Powder sweeping robot applied to internal mixer

Abstract

The invention discloses a powder sweeping robot applied to an internal mixer, 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. According to the powder sweeping robot applied to the internal mixer, the powder sweeping device is driven by the driving device to reach all corners in the internal mixer, comprehensive sweeping is achieved, the powder sweeping effect is more stable through the automatic powder sweeping robot, 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 a powder sweeping robot applied to internal mixers. Background Art

[0002] Closed rubber mixer is also called internal mixer, which is mainly used for plasticating and mixing rubber. Internal mixer is a machine with a pair of relatively rotating rotors of specific shapes, which intermittently plasticates and mixes polymer materials in a closed state with adjustable temperature and pressure. It is mainly composed of internal mixer, rotor, rotor sealing device, pressure hammer, unloading device, transmission device and machine base. In the process of feeding materials into the internal mixer, and in the process of the pressure hammer pressing down to approach the rotor set in the internal mixer, the powder of polymer material is easy to fly and adhere to the side wall of the internal mixer and / or the pressure hammer, so that the powder cannot be added to the production process under the action of the rotor.

[0003] 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 materials attached to them are swept down to the top of the rotor. However, using tools to manually 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 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. Summary of the invention

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

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

[0006] An embodiment of the present invention provides a powder sweeping robot applied to an internal mixer, comprising: a driving device and a powder sweeping device, wherein 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] Furthermore, the driving device includes a freely movable mechanical arm, and the powder sweeping device is connected to the free end of the mechanical arm.

[0008] 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.

[0009] 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.

[0010] Furthermore, the fixed end of the driving device is installed on the internal mixer.

[0011] Furthermore, the powder sweeping robot also includes a transfer device, and 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] Furthermore, 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;

[0016] 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.

[0017] Furthermore, a door-controlled motor is provided beside the powder discharge port, and the door-controlled motor is used to control the opening or closing of the movable door.

[0018] 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.

[0019] 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.

[0020] The powder sweeping robot applied to the internal mixer of the present invention drives the powder sweeping device to reach every corner of the internal mixer through the driving device to achieve comprehensive cleaning. The automatic powder sweeping robot makes the powder sweeping effect more stable and also liberates the human resources used for sweeping powder for the internal mixer.

[0021] 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

[0022] Figure 1 This is a schematic diagram of a first working scene of a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of a second working scene of a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0024] Figure 3 Schematic diagram of a third working scene of a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0025] Figure 4 This is a first structural schematic diagram of a driving device in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0026] Figure 5 It is a second structural schematic diagram of a driving device in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0027] Figure 6 A third structural schematic diagram of a driving device in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0028] Figure 7 A three-dimensional view of a brush and an inserting shaft for sweeping a powder workpiece in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0029] Figure 8 A top view of a brush and an inserting shaft for sweeping a powder workpiece in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0030] Fig. 9 A three-dimensional view of a scraper and an inserting shaft for sweeping a powder workpiece in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0031] Fig.10 A side view of a scraper and an inserting shaft for sweeping a powder workpiece in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0032] Fig.11 A three-dimensional view of a friction block and an insertion shaft for sweeping a powder workpiece in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0033] Fig.12 A top view of a friction block and an inserting shaft for sweeping a powder workpiece in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0034] Fig.13 A three-dimensional view of a first mounting seat in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0035] Fig.14 A top view of a first mounting seat in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0036] Fig.15 It is a first cross-sectional view of a first mounting seat in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0037] Fig.16 It is a second cross-sectional view of a first mounting seat in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0038] Fig.17 It is a first cross-sectional view of the cooperation between the first mounting seat and the plug shaft in the powder sweeping robot applied to the internal mixer according to the embodiment of the present invention;

[0039] Fig.18 A second cross-sectional view of the cooperation between the first mounting seat and the plug shaft in the powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0040] Fig.19 It is a third cross-sectional view of the cooperation between the first mounting seat and the plug shaft in the powder sweeping robot applied to the internal mixer according to the embodiment of the present invention;

[0041] Fig. 20 A cross-sectional view of a powder suction container in a powder sweeping robot applied to an internal mixer according to an embodiment of the present invention;

[0042] Fig.21 It is a front view structural schematic diagram of the internal mixer when the feeding door is closed according to an embodiment of the present invention;

[0043] Fig. 22 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present invention when the feeding door is opened;

[0044] Fig.23 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in a mixing chamber of an internal mixer according to an embodiment of the present invention;

[0045] Fig.24 It is a schematic diagram of a second state in which a pressure hammer is pressed downward in a mixing chamber of an internal mixer according to an embodiment of the present invention;

[0046] Fig.25 It is a schematic diagram of a third state in which a pressure hammer is pressed downward in a mixing chamber of an internal mixer according to an embodiment of the present invention;

[0047] Fig.26 A flow chart of a powder cleaning method according to an embodiment of the present invention;

[0048] Fig. 27 This is a sub-flow chart of the powder cleaning method according to an embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 1. Internal mixer; 11. Feeding door; 12. Internal mixing chamber; 13. Pressing hammer; 14. Rotor;

[0051] 2. Powder sweeping robot; 21. Driving device; 211. Six-axis robot arm; 2111. Base; 2112. First rotating arm; 2113. Second rotating arm; 2114. Third rotating arm; 2115. Fourth rotating arm; 2116. Fifth rotating arm; 2117. Sixth rotating arm; 212. Seven-axis robot arm; 2121. Base; 2122. First rotating arm; 2123. Second rotating arm; 2124. Third rotating arm; 2125. Fourth rotating arm; 212 6. Fifth rotating arm; 2127. Sixth rotating arm; 2128. Seventh rotating arm; 22. Powder sweeping device; 221. First mounting seat; 2211. Dust suction hole; 2212. Insertion hole; 22121. First threaded hole; 2213. Snap-fitting groove; 22131. First groove; 22132. Second groove; 22133. Third groove; 22134. Fourth groove; 2214. Elastic member; 2215. Connecting column; 22151. Ventilation hole; 23. Transfer device;

[0052] 222, powder sweeping workpiece; 222a, powder sweeping workpiece; 2221, brush; 22211, brush hair; 2224a, plug shaft; 22241a, first air hole; 22242a, second threaded hole; 22243a, clamping protrusion; 2225a, second air hole; 222b, powder sweeping workpiece; 2222, scraper; 22221, edge; 2224b, plug shaft; 22241b, first air hole; 22242b, second threaded hole; 22243b, clamping protrusion; 2225b, second air hole; 222c, powder sweeping workpiece; 2223, friction block; 22231, rough surface; 2224c, plug shaft; 22241c, first air hole; 22242c, second threaded hole; 22243c, clamping protrusion; 2225c, second air hole;

[0053] 223, powder suction container; 2231, filter screen; 2232, air suction chamber; 2233, powder storage chamber; 2234, movable door; 2235, dust suction duct. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] See also Figure 21 to Figure 25 It should be explained that when it is necessary to feed materials into the mixing chamber 12 of the mixer 1, the mixer 1 controls the feeding door 11 to open and the pressure hammer 13 to rise to the top, such as Fig. 22 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 1 controls the feeding door 11 to close. Fig.21 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. Figure 23 to Figure 25As 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. In order to solve the above problems, the present invention proposes a powder sweeping robot, which is explained in the following embodiments.

[0062] Please refer to the attached Figures 1 to 3 An embodiment of the present invention provides a powder sweeping robot 2 applied to an internal mixer 1, comprising: a driving device 21 and a powder sweeping device 22, wherein the driving device 21 is used to drive the powder sweeping device 22 to move and / or rotate, and the powder sweeping device 22 comprises a powder sweeