Stirring trolley and automatic stirring method thereof

Abstract

The invention provides a stirring trolley and an automatic stirring method thereof. Wherein the stirring trolley comprises a trolley chassis, an electric stirrer, a stand column and a stirring working arm; a bearing platform for bearing the stirring barrel is arranged on the trolley chassis; the stand column is arranged on the trolley chassis. The stirring working arm comprises a rotating arm unit and a lifting arm unit with a push rod; one end of the rotating arm unit is rotatably connected with the stand column around the stand column, the other end of the rotating arm unit is rotatably connected with the lifting arm unit, and the electric stirrer is connected with the tail end of the lifting arm unit through a stirring seat, so that the movement and lifting of the electric stirrer are realized. The stirring trolley is good in stirring effect, labor intensity of workers is reduced, working efficiency is improved, cleaning is convenient and fast, and cleaning time is remarkably shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of stirring, and more particularly to a stirring trolley and an automatic stirring method thereof. Background Art

[0002] Tile adhesive is used for laying and fixing tiles. As the core bonding material of modern buildings, its performance directly depends on the uniformity and stability of the mixing process. The raw material of tile adhesive is powdery. The traditional mixing process requires the powder to be fully mixed with water to achieve a uniform distribution of polymer molecular chains inside the colloid, thereby ensuring the bonding strength, anti-slip performance and feasibility of thin-film construction. The mixing quality directly affects the compressive strength, weather resistance and hollowing rate of the final product, and is a key technical link in determining the tile laying effect.

[0003] At present, there are special robots for automatic tile laying, and the operation efficiency is very high. However, the mixing of tile adhesive is still a manual operation. Workers need to stir continuously to meet the tile adhesive needs of robot tile laying, which leads to very high labor intensity for workers. In order to improve this situation, the solution of automatic mixing station has appeared on the market: using motor to stir automatically, and then using electric screw pump to transport slurry to the robot barrel for robot use. It seems very efficient, but there are still disadvantages in actual application. The cleaning of automatic mixing station is very troublesome. If it is not cleaned, the tile adhesive will cause blockage after hardening. The time saved by efficient mixing is not enough to make up for the time spent on cleaning. Summary of the invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a stirring trolley and an automatic stirring method thereof; the stirring trolley can stir without dead angles, has a good stirring effect, reduces the labor intensity of workers, improves work efficiency, is convenient and quick to clean, significantly shortens the cleaning time, and avoids hardening and clogging of residual materials.

[0005] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: a mixing trolley, including a trolley chassis, an electric stirrer, a column and a mixing working arm; the trolley chassis is provided with a supporting platform for supporting a mixing barrel; the trolley chassis is provided with a mounting structure for detachably or non-detachably connecting to the mixing barrel; the column is arranged on the trolley chassis; the mixing working arm includes a rotating arm unit and a lifting arm unit with a push rod; one end of the rotating arm unit is rotatably connected to the column around the column, and the other end of the rotating arm unit is rotatably connected to the lifting arm unit, and the electric stirrer is connected to the end of the lifting arm unit through a stirring seat to realize the movement and lifting of the electric stirrer.

[0006] The working principle of the present invention is: place the mixing barrel containing the raw materials to be mixed on the supporting platform and fix it; start the electric stirrer, and swing the rotating arm unit and the lifting arm unit manually or automatically, and adjust the height of the end of the lifting arm unit to move the electric stirrer in the mixing barrel, so as to mix the raw materials evenly. When mixing manually, the push rod can save the effort of supporting the electric stirrer and reduce the labor intensity; when mixing automatically, the push rod can realize the automatic lifting function and adjust the height position of the electric stirrer. In the mixing trolley of the present invention, the electric stirrer can reach various positions in the inner cavity of the mixing barrel, and there is no dead angle for mixing, which has a good mixing effect and reduces the labor intensity of workers; it is convenient and quick to clean, significantly shortens the cleaning time, avoids the hardening and clogging of residual materials, and ensures the long-term stable operation of the equipment.

[0007] Preferably, the mounting structure is detachably connected to the mixing barrel; the mounting structure comprises a limit module 1 and a limit module 2; the limit module 1 and the limit module 2 are respectively located on both sides of the mixing barrel to jointly clamp the mixing barrel to position and fix the mixing barrel; wherein, the limit module 2 is positionally adjustable on the trolley chassis.

