Grain moistening and stirring device and control method

Abstract

The invention relates to the technical field of wine brewing, and provides a grain moistening and stirring device and a control method. The grain moistening and stirring device comprises a stirring mechanism and a water inlet pipe, the water inlet pipe is connected with the stirring mechanism, and the water inlet pipe is used for injecting hot water into the stirring mechanism; the stirring mechanism comprises a first hopper body, a second hopper body and a stirring assembly, the first hopper body and the second hopper body are covered and can be separated, the stirring assembly is arranged in the second hopper body, and the stirring assembly is used for stirring and mixing materials in the second hopper body with hot water. According to the grain moistening and stirring device, by arranging the stirring mechanism and the water inlet pipe, materials and hot water can be uniformly stirred and mixed in the second hopper body, manual stirring is not needed, the labor intensity of operators is reduced, and meanwhile the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of winemaking, and in particular to a grain moistening and stirring device and a control method thereof. Background Art

[0002] Grain moistening is one of the key processes in the brewing of Maotai-flavor liquor. Grain moistening can effectively replenish the moisture in the grain. A large water content in the grain is conducive to removing the raw taste in the grain. Therefore, a good grain moistening effect can ensure the aroma and taste of the liquor, thereby improving the quality of the liquor. The existing grain moistening process is mainly achieved through manual operation. Workers spread the grain on the ground to form a grain pile and pour hot water above 95°C into the grain pile. At the same time, workers hold shovels to turn the grain pile to make the hot water fully contact with the grain. This traditional manual operation method has low production efficiency and high labor intensity, and cannot ensure that the hot water is in full contact with the sorghum, resulting in poor mixing effect. Summary of the invention

[0003] The invention provides a grain moistening and stirring device and a control method, which are used to solve the defect that the grain moistening and stirring in the prior art rely on manual operation.

[0004] The present invention provides a grain moistening and stirring device, comprising: a stirring mechanism and a water inlet pipe, wherein the water inlet pipe is connected to the stirring mechanism and is used to inject hot water into the stirring mechanism; the stirring mechanism comprises: a first bucket body, a second bucket body and a stirring assembly, wherein the first bucket body covers the second bucket body and the two can be separated, the second bucket body is provided with the stirring assembly, and the stirring assembly is used to stir and mix the material in the second bucket body with the hot water.

[0005] A grain moistening and stirring device provided according to the present invention also includes a flipping mechanism. In the loading state, the first bucket is used to accommodate the material, and the second bucket is located above the first bucket; in the stirring state, the flipping mechanism is used to flip the stirring mechanism so that the first bucket is located above the second bucket, and the material and hot water fall into the second bucket so that the stirring component can stir.

[0006] According to a grain moistening and stirring device provided by the present invention, the stirring assembly includes: a stirring shaft, a plurality of stirring rods and a plurality of stirring blades, the two ends of the stirring shaft are respectively connected to the second bucket body, and the two ends of each stirring rod are respectively connected to the stirring blades; each stirring rod is inserted into the stirring shaft, and the plurality of stirring rods are arranged in sequence along the extension direction of the length of the stirring shaft, and two adjacent stirring rods are set at an angle.

[0007] According to a grain moistening and stirring device provided by the present invention, the stirring blade is arranged at an angle to the axis of the stirring rod.

[0008] According to a grain moistening and stirring device provided by the present invention, the outer contour of the stirring blade is an arc shape.

[0009] According to a grain moistening and stirring device provided by the present invention, the second bucket body includes: a first bucket-shaped structure, a second bucket-shaped structure and thermal insulation cotton, the second bucket-shaped structure is sleeved on the outside of the first bucket-shaped structure, and the thermal insulation cotton is clamped between the first bucket-shaped structure and the second bucket-shaped structure.

[0010] According to a grain moistening and stirring device provided by the present invention, a sealing ring is provided at the open end of the second bucket body, so that when the second bucket body and the first bucket body are covered, the two can be sealed and connected.

