Internal mixer

Abstract

The invention discloses an internal mixer. The internal mixer comprises an internal mixer body and a powder sweeping robot, the powder sweeping robot comprises a driving device and a powder sweeping device. The driving device is used for driving the powder sweeping device to move and / or rotate, the powder sweeping device comprises a powder sweeping workpiece, and the powder sweeping workpiece is used for executing powder sweeping operation on a sweeping object; the driving device comprises a mechanical arm capable of freely moving, and the powder sweeping device is connected to the free end of the mechanical arm; the internal mixer body is provided with an internal mixing chamber and a feeding door used for controlling the internal mixing chamber to be opened or closed. A processing device is arranged in the internal mixing chamber; when powder sweeping is needed, the feeding door is opened, the powder sweeping robot stretches into the internal mixing chamber through a channel with the opened feeding door, and powder sweeping operation is carried out on a sweeping object; the cleaning object at least comprises the inner side wall of the internal mixing chamber or the machining device. According to the internal mixer, the powder sweeping robot reaches all corners in the internal mixing chamber, comprehensive sweeping is achieved, the powder sweeping effect is more stable, and meanwhile manpower resources used for sweeping powder for the internal mixer are liberated.

Description

Technical Field

[0001] The invention relates to the technical field of internal mixers, and in particular to an internal mixer. Background Art

[0002] Closed rubber mixer is also called internal mixer, which is mainly used for plasticizing and mixing rubber. Internal mixer is a machine with a pair of relatively rotating rotors of specific shapes, which intermittently plasticizes and mixes polymer materials under a closed state with adjustable temperature and pressure. It is mainly composed of internal mixing chamber, rotor, rotor sealing device, feeding hammer, unloading device, transmission device and machine base.

[0003] In the process of feeding materials into the mixing chamber of the existing internal mixer, and in the process of pressing the hammer down to approach the rotor disposed in the mixing chamber, the polymer material powder is easy to fly and adhere to the side wall of the mixing chamber and / or the hammer, so that this part of the powder cannot be added to the production process acted upon by the rotor. At present, the way to deal with such situations in the market is to manually use tools to clean the side walls and hammers of the mixing chamber, so that the polymer material attached thereto is swept down to the top of the rotor. However, the manual use of tools to clean the side walls and hammers of the mixing chamber is unstable, and workers may forget to sweep the powder or fail to sweep the powder in place due to personal factors. At the same time, the polymer material powder may be inhaled into the respiratory tract by workers during the flying process. Long-term exposure may cause respiratory diseases, which is not good for the health of workers. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an internal mixer to solve the technical problems that the existing manual cleaning of the side walls and pressure hammers of the internal mixer chamber by using tools is unstable, and workers may forget to sweep the powder or fail to sweep the powder properly due to personal factors. At the same time, the polymer material powder may be inhaled into the respiratory tract of the workers during the flying process, and long-term exposure may cause respiratory diseases, which is not conducive to the health of the workers.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An embodiment of the present invention provides an internal mixer, comprising: an internal mixer body and a powder sweeping robot; the powder sweeping robot comprises: a driving device and a powder sweeping device; the driving device is used to drive the powder sweeping device to move and / or rotate, the powder sweeping device comprises a powder sweeping workpiece, and the powder sweeping workpiece is used to perform a powder sweeping operation on a cleaning object;

[0007] The driving device comprises a freely movable mechanical arm, and the powder sweeping device is connected to the free end of the mechanical arm;

[0008] The internal mixer body is provided with an internal mixing chamber and a material feeding door for controlling the opening or closing of the internal mixing chamber; the internal mixing chamber is provided with a processing device;

[0009] When powder sweeping is required, the feed door is opened, and the powder sweeping robot probes into the mixing chamber through the channel opened by the feed door to perform powder sweeping operations on the cleaning object; the cleaning object at least includes the inner side wall of the mixing chamber or the processing device.

[0010] Furthermore, the internal mixer also includes a controller, which is used to obtain status information in the internal mixer and control the powder sweeping robot to probe into the internal mixer through the channel opened by the feed door to perform powder sweeping operations on the cleaning object according to the status information; the status information is used to indicate the working status of the internal mixer of the internal mixer.

[0011] Furthermore, the controller is arranged on the internal mixer body and / or the powder sweeping robot.

[0012] Furthermore, the internal mixer body is also provided with a door driver. When powder sweeping is required, the controller controls the feed door to open through the door driver. When powder sweeping is completed, the controller controls the feed door to close through the door driver.

[0013] Furthermore, the robotic arm at least includes a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm.

[0014] Furthermore, the robotic arm includes a base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm, a first driving motor is provided between the first rotating arm and the base to drive the first rotating arm to rotate relative to the base; a second driving motor is provided between the second rotating arm and the first rotating arm to drive the second rotating arm to rotate relative to the first rotating arm; a third driving motor is provided between the third rotating arm and the second rotating arm to drive the third rotating arm to rotate relative to the second rotating arm; a fourth driving motor is provided between the fourth rotating arm and the third rotating arm to drive the fourth rotating arm to rotate relative to the third rotating arm; a fifth driving motor is provided between the fifth rotating arm and the fourth rotating arm to drive the fifth rotating arm to rotate relative to the fourth rotating arm; a sixth driving motor is provided between the sixth rotating arm and the fifth rotating arm to drive the sixth rotating arm to rotate relative to the fifth rotating arm, and the powder sweeping device is connected to the end of the sixth rotating arm.

[0015] Furthermore, the fixed end of the driving device is positioned relative to the internal mixer body, or the powder sweeping robot also includes a transfer device, the fixed end of the driving device is installed on the transfer device, and the transfer device is used to drive the driving device to approach or move away from the internal mixer body.

[0016] Furthermore, the transfer device includes a guide rail and a slide seat slidably connected to the guide rail, and the fixed end of the driving device is installed on the slide seat.

[0017] or,

[0018] The transfer device comprises a transport vehicle which can freely move in translation, and the driving device is connected to the transport vehicle.

[0019] Furthermore, the powder sweeping device also includes a first mounting seat, the first mounting seat is connected to the driving device, and the powder sweeping workpiece is detachably connected to the first mounting seat.

[0020] Furthermore, the powder sweeping workpiece at least includes a brush or a scraper or a friction cloth or a friction block or a powder suction component or a powder blowing component.

[0021] Furthermore, the powder suction assembly includes a powder suction container, a first air pump and a dust suction head, wherein the first air pump is used to provide a negative pressure environment for the interior of the powder suction container, and the dust suction head is used to provide a channel for introducing external fluid into the interior of the powder suction container.

[0022] Furthermore, a filter screen is provided inside the powder suction container, and the two sides of the filter screen are respectively enclosed with the inner wall of the powder suction container to form an air suction cavity and a powder storage cavity, the air suction end of the first air pump is connected to the air suction cavity, and the dust suction head is connected to the powder storage cavity;

[0023] The powder suction container is provided with a powder discharge port connected to the powder storage cavity, and the powder discharge port is provided with an openable and closable movable door.

[0024] Furthermore, the powder blowing assembly includes a second air pump, and the second air pump is used to provide airflow to blow the powder off the cleaning object.

[0025] Furthermore, the powder sweeping workpiece is provided with a first air hole and a second air hole, the first air hole and the second air hole are connected through an air passage built into the powder sweeping workpiece, and the exhaust end of the second air pump is connected to the first air hole to provide an outward airflow for the second air hole.

[0026] Furthermore, a sealing component is also provided on the internal mixer body, and the sealing component is used to prevent the powder in the internal mixing chamber from flying out.

[0027] The internal mixer of the present invention can reach every corner of the internal mixer chamber through the powder sweeping robot to achieve comprehensive cleaning, thereby making the powder sweeping effect more stable and freeing up the human resources used for sweeping powder for the internal mixer.

[0028] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed.

[0030] Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened.

[0031] Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application.

[0032] Figure 4 It is a schematic diagram of a second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward.

[0033] Figure 5 It is a schematic diagram of the third state of the pressure hammer pressing down in the internal mixer of the embodiment of the present application.

[0034] Figure 6 It is a schematic diagram of the first application scenario of the internal mixer of the embodiment of the present application.

[0035] Figure 7 It is a schematic diagram of a second application scenario of the internal mixer according to an embodiment of the present application.

[0036] Figure 8 It is a schematic diagram of the third application scenario of the internal mixer of the embodiment of the present application.

[0037] Fig. 9 It is a schematic diagram of the structure of the driving device of the internal mixer according to the embodiment of the present application.

[0038] Fig.10 This is a three-dimensional view of the brush and the plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application.

[0039] Fig.11 This is a top view of the brush and plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application.

[0040] Fig.12 This is a three-dimensional view of the scraper and plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application.

[0041] Fig.13 It is a side view of the scraper and the plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application.

[0042] Fig.14 This is a three-dimensional view of the friction block and the plug-in shaft of the powder sweeping workpiece in the internal mixer of the embodiment of the present application.

[0043] Fig.15 This is a top view of the friction block and the plug shaft of the powder sweeping workpiece in the internal mixer of the embodiment of the present application.

[0044] Fig.16 It is a three-dimensional view of the first mounting seat in the internal mixer according to the embodiment of the present application.

[0045] Fig.17 It is a top view of the first mounting seat in the internal mixer of the embodiment of the present application.

[0046] Fig.18 It is a cross-sectional view of a powder suction container in an internal mixer according to an embodiment of the present application.

[0047] Fig.19 It is a schematic diagram of the structure of the sealing assembly in the internal mixer according to the embodiment of the present application.

[0048] Fig. 20 It is a schematic flow chart of the powder cleaning method provided in the embodiment of the present application.

[0049] Fig.21 yes Fig. 20 Detailed flowchart of step S200 in FIG.

[0050] Fig.22A This is the first schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application.

[0051] Fig. 22B This is a second schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application.

[0052] Fig. 22C This is the third schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application.

[0053] Fig.22D This is the fourth schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application.

[0054] Fig.22E This is the fifth schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0057] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “resin”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicating orientations or positional relationships are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0062] See also Figures 1 to 8 , an embodiment of the present application provides an internal mixer, including an internal mixer body 1 and a powder sweeping robot 2; the powder sweeping robot 2 includes: a driving device 21 and a powder sweeping device 22; the driving device 21 is used to drive the powder sweeping device 22 to displace and / or rotate, the powder sweeping device 22 includes a powder sweeping workpiece 222, and the powder sweeping workpiece 222 is used to perform a powder sweeping operation on a cleaning object; the driving device 21 includes a freely movable mechanical arm, and the powder sweeping device 22 is connected to the free end of the mechanical arm; a internal mixer body 1 is provided with a internal mixer chamber 12 and a feeding door 11 for controlling the opening or closing of the internal mixer chamber 12; a processing device is provided in the internal mixer chamber 12; when powder sweeping is required, the feeding door 11 is opened, and the powder sweeping robot 2 probes into the internal mixer chamber 12 through the channel opened by the feeding door 11, and performs a powder sweeping operation on the cleaning object; the cleaning object at least includes the inner side wall of the internal mixer chamber 12 or the processing device.

[0063] Furthermore, the internal mixer of this embodiment also includes a controller, which is used to obtain the status information in the internal mixer chamber 12 and control the powder sweeping robot 2 to probe into the internal mixer chamber 12 through the channel opened by the feed door 11 according to the status information to perform a powder sweeping operation on the cleaning object; the status information is used to indicate the working status in the internal mixer chamber 12 of the internal mixer. Optionally, the controller is provided in the internal mixer body 1 and / or the powder sweeping robot 2. Specifically, the internal mixer body 1 is also provided with a door driver 16, and when powder sweeping is required, the controller controls the feed door 11 to open through the door driver 16, and when powder sweeping is completed, the controller controls the feed door 11 to close through the door driver 16.

[0064] The embodiment of the present application also provides a powder cleaning method, which can automatically perform powder cleaning on the internal mixer by controlling at least one powder sweeping workpiece to perform powder cleaning on the internal mixer according to status information, without the need for an operator to use tools to manually clean the powder on the internal mixer, thereby greatly improving the efficiency of powder cleaning on the internal mixer and protecting the health of the operator.

[0065] In some embodiments, the powder cleaning method provided in the present application is executed by the above-mentioned controller.

[0066] In some embodiments, the powder cleaning method provided in the present application is performed by a powder sweeping robot 2 .

[0067] In some embodiments, the powder cleaning method provided in the present application is executed by a control terminal, and the control terminal is used to control the powder sweeping robot 2 to use at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber 12.

[0068] Optionally, the control terminal may be an electronic device such as a computer, a mobile phone or a watch.

[0069] See also Figures 1 to 5 , Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feeding door 11 is closed. Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feeding door 11 is opened. Figure 3 It is a schematic diagram of a first state in which the pressure hammer in the mixing chamber 12 of the internal mixer of the embodiment of the present application is pressed downward. Figure 4 It is a schematic diagram of a second state in which the pressure hammer in the mixing chamber 12 of the internal mixer of the embodiment of the present application is pressed downward. Figure 5 1 is a schematic diagram of the third state of the hammer pressing down in the mixing chamber 12 of the internal mixer of the embodiment of the present application. When it is necessary to feed materials into the mixing chamber 12 of the internal mixer body 1, the internal mixer body 1 controls the feed door 11 to open and the hammer 13 to rise to the top, as shown in FIG. Figure 2 As shown, at this time, powder can be added into the mixing chamber 12 through the channel opened by the feeding door 11. When the feeding into the mixing chamber 12 is completed, the mixer body 1 controls the feeding door 11 to close, as shown in FIG. Figure 1 As shown in FIG. 1 , at this time, the hammer 13 in the mixing chamber 12 will start to cooperate with the rotor 14 to perform the powder processing work. Figures 3 to 5As shown, the hammer 13 is pressed down by the hammer connecting rod to press the powder poured into the mixing chamber 12 onto the rotor 14, and the powder is gradually melted by the pressure of the hammer 13, the rotation of the rotor 14 and the heating. It is understandable that in the process of feeding into the mixing chamber 12 and pressing the hammer 13 down, part of the powder put into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the hammer 13, and this part of the powder will not be added to the mixing work between the hammer 13 and the rotor 14, resulting in a gap between the actual output and the expected output. For this part of the powder, workers generally clean it according to the specified time or specified process, sweep it off the inner wall of the mixing chamber 12 and the hammer 13, and let it fall naturally onto the rotor 14 to rejoin the mixing work. However, manually using tools to clean the side walls of the mixing chamber 12 and the pressure hammer 13 is unstable. Workers may forget to sweep the powder or fail to sweep the powder properly due to personal factors. At the same time, the polymer material powder may be inhaled into the respiratory tract of workers during the flying process. Long-term exposure may cause respiratory diseases, which is not good for the health of workers.

[0070] The powder cleaning method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0071] See also Figures 6 to 8 , Figure 6 This is a schematic diagram of the first application scenario of the powder cleaning method provided in an embodiment of the present application. Figure 7 This is a schematic diagram of a second application scenario of the powder cleaning method provided in an embodiment of the present application. Figure 8 Schematic diagram of the third application scenario of the powder cleaning method provided in the embodiment of the present application. Figures 6 to 8 As shown, in some embodiments, the powder sweeping robot 2 applied to the internal mixer body 1 includes a driving device 21 and a powder sweeping device 22, the driving device 21 is used to drive the powder sweeping device 22 to move and / or rotate, the powder sweeping device 22 includes a powder sweeping workpiece 222, and the powder sweeping workpiece 222 is used to perform powder cleaning on the surface of the cleaning object.

[0072] In some embodiments, the cleaning objects include the inner wall of the mixing chamber 12 and the pressure hammer 13 .

[0073] Optionally, the cleaning object also includes a hammer connecting rod.

[0074] For further information, please refer to Figures 6 to 8 Considering the supply and demand relationship and actual performance of the internal mixer body 1 and the powder sweeping robot 2, the user can select the installation relationship between the powder sweeping robot 2 and the internal mixer body 1 according to actual needs.

[0075] In some embodiments, Figure 6As shown, the fixed end of the driving device 21 is positioned relative to the internal mixer body 1, which means that the powder sweeping robot 2 in this embodiment is integrated with the internal mixer body 1 on which it is installed. When the internal mixer body 1 needs to perform powder cleaning work, the powder sweeping robot 2 can quickly execute it, and quickly extend the powder sweeping device 22 into the internal mixer chamber 12 and the pressure hammer 13 through the driving device 21, so that the powder on the surface of the cleaning object can be cleaned.

[0076] In some embodiments, Figure 7 As shown, the transfer device includes a guide rail 23 and a slide 231 slidably connected to the guide rail 23, and the fixed end of the drive device 21 is installed on the slide 231, so that the drive device 21 of the powder sweeping robot 2 can carry the powder sweeping device 22 and move between multiple internal mixer bodies 1 by using the sliding cooperation of the guide rail 23 and the slide 231. Optionally, the guide rail 23 is laid on the ground beside the internal mixer body 1, or the guide rail 23 is laid on the mounting surface at the top of the internal mixer body 1, or the guide rail 23 is suspended above the internal mixer body 1. In this embodiment, the guide rail 23 is laid on the ground beside the internal mixer body 1. It should be explained that in some common application scenarios, the guide rail 23 is laid on the mounting surface at the top of the internal mixer body 1 means that the guide rail 23 is laid on the ceiling of a workshop where multiple internal mixer bodies 1 are installed, and the ceiling of the workshop provides support for the guide rail 23. It needs to be explained that in some common application scenarios, multiple columns are arranged in a workshop where multiple internal mixer bodies 1 are installed, and the guide rail 23 is suspended above the internal mixer body 1, which means that the guide rail 23 is connected between the multiple columns, and the multiple columns provide support for the guide rail 23.

[0077] In some embodiments, Figure 8As shown, the transfer device includes a transport vehicle 24 that can freely translate, and the drive device 21 is installed on the transport vehicle 24. Therefore, the drive device 21 of the powder sweeping robot 2 can carry the powder sweeping device 22 and move between multiple internal mixer bodies 1 by utilizing the free translation movement of the transport vehicle 24. Preferably, the transport vehicle 24 is an automated guided vehicle (Automated Guided Vehicle), which is an industrial vehicle that is automatically operated and driven with a battery as a power source. Optionally, in other embodiments, the transfer device can also be other devices that can drive the drive device 21 to approach or move away from the internal mixer body 1, which will not be described in detail here. It is understandable that the powder sweeping robot 2 in this embodiment can serve multiple internal mixer bodies 1 in the entire workshop. When receiving an instruction that a certain internal mixer body 1 needs to perform powder cleaning work, the transfer device will drive the driving device 21 to move to the target position according to the instruction. During the movement, the position and distance can be monitored in real time by the sensor or visual system installed on the transfer device to ensure accurate arrival. When the driving device 21 reaches the target position, it starts to work and extends the powder sweeping device 22 into the internal mixer chamber 12 to perform powder cleaning work. After the work is completed, the transfer device moves according to the instruction of the next internal mixer body 1. Through the transfer device, the powder sweeping robot 2 of this embodiment can quickly move and switch between different internal mixer bodies 1, which greatly improves the flexibility of powder cleaning work. At the same time, since the powder sweeping robot 2 can be shared between different internal mixer bodies 1, it is not necessary to equip each internal mixer body 1 with a powder sweeping robot 2, thereby reducing equipment costs.

[0078] In some embodiments, in order to make the powder sweeping robot 2 more flexible in performing operations, the driving device 21 of this embodiment includes a freely movable mechanical arm, and the powder sweeping device 22 is connected to the free end of the mechanical arm. The mechanical arm is used to send the powder sweeping device 22 from the internal mixer body 1 to the internal mixer chamber 12 in the internal mixer body 1 to perform powder cleaning work, and the high degree of freedom of the mechanical arm is used to carry the powder sweeping device 22 to move, which greatly improves the efficiency of the powder cleaning work.

[0079] In some embodiments, the robot arm is a multi-axis robot arm, such as a three-axis robot arm, a four-axis robot arm, a five-axis robot arm, a six-axis robot arm, or a seven-axis robot arm, etc. It is understandable that the robot arm is classified according to its number of axes (i.e., the number of degrees of freedom), which represents the number of directions in which the robot arm can move independently. Therefore, the higher the number of axes of the robot arm, the more flexible the robot arm is, but the corresponding cost is also higher. Users can choose a robot arm with a suitable number of axes according to their actual needs.

[0080] Preferably, Fig. 9 As shown, Fig. 9Schematic diagram of the structure of the driving device 21 in the embodiment of the present application. In the present embodiment, a six-axis robot arm 211 is selected as the driving device 21, a base 2111, a first rotating arm 2112, a second rotating arm 2113, a third rotating arm 2114, a fourth rotating arm 2115, a fifth rotating arm 2116 and a sixth rotating arm 2117. A first driving motor is provided between the first rotating arm 2112 and the base 2111 to drive the first rotating arm 2112 to rotate relative to the base 2111; a second driving motor is provided between the second rotating arm 2113 and the first rotating arm 2112 to drive the second rotating arm 2113 to rotate relative to the first rotating arm 2112; the third rotating arm 2114 and the second rotating arm 2115 are connected to the first rotating arm 2116. A third driving motor is provided between 2113 to drive the third rotating arm 2114 to rotate relative to the second rotating arm 2113; a fourth driving motor is provided between the fourth rotating arm 2115 and the third rotating arm 2114 to drive the fourth rotating arm 2115 to rotate relative to the third rotating arm 2114; a fifth driving motor is provided between the fifth rotating arm 2116 and the fourth rotating arm 2115 to drive the fifth rotating arm 2116 to rotate relative to the fourth rotating arm 2115; a sixth driving motor is provided between the sixth rotating arm 2117 and the fifth rotating arm 2116 to drive the sixth rotating arm 2117 to rotate relative to the fifth rotating arm 2116, and the powder sweeping device 22 is connected to the end of the sixth rotating arm 2117. It is understandable that each of the first rotating arm 2112, the second rotating arm 2113, the third rotating arm 2114, the fourth rotating arm 2115, the fifth rotating arm 2116 and the sixth rotating arm 2117 is equipped with a motor and a reducer to achieve precise angle control. The coordinated movement of these joints enables the robot arm to move freely in three-dimensional space. The powder sweeping device 22 is installed at the end of the six-axis robot arm 211, that is, the end of the sixth rotating arm 2117, so that all movements of the six-axis robot arm 211 will directly act on the powder sweeping device 22 to achieve precise control of the cleaning task. It should be explained that this embodiment only illustrates the robot arm of the driving device 21 with a limited number of examples. In other embodiments, it can also be other devices that can drive the powder sweeping device 22 to move and / or rotate, which will not be repeated here.

[0081] For further information, see Figures 10 to 15 , Fig.10 This is a three-dimensional view of the brush and the plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application. Fig.11 This is a top view of the brush and plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application. Fig.12 This is a top view of the scraper and plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application. Fig.13 It is a side view of the scraper and the plug shaft for sweeping the powder workpiece in the internal mixer of the embodiment of the present application. Fig.14 This is a three-dimensional view of the friction block and the plug-in shaft of the powder sweeping workpiece in the internal mixer of the embodiment of the present application. Fig.15 This is a top view of the friction block and the plug shaft of the powder sweeping workpiece in the internal mixer of the present application embodiment. Figures 10 to 15 As shown, in order to meet the cleaning requirements under different working conditions, the powder sweeping workpiece 222 at least includes a brush 2221 or a scraper 2222 or a friction cloth or a friction block 2223 or a powder suction component or a powder blowing component. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the cleaning object (such as the mixing chamber 12 or the pressure hammer 13) for cleaning, while the powder suction component and the powder blowing component act on the surface of the mixing chamber 12 or the pressure hammer 13 through airflow for cleaning.

[0082] Among them, there are four implementation methods for sweeping the powder workpiece 222:

[0083] Embodiment 1: The powder sweeping workpiece 222 includes one of a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder suction component, and a powder blowing component.

[0084] Embodiment 2: The powder-sweeping workpiece 222 includes a powder suction component and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0085] Embodiment 3: The powder-sweeping workpiece 222 includes a powder blowing assembly and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0086] Embodiment 4: The powder sweeping workpiece 222 includes a powder suction component and a powder blowing component, and one of the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 .

[0087] Among them, this application will introduce three embodiments of the powder sweeping workpiece 222 in detail, namely the powder sweeping workpiece 222a, the powder sweeping workpiece 222b, and the powder sweeping workpiece 222c.

[0088] Specifically, see Fig.10 and Fig.11 , Fig.10 and Fig.11The powder sweeping workpiece 222a is included, and the powder sweeping workpiece 222a includes a brush 2221, an insert shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211, which are used to form point contact with the cleaning object. The first air hole 22241a is arranged on the insert shaft 2224a, and the second air hole 2225a is arranged on the brush 2221. The functions of the insert shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be introduced in the following part of the specification, and will not be repeated here. Furthermore, the insert shaft 2224a is also provided with a second threaded hole 22242a and a clamping protrusion 22243a. The functions of the second threaded hole 22242a and the clamping protrusion 22243a will be introduced in the following part of the specification, and will not be repeated here.

[0089] Specifically, see Fig.12 and Fig.13 , Fig.12 and Fig.13 The powder sweeping workpiece 222b includes a scraper 2222, an insert shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming a line contact with the cleaning object. The first air hole 22241b is arranged on the insert shaft 2224b, and the second air hole 2225b is arranged on the scraper 2222. The insert shaft 2224b is used to be plugged into the socket 2212 on the first mounting seat 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump, and the second air hole 2225b is used to blow air flow toward the cleaning object, so that while the edge 22221 scrapes off the powder, the air flow blown out through the second air hole 2225b can also blow and take away the polymer material powder attached to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242b and a clamping protrusion 22243b are also provided on the insertion shaft 2224b. The functions of the second threaded hole 22242b and the clamping protrusion 22243b are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0090] Specifically, see Fig.14 and Fig.15 , Fig.14 and Fig.15The powder sweeping workpiece 222c includes a friction block 2223, an insert shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The friction cloth / friction block 2223 has a rough surface 22231 for forming a surface contact with the cleaning object. It should be explained that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft and the friction block 2223 is hard. It can be understood that while the rough surface 22231 rubs to cause the polymer material powder on the side wall of the mixing chamber 12 or the pressure hammer 13 to fall off, the air flow blown out through the second air hole 2225c also blows and takes away the polymer material powder attached to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242c and a clamping protrusion 22243c are also provided on the insertion shaft 2224c. The functions of the second threaded hole 22242c and the clamping protrusion 22243c are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0091] Specifically, the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 are all provided with plug-in shafts, and the scraper 2222 , the friction cloth, and the friction block 2223 are detachably connected with the socket 2212 provided on the first mounting seat 221 through the plug-in shafts.

[0092] Optionally, the following Fig.10 and Fig.11 For example, the second threaded hole 22242a is provided on the plug shaft 2224a. During installation, a screw can be used to pass through the first mounting seat 221 and the second threaded hole 22242a to achieve a stable connection between the plug shaft 2224a and the first mounting seat 221, thereby achieving a stable connection between the brush 2221 or the scraper 2222 or the friction cloth or the friction block 2223 and the first mounting seat 221. Optionally, a snap-fitting protrusion 22243a is also provided on the plug shaft 2224a, and the snap-fitting protrusion 22243a is used to form a snap-fitting relationship between the plug shaft 2224a and the socket 2212.

[0093] Optionally, the brush 2221 may be a roller brush or a scrub brush. The roller brush may rotate relative to the insertion shaft 2224a, while the scrub brush may be fixed to the insertion shaft 2224a.

[0094] For further information, see Fig.16 and Fig.17 , Fig.16 It is a three-dimensional view of the first mounting seat 221 in the internal mixer according to the embodiment of the present application. Fig.17This is a top view of the first mounting seat 221 in the internal mixer of the embodiment of the present application. Considering the various options of assembling the powder sweeping workpiece 222 on the powder sweeping robot 2 under different working conditions, in some embodiments, the powder sweeping device 22 also includes a first mounting seat 221, the first mounting seat 221 is connected to the driving device 21, and the powder sweeping workpiece 222 is detachably connected to the first mounting seat 221. The user can easily replace the powder sweeping workpiece 222 to adapt to different cleaning needs and working conditions, thereby improving the flexibility and applicability of the equipment. Specifically, the brush 2221, the scraper 2222, the friction cloth and the friction block 2223 in the powder sweeping workpiece 222 are detachably connected to the first mounting seat 221.

[0095] Optionally, a socket 2212 is provided on the first mounting seat 221, and the brush 2221, scraper 2222, friction cloth and friction block 2223 in the powder sweeping workpiece 222 are all provided with plug-in shafts. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the socket 2212 on the first mounting seat 221 through the plug-in shafts provided thereon. Through simple plug-in operations, the operator can quickly replace the powder sweeping workpiece 222.

[0096] See also Fig.16 as well as Fig.17 In some embodiments, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head, wherein the first air pump is used to provide a negative pressure environment inside the powder suction container 223, and the dust suction head is used to provide a channel for introducing external fluid into the inside of the powder suction container 223. It should be explained that although the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 can separate the powder adhered to the mixing chamber 12 or the pressure hammer 13 to a large extent, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but re-adhere to the mixing chamber 12 or the pressure hammer 13 after a short period of floating. Based on this, the powder suction assembly in this embodiment provides negative pressure for the powder suction container 223 through the first air pump, and the negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to suck the external fluid into the powder suction container 223. As a result, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 223 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation where the powder swept off the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

[0097] For further information, see Fig.18 , Fig.18This is a cross-sectional view of the powder suction container in the internal mixer of the embodiment of the present application, wherein a filter screen 2231 is arranged inside the powder suction container 223, and the two sides of the filter screen 2231 are respectively enclosed with the inner wall of the powder suction container 223 to form an air suction chamber 2232 and a powder storage chamber 2233, the air suction end of the first air pump is connected to the air suction chamber 2232, and the dust suction head is connected to the powder storage chamber 2233. When the first air pump is started, the powder enters the powder storage chamber 2233 through the dust suction head. Due to the obstruction of the filter screen 2231, the powder is retained in the powder storage chamber 2233, and the air passes through the filter screen 2231 and enters the air suction chamber 2232, thereby maintaining a negative pressure state inside the powder suction container 223. Furthermore, the powder suction container 223 is provided with a powder discharge port connected to the powder storage chamber 2233 , and an openable and closable movable door 2234 is provided at the powder discharge port. When the powder needs to be cleaned, the movable door 2234 of the powder discharge port is opened and the powder is discharged from the powder storage chamber 2233 .

[0098] Further, a gate-controlled motor is provided beside the powder discharge port, and the gate-controlled motor is used to control the opening or closing of the movable door 2234, and the gate-controlled motor is electrically connected to the control system of the powder sweeping robot 2 of this embodiment. Optionally, the powder discharge port in this embodiment is a rectangular opening, and the movable door 2234 is a rectangular door. Further, a hidden door groove is provided on the inner wall of the first side of the rectangular opening, and a sliding door groove is provided on the inner walls of the two sides adjacent to the inner wall of the first side of the rectangular opening. It can be understood that the hidden door groove is used to accommodate the movable door 2234, and the sliding door groove is used to provide support and a sliding pair for the sliding of the movable door 2234. The gate-controlled motor is used to drive the movable door 2234 to slide into or out of the hidden door groove. When the movable door 2234 slides into the hidden door groove, the powder discharge port is opened, and when the movable door 2234 slides out of the hidden door groove, the powder discharge port is closed. Preferably, the powder discharge port is provided on the lower side of the powder suction container 223. Optionally, the door control motor can be a telescopic cylinder, the telescopic end of the telescopic cylinder is connected to the movable door, and the movement direction of the telescopic end of the telescopic cylinder is the same as the sliding direction of the movable door 2234.

[0099] Optionally, the motor used to drive the impeller in the first air pump to rotate to generate airflow is a bidirectional motor, so that the bidirectional motor can drive the wind wheel of the first air pump to switch between two states of clockwise rotation and counterclockwise rotation, so that the suction end and the exhaust end on the first air pump can be turned. For example, when the bidirectional motor in this embodiment rotates forward, the wind wheel of the first air pump rotates clockwise, the first end of the first air pump is the suction end, and the second end of the first air pump is the exhaust end. When the bidirectional motor in this embodiment is reversed, the wind wheel of the first air pump rotates counterclockwise, the first end of the first air pump is the exhaust end, and the second end of the first air pump is the suction end. Thus, when the powder sweeping device 22 in this embodiment performs the powder sweeping operation, the bidirectional motor rotates forward, so that one end of the first air pump connected to the suction chamber 2232 of the powder suction container 223 is the suction end, and by forming a negative pressure state in the powder suction container 223, the dust suction head sucks the external powder into the powder storage chamber 2233 of the powder suction container 223. When the powder sweeping device 22 in this embodiment completes the powder sweeping operation and needs to release the powder in the powder suction container 223 to the top of the rotor 14 of the mixing chamber 12, the bidirectional motor reverses, so that one end of the first air pump connected to the suction chamber 2232 of the powder suction container 223 is the exhaust end, and by blowing air into the powder suction container 223, the powder adhering to the powder suction container 223 can be blown by the air flow to the outside of the powder suction container 223 and fall onto the top of the rotor 14. Optionally, the powder sweeping device 22 also includes a vibration motor, which is arranged on the first mounting seat 221, or the vibration motor is arranged on the powder suction container 223. Optionally, the powder sweeping device 22 also includes a second mounting seat, which is connected to the driving device 21, and the first mounting seat 221 is connected to the second mounting seat. A buffer component is connected between the first mounting seat 221 and the second mounting seat, and the buffer component can be a plurality of springs or other elastic members 2214, which are used to buffer the vibration transmitted from the first mounting seat 221 to the driving device 21.

[0100] It can be understood that when the movable door 2234 is opened to pour the powder in the powder storage chamber 2233 of the powder suction container 223 outward, some of the powder may adhere to the filter screen 2231 or the inner wall of the powder storage chamber 2233. At this time, in addition to using the first air pump to blow air into the powder suction container 223 to separate the powder, the powder suction container 223 can also be vibrated by a vibration motor arranged on the first mounting seat 221 or the powder suction container 223. During the vibration process, the powder attached to the filter screen 2231 or the inner wall of the powder suction container 223 can be effectively separated by centrifugal force so as to naturally fall out of the powder suction container 223 or be blown out of the powder suction container 223 by the airflow of the first air pump. Furthermore, considering that the powder sweeping workpiece 222 contacts the cavity wall of the mixing chamber 12 and the surface of the pressure hammer 13 only by relying on the drive device 21, there may be a situation where the cleaning force is insufficient. At this time, the first mounting seat 221 can be vibrated by a vibration motor arranged on the first mounting seat 221, thereby driving the powder sweeping workpiece 222 installed on the first mounting seat 221 to vibrate. The powder sweeping workpiece 222 in the vibrating state has a stronger cleaning force, which can make the powder on the cavity wall of the mixing chamber 12 and the surface of the pressure hammer 13 be separated more thoroughly.