[0008] The mixing barrel can be easily separated from the trolley chassis, which is convenient for loading and unloading materials, and the mixing barrel and electric stirrer can be cleaned after the mixing barrel is disassembled, further improving the convenience of cleaning; limit module 1 and limit module 2 can effectively fix the mixing barrel, and the position of limit module 2 can be adjusted according to the diameter of the mixing barrel, so that limit module 1 and limit module 2 can be used with mixing barrels of various sizes, thereby improving versatility.

[0009] Preferably, the limiting module 1 includes a baffle 1; the baffle 1 is rotatably connected to the trolley base, and an anti-rotation component is used between the baffle 1 and the trolley base to achieve angle locking of the baffle 1.

[0010] Preferably, the supporting platform is provided with a roller guide rail for assisting the movement of the mixing barrel; in the limiting module 1, the baffle 1 is rotatably connected to the trolley base through a rotating shaft; a limiting buckle is provided at one end of the rotating shaft, and a stop pin is provided at the other end of the rotating shaft; the stop assembly includes a snap plate connected to the trolley chassis; the snap plate is provided with a snap groove opening outward; the baffle 1 is locked at an angle by the stop pin being clamped in the snap groove; an elastic element is provided on the rotating shaft to tighten the stop pin and clamp it in the snap groove.

[0011] The mixing barrel slides onto the supporting platform from one side of the limiting module 1 through the roller guide rail. At this time, the baffle 1 of the limiting module 1 turns downward, and the anti-rotation pin escapes from the buckle groove of the buckle plate to avoid hindering the movement of the mixing barrel. After the mixing barrel moves into place, the limiting module 2 is positioned at the rear side of the mixing barrel. The limiting module 1 rotates the shaft to make the baffle 1 upward, and the anti-rotation pin is clipped into the buckle groove of the buckle plate to achieve the anti-rotation effect and fix the baffle 1 to prevent rotation. The elastic element can provide elastic force to prevent the anti-rotation pin from escaping from the buckle groove and becoming ineffective. The limiting module 2 can use more than two baffles 2 to jointly position the mixing barrel at multiple points with the baffle 1.

[0012] Preferably, the lifting arm unit includes a connecting rod, an intermediate rotating seat and a terminal fixed seat; the intermediate rotating seat is rotatably connected to the rotating arm unit; the terminal fixed seat is swingably connected to the intermediate rotating seat through the connecting rod; the push rod is connected between the connecting rod and the intermediate rotating seat to change the angle between the connecting rod and the intermediate rotating seat by changing the telescopic length of the push rod, thereby adjusting the height position of the terminal fixed seat; the terminal fixed seat is connected to the stirring seat. The structure is simple, and can effectively and smoothly realize lifting and lowering, and the lifting and lowering are convenient.

[0013] Preferably, the stirring working arm is a manual stirring working arm or an electric stirring working arm; When the stirring working arm is an electric stirring working arm, a rotating electric driving device 1 is arranged between the rotating arm unit and the column; a rotating electric driving device 2 is arranged between the rotating arm unit and the middle rotating seat; the push rod refers to an automatic push rod; in the limit module 2, the limit module 2 is arranged on the trolley chassis through an electric adjustment device to realize the movement of the limit module 2 toward or away from the limit module 1, thereby realizing electric position adjustment.

[0014] The present invention can be set to a manual stirring mode or an automatic stirring mode according to cost considerations or usage needs; in the manual stirring mode, the stirring working arm can assist the worker in operation, and support the electric stirrer to various positions in the inner cavity of the stirring barrel, so that the worker does not need to hold the electric stirrer, but only needs to move the electric stirrer to move its horizontal and vertical positions to perform the stirring operation, which greatly reduces the labor intensity of the workers and improves work efficiency; the automatic stirring mode can realize automatic stirring of materials and further improve work efficiency.

[0015] Preferably, handles are provided on both sides of the electric stirrer; and the stirring base includes a bracket for supporting and fixing the handles of the electric stirrer.