[0011] A grain moistening and stirring device provided according to the present invention also includes a clamping mechanism, a track and a moving trolley; the moving trolley can move along the track, the first bucket body is placed on the moving trolley, and the moving trolley can drive the first bucket body to move to the bottom of the second bucket body; the clamping mechanism is used to clamp the second bucket body and the first bucket body when the two are covered.

[0012] The present invention also provides a control method based on the grain moistening and stirring device as described above, comprising: placing a first bucket body filled with materials on a first moving cart, at this time, the first moving cart is in a first workstation, controlling the first moving cart to move, driving the first bucket body to move to the bottom of the second bucket body, and the two are covered and connected; controlling the first moving cart to move to the second workstation, controlling the first bucket body and the second bucket body to flip over, injecting hot water into the second bucket body, and controlling the stirring component to move to stir and mix the materials with the hot water; after stirring, controlling the first bucket body and the second bucket body to flip again; controlling the first moving cart to move to the bottom of the first bucket body again, dropping the first bucket body on the first moving cart, and controlling the first moving cart to carry the first bucket body to the second workstation.

[0013] The control method provided by the present invention also includes: when the first moving cart is located under the second bucket body again, controlling the second moving cart to be located at the first workstation, and the second moving cart is provided with a second first bucket body; when the first moving cart is located at the second workstation again, controlling the second moving cart to be located under the second bucket body.

[0014] The grain moistening and stirring device provided by the present invention can stir and mix the material and hot water evenly in the second bucket by arranging a stirring mechanism and a water inlet pipe, without the need for manual stirring, thereby reducing the labor intensity of operators and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the grain moistening and stirring device provided by the present invention.

[0017] Figure 2 It is a front view of the grain moistening and stirring device provided by the present invention.

[0018] Figure 3 yes Figure 2 A schematic structural diagram of a stirring assembly is shown in FIG.

[0019] Figure 4 yes Figure 1 A cross-sectional view of the second bucket body shown in FIG.

[0020] Figure 5 yes Figure 1 A perspective view of the second bucket body shown in FIG.

[0021] Figure 6 yes Figure 1 The structural schematic diagram of the mobile car is shown in FIG.

[0022] Figure 7 It is a flow chart of the control method provided by the present invention.

[0023] Reference numerals: 1. Stirring mechanism; 2. Flipping mechanism; 3. Clamping mechanism; 4. Moving trolley; 5. Track; 6. Bracket; 7. Water inlet pipe; 11. First bucket body; 12. Second bucket body; 13. Motor; 14. Stirring shaft; 15. Stirring rod; 16. Stirring blade; 41. Positioning plate; 71. Water inlet. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0025] Combine the following Figure 1-Figure 7 The invention describes a grain moistening and stirring device and a control method thereof.

[0026] like Figure 1 As shown, the grain moistening and stirring device provided in the embodiment of the present invention comprises: a stirring mechanism 1 and a water inlet pipe 7. The water inlet pipe 7 is connected to the stirring mechanism 1, and the water inlet pipe 7 is used to inject hot water into the stirring mechanism 1. The stirring mechanism 1 comprises: a first bucket 11, a second bucket 12 and a stirring assembly, the first bucket 11 and the second bucket 12 cover each other, and the two can be separated, and the second bucket 12 is provided with a stirring assembly, and the stirring assembly is used to stir and mix the material in the second bucket 12 with hot water.

[0027] Specifically, in this embodiment, a stirring assembly is provided in the second bucket 12. When the material is in the second bucket 12, hot water is injected into the second bucket 12 through the water inlet pipe 7. When the stirring assembly is activated, the material and the hot water can be stirred and mixed, thereby eliminating the need for manual stirring.

[0028] In this embodiment, the first bucket 11 and the second bucket 12 can be closed after being covered to prevent the material from splashing out when being stirred, and can also play a role in heat preservation to prevent the hot water from cooling too quickly; at the same time, the first bucket 11 and the second bucket 12 can also be separated to load the material into the second bucket 12. In this embodiment, the second bucket 12 is located below the first bucket 11.

[0029] Optionally, in this embodiment, the material is sorghum.

[0030] The grain moistening and stirring device provided in the embodiment of the present invention can stir and mix the material and hot water evenly in the second bucket by providing a stirring mechanism and a water inlet pipe, without the need for manual stirring, thereby reducing the labor intensity of the operator and improving production efficiency.

