particle size within the 0-50 Hz range. This prevents excessive soil fragmentation due to high frequencies and prevents screening efficiency from being affected by low frequencies. Ultimately, this ensures soil uniformity before entering the ridging and shaping assembly, improving ridging quality.

[0068] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A fully automatic tree tray soil mixing and shaping machine, characterized in that: include: A main machine body (1), a crawler belt (2) is installed on the bottom surface of the main machine body (1), and a storage bucket (3) is driven and installed on the upper surface of the main machine body (1); A spiral soil turning assembly comprises a first motor (6), a rotating frame (7), a second motor (9), a reducer (10) and a spiral blade (11); a storage hopper (3) is provided with a warehouse opening (4) on the side wall; a connecting frame (5) is fixed to the side wall of the warehouse opening (4); the first motor (6) is mounted on the outer wall of the connecting frame (5); a rotating frame (7) is mounted on the output end of the first motor (6); a mounting platform (8) is fixed to the side wall of the rotating frame (7); a second motor (9) and a reducer (10) are mounted on the upper surface of the mounting platform (8); the spiral blade (11) is connected to the reducer (10) via a coupling; and the output end of the second motor (9) is connected to the reducer (10); A ridging and shaping component comprises a fixing frame (19), a connecting shaft (20) and a ridging disc (21); a storage component is installed on the upper surface of the main body (1); a control end of the storage component is connected to the fixing frame (19); a connecting shaft (20) is installed at the bottom of the fixing frame (19); two groups of ridging discs (21) are symmetrically assembled around the connecting shaft (20); and a positioning shaft (22) is installed between the two groups of ridging discs (21).

2. The fully automatic tree-soil mixing and shaping machine according to claim 1, characterized in that: A third motor (24) is installed at the end of the fixing frame (19), and a transmission shaft (23) is installed at the output end of the third motor (24). The position of the transmission shaft (23) corresponds to the positioning shaft (22). A blade wheel (27) is installed on the circumference of the positioning shaft (22). A driven sprocket (25) is fixed on the side wall of the blade wheel (27). A driving sprocket is installed on the circumference of the transmission shaft (23), and a chain (26) is installed between the driving sprocket and the driven sprocket (25).

3. The fully automatic tree-plate soil mixing and shaping machine according to claim 2, characterized in that: The storage assembly comprises a rotating seat (14) driven and mounted on the upper surface of the main body (1), a first rotating arm (15) mounted on the upper surface of the rotating seat (14), a hydraulic cylinder (16) mounted on the driving portion of the first rotating arm (15), a second rotating arm (17) mounted on the telescopic end of the hydraulic cylinder (16), and a connecting plate (18) mounted on the driving portion of the second rotating arm (17); and the fixing frame (19) is fixedly connected to the connecting plate (18).

4. The fully automatic tree-soil mixing and shaping machine according to claim 1, characterized in that: The bottom wall of the storage hopper (3) is provided with a discharge port (401), and the discharge port (401) is installed with a discharge cover (402).

5. The fully automatic tree-plate soil mixing and shaping machine according to claim 4, characterized in that: A screen (29) is slidably mounted on the inner wall of the storage bucket (3), and a vibration motor (28) is also driven and mounted on the inner wall of the storage bucket (3), wherein the output end of the vibration motor (28) is connected to the screen (29).

6. The fully automatic tree-plate soil mixing and shaping machine according to claim 3, characterized in that: The end of the spiral blade (11) is fixedly connected to a threaded shaft (12), an auxiliary wheel (13) is installed on the shaft body of the threaded shaft (12), and a soil hardness sensor is installed on the front end of the shaft body of the spiral blade (11).

7. The fully automatic tree-soil mixing and shaping machine according to claim 6, characterized in that: A control screen (101) is installed on the upper surface of the host body (1), the control screen (101) is integrated with a human-machine interface, and a main controller and a sensor module are installed inside the host body (1).

8. The fully automatic tree-plate soil mixing and shaping machine according to claim 7, characterized in that: The sensor module comprises a position sensor installed at the bottom of the host body (1) and a displacement sensor installed at the position of the storage component.

9. The fully automatic tree-plate soil mixing and shaping machine according to claim 8, characterized in that: The main controller is configured to perform multi-modal coordinated control, including a soil tillage adaptive module and a ridging and grooving switching module: The soil tillage adaptive module adjusts the rotation speed of the second motor (9) in real time based on data fed back by the soil hardness sensor; The ridging and grooving switching module includes ridge mode and grooving mode; In the ridging mode, the main controller controls the hydraulic cylinder (16) to lower the ridging disc (21) and locks the power supply of the third motor (24); In the slotting mode, the main controller triggers the third motor (24) to drive the blade wheel (27) and controls the lifting of the ridging disc (21).

10. The fully automatic tree-plate soil mixing and shaping machine according to claim 9, characterized in that: The sensor module is integrated with a position dynamic compensation unit and a blade depth precision control unit; The position dynamic compensation unit monitors the device offset in real time through a position sensor, and controls the differential rotation of the crawler (2) to correct the circular motion trajectory; The blade depth precision control unit calculates the extension and contraction amount of the hydraulic cylinder (16) through a main controller, and verifies the actual displacement through a displacement sensor installed at the connecting plate (18).

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