[0016] An automatic stirring method, used for the stirring trolley; the stirring working arm is an electric stirring working arm; comprising the following steps: S1. Place a mixing barrel containing raw materials to be mixed on a supporting platform, and use the limiting module 1 and the limiting module 2 to clamp and fix the mixing barrel; after clamping and fixing the mixing barrel, obtain the position coordinates of the limiting module 2; calculate the estimated diameter of the mixing barrel according to the position coordinates of the limiting module 1 and the limiting module 2, and obtain a preliminary inner cavity contour and inner cavity center line of the mixing barrel; S2, start the electric stirrer; move the electric stirrer in the mixing barrel by rotating the electric drive device 1 to rotate the rotating arm unit, rotating the electric drive device 2 to rotate the lifting arm unit and adjusting the height of the terminal fixing seat by the electric push rod, so as to mix the raw materials evenly; the moving range of the electric stirrer is limited to the inner cavity contour of the mixing barrel, and the stirring blades of the electric stirrer do not exceed the liquid surface of the raw materials when the electric stirrer is raised; During the movement of the electric agitator, the inner cavity profile of the mixing barrel is updated and the raw material liquid level is obtained through the change of the electric agitator current.

[0017] The method of the invention can realize automatic stirring of materials and adapt to stirring barrels of various sizes, thereby saving manpower and improving work efficiency.

[0018] Preferably, during the movement of the electric stirrer, the method for updating the inner cavity profile of the stirring barrel is: When the electric stirrer current increases to exceed the set current upper limit threshold, it is determined that the stirring blades of the electric stirrer touch the inner wall of the stirring barrel, and the coordinates of the electric stirrer at this moment are recorded; According to the moving path of the electric stirrer, determine whether the stirring blade of the electric stirrer touches the side wall of the inner cavity of the stirring barrel or the bottom wall of the inner cavity of the stirring barrel: If it is determined that the side wall of the mixing barrel is touched, the coordinates of the touching point are obtained based on the connection line between the coordinates of the electric stirrer and the coordinates of the center line of the mixing barrel at that moment, combined with the width of the stirring blade, and then the diameter of the mixing barrel corresponding to the height coordinate of the touching point is obtained, and the side wall profile of the mixing barrel is updated; If the bottom wall of the inner cavity of the mixing barrel is touched, the bottom wall contour of the inner cavity of the mixing barrel is updated according to the bottom coordinates of the electric stirrer at that moment.

[0019] Preferably, during the movement of the electric stirrer, the method for obtaining the height of the raw material liquid level is: When the electric agitator current decreases to less than the set current lower limit threshold, and according to the moving path of the electric agitator, it is obtained that the electric agitator is in the process of rising, it is determined that the stirring blades of the electric agitator exceed the raw material liquid level, and the raw material liquid level height is obtained based on the bottom coordinates of the electric agitator at this moment.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The electric stirrer of the mixing trolley of the present invention can reach all positions of the inner cavity of the mixing barrel, stirring without dead angles, having a good stirring effect, reducing the labor intensity of workers and improving work efficiency; it is convenient and quick to clean, significantly shortening the cleaning time and avoiding hardening and clogging of residual materials; 2. The mixing trolley of the present invention has a mixing barrel that can be easily separated from the chassis of the trolley, which is convenient for loading and unloading materials, and the mixing barrel and the electric stirrer can be cleaned after the mixing barrel is disassembled, which is convenient and quick to clean; it can be used with mixing barrels of different sizes and has good versatility; the mixing barrel is easy to disassemble and install, and is firmly fixed; 3. The present invention can be set to a manual stirring mode or an automatic stirring mode according to cost considerations or usage needs; in the manual stirring mode, the stirring working arm can assist the worker in operation, supporting the electric stirrer to various positions in the inner cavity of the stirring barrel, so that the worker does not need to hold the electric stirrer, but only needs to move the electric stirrer to move its horizontal and vertical positions to perform the stirring operation, which greatly reduces the labor intensity of the workers and improves work efficiency; the automatic stirring mode can realize automatic stirring of materials and further improve work efficiency; 4. The method of the present invention can realize automatic mixing of materials and adapt to mixing barrels of various sizes, thus saving manpower and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is one of the structural schematic diagrams of the mixing trolley of the present invention; Figure 2 This is the second structural schematic diagram of the mixing trolley of the present invention; Figure 3 It is a schematic structural diagram of the mixing working arm of the mixing trolley of the present invention; Figure 4 It is a structural schematic diagram of a trolley chassis of a mixing trolley of the present invention; Among them, 1 is the trolley chassis, 2 is the push rod, 3 is the column, 4 is the rotating arm unit, 5 is the middle rotating seat, 6 is the connecting rod, 7 is the push rod, 8 is the end fixed seat, 9 is the electric stirrer, 10 is the stirring seat, 11 is the buffer block, 12 is the stirring blade, 13 is the stirring barrel, 14 is the roller guide rail, 15 is the rotating shaft, 16 is the baffle 1, 17 is the elastic element, 18 is the snap plate, 19 is the limit module 2, 20 is the stop pin, and 21 is the pull hook. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Embodiment 1 like Figures 1 to 4As shown, the present embodiment is a mixing trolley, which can be used for mixing tile adhesive or other materials; the mixing trolley includes a trolley chassis 1, a mixing barrel 13, an electric stirrer 9, a column 3 and a mixing working arm. A supporting platform is provided on the trolley chassis 1; the mixing barrel 13 is detachably arranged on the supporting platform. A roller guide rail 14 for assisting the movement of the mixing barrel 13 is preferably provided on the supporting platform; a mounting structure is provided on the trolley chassis 1 to achieve a detachable connection with the mixing barrel 13. The mounting structure includes a limit module 1 and a limit module 2 19; the limit module 1 and the limit module 2 19 are respectively located on both sides of the mixing barrel 13.