[0031] like Figure 1 As shown, in an embodiment of the present invention, the grain moistening and stirring device further includes a flipping mechanism 2. In the feeding state, the first bucket 11 is used to accommodate the material, and the second bucket 12 is located above the first bucket 11. In the stirring state, the flipping mechanism 2 is used to flip the stirring mechanism 1 so that the first bucket 11 is located above the second bucket 12, and the material and hot water fall into the second bucket 12 so that the stirring assembly can stir.

[0032] Specifically, in this embodiment, the grain moistening and stirring device also includes a bracket 6, and the stirring component is connected to the bracket 6, so that there is a certain distance between the second bucket body 12 and the ground. In the loading state, the material is loaded into the first bucket body 11, and then the first bucket body 11 is moved to the bottom of the second bucket body 12, and the two are covered. In the stirring state, the flip mechanism 2 rotates the stirring mechanism 1 180° so that the second bucket body 12 is located below the first bucket body 11. At this time, the material falls into the second bucket body 12. Hot water is injected into the second bucket body 12 through the water inlet pipe 7. In this embodiment, the temperature of the hot water is not less than 95°C. Start the stirring component, and the stirring component stirs the material to mix the material and the hot water evenly.

[0033] In this embodiment, in order to prevent the first bucket body 11 and the second bucket body 12 from opening and scattering the materials when they are flipped, the flipping mechanism 2 can simultaneously clamp the edges of the first bucket body 11 and the second bucket body 12 when they are connected to flip them; or, a clamping structure is set on the first bucket body 11 and the second bucket body 12 to clamp the two together when flipping.

[0034] In an embodiment of the present invention, the second bucket body 12 includes: a first bucket-shaped structure, a second bucket-shaped structure and thermal insulation cotton. The second bucket-shaped structure is sleeved on the outside of the first bucket-shaped structure, and the thermal insulation cotton is clamped between the first bucket-shaped structure and the second bucket-shaped structure to play a role in heat preservation, ensuring that during the grain moistening and stirring process, the hot water temperature in the second bucket body 12 is always not lower than 95°C to meet the brewing process requirements.

[0035] Furthermore, a temperature sensor is provided in the second bucket 12 , and the temperature sensor is used to detect the temperature in the second bucket 12 . When the temperature in the second bucket 12 is low, the temperature of the hot water injected into the second bucket 12 can be increased.

[0036] like Figure 5 As shown, a plurality of water inlet pipes 7 are provided in the second bucket 12, and the plurality of water inlet pipes 7 are connected, and one of the plurality of water inlet pipes 7 extends outside the second bucket 12, and the water inlet 71 is used to connect to an external water source. The plurality of water inlet pipes 7 located in the second bucket 12 are provided with a plurality of water outlet holes along the extension direction of their respective lengths, so as to spray hot water into the second bucket 12.

[0037] A flow meter is provided on the water inlet pipe 7 outside the second bucket 12 for real-time detection of the flow of hot water injected into the second bucket 12. When the flow of hot water reaches a set value, injection of water into the second bucket 12 is stopped.

[0038] like Figure 2 and Figure 3As shown, in an embodiment of the present invention, the stirring assembly includes: a stirring shaft 14, a plurality of stirring rods 15 and a plurality of stirring blades 16. Both ends of the stirring shaft 14 are respectively connected to the second bucket 12, and both ends of each stirring rod 15 are respectively connected to a stirring blade 16. Each stirring rod 15 is inserted through the stirring shaft 14, and the plurality of stirring rods 15 are arranged in sequence along the extension direction of the length of the stirring shaft 14, and two adjacent stirring rods 15 are arranged at an angle.

[0039] Specifically, the stirring assembly further includes a motor 13, the motor 13 is rotatably connected to the bracket 6, one end of the stirring shaft 14 is connected to the second bucket 12, and the other end passes through the second bucket 12 and is connected to the motor 13. When the motor 13 rotates, it can drive multiple stirring rods 15 to rotate, so that the stirring blades 16 stir the material to mix the material and the hot water evenly. In this embodiment, two adjacent stirring rods 15 are set at an angle, and the angle between the two can be 90° or 120°, or other, so as to mix the material and the hot water evenly.