[0101] Preferably, the dust suction head is mounted on the first mounting seat 221. Optionally, at least two dust suction heads are evenly arranged around the plug hole 2212, and the dust suction port of the dust suction head faces the same direction as the insertion port of the plug hole 2212. Optionally, the dust suction head is a dust suction pipe 2235, and a dust suction hole 2211 is provided on the first mounting seat 221, one end of the dust suction pipe 2235 is connected to the dust suction hole 2211, and the other end is connected to the powder suction container 223.

[0102] In some embodiments, the powder blowing assembly includes a second air pump, which is used to provide airflow to blow the powder off the cleaning object. It should be explained that the airflow provided by the second air pump can be blown directly toward the cleaning object through the air nozzle, or can be blown through the air path channel on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 to act on the cleaning object, which is not limited in this embodiment.

[0103] Furthermore, in this embodiment, an explanation is given for the airflow provided by the second air pump being blown out through the air path on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 provided in the powder sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, scraper 2222, friction cloth, and friction block 2223 all include an insert shaft and a second air hole provided on the insert shaft. The insert shaft is used to be plugged into the socket 2212 on the first mounting seat 221. The second air hole is used to be plugged into the connecting column 2215 in the socket 2212, and the air vent 22151 on the connecting column 2215 is connected to the second air hole. Fig.10 and Fig.11 As an example, the powder sweeping workpiece 222a in the embodiment is provided with a first air hole 22241a and a second air hole 2225a, the first air hole 22241a and the second air hole 2225a are connected through an air passage built into the powder sweeping workpiece 222a, and the exhaust end of the second air pump is connected to the first air hole 22241a to provide an outward airflow to the second air hole 2225a. It can be understood that the powder sweeping robot 2 of this embodiment can convey an airflow to the powder sweeping workpiece 222a through the second air pump, and by using the airflow to blow the powder, the polymer material powder attached to the side wall of the mixing chamber 12 or the pressure hammer 13 can be removed more quickly and thoroughly. When the powder sweeping robot 2 provides compressed gas to the first air hole 22241a through the second air pump, the gas will be ejected from the second air hole 2225a, and the ejected airflow can blow and take away the polymer material powder attached to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning.

[0104] In some embodiments, a connecting column 2215 is provided at the bottom of the socket 2212 on the first mounting seat 221, and an air vent 22151 is provided on the connecting column 2215 to connect the two ends thereof, one end of the air vent 22151 is connected to the socket 2212, and the other end is connected to the exhaust end of the second air pump through an air pipe; taking the powder sweeping workpiece 222a as an example, a first air vent 22241a is provided at the end of the plug shaft 2224a away from the brush 2221, and a second air vent 2225a is provided on the brush 2221, and the first air vent 22241a and the second air vent 2225a are connected through an air duct built into the workpiece body; when the plug shaft 2224a is inserted into the socket 2212, the connecting column 2215 is inserted into the first air vent 22241a, and the exhaust end of the second air pump is connected to the second air vent 2225a.

[0105] Optionally, a first threaded hole is radially opened on the side wall of the insertion hole 2212, and a corresponding second threaded hole 22242a is arranged on the outer side wall of the insertion shaft 2224a of the powder sweeping workpiece 222a. The threads of the first threaded hole and the second threaded hole 22242a are continuous, and only when the clamping protrusion 22243a is located at the connecting position of the second groove and the third groove to be in a self-locking state, the first threaded hole and the second threaded hole 22242a are aligned and connected. At this time, the first threaded hole and the second threaded hole 22242a can be connected by screws to make the connection between the powder sweeping workpiece 222a and the powder sweeping robot 2 more stable.

[0106] Optionally, the connecting column 2215 is disposed at the center of the bottom of the insertion hole 2212 , and at least one of the elastic members 2214 disposed at the bottom of the insertion hole 2212 is a spring and is disposed around the outer circumference of the connecting column 2215 .

[0107] Optionally, a sealing ring is provided on the outer periphery of the connecting column 2215, and the sealing ring can make the connection between the connecting column 2215 and the first air hole 22241a more airtight and stable.

[0108] In some embodiments, the powder sweeping workpiece 222 includes a brush 2221, a scraper 2222, a friction cloth, one of the friction blocks 2223, a powder suction component and a powder blowing component. The powder suction component collects powder through the negative pressure airflow provided by the first air pump, and the powder blowing component blows the powder through the positive pressure airflow provided by the second air pump. The first air pump and the second air pump are the same air pump. It should be noted that in order to prevent the powder in the mixing chamber 12 from entering through the second air hole and being retained in the first air hole and the vent 22151, a filter can be set at the second air hole in this embodiment to prevent external powder from pouring in through the second air hole. In this embodiment, the same air pump is used to simultaneously realize the air source supply to the powder blowing component and the powder suction component, which effectively reduces the product production cost while making the collaborative work of the powder blowing component and the powder suction component more coordinated.

[0109] In some embodiments, see Fig.19 , Fig.19 Schematic diagram of the structure of the sealing assembly in the internal mixer of the embodiment of the present application. A sealing assembly 15 is also provided on the internal mixer body 1 of the present embodiment. The sealing assembly 15 is used to prevent the powder in the internal mixer chamber 12 from flying out.

[0110] In some embodiments, the sealing assembly 15 and the feed door 11 are both arranged at the entrance of the mixing chamber 12. The driving device 21 of the powder sweeping robot 2 is a mechanical arm. When powder sweeping is required, the feed door 11 is opened, the sealing assembly 15 is lowered, and the driving device 21 passes through the channel opened by the feed door 11 and through the sealing assembly 15 to probe into the mixing chamber 12, and performs a powder sweeping operation on the cleaning object. The flying powder generated during the powder sweeping operation will be blocked by the sealing assembly 15 and cannot fly out, which effectively ensures the cleanliness of the workshop environment and reduces the situation where workshop staff inhale powder into the respiratory tract.

[0111] Specifically, the sealing assembly 15 in this embodiment includes a sealing member 151 and a driving member, wherein the driving member is used to drive the sealing member 151 to block the entrance of the mixing chamber 12 or drive the sealing member 151 to leave the entrance of the mixing chamber 12, wherein a movable opening 1511 is opened on the sealing member 151, and the movable opening 1511 is used for the driving device 21 of the powder sweeping robot 2 to pass through, thereby satisfying the need of the powder sweeping robot 2 to probe into the mixing chamber 12 to perform the powder sweeping operation through the movable opening 1511, and also preventing the powder in the mixing chamber 12 from flying out by blocking the flying powder during the powder sweeping operation.

[0112] Optionally, the sealing member 151 in this embodiment is a soft and elastic dustproof cloth, and the length and width of the flat dustproof cloth are respectively greater than the length and width of the entrance of the mixing chamber 12. Further, a rotatable upper roller 154 and a lower roller 155 are respectively provided on the upper and lower sides of the entrance of the mixing chamber 12, the upper side of the dustproof cloth is connected to the upper roller 154, and the lower side of the dustproof cloth is connected to the lower roller 155 through a rope, and the length of the rope after straightening is greater than the length of the entrance of the mixing chamber 12, and the driving member includes an upper driving member 152 for driving the upper roller 154 to rotate and a lower driving member 153 for driving the lower roller 155 to rotate. Therefore, when the sealing assembly 15 in this embodiment is not needed, the upper roller 154 and the lower roller 155 are driven to rotate, so that the sealing member 151 is wound and stored on the upper roller 154, and the entrance of the mixing chamber 12 is not blocked by the sealing member 151. When it is necessary to use the sealing assembly 15 in this embodiment, the upper roller 154 and the lower roller 155 are driven to rotate so that the seal 151 is released downward from the upper roller 154. The entrance of the mixing chamber 12 is blocked by the seal 151, and the powder sweeping robot 2 can pass through the movable opening 1511 on the seal 151 into the mixing chamber 12. Preferably, the seal 151 should not be tightened at the entrance of the mixing chamber 12, which is not conducive to the movement of the powder sweeping robot 2 in the movable opening 1511. Therefore, when using the sealing assembly 15, the upper roller 154 can be rotated more circles than the lower roller 155, so that the seal 151 released by the upper roller 154 is in a relaxed state at the entrance of the mixing chamber 12 to reduce interference with the movement of the powder sweeping robot 2.

[0113] See also Fig. 20 , Fig. 20 Schematic diagram of the powder cleaning method provided in the embodiment of the present application. Fig. 20 As shown, in some embodiments, the powder cleaning method includes: step S100 to step S200.

[0114] Step S100: obtaining status information of the internal mixing chamber of the internal mixer.

[0115] The status information is used to indicate the working status in the mixing chamber of the internal mixer.

[0116] In some embodiments, a corresponding powder sweeping robot is configured for each internal mixer, and the internal mixer corresponds to the powder sweeping robot one by one. At this time, when the powder sweeping robot executes the powder cleaning method, the powder sweeping robot obtains the status information of the corresponding internal mixer. When the powder cleaning method is executed by the control terminal, the status information of the internal mixer corresponding to each powder sweeping robot is obtained.

[0117] In some embodiments, each internal mixer includes a powder sweeping robot mounted on the internal mixer body.

[0118] The present application also provides an internal mixer, including an internal mixer body and a powder sweeping robot as described above, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0119] The specific structure of the internal mixer is as follows Figures 1 to 5 Description.

[0120] In some embodiments, the powder sweeping robot is provided independently of the internal mixer.

[0121] In some embodiments, a powder sweeping robot can perform powder cleaning work on the mixing chambers of multiple internal mixers. At this time, when the powder sweeping robot executes the powder cleaning method, the powder sweeping robot obtains the status information of all corresponding internal mixers. When the powder cleaning method is executed by the control terminal, the status information of all internal mixers corresponding to each powder sweeping robot is obtained.

[0122] Step S200: controlling at least one powder sweeping workpiece to clean the powder in the mixing chamber according to the status information.

[0123] In some embodiments, at least one powder sweeping workpiece is controlled to perform powder cleaning on the surface of a cleaning object in the mixing chamber according to the status information.

[0124] In some embodiments, the cleaning objects in the mixing chamber include the inner wall of the mixing chamber and the pressure hammer.

[0125] Optionally, the cleaning object also includes a hammer connecting rod.

[0126] See also Fig.21 , Fig.21 yes Fig. 20 The detailed flow chart of step S200 in FIG. Fig.21 As shown, in some embodiments, the powder cleaning method includes: step S210 to step S220.

[0127] Step S210: determining whether the internal mixer is a target internal mixer that needs to be cleaned of powder according to the status information.

[0128] In some embodiments, the state information includes the current operating temperature of the internal mixer chamber, and step S210 includes: when the current operating temperature reaches a preset operating temperature, determining that the internal mixer is a target internal mixer.

[0129] In some embodiments, the preset working temperature ranges from 50 degrees to 200 degrees. For example, the preset working temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees.

[0130] In some embodiments, during a single operation of the internal mixer, the internal mixer switches between multiple working states in sequence.

[0131] In some embodiments, each working state of the internal mixer corresponds to a preset working temperature. In each working state, the internal mixer processes the polymer powder to the corresponding preset working temperature.

[0132] In some embodiments, during a single operation of the internal mixer, the preset working temperature in each working state is increased sequentially. For example, during a single operation of the internal mixer, the internal mixer switches four working states sequentially, the preset working temperature of the first working state is 95 degrees, the preset working temperature of the second working state is 120 degrees, the preset working temperature of the third working state is 140 degrees, and the preset working temperature of the fourth working state is 155 degrees. The internal mixer processes the polymer powder to 95 degrees in the first working state, the polymer powder to 120 degrees in the second working state, the polymer powder to 140 degrees in the third working state, and the polymer powder to 155 degrees in the fourth working state. In this way, the internal mixer can gradually melt the polymer material powder.

[0133] In some embodiments, the state information includes the current working state and current working temperature of the internal mixer chamber, and step S210 includes: when the current working temperature reaches a preset working temperature corresponding to the current working state, determining that the internal mixer is a target internal mixer.

[0134] When the current working temperature of the internal mixer reaches the preset working temperature corresponding to the current working state, it indicates that the internal mixer should enter the next working state, and the internal mixer is judged as the target internal mixer. Then, step S220 is performed to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0135] For example, when the current working state of the internal mixer is the first working state, and the current working temperature reaches the preset working temperature of 95 degrees corresponding to the current working state, it means that the internal mixer should enter the second working state. At this time, the internal mixer is judged to be the target internal mixer.

[0136] In some embodiments, the state information includes the working time of the current working state of the mixing chamber of the internal mixer, and step S210 includes: when the working time reaches a preset time, determining that the internal mixer is a target internal mixer.

[0137] In some embodiments, each working state of the internal mixer corresponds to a preset duration.

[0138] In some implementations, when the working time of the internal mixer reaches a preset time corresponding to the current working state, the internal mixer is determined to be the target internal mixer.

[0139] When the working time of the internal mixer reaches the preset time corresponding to the current working state, it indicates that the internal mixer should enter the next working state, and the internal mixer is judged as the target internal mixer. Then, step S220 is performed to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0140] In some embodiments, because the internal mixer has completed a working process when the last working state of the internal mixer ends, the polymer material powder is generally completely melted and powder is not easy to fly, so there is no need to clean the powder of the internal mixer when the last working state of the internal mixer ends.

[0141] In some implementations, during a single operation of the internal mixer, at the end of each operation state except the last operation state, the internal mixer is determined to be a target internal mixer, and then step S220 is performed.

[0142] In some embodiments, the state information includes a work sequence number corresponding to the current working state of the internal mixer, and step S210 includes: when the work sequence number corresponding to the current working state is less than the end number value, the internal mixer is judged to be a target internal mixer. Among them, the work sequence number is the number of the work sequence of the current working state in a single work process of the internal mixer. The end number value refers to the work sequence number corresponding to the last working state in a single working process of the internal mixer. For example, in a single work process of the internal mixer, the internal mixer switches to 4 working states in sequence, the work sequence number of the first working state is 1, the work sequence number of the second working state is 2, the work sequence number of the third working state is 3, the work sequence number of the fourth working state is 4, and so on.

[0143] In some embodiments, the state information includes the thickness of powder attached to the surface of the cleaning object in the internal mixer, and step S210 includes: when the powder thickness is greater than a first preset thickness, determining that the internal mixer is a target internal mixer.

[0144] In some embodiments, the internal mixer further comprises a first detection device disposed on the internal mixer body, and the first detection device is used to detect the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber.

[0145] Optionally, the first detection device includes at least one of a two-dimensional camera, a three-dimensional camera or other detection equipment. The method of using the first detection device to detect the thickness of powder attached to the surface of the cleaning object in the mixing chamber is described in detail in step S2303 below and will not be repeated here.

[0146] Optionally, the first preset thickness ranges from 0.1 mm (millimeter) to 2 mm. For example, the first preset thickness is 0.1 mm, 0.5 mm, 1 mm, 1.5 mm or 2 mm.

[0147] Step S220: when it is determined according to the state information that the internal mixer is the target internal mixer, controlling at least one powder sweeping workpiece to perform powder cleaning on the internal mixer chamber of the target internal mixer.

[0148] In some embodiments, the status information is status information fed back by an internal mixer. When the internal mixer is determined to be a target internal mixer according to the status information, at least one powder sweeping workpiece is controlled to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0149] In some embodiments, the status information is status information fed back by a plurality of internal mixers, and step S200 includes steps S230 to S240.

[0150] Step S230: determining at least one target internal mixer that needs to perform powder cleaning based on the plurality of status information.

[0151] In some embodiments, step S230 includes steps S2301 to S2304.

[0152] Step S2301: Determine at least one initial target internal mixer based on the state information.

[0153] The content of step S2301 refers to the content of step S210.

[0154] In some implementations, the target internal mixer determined in step S2301 according to the method of step S210 is the initial target internal mixer.

[0155] In some embodiments, if the quality of the internal mixer is good, there may be less or almost no flying powder, and powder cleaning may not be required. If the internal mixer currently processes less polymer powder, there may be almost no flying powder, and powder cleaning is not required. Before the internal mixer enters the next working state, the operator may add raw materials to the internal mixer. Even if the internal mixer hardly flies powder at the end of the previous working state, powder may fly because the internal mixer processes more polymer powder in the next working state. Therefore, each time the initial target internal mixer is determined, it is further determined based on the specific situation of the initial target internal mixer whether the initial target internal mixer is the final target internal mixer that needs to be cleaned up.

[0156] Step S2302: Detect each initial target internal mixer to obtain corresponding detection results.

[0157] In some embodiments, each internal mixer is provided with a first detection device.

[0158] In some embodiments, a first detection device on an initial target internal mixer is used to detect the initial target internal mixer to obtain a corresponding detection result.

[0159] In some embodiments, a second detection device is provided on the powder sweeping robot.

[0160] In some embodiments, a second detection device on the powder sweeping robot is used to detect the initial target internal mixer to obtain a corresponding detection result.

[0161] Optionally, the first detection device includes detection equipment such as a camera, a three-dimensional camera and an air detection device.

[0162] Optionally, the second detection device includes detection equipment such as a camera, a three-dimensional camera and an air detection device.

[0163] In some embodiments, when the internal mixer includes a powder sweeping robot, the powder sweeping robot directly inspects the internal mixer.

[0164] In some embodiments, the powder sweeping robot is independently provided, and one powder sweeping robot can perform inspection and powder cleaning on multiple internal mixers.

[0165] In some embodiments, the state information further includes the first position information of the internal mixer. In step S220, the powder sweeping robot moves to the initial target internal mixer based on the first position information of the initial target internal mixer and its own second position information, and then detects the initial target internal mixer.

[0166] In some embodiments, when a two-dimensional camera is used to detect the initial target internal mixer, the detection result includes a first image of the internal mixing chamber of the initial target internal mixer. In this case, step S2302 includes steps (2302.1) to (2302.2).

[0167] (2302.1) For each initial target internal mixer, a first control instruction is sent to the initial target internal mixer to stop the initial target internal mixer, open the feed door and lower the pressure hammer.

[0168] (2302.2) A two-dimensional camera is used to photograph the mixing chamber of the initial target mixer to obtain a first image.

[0169] In some embodiments, when a three-dimensional camera is used to inspect the initial target internal mixer, the inspection result includes three-dimensional point cloud data in the internal mixing chamber of the initial target internal mixer. In this case, step S2302 includes steps (2302.3) to (2302.4).

[0170] (2302.3) For each initial target internal mixer, a first control instruction is sent to the initial target internal mixer to stop the initial target internal mixer, open the feed door and lower the pressure hammer.

[0171] (2302.4) A three-dimensional camera is used to scan the mixing chamber of the initial target mixer to obtain three-dimensional point cloud data.

[0172] Step S2303: judging whether the initial target internal mixer meets the powder cleaning condition based on the detection result.

[0173] In some embodiments, when the detection result includes a first image of the interior of the mixing chamber of the initial target mixer, step S2303 includes steps (2303.1) to (2303.3).

[0174] (2303.1) Identify a first powder-covered region in a first image.

[0175] In some embodiments, the status information of the internal mixer further includes color information of the polymer powder currently processed by the internal mixer.

[0176] In some embodiments, an edge detection algorithm is used to identify edges in the first image, thereby identifying at least one characteristic region in the first image, and then determining whether each characteristic region is a first powder coverage region based on color information of the polymer powder currently processed by the internal mixer.

[0177] (2303.2) Calculate the area of ​​the first powder covered region, and / or calculate the powder thickness of the first powder covered region based on the pixel values ​​of the first powder covered region.

[0178] In some embodiments, a larger pixel value of the first powder covered area indicates a darker color of the first powder covered area, which means a greater powder thickness of the first powder covered area.

[0179] In some embodiments, calculating the powder thickness of the first powder covered area based on the pixel value of the first powder covered area includes steps (2303.2.1) to (2303.2.3).

[0180] (2303.2.1) Obtain a curve graph showing the corresponding relationship between pixel value and powder thickness.

[0181] In some embodiments, multiple images of the first powder coverage area with multiple known powder thicknesses are taken in advance, and a corresponding relationship curve graph of pixel values ​​and powder thickness is obtained based on the pixel values ​​of the first powder coverage area in the multiple images and the corresponding known powder thickness. In this way, even if the corresponding relationship between pixel values ​​and powder thickness is not a linear relationship, the corresponding powder thickness can be accurately calculated based on the pixel values.

[0182] (2303.2.2) Calculate the powder thickness corresponding to each pixel point based on the pixel value of each pixel point in the first powder coverage area and the corresponding relationship curve between the pixel value and the powder thickness.

[0183] In some embodiments, in a graph of the corresponding relationship between pixel value and powder thickness, the powder thickness corresponding to the pixel value of each pixel point is determined according to the pixel value of each pixel point.

[0184] (2303.2.3) Calculate the powder thickness of the first powder coverage area based on the powder thickness corresponding to each pixel in the first powder coverage area.

[0185] In some embodiments, the powder thickness of the first powder covered region is an average powder thickness of the first powder covered region.

[0186] Optionally, the powder thickness corresponding to each pixel in the first powder coverage area is added up, and then divided by the total number of all pixel points in the first powder coverage area to obtain an average powder thickness of the first powder coverage area.

[0187] In some embodiments, the powder thickness of the first powder coverage area includes the powder thickness corresponding to each pixel in the first powder coverage area.

[0188] (2303.3) When the area of ​​the first powder coverage area is greater than the first preset area, and / or the powder thickness of the first powder coverage area is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0189] In some embodiments, when the area of ​​the first powder-covered region is larger than the first preset area, it indicates that the area where the powder is attached is larger. When the powder thickness of the first powder-covered region is larger than the first preset thickness, it indicates that the powder is flying more.

[0190] In some embodiments, when the area of ​​the first powder coverage region is greater than the first preset area, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0191] In some embodiments, when the average powder thickness of the first powder coverage area is greater than a first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0192] In some embodiments, when the powder thicknesses corresponding to a first preset number of pixel points in the first powder coverage area are all greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0193] In some embodiments, when the area of ​​the first powder coverage region is greater than the first preset area, and the powder thickness of the first powder coverage region is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0194] In some embodiments, when the detection result includes three-dimensional point cloud data in the mixing chamber of the initial target mixer, step S2303 includes steps (2303.4) to (2303.7).

[0195] (2303.4) Determine the three-dimensional surface model of the mixing chamber based on the three-dimensional point cloud data.

[0196] In some embodiments, surface reconstruction is performed based on the three-dimensional point cloud data to obtain a three-dimensional surface model of the mixing chamber.

[0197] (2303.5) Obtain a reference surface model within the mixing chamber.

[0198] The reference surface model in the internal mixing chamber is a model obtained by scanning the surface of the cleaning object with a three-dimensional camera when the cleaning object surface of the initial target internal mixer is not adhered to by powder.

[0199] (2303.6) The powder thickness in the mixing chamber is determined based on the three-dimensional surface model in the mixing chamber and the reference surface model.

[0200] In some embodiments, the three-dimensional surface model in the mixing chamber and the reference surface model are both mesh models consisting of a plurality of vertices.

[0201] In some embodiments, the powder thickness in the kneading chamber includes the powder thickness corresponding to each vertex included in the surface of the cleaning object in the three-dimensional surface model in the kneading chamber.

[0202] Optionally, the distance from each vertex on the cleaning object surface of the three-dimensional surface model in the mixing chamber to the corresponding surface of the reference surface model is calculated to obtain the powder thickness corresponding to each vertex.

[0203] In some embodiments, the powder thickness is the average powder thickness over the entire surface of the object being cleaned.

[0204] (2303.7) When the powder thickness is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning conditions.