[0024] The limit module 1 includes a baffle 16; the baffle 16 is rotatably connected to the trolley base, and the baffle 16 is angle-locked with the trolley base through a rotation-stop assembly.

[0025] In the limit module 1, the baffle 16 is rotatably connected to the trolley base through the rotating shaft 15; a limit buckle is provided at one end of the rotating shaft 15, and a stop pin 20 and a hook 21 are provided at the other end of the rotating shaft 15; the stop assembly includes a snap plate 18 connected to the trolley chassis 1; the snap plate 18 is provided with a snap groove opening outward; the angle of the baffle 16 is locked by the stop pin 20 being clamped in the snap groove; an elastic element 17 is provided on the rotating shaft 15 to tighten the stop pin 20 and clamp it in the snap groove.

[0026] The mixing barrel 13 slides onto the supporting platform from one side of the limiting module 1 through the roller guide rail 14. At this time, the baffle 16 of the limiting module 1 turns downward, and the anti-rotation pin 20 escapes from the buckle groove of the buckle plate 18 to avoid hindering the movement of the mixing barrel 13. After the mixing barrel 13 moves into place, the limiting module 2 19 is positioned at the rear side of the mixing barrel 13. The limiting module 1 rotates the rotating shaft 15 to make the baffle 1 16 upward, and the anti-rotation pin 20 is locked in the buckle groove of the buckle plate 18 to achieve the anti-rotation effect and fix the baffle 1 16 to prevent rotation. The elastic element 17, such as a spring, can provide elastic force to prevent the anti-rotation pin 20 from escaping from the buckle groove and becoming ineffective. When the mixing barrel 13 needs to be taken out, the pull hook 21 is pulled outward to make the anti-rotation pin 20 escape from the buckle groove of the buckle plate 18, and the baffle 1 16 is turned downward to take out the mixing barrel 13. The second limiting module 19 can use more than two baffles 2 to position the mixing barrel 13 at multiple points together with the baffle 1 16 .

[0027] The second limiting module 19 is preferably arranged on the trolley chassis 1 in an adjustable manner. For example, a long strip hole is provided on the trolley base, and the second limiting module is fixed to the long strip hole by bolts to achieve the front and rear position adjustment of the second limiting module; or the second limiting module is arranged on an electric slide, a screw nut mechanism, etc. to achieve the front and rear position adjustment; in addition, other existing methods can also be used.

[0028] The limiting module 1 and the limiting module 2 19 can effectively fix the mixing barrel 13, and the position of the limiting module 2 19 can be adjusted according to the diameter of the mixing barrel 13, so that the limiting module 1 and the limiting module 2 19 can be used with mixing barrels 13 of various sizes, thereby improving versatility.

[0029] The column 3 is arranged on the trolley chassis 1. The stirring working arm adopts a manual stirring working arm. The stirring working arm comprises a rotating arm unit 4 and a lifting arm unit.

[0030] One end of the rotating arm unit 4 is rotatably connected to the column 3 around the column 3, and the other end of the rotating arm unit 4 is rotatably connected to the intermediate rotating seat 5. The lifting arm unit includes a connecting rod 6, an intermediate rotating seat 5, an end fixed seat 8 and a push rod 7. In this embodiment, the intermediate rotating seat 5 and the end fixed seat 8 form a parallelogram structure through the connecting rod 6; the push rod 7 is connected to the diagonal of the parallelogram structure, and the angle between the connecting rod and the intermediate rotating seat is changed by changing the telescopic length of the push rod 7, so as to realize the height lifting of the end fixed seat 8. In practical applications, the connecting rod 6, the intermediate rotating seat 5 and the push rod 7 can also form a triangular structure; the end fixed seat 8 is set at the angle formed by the connecting rod 6 and the push rod 7.

[0031] The push rod 7 can adopt gas spring, compression spring, etc., which can overcome the gravity of the electric stirrer, making the workers very labor-saving and even able to operate with one hand, thus liberating the workers' labor to a great extent, being flexible, light, having a wide coverage and strong compatibility.

[0032] The electric stirrer 9 is provided with handles on both sides; the stirring seat 10 includes a bracket for supporting and fixing the handles of the electric stirrer 9. The electric stirrer 9 is connected to the end fixing seat 8 through the stirring seat 10.

[0033] A buffer block 11 is provided on the inner side of any one group of connecting rods 6, or on the inner sides of two groups of connecting rods 6. The buffer block 11 is used to limit the up and down movement of the end fixing seat 8, and also can protect the push rod 7 from overshooting, thereby extending its service life.

[0034] The working principle of this embodiment is: place the mixing barrel 13 containing the raw materials to be mixed on the supporting platform and fix it; start the electric stirrer 9, and manually swing the rotating arm unit 4 and the lifting arm unit, and adjust the height of the end of the lifting arm unit to move the electric stirrer 9 in the mixing barrel 13, so as to mix the raw materials evenly. In the mixing trolley of the present invention, the electric stirrer 9 can reach various positions in the inner cavity of the mixing barrel 13, and there is no dead angle for mixing, and it has a good mixing effect; in addition, the mixing barrel 13 can be easily separated from the trolley chassis 1, which is convenient for loading and unloading materials, and the mixing barrel 13 and the electric stirrer 9 can be cleaned after the mixing barrel 13 is disassembled. The cleaning is convenient and quick, which significantly shortens the cleaning time, avoids the hardening and clogging of residual materials, and ensures the long-term stable operation of the equipment.

[0035] In this embodiment, the mixing barrel can be a mixing barrel specially made for the mixing trolley, or a packaging barrel for mixing raw materials; using a packaging barrel can further save equipment costs, and the mixing barrel can be replaced regularly, further reducing cleaning work. The position of the limiting module 2 of the mounting structure is adjustable, and can be used with packaging barrels of different sizes.

[0036] Embodiment 2 The present embodiment is a mixing trolley, which differs from the first embodiment in that: in the present embodiment, the mixing working arm is an electric mixing working arm, and a rotating electric drive device 1 is arranged between the rotating arm unit 4 and the column 3; a rotating electric drive device 2 is arranged between the rotating arm unit 4 and the intermediate rotating seat 5; the push rod 7 refers to an automatic push rod, such as an electric push rod or an electric cylinder; in the limit module 2 19, the limit module 2 19 is arranged on the trolley chassis 1 through an electric adjustment device to realize the movement of the limit module 2 19 toward or away from the limit module 1, thereby realizing electric position adjustment.

[0037] The present invention can be set to a manual stirring mode or an automatic stirring mode according to cost considerations or usage needs; the automatic stirring mode can realize automatic stirring of materials, further improving work efficiency.

[0038] The rest of the structure of this embodiment is the same as that of the first embodiment.

[0039] Embodiment 3 This embodiment provides an automatic stirring method, which is used in the stirring vehicle described in the second embodiment, and comprises the following steps: S1. Place a mixing barrel containing the raw materials to be mixed on a supporting platform, and use the limit module 1 and the limit module 2 to clamp and fix the mixing barrel together; after clamping and fixing the mixing barrel, obtain the position coordinates of the limit module 2; the position coordinates of the limit module 2 can be obtained by using existing technology, for example, when the electric adjustment device of the limit module 2 is set on the chassis of the trolley, it can be obtained by obtaining the stroke of the electric adjustment device; According to the position coordinates of the limiting module 1 and the limiting module 2, the estimated diameter of the mixing barrel is calculated, and the preliminary inner cavity contour and the inner cavity center line of the mixing barrel are obtained; S2, start the electric stirrer; move the electric stirrer in the mixing barrel by rotating the electric drive device 1 to rotate the rotating arm unit, rotating the electric drive device 2 to rotate the lifting arm unit and adjusting the height of the terminal fixing seat by the electric push rod, so as to mix the raw materials evenly; the moving range of the electric stirrer is limited to the inner cavity contour of the mixing barrel, and the stirring blades of the electric stirrer do not exceed the liquid surface of the raw materials when the electric stirrer is raised; During the movement of the electric agitator, the inner cavity profile of the mixing barrel is updated and the raw material liquid level is obtained through the change of the electric agitator current.