[0040] like Figure 3 and Figure 4 As shown, in the embodiment of the present invention, the stirring blade 16 is set at an angle to the axis of the stirring rod 15. Optionally, the angle between the stirring blade 16 and the axis of the stirring rod 15 can be 45°. When the stirring shaft 14 rotates, under the action of the stirring blade 16, the materials on both sides are pushed toward the center of the second bucket 12, and the materials in the center are pushed outward, so that the materials and the hot water are evenly mixed.

[0041] Furthermore, in the embodiment of the present invention, the outer contour of the stirring blade 16 is arc-shaped, that is, the corner transitions of the stirring blade 16 are all arc transitions to avoid damaging the material when the corners of the stirring blade 16 come into contact with the material.

[0042] Furthermore, the grain moistening and stirring device also includes a timer, which is used to record the stirring time. When the stirring time reaches a preset value, the motor 13 is controlled to stop working.

[0043] like Figure 1 As shown, in an embodiment of the present invention, the grain moistening and stirring device further comprises a clamping mechanism 3, and the clamping mechanism 3 is used to clamp the second bucket body 12 and the first bucket body 11 when they are covered, so that the flipping mechanism 2 can flip the two.

[0044] Specifically, in this embodiment, the clamping mechanism 3 can be a plurality of pairs of cylinders, each pair of cylinders is arranged opposite to each other, and a clamping block is connected to the telescopic rod of each cylinder. When the telescopic rods of a pair of cylinders move relatively close to each other, a pair of clamping blocks respectively abut against the convex edges of the first bucket body 11 or the second bucket body 12 to clamp the first bucket body 11 and the second bucket body 12, thereby facilitating the turning mechanism 2 to drive the first bucket body 11 and the second bucket body 12 to turn over.

[0045] Optionally, the flipping mechanism 2 may be connected to a motor 13, and the motor 13 is rotationally connected to the bracket 6. When the flipping mechanism 2 rotates, it can drive the motor 13 to rotate relative to the bracket 6, thereby driving the second bucket 12 to rotate together with the first bucket 11.

[0046] In this embodiment, the flip mechanism 2 can be a rotating motor and a rotating member, the rotating motor drives the rotating member to rotate, the rotating member drives the motor 13 to rotate, and then drives the second bucket 12 and the first bucket 11 to rotate together. Furthermore, the grain moistening and stirring device also includes a sensing component for detecting the rotation angle of the rotating member, and when the rotating member rotates to a preset position, the flip motor stops running.

[0047] like Figure 1 As shown, in an embodiment of the present invention, the grain moistening and stirring device further comprises a moving trolley 4 and a track 5. The moving trolley 4 can move along the track 5, and the first bucket 11 is placed on the moving trolley 4, and the moving trolley 4 can drive the first bucket 11 to move below the second bucket 12.

[0048] Specifically, in the loading state, the driving crane hoists the first bucket body 11 filled with materials onto the mobile trolley 4. At this time, the mobile trolley 4 and the second bucket body 12 are at a certain distance. The mobile trolley 4 moves along the track 5, and transports the first bucket body 11 to the bottom of the second bucket body 12, and the second bucket body 12 covers the first bucket body 11. The clamping mechanism 3 clamps the first bucket body 11 and the second bucket body 12, and the mobile trolley 4 moves in the opposite direction and returns to the initial position. The motor 13 is started, and the stirring assembly starts to work. The flipping mechanism 2 flips the first bucket body 11 and the second bucket body 12 by 180°, and then hot water is injected into the second bucket body 12. The hot water enters the second bucket body 12 through the water inlet pipe 7, and the hot water and the material are stirred by the stirring blades 16. During the stirring process, the temperature sensor detects the temperature in the second bucket body 12 in real time. When the temperature in the second bucket body 12 is low, the temperature of the hot water is increased so that the temperature in the second bucket body 12 is always not lower than 95°C. At the same time, the flow meter detects the flow of hot water in real time. When the flow of hot water reaches the preset value, the injection of hot water is stopped; when the stirring time reaches the set value, the stirring is stopped.