[0205] In some embodiments, when the powder thickness corresponding to the second preset number of vertices included in the surface of the cleaning object is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0206] In some embodiments, when the average powder thickness of the entire surface of the cleaning object is greater than a first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0207] In some embodiments, when the current average powder thickness of the entire cleaning object surface is greater than the first preset thickness, and the current powder thickness corresponding to the second preset number of vertices included in the cleaning object surface is greater than the first preset thickness, it is judged that the initial target internal mixer meets the powder cleaning conditions.

[0208] Step S2304: when it is determined based on the detection result that the initial target internal mixer meets the powder cleaning condition, the initial target internal mixer is determined as the final target internal mixer.

[0209] In some implementations, the initial target internal mixer determined in step S2301 is directly used as the final target internal mixer.

[0210] Step S240: controlling at least one powder sweeping workpiece to perform powder cleaning on each target internal mixer.

[0211] In some embodiments, at least one powder sweeping workpiece is controlled to perform powder cleaning on a final target internal mixer.

[0212] In some embodiments, step S200 or step S240 includes steps S201 to S204.

[0213] Step S201: when it is determined according to the state information that the internal mixer is the target internal mixer, a second control instruction is sent to the target internal mixer to enable the target internal mixer to open a feed door.

[0214] Step S202: controlling at least one powder sweeping workpiece to clean powder in a mixing chamber of a target mixer.

[0215] As described above, in some embodiments, the powder sweeping workpiece includes at least one of a brush, a scraper, a friction cloth, a friction block, a powder suction component and a powder blowing component. The brush can be a roller brush or a plate brush.

[0216] In some embodiments, step S202 includes steps S2021 to S2028.

[0217] Step S2021: sending a fourth control instruction to the target internal mixer to put the hammer of the target internal mixer into a falling state.

[0218] See also Fig.22A , Fig.22A 1 is a first schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.22A As shown, in some embodiments, the powder sweeping robot 2 performs powder cleaning work on the target internal mixer body 1.

[0219] In some embodiments, the mixer body is provided with a feed door 11 for closing the mixer chamber. In some embodiments, during the powder cleaning process, the feed door 11 remains in a falling state so that the powder sweeping robot 2 can perform powder cleaning on the target mixer body 1.

[0220] In some embodiments, when the hammer 13 of the target internal mixer body 1 is in a falling state, before step S2023, step S202 further includes step S2022: controlling a powder sweeping workpiece to clean powder on the surface of the hammer connecting rod 30.

[0221] In some embodiments, because the powder on the surface of the hammer connecting rod 30 will fall into the mixing chamber or the surface of the hammer 13, the powder on the surface of the hammer connecting rod 30 is first cleaned.

[0222] In some embodiments, the control plate brush performs powder cleaning on the surface of the pressure hammer connecting rod 30. Because the surface curvature of the pressure hammer connecting rod 30 is relatively large, a plate brush with relatively large bristle bending degree is selected to perform powder cleaning on the surface of the pressure hammer connecting rod 30.

[0223] It can be understood that the powder sweeping robot 1 includes a powder sweeping workpiece and a multi-axis robotic arm, so the powder sweeping robot 1 can change the position and angle of the powder sweeping workpiece through the multi-axis robotic arm to completely clean the powder on the surface of the cleaning object.

[0224] Step S2023: when the hammer of the target internal mixer is in a falling state, controlling the powder sweeping workpiece to clean the powder on the first side surface of the inner wall of the internal mixer.

[0225] The inner wall of the mixing chamber includes a first side surface, a second side surface and a third side surface. The first side surface and the second side surface are opposite to each other and are not blocked by the pressure hammer. The third side surface is blocked by the pressure hammer when the pressure hammer is in a falling state.

[0226] In some embodiments, the powder sweeping workpiece includes a roller brush, a scraper, a plate brush, a powder blowing assembly, a powder suction assembly, and the like.

[0227] In some embodiments, the roller brush is controlled to clean the powder on the first side of the inner wall of the mixing chamber. Because the area of ​​the inner wall of the mixing chamber is large, a roller brush with a larger cleaning area is selected to clean the powder on the inner wall of the mixing chamber. In this way, the cleaning efficiency can be improved.

[0228] like Fig.22A As shown, in some embodiments, the roller brush 2221A is controlled to clean the powder on the first side surface A1 of the inner wall of the mixing chamber.

[0229] Step S2024: controlling the powder sweeping workpiece to clean the powder on the first part of the surface of the hammer.

[0230] The surface of the pressure hammer includes a first surface portion and a second surface portion, the first surface portion is close to a first side surface of an inner wall of the mixing chamber, and the second surface portion is close to a second side surface of an inner wall of the mixing chamber.

[0231] See also Fig. 22B , Fig. 22B 2 is a second schematic diagram of a working scene of performing powder cleaning on a target internal mixer provided in an embodiment of the present application. Fig. 22B As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the first part of the surface of the hammer 13 .

[0232] Optionally, in step S2024, the roller brush 2221A and the target mixer body 1 are not replaced and controlled to operate. After step S2023 is completed, the roller brush 2221A is directly used to clean the powder on the first part of the surface of the hammer 13. In this way, the cleaning efficiency can be improved. The following steps are similar.

[0233] Step S2025: Control the powder sweeping workpiece to clean the powder on the second side surface of the inner wall of the mixing chamber.

[0234] See also Fig. 22C , Fig. 22C 3 is a third schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig. 22C As shown, in some embodiments, the roller brush 2221A is controlled to clean the powder on the second side surface A2 of the inner wall of the mixing chamber.

[0235] Step S2026: Control the powder sweeping workpiece to clean the powder on the second part of the surface of the hammer.

[0236] See also Fig.22D , Fig.22D 4 is a fourth schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.22D As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the second part of the surface of the hammer 13 .

[0237] In step S2023 to step S2026, the pressure hammer is always in a falling state.

[0238] Step S2027: Send a fifth control instruction to the target internal mixer to raise the hammer of the target internal mixer.

[0239] In some embodiments, when the pressure hammer of the target internal mixer is in a raised state, the first side surface, the second side surface, and the third side surface of the inner wall of the internal mixer are not blocked by the pressure hammer.

[0240] Step S2028: Control the powder sweeping workpiece to clean the powder on the first side, the second side and the third side of the inner wall of the mixing chamber.

[0241] See also Fig.22E , Fig.22E 1 is a fifth schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.22E As shown, in some embodiments, the scraper 2222 is controlled to clean the powder on the third side surface A3 of the inner wall of the mixing chamber.

[0242] In some embodiments, the scraper is controlled to clean the powder from the first side, the second side, and the third side of the inner wall of the mixing chamber. Because the powder may be firmly attached to the inner wall surface of the mixing chamber, the scraper 2222 with greater hardness is selected to clean the powder from the first side A1, the second side A2, and the third side A3 of the inner wall of the mixing chamber. In this way, the powder attached to the inner wall surface of the mixing chamber can be completely cleaned.

[0243] In some embodiments, the powder sweeping workpiece includes a brush, a scraper, a friction cloth, a friction block, a powder blowing component, a powder suction component, etc. The brush may include a roller brush and a plate brush, etc.

[0244] In some embodiments, the powder blowing component or the powder suction component can be independently controlled to perform powder cleaning on the surface of any one or more of the cleaning objects.

[0245] Optionally, during the above-mentioned powder cleaning process, other powder sweeping components can be controlled to be used in combination with the powder blowing component and / or the powder suction component to perform powder cleaning on the surface of any one or several of the above-mentioned cleaning objects.

[0246] In some embodiments, when the powder sweeping robot controls the powder blowing component to perform powder cleaning on the surface of the cleaning object, the polymer powder is blown into the mixing chamber so that the flying polymer material powder continues to participate in the production process. In this way, the powder cleaning efficiency can be improved.

[0247] In some embodiments, when the powder sweeping robot controls the powder suction component to perform powder cleaning on the surface of the cleaning object, the powder sweeping robot also includes a powder suction container. After completing the powder cleaning of the target internal mixer, when the pressure hammer is in the raised state, the powder sweeping robot pours all the powder collected by the powder suction container during this powder cleaning process into the internal mixer, so that the flying polymer material powder continues to participate in the production process. The specific structure of the powder suction container refers to Fig.15 and Fig.16 Description.

[0248] In some implementations, before step S202, step S200 or step S230 further includes: determining a cleaning mode corresponding to the target internal mixer based on status information of the target internal mixer.

[0249] In some implementations, the cleaning mode includes a full cleaning mode and a partial cleaning mode.

[0250] In some implementations, each cleaning mode corresponds to a set of cleaning parameters.

[0251] In some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as a cleaning time, a cleaning force and a cleaning speed corresponding to each powder-sweeping workpiece.

[0252] In some embodiments, the cleaning objects in the mixing chamber include the inner wall of the mixing chamber and the pressure hammer.

[0253] Optionally, the cleaning object also includes a hammer connecting rod.

[0254] Optionally, when the powder sweeping workpiece is a brush, a scraper, a friction cloth or a friction block, the cleaning force includes a pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0255] In some embodiments, the powder sweeping robot further includes a pressure sensor, which is used to detect the pressure value between the powder sweeping workpiece and the robot arm. It is understandable that after the pressure generated by the surface of the cleaning object on the powder sweeping workpiece, the powder sweeping workpiece will generate pressure on the robot arm. According to Newton's third law, the pressure value between the powder sweeping workpiece and the surface of the cleaning object is equal to the pressure value between the powder sweeping workpiece and the robot arm. Optionally, the powder sweeping robot adjusts the movement of the robot arm according to the pressure value detected by the pressure sensor to adjust the pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0256] Optionally, when the powder sweeping workpiece is a powder suction component or a powder blowing component, the cleaning force also includes an airflow intensity value. The powder sweeping robot can control the airflow intensity value of the second air pump.

[0257] In some embodiments, the powder sweeping robot can control the powder sweeping workpiece to vibrate on the surface of the cleaning object. At this time, the cleaning force also includes a vibration frequency value.

[0258] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0259] In some implementations, the state information of the target internal mixer further includes a working sequence number corresponding to the current working state.

[0260] It is understandable that when the working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly. When the working temperature of the internal mixer is high, the melting degree of the polymer material powder is high, and the powder is less likely to fly. In a single working process of the internal mixer, the preset working temperature in each working state increases successively. Therefore, the cleaning mode corresponding to the target internal mixer can be determined based on the working state of the internal mixer.

[0261] In some implementations, when the working sequence number corresponding to the current working state in the state information of the target internal mixer is less than a preset number value, the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode.

[0262] Optionally, the preset number value is not greater than the end number value. The end number value refers to the working sequence number corresponding to the last working state in a single working process of the internal mixer.

[0263] Optionally, when the work sequence number corresponding to the current working state is less than the preset number value, it means that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode.

[0264] In some embodiments, the full cleaning mode further includes a full deep cleaning mode and a full standard cleaning mode. The cleaning time of the full deep cleaning mode is longer than the cleaning time of the full standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the full standard cleaning mode.

[0265] Furthermore, when the working sequence number corresponding to the current working state of the target internal mixer is less than the preset number value, when the current working temperature of the target internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the target internal mixer is determined as the complete deep cleaning mode, otherwise the cleaning mode corresponding to the target internal mixer is determined as the complete standard cleaning mode.

[0266] The preset temperature value is not necessarily the preset working temperature of the target internal mixer.

[0267] Optionally, when the work sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is lower than the preset temperature value, it can be further explained that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is very easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete deep cleaning mode. When the work sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that although the current working temperature of the target internal mixer is low, it is not so low that the powder is very easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete standard cleaning mode.

[0268] Optionally, the complete cleaning mode also includes complete cleaning modes corresponding to other cleaning levels.

[0269] In some implementations, when the working sequence number corresponding to the current working state in the state information of the target internal mixer is not less than a preset number value, the cleaning mode corresponding to the target internal mixer is determined as the partial cleaning mode.

[0270] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, it means that the current working temperature of the target internal mixer is high, the melting degree of the polymer material powder is high, and the powder is not easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as a partial cleaning mode.