[0040] The method of the invention can realize automatic stirring of materials and adapt to stirring barrels of various sizes, thereby saving manpower and improving work efficiency.

[0041] During the movement of the electric stirrer, the method to update the inner cavity contour of the mixing barrel is: When the electric stirrer current increases to exceed the set current upper limit threshold, it is determined that the stirring blades of the electric stirrer touch the inner wall of the stirring barrel, and the coordinates of the electric stirrer at this moment are recorded; According to the moving path of the electric stirrer, determine whether the stirring blade of the electric stirrer touches the side wall of the inner cavity of the stirring barrel or the bottom wall of the inner cavity of the stirring barrel: If it is determined that the side wall of the mixing barrel is touched, the coordinates of the touching point are obtained based on the connection line between the coordinates of the electric stirrer and the coordinates of the center line of the mixing barrel at that moment, combined with the width of the stirring blade, and then the diameter of the mixing barrel corresponding to the height coordinate of the touching point is obtained, and the side wall profile of the mixing barrel is updated; If the bottom wall of the inner cavity of the mixing barrel is touched, the bottom wall contour of the inner cavity of the mixing barrel is updated according to the bottom coordinates of the electric stirrer at that moment.

[0042] During the movement of the electric stirrer, the method to obtain the raw material liquid level is: When the electric agitator current decreases to less than the set current lower limit threshold, and according to the moving path of the electric agitator, it is obtained that the electric agitator is in the process of rising, it is determined that the stirring blades of the electric agitator exceed the raw material liquid level, and the raw material liquid level height is obtained based on the bottom coordinates of the electric agitator at this moment.

[0043] Embodiment 4 This embodiment is a mixing trolley, which is different from the first embodiment in that: in this embodiment, the mixing barrel is fixedly arranged on the supporting platform and cannot be disassembled from the chassis of the trolley. The mixing barrel is preferably provided with a through hole, in which a plug is arranged; the through hole is used for discharging materials after mixing and / or draining water during cleaning. The rest of the structure of this embodiment is the same as that of the first embodiment.

[0044] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A mixing trolley, characterized in that: It includes a trolley chassis, an electric stirrer, a column and a stirring working arm; the trolley chassis is provided with a supporting platform for supporting a stirring barrel; the column is arranged on the trolley chassis; the stirring working arm includes a rotating arm unit and a lifting arm unit with a push rod; one end of the rotating arm unit is rotatably connected to the column around the column, and the other end of the rotating arm unit is rotatably connected to the lifting arm unit, and the electric stirrer is connected to the end of the lifting arm unit through a stirring seat to realize the movement and lifting of the electric stirrer.

2. The mixing trolley according to claim 1, characterized in that: The trolley chassis is provided with an installation structure for detachably connecting with the mixing barrel; the installation structure includes a limit module 1 and a limit module 2; the limit module 1 and the limit module 2 are respectively located on both sides of the mixing barrel to jointly clamp the mixing barrel to position and fix the mixing barrel; wherein, the limit module 2 is arranged on the trolley chassis in an adjustable manner.

3. The mixing trolley according to claim 2, characterized in that: The limiting module 1 includes a baffle 1; the baffle 1 is rotatably connected to the trolley base, and an anti-rotation component is used between the baffle 1 and the trolley base to achieve angle locking of the baffle 1.

4. The mixing trolley according to claim 3, characterized in that: The supporting platform is provided with a roller guide rail for assisting the movement of the mixing barrel; in the limiting module 1, the baffle 1 is rotatably connected to the trolley base through a rotating shaft; a limiting buckle is provided at one end of the rotating shaft, and a stop pin is provided at the other end of the rotating shaft; the stop assembly includes a snap plate connected to the trolley chassis; the snap plate is provided with a snap groove opening outward; the baffle 1 is locked at an angle by the stop pin being clamped in the snap groove; an elastic element is provided on the rotating shaft to tighten the stop pin and clamp it in the snap groove.

5. The mixing trolley according to claim 2, characterized in that: The lifting arm unit includes a connecting rod, an intermediate rotating seat and an end fixed seat; the intermediate rotating seat is rotatably connected to the rotating arm unit; the end fixed seat is swingably connected to the intermediate rotating seat through a connecting rod; a push rod is connected between the connecting rod and the intermediate rotating seat to change the angle between the connecting rod and the intermediate rotating seat by changing the telescopic length of the push rod, thereby adjusting the height position of the end fixed seat; the end fixed seat is connected to the stirring seat.

6. The mixing trolley according to claim 5, characterized in that: The stirring working arm is a manual stirring working arm or an electric stirring working arm; When the stirring working arm is an electric stirring working arm, a rotating electric driving device 1 is arranged between the rotating arm unit and the column; a rotating electric driving device 2 is arranged between the rotating arm unit and the middle rotating seat; the push rod refers to an automatic push rod; in the limit module 2, the limit module 2 is arranged on the trolley chassis through an electric adjustment device to realize the movement of the limit module 2 toward or away from the limit module 1, thereby realizing electric position adjustment.

7. The mixing trolley according to claim 1, characterized in that: Handles are arranged on both sides of the electric stirrer; and the stirring seat comprises a bracket for supporting and fixing the handles of the electric stirrer.

8. An automatic stirring method, characterized in that: The mixing trolley according to claim 6; the mixing working arm is an electric mixing working arm; comprising the following steps: S1. Place a mixing barrel containing raw materials to be mixed on a supporting platform, and use the limiting module 1 and the limiting module 2 to clamp and fix the mixing barrel; after clamping and fixing the mixing barrel, obtain the position coordinates of the limiting module 2; calculate the estimated diameter of the mixing barrel according to the position coordinates of the limiting module 1 and the limiting module 2, and obtain a preliminary inner cavity contour and inner cavity center line of the mixing barrel; S2, start the electric stirrer; move the electric stirrer in the mixing barrel by rotating the electric drive device 1 to rotate the rotating arm unit, rotating the electric drive device 2 to rotate the lifting arm unit and adjusting the height of the terminal fixing seat by the electric push rod, so as to mix the raw materials evenly; the moving range of the electric stirrer is limited to the inner cavity contour of the mixing barrel, and the stirring blades of the electric stirrer do not exceed the liquid surface of the raw materials when the electric stirrer is raised; During the movement of the electric agitator, the inner cavity profile of the mixing barrel is updated and the raw material liquid level is obtained through the change of the electric agitator current.

9. The automatic stirring method according to claim 8, characterized in that: During the movement of the electric stirrer, the method to update the inner cavity contour of the mixing barrel is: When the electric stirrer current increases to exceed the set current upper limit threshold, it is determined that the stirring blades of the electric stirrer touch the inner wall of the stirring barrel, and the coordinates of the electric stirrer at this moment are recorded; According to the moving path of the electric stirrer, determine whether the stirring blade of the electric stirrer touches the side wall of the inner cavity of the stirring barrel or the bottom wall of the inner cavity of the stirring barrel: If it is determined that the side wall of the mixing barrel is touched, the coordinates of the touching point are obtained based on the connection line between the coordinates of the electric stirrer and the coordinates of the center line of the mixing barrel at that moment, combined with the width of the stirring blade, and then the diameter of the mixing barrel corresponding to the height coordinate of the touching point is obtained, and the side wall profile of the mixing barrel is updated; If the bottom wall of the inner cavity of the mixing barrel is touched, the bottom wall contour of the inner cavity of the mixing barrel is updated according to the bottom coordinates of the electric stirrer at that moment.

10. The automatic stirring method according to claim 8, characterized in that: During the movement of the electric stirrer, the method to obtain the raw material liquid level is: When the electric agitator current decreases to less than the set current lower limit threshold, and according to the moving path of the electric agitator, it is obtained that the electric agitator is in the process of rising, it is determined that the stirring blades of the electric agitator exceed the raw material liquid level, and the raw material liquid level height is obtained based on the bottom coordinates of the electric agitator at this moment.

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