[0049] After the mixing is completed, the turning mechanism 2 drives the first bucket 11 and the second bucket 12 to turn 180 degrees again, so that the first bucket 11 and the second bucket 12 return to the initial state. At this time, the mixed material is located in the first bucket 11. The moving trolley moves to the bottom of the first bucket 11, and the clamping mechanism 3 releases the first bucket 11 and the second bucket 12. The first bucket 11 falls on the moving trolley 4, and the moving trolley 4 drives the first bucket 11 to move to the next station, and the grain moistening and mixing is completed.

[0050] In the embodiment of the present invention, a sealing ring is provided at the open end of the second bucket body 12 so that after the second bucket body 12 and the first bucket body 11 are covered, the two can be sealed and connected.

[0051] Specifically, in this embodiment, the sealing strip is connected end to end to form a sealing ring, the open end of the second bucket body 12 is provided with an annular groove, and part of the sealing ring is embedded in the annular groove. When the second bucket body 12 is covered with the first bucket body 11, the remaining part of the sealing ring extends into the first bucket body 11 to seal the two.

[0052] In this embodiment, the sealing ring is made of foamed silicone, which is resistant to high temperatures of 280°C and can ensure long-term corrosion resistance and aging cracking in an acidic environment. It has a good sealing effect and can ensure that there will be no water leakage during the flipping of the first bucket body 11 and the second bucket body 12.

[0053] like Figure 6 As shown, positioning plates 41 are respectively provided on opposite sides of the moving trolley 4 so that the center of the first hopper 11 coincides with the center of the moving trolley 4 when the first hopper 11 is placed on the moving trolley 4 .

[0054] like Figure 7 As shown, the embodiment of the present invention also provides a control method for a grain moistening and stirring device, which specifically includes the following steps: Place the first bucket 11 filled with materials on the first moving cart. At this time, the first moving cart is in the first workstation. Control the first moving cart to move, drive the first bucket 11 to move to the bottom of the second bucket 12, and the two are covered and connected; control the first moving cart to move to the second workstation, control the first bucket 11 and the second bucket 12 to flip, inject hot water into the second bucket 12, and control the stirring component to stir and mix the material with the hot water; after stirring, control the first bucket 11 and the second bucket 12 to flip again; control the first moving cart to move to the bottom of the first bucket 11 again, drop the first bucket 11 on the first moving cart, and control the first moving cart to carry the first bucket 11 to the second workstation.

[0055] Specifically, in the loading state, the crane hoists the first bucket body 11 filled with materials onto the first moving trolley. At this time, the first moving trolley is located at the first workstation. The first moving trolley moves along the track 5 to transport the first bucket body 11 to the bottom of the second bucket body 12, and the second bucket body 12 covers the first bucket body 11. At this time, the first bucket body 11 and the second bucket body 12 can be connected by a snap-fit ​​structure, or clamped and connected by a clamping mechanism 3, so that the two are connected as a whole. The first moving trolley moves to the second workstation. In this embodiment, the second workstation and the first workstation are located on both sides of the second bucket body 12.

[0056] The motor 13 is started, and the stirring assembly starts to work. The turning mechanism 2 turns the first bucket 11 and the second bucket 12 by 180 degrees, and then hot water is injected into the second bucket 12, and the hot water enters the second bucket 12 through the water inlet pipe 7, and the hot water and the material are stirred and mixed evenly by the stirring blades 16.

[0057] After stirring, the turning mechanism 2 drives the first bucket 11 and the second bucket 12 to turn 180 degrees again, so that the first bucket 11 and the second bucket 12 return to the initial state. At this time, the stirred material is located in the first bucket 11. The first moving trolley moves to the bottom of the first bucket 11, and the first bucket 11 falls on the first moving trolley. The first moving trolley drives the first bucket 11 to move to the second station, and the grain moistening and stirring is completed.