[0271] In some embodiments, the partial cleaning mode further includes a partial deep cleaning mode and a partial standard cleaning mode. The cleaning time of the partial deep cleaning mode is longer than the cleaning time of the partial standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the partial standard cleaning mode.

[0272] Furthermore, when the working sequence number corresponding to the current working state of the target internal mixer is not less than the preset number value, when the current working temperature of the target internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the target internal mixer is determined as a partial deep cleaning mode, otherwise the cleaning mode corresponding to the target internal mixer is determined as a partial standard cleaning mode.

[0273] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is lower than the preset temperature value, it means that the current working temperature of the target internal mixer is relatively high, but not so high that the powder rarely flies, so the cleaning mode corresponding to the target internal mixer is determined as the partial deep cleaning mode. Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that the current working temperature of the target internal mixer is relatively high, and is so high that the powder rarely flies, so the cleaning mode corresponding to the target internal mixer is determined as the partial standard cleaning mode.

[0274] Optionally, the partial cleaning mode also includes partial cleaning modes corresponding to other cleaning degrees.

[0275] By determining the cleaning mode corresponding to the target internal mixer based on the state information of the target internal mixer, the cleaning mode can be flexibly determined according to the actual powder flying situation of the target internal mixer, thereby minimizing the cleaning time while ensuring the powder cleaning effect.

[0276] In some embodiments, when executing step S202, when the cleaning mode corresponding to the target internal mixer is determined, the cleaning mode corresponding to the target internal mixer is used to perform powder cleaning on the mixing chamber of the target internal mixer.

[0277] In some embodiments, the cleaning objects in the mixing chamber of the target internal mixer and at least one powder sweeping workpiece corresponding to each cleaning object are determined based on the cleaning mode corresponding to the target internal mixer; then the target powder sweeping robot corresponding to the target internal mixer is controlled to select at least one powder sweeping workpiece corresponding to each cleaning object and perform powder cleaning on the surface of the cleaning object in the mixing chamber according to the cleaning process in the cleaning mode corresponding to the target internal mixer, using corresponding cleaning parameters.

[0278] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the complete cleaning mode, it is determined that the cleaning objects in the internal mixer chamber of the target internal mixer include the hammer connecting rod, the internal wall of the internal mixer chamber and the hammer, and then the target powder sweeping robot corresponding to the target internal mixer is controlled to sequentially perform steps S201, S2021, S2022, S2023, S2024, S2025, S2026 and S2027. In each step, the cleaning parameters corresponding to the complete cleaning mode are used to perform powder cleaning on the surface of the cleaning object.

[0279] Optionally, when the cleaning mode corresponding to the target internal mixer is the complete deep cleaning mode or the complete standard cleaning mode, in each step, the cleaning parameter set corresponding to the complete deep cleaning mode or the complete partial cleaning mode is used to perform powder cleaning on the surface of the cleaning object.

[0280] As described above, in some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as the cleaning time, cleaning force and cleaning speed corresponding to each powder-sweeping workpiece.

[0281] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0282] In some embodiments, parameters such as cleaning time, cleaning intensity, and cleaning speed corresponding to each powder sweeping workpiece corresponding to the complete deep cleaning mode and the complete standard cleaning mode are all within the numerical range of the parameters corresponding to the complete cleaning mode.

[0283] Optionally, the cleaning intensity value corresponding to the complete deep cleaning mode is greater than the cleaning intensity value corresponding to the complete standard cleaning mode, and / or the cleaning time value corresponding to the complete deep cleaning mode is greater than the cleaning time value corresponding to the complete standard cleaning mode.

[0284] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the partial cleaning mode, it is determined that the cleaning objects in the internal mixer chamber of the target internal mixer include the internal wall of the internal mixer chamber and the pressure hammer, and then the target powder sweeping robot corresponding to the target internal mixer is controlled to sequentially execute step S201, step S2021, step S2023, step S2024, step S2025, step S2026 and step S2027. In each step, the cleaning parameters corresponding to the partial cleaning mode are used to perform powder cleaning on the surface of the cleaning object.

[0285] Optionally, when the cleaning mode corresponding to the target internal mixer is a partial deep cleaning mode or a partial standard cleaning mode, a cleaning parameter set corresponding to the partial deep cleaning mode or the partial standard cleaning mode is used in each step to perform powder cleaning on the surface of the cleaning object.

[0286] In some embodiments, parameters such as cleaning time, cleaning intensity, and cleaning speed corresponding to each powder sweeping workpiece corresponding to the partial deep cleaning mode and the partial standard cleaning mode are all within the numerical range of the parameters corresponding to the partial cleaning mode.

[0287] Optionally, the cleaning intensity value corresponding to the partial deep cleaning mode is greater than the cleaning intensity value corresponding to the partial standard cleaning mode, and / or the cleaning time value corresponding to the partial deep cleaning mode is greater than the cleaning time value corresponding to the partial standard cleaning mode.

[0288] In some embodiments, different internal mixers may process different types of polymer powders. Optionally, the first state information also includes information on the type of polymer powder currently processed by the internal mixer.

[0289] In some embodiments, step S200 further includes: controlling a target powder sweeping robot corresponding to the target internal mixer to perform a target operation during the powder cleaning process according to information on the type of polymer powder currently processed by the target internal mixer.

[0290] In some embodiments, when the polymer powder is judged to be flammable and explosive powder based on the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use a second powder detection device to obtain the powder concentration in the air in the internal mixer chamber of the internal mixer before starting the powder cleaning work, and obtain the current operating temperature of the target internal mixer. When the powder concentration is lower than the safe working concentration threshold, and the current operating temperature of the target internal mixer is lower than the safe working temperature, the target powder sweeping robot is controlled to start the powder cleaning work, otherwise the target powder sweeping robot is controlled to enter a waiting state. If sufficient dust concentration and temperature are reached during the cleaning process, a dust explosion may occur. In this way, the target powder sweeping robot can be controlled to start the powder cleaning work when the working environment is relatively safe, thereby reducing the risk of production accidents.

[0291] Optionally, when the target powder sweeping robot enters the waiting state, the target powder sweeping robot is controlled to detect the powder concentration in the air in the mixing chamber of the internal mixer every second preset time and obtain the current operating temperature of the target internal mixer. When the powder concentration is lower than the safe operating concentration threshold and the current operating temperature of the target internal mixer is lower than the safe operating temperature, the target powder sweeping robot is controlled to start the powder cleaning work.

[0292] In some embodiments, when the polymer powder is judged to be a powder that is prone to static electricity based on the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use a powder suction component and one of a brush, a scraper, a friction cloth and a friction block to perform powder cleaning work. In a dry environment, static electricity may attract powder back to the surface of the cleaning object, resulting in incomplete cleaning and potential safety hazards. In this way, the powder can be sucked into the powder suction container, thereby improving the cleaning efficiency and reducing the risk of production accidents.

[0293] In some embodiments, when the polymer powder is determined to be sticky powder according to the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use one of a scraper, a friction cloth and a friction block to perform powder cleaning work when performing powder cleaning work. Sticky powder is easy to adhere to the surface of the cleaning object, and it may be difficult to clean it completely if a powder suction component, a powder suction component or a brush is used. In this way, a powder sweeping workpiece with greater hardness can be used for powder cleaning work, which is conducive to thoroughly cleaning sticky powder.

[0294] In some embodiments, when the polymer powder currently processed by the target internal mixer is judged to be corrosive powder according to the type information of the polymer powder, the target powder sweeping robot is controlled to use a powder sweeping workpiece made of an anti-corrosion material to perform powder cleaning work. In this way, it is possible to avoid using an ordinary powder sweeping workpiece made of a non-corrosion-resistant material to clean the corrosive powder, and the working life of the ordinary powder sweeping workpiece can be extended.

[0295] Step S203: Determine whether the powder cleaning work is completed.

[0296] In some embodiments, step S203 includes: when the duration of the powder cleaning work is greater than a first preset time, determining that the powder cleaning work is completed; otherwise, determining that the powder cleaning work is not completed and continuing the powder cleaning work.

[0297] Optionally, the first preset time ranges from 5 seconds to 15 seconds. For example, the first preset time is 5 seconds, 10 seconds or 15 seconds.

[0298] In some implementations, step S203 includes steps S2031 to S2034.

[0299] Step S2031: Acquire a second image of the internal mixing chamber of the target internal mixer.

[0300] The content of step S2031 refers to the content of step S2302.

[0301] In some embodiments, during the powder cleaning operation, multiple second images of the target internal mixer are acquired in real time.

[0302] Optionally, during the powder cleaning process, a second image of the target internal mixer is acquired at a preset time interval.

[0303] Optionally, during the powder cleaning process, a video of the target internal mixer is acquired in real time.

[0304] Step S2032: Identify a second powder-covered area in the second image.

[0305] The content of step S2032 refers to the content of step (2303.1).

[0306] Step S2033: Calculate the area of ​​the second powder covered region, and / or calculate the powder thickness of the second powder covered region based on the pixel value of the second powder covered region.

[0307] The content of step S2033 refers to the content of step (2303.2).

[0308] Step S2034: When the area of ​​the second powder coverage area is greater than the second preset area, and / or the powder thickness of the second powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0309] In some embodiments, when the area of ​​the second powder coverage region is greater than the second preset area, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0310] In some embodiments, when the powder thickness of the second powder coverage area is greater than the second preset thickness, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0311] In some embodiments, when the area of ​​the second powder coverage area is greater than the second preset area, and the powder thickness of the second powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0312] In some embodiments, step S203 includes steps S2036 to S2037.

[0313] Step S2036: When performing the powder cleaning operation, the powder concentration in the air in the internal mixing chamber of the target internal mixer is obtained.

[0314] In some embodiments, the powder sweeping robot further comprises a first powder detection device. When performing the powder cleaning operation, the first powder detection device is used to obtain the powder concentration in the air in the mixing chamber of the target mixer.

[0315] In some embodiments, the internal mixer further comprises a second powder detection device. When performing the powder cleaning operation, the second powder detection device is used to obtain the powder concentration in the air in the internal mixer chamber of the target internal mixer.

[0316] Step S2037: When the powder concentration is lower than the preset concentration, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0317] In some embodiments, when the powder concentration is lower than a preset concentration, it indicates that less powder is blown into the air during the powder cleaning process, which can further indicate that the powder on the surface of the cleaning object has been basically cleaned.

[0318] Step S204: When it is determined that the powder cleaning work is completed, a third control instruction is sent to the internal mixer to make the target internal mixer close the feed door and continue to work.

[0319] In some embodiments, one powder sweeping robot is a first device, and the other powder sweeping robots are second devices, and the first device is used to control the operation of itself and all the second devices.

[0320] In some implementations, before executing step S200, the method further includes steps S101 to S102.

[0321] Step S101: constructing a task list for each powder sweeping robot based on all target internal mixers corresponding to each powder sweeping robot.

[0322] In some implementations, a corresponding powder sweeping robot is determined for each target internal mixer.

[0323] Optionally, one powder sweeping robot can correspond to multiple target internal mixers.

[0324] Optionally, a task list of a powder sweeping robot includes multiple cleaning tasks, and each cleaning task includes the ID and status information of each target internal mixer.

[0325] Step S102: when it is determined based on the task list of the powder sweeping robot corresponding to the target internal mixer that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the powder sweeping robot corresponding to the target internal mixer is controlled to control at least one powder sweeping workpiece to perform powder cleaning on the target internal mixer.

[0326] Optionally, when the powder sweeping robot corresponding to the target internal mixer is the first device itself, the first device controls at least one powder sweeping workpiece of itself to perform powder cleaning work on the target internal mixer.

[0327] Optionally, when the powder sweeping robot corresponding to the target internal mixer is the second device, the first device controls the second device to use at least one powder sweeping workpiece to perform powder cleaning work on the target internal mixer.

[0328] In some embodiments, step S102 includes steps (102.1) to (102.3).

[0329] (102.1) Calculate the function value of the objective function corresponding to each cleaning task in the task list.

[0330] In some embodiments, each internal mixer belongs to one operating area.

[0331] Optionally, the operation areas are divided according to production workshops, with one production workshop being one operation area.

[0332] Optionally, the operation areas are divided according to the types of polymer powders processed by the internal mixers, and all internal mixers processing the same type of polymer powder belong to the same operation area.

[0333] In some embodiments, each operating area has a priority order.

[0334] In some embodiments, the importance parameter of the target internal mixer corresponding to each cleaning task in the task list, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area are obtained, and then a weighted calculation is performed based on the importance parameter of the target internal mixer corresponding to each cleaning task in the task list, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area to obtain the function value of the objective function corresponding to each cleaning task in the task list.

[0335] Optionally, the objective function is calculated as:

[0336] Function value=importance parameter of the target internal mixer corresponding to the cleaning task×first weight parameter+priority parameter of the operating area of ​​the target internal mixer corresponding to the cleaning task×second weight parameter.

[0337] Optionally, the larger the value of the importance parameter, the more important the corresponding cleaning task is. The larger the value of the priority parameter, the higher the priority of the corresponding operation area. The larger the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0338] Optionally, the smaller the value of the importance parameter, the more important the corresponding cleaning task is. The smaller the value of the priority parameter, the higher the priority of the corresponding operation area. The smaller the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0339] (102.2) Sort each cleaning task in the task list according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0340] Optionally, when the function value of the objective function is larger, indicating that the corresponding cleaning task has a higher priority, each cleaning task in the task list is sorted in descending order according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0341] Optionally, when the function value of the objective function is smaller, indicating that the priority of the corresponding cleaning task is higher, each cleaning task in the task list is sorted in ascending order according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0342] (102.3) When the execution order of the cleaning task corresponding to the target internal mixer is the first execution order, it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, and step S200 is executed.

[0343] In some embodiments, the target internal mixer or the target powder sweeping robot may fail before the powder cleaning operation begins, resulting in the cleaning task not being performed normally. Therefore, before starting the powder cleaning operation on the internal mixer chamber of the target internal mixer, it is necessary to ensure that the target internal mixer and the corresponding target powder sweeping robot can both operate normally.

[0344] In some embodiments, before starting to clean the powder in the mixing chamber of the target internal mixer in step S220 or step S240, step S220 or step S240 further includes steps S205 to S209.

[0345] Step S205: acquiring the first state information in the mixing chamber of the target mixer again, and determining whether the target mixer is in a normal working state based on the currently acquired first state information.

[0346] The first state information in the internal mixing chamber of the target internal mixer is the state information in the internal mixing chamber of the target internal mixer.

[0347] In some embodiments, when it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the first state information is obtained again. Because the target internal mixer may need to wait for the corresponding target powder sweeping robot to sweep powder for it, and during the waiting process, the target internal mixer may fail, and the time when the first state information was first obtained has been a period of time, so it is outdated, so it is necessary to obtain the first state information in the internal mixer chamber of the target internal mixer again.

[0348] In some embodiments, the first state information is used to indicate that the current working state of the target internal mixer is a fault state. When it is determined based on the first state information that the current working state of the target internal mixer is a fault state, it is determined that the target internal mixer is not in a normal working state.

[0349] In some embodiments, the target internal mixer may not actively report an error when a fault occurs, but will still determine the current working state as a normal working state. However, the current working temperature of the target internal mixer will be higher than the warning temperature.

[0350] In some implementations, when it is determined based on the first state information that the current operating temperature of the target internal mixer is higher than the warning temperature, it is determined that the target internal mixer is not in a normal working state.

[0351] In some implementations, when it is determined based on the first status information that the current operating temperature of the target internal mixer is not higher than the warning temperature and the current operating state of the target internal mixer is a normal operating state, it is determined that the target internal mixer is in a normal operating state.

[0352] Step S206: when the target internal mixer is not in a normal working state, cancel the cleaning task corresponding to the target internal mixer.

[0353] In some embodiments, when the target internal mixer is not in a normal working state, a cancel task instruction is sent to the target powder sweeping robot corresponding to the target internal mixer to cancel the cleaning task corresponding to the target internal mixer. In this way, the target powder sweeping robot can perform other cleaning tasks without wasting time.

[0354] In some embodiments, when the target internal mixer is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to check the fault of the target internal mixer.

[0355] Step S207: Obtain second status information of the target powder sweeping robot corresponding to the target internal mixer.

[0356] Optionally, the second status information includes location information and working status information of the target powder-sweeping robot.

[0357] Optionally, the working state of the target powder sweeping robot includes a working state, an idle state, a fault state, a charging state, etc.

[0358] Step S208: Determine whether the target powder sweeping robot is in a normal working state based on the second state information.

[0359] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot is in a fault state, it is determined that the target powder sweeping robot is not in a normal working state; otherwise, it is determined that the target powder sweeping robot is in a normal working state.

[0360] In some embodiments, the target powder sweeping robot may not actively report an error when a fault occurs, and will still determine the current working state as a normal working state. However, at this time, the target powder sweeping robot will not move and will not be in a charging state.

[0361] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot has not moved for a second preset time and is not in a charging state, it is determined that the target powder sweeping robot is not in a normal working state.

[0362] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot is in a normal working state and has not remained motionless for a second preset time, it is determined that the target powder sweeping robot is in a normal working state.

[0363] Step S209: when the target powder sweeping robot is not in a normal working state and the target internal mixer is in a normal working state, another powder sweeping robot is selected to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0364] In some embodiments, when the target powder sweeping robot is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the target powder sweeping robot.

[0365] By means of the above method, when a cleaning task cannot be normally performed, the cleaning task can be cancelled in time, so that the target internal mixer can be cleaned of powder in time.

[0366] In summary, the powder cleaning method provided in the embodiment of the present application has the following advantages:

[0367] 1. By determining the target internal mixer that needs to be cleaned of powder based on the status information, and then controlling at least one powder sweeping workpiece to clean the target internal mixer of powder, the internal mixer can be automatically cleaned of powder without the need for operators to manually clean the internal mixer of powder using tools, which greatly improves the efficiency of powder cleaning of the internal mixer and can protect the health of operators.

[0368] 2. By determining the cleaning mode corresponding to the target internal mixer based on the state information of the target internal mixer, the cleaning mode can be flexibly determined according to the actual flying powder situation of the target internal mixer, thereby minimizing the cleaning time while ensuring the powder cleaning effect.

[0369] 3. By controlling at least one powder sweeping workpiece to perform powder cleaning on the target internal mixer, the flying polymer material powder can continue to participate in the production process, avoiding the situation where the mass of the polymer material powder participating in the production process is less than the preset mass, thereby improving product quality.

[0370] The above examples are only used to further illustrate the technical content of the present invention, so that readers can understand it more easily, but they do not mean that the implementation of the present invention is limited to this. Any technical extension or re-creation made according to the present invention is protected by the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. An internal mixer, characterized in that: include: Internal mixer body and powder sweeping robot; The powder sweeping robot comprises: a driving device and a powder sweeping device; The driving device is used to drive the powder sweeping device to move and / or rotate, and the powder sweeping device includes a powder sweeping workpiece, and the powder sweeping workpiece is used to perform a powder sweeping operation on the cleaning object; The driving device comprises a freely movable mechanical arm, and the powder sweeping device is connected to the free end of the mechanical arm; The internal mixer body is provided with an internal mixing chamber and a material feeding door for controlling the opening or closing of the internal mixing chamber; the internal mixing chamber is provided with a processing device; When powder sweeping is required, the feed door is opened, and the powder sweeping robot probes into the mixing chamber through the channel opened by the feed door to perform powder sweeping operations on the cleaning object; the cleaning object at least includes the inner side wall of the mixing chamber or the processing device.

2. An internal mixer according to claim 1, characterized in that: The internal mixer also includes a controller, which is used to obtain status information in the internal mixer and control the powder sweeping robot to probe into the internal mixer through the channel opened by the feeding door to perform a powder sweeping operation on the cleaning object according to the status information; the status information is used to indicate the working status of the internal mixer of the internal mixer.

3. An internal mixer according to claim 2, characterized in that: The controller is arranged on the internal mixer body and / or the powder sweeping robot.

4. An internal mixer according to claim 2, characterized in that: The internal mixer body is also provided with a door driver. When powder sweeping is required, the controller controls the feed door to open through the door driver. When powder sweeping is completed, the controller controls the feed door to close through the door driver.

5. The internal mixer according to any one of claims 1 to 4, characterized in that: The robotic arm at least includes a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm.

6. An internal mixer according to claim 5, characterized in that: The robotic arm includes a base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm. A first driving motor is provided between the first rotating arm and the base to drive the first rotating arm to rotate relative to the base; a second driving motor is provided between the second rotating arm and the first rotating arm to drive the second rotating arm to rotate relative to the first rotating arm; a third driving motor is provided between the third rotating arm and the second rotating arm to drive the third rotating arm to rotate relative to the second rotating arm; a fourth driving motor is provided between the fourth rotating arm and the third rotating arm to drive the fourth rotating arm to rotate relative to the third rotating arm; a fifth driving motor is provided between the fifth rotating arm and the fourth rotating arm to drive the fifth rotating arm to rotate relative to the fourth rotating arm; a sixth driving motor is provided between the sixth rotating arm and the fifth rotating arm to drive the sixth rotating arm to rotate relative to the fifth rotating arm, and the powder sweeping device is connected to the end of the sixth rotating arm.

7. The internal mixer according to claim 1, characterized in that: The fixed end of the driving device is positioned relative to the internal mixer body, or the powder sweeping robot further includes a transfer device, the fixed end of the driving device is mounted on the transfer device, and the transfer device is used to drive the driving device to approach or move away from the internal mixer body.

8. An internal mixer according to claim 7, characterized in that: The transfer device includes a guide rail and a slide seat slidably connected to the guide rail, and the fixed end of the driving device is installed on the slide seat. or, The transfer device comprises a transport vehicle which can freely move in translation, and the driving device is connected to the transport vehicle.

9. The internal mixer according to claim 1, characterized in that: The powder sweeping device further comprises a first mounting seat, the first mounting seat is connected to the driving device, and the powder sweeping workpiece is detachably connected to the first mounting seat.

10. The internal mixer according to claim 1, characterized in that: The powder sweeping workpiece at least comprises a brush or a scraper or a friction cloth or a friction block or a powder suction component or a powder blowing component.

11. An internal mixer according to claim 10, characterized in that: The powder suction assembly includes a powder suction container, a first air pump and a dust suction head. The first air pump is used to provide a negative pressure environment for the interior of the powder suction container, and the dust suction head is used to provide a channel for introducing external fluid into the interior of the powder suction container.

12. An internal mixer according to claim 11, characterized in that: A filter screen is provided inside the powder suction container, and two sides of the filter screen are respectively enclosed with the inner wall of the powder suction container to form an air suction cavity and a powder storage cavity, the air suction end of the first air pump is connected to the air suction cavity, and the dust suction head is connected to the powder storage cavity; The powder suction container is provided with a powder discharge port connected to the powder storage cavity, and the powder discharge port is provided with an openable and closable movable door.

13. The internal mixer according to claim 10, characterized in that: The powder blowing assembly includes a second air pump, and the second air pump is used to provide air flow to blow powder off the cleaning object.

14. An internal mixer according to claim 13, characterized in that: The powder sweeping workpiece is provided with a first air hole and a second air hole, the first air hole and the second air hole are connected through an air passage built in the powder sweeping workpiece, and the exhaust end of the second air pump is connected to the first air hole to provide an outward airflow to the second air hole.

15. The internal mixer according to claim 1, characterized in that: The internal mixer body is also provided with a sealing component, and the sealing component is used to prevent the powder in the internal mixing chamber from flying out.

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