[0058] Furthermore, in an embodiment of the present invention, the control method also includes: when the first moving cart is located under the second bucket 12 for the second time, controlling the second moving cart to be located at the first workstation, at which time a second first bucket 11 is provided on the second moving cart, and the second first bucket 11 is also filled with materials.

[0059] When the first moving trolley transports the first first bucket body 11 that has finished moistening the grain to the second workstation, the second moving trolley drives the second first bucket body 11 to be located below the second bucket body 12, so as to prepare to stir the material in the second first bucket body 11. By such an arrangement, feeding and stirring can be carried out continuously, the waiting time can be shortened, and the production efficiency can be further improved.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grain moistening and stirring device, characterized in that: include: A stirring mechanism and a water inlet pipe, wherein the water inlet pipe is connected to the stirring mechanism and is used to inject hot water into the stirring mechanism; The stirring mechanism comprises: a first bucket body, a second bucket body and a stirring assembly. The first bucket body covers the second bucket body and the two are separable. The second bucket body is provided with the stirring assembly, and the stirring assembly is used to stir and mix the material in the second bucket body with hot water.

2. The grain moistening and stirring device according to claim 1, characterized in that: It also includes a turning mechanism, in which, in a loading state, the first bucket body is used to accommodate materials, and the second bucket body is located above the first bucket body; In the stirring state, the flipping mechanism is used to flip the stirring mechanism so that the first bucket is located above the second bucket, and the material and hot water fall into the second bucket, so that the stirring assembly can stir.

3. The grain moistening and stirring device according to claim 1, characterized in that: The stirring assembly comprises: a stirring shaft, a plurality of stirring rods and a plurality of stirring blades, the two ends of the stirring shaft are respectively connected to the second bucket body, and the two ends of each stirring rod are respectively connected to the stirring blade; Each stirring rod is inserted through the stirring shaft, and the plurality of stirring rods are arranged in sequence along the extension direction of the length of the stirring shaft, and two adjacent stirring rods are arranged at an angle.

4. The grain moistening and stirring device according to claim 3, characterized in that: The stirring blade is arranged at an angle to the axis of the stirring rod.

5. The grain moistening and stirring device according to claim 3, characterized in that: The outer contour of the stirring blade is an arc shape.

6. The grain moistening and stirring device according to claim 1, characterized in that: The second bucket body comprises: a first bucket-shaped structure, a second bucket-shaped structure and thermal insulation cotton, the second bucket-shaped structure is sleeved on the outside of the first bucket-shaped structure, and the thermal insulation cotton is sandwiched between the first bucket-shaped structure and the second bucket-shaped structure.

7. The grain moistening and stirring device according to claim 1, characterized in that: A sealing ring is provided at the open end of the second bucket body so that when the second bucket body and the first bucket body are covered, the two can be sealed and connected.

8. The grain moistening and stirring device according to claim 1, characterized in that: It also includes a clamping mechanism, tracks and a moving trolley; The moving trolley can move along the track, the first bucket body is placed on the moving trolley, and the moving trolley can drive the first bucket body to move below the second bucket body; The clamping mechanism is used to clamp the second bucket body and the first bucket body together when the second bucket body and the first bucket body are covered.

9. A control method for the grain moistening and stirring device according to claim 8, characterized in that: include: Place the first bucket body filled with materials on the first moving trolley. At this time, the first moving trolley is in the first working position. Control the first moving trolley to move, drive the first bucket body to move to the bottom of the second bucket body, and the two are covered and connected; Control the first moving trolley to move to the second workstation, control the first bucket body and the second bucket body to flip, inject hot water into the second bucket body, and control the stirring component to move so as to stir and mix the material with the hot water; After stirring, controlling the first bucket body and the second bucket body to flip again; The first moving trolley is controlled to move to the bottom of the first bucket body again, the first bucket body is dropped onto the first moving trolley, and the first moving trolley is controlled to carry the first bucket body to move to the second workstation.

10. The control method according to claim 9, characterized in that: Also includes: When the first moving trolley is located below the second bucket body again, controlling the second moving trolley to be located at the first workstation, wherein the second moving trolley is provided with a second first bucket body; When the first moving trolley is located at the second workstation again, the second moving trolley is controlled to be located below the second bucket body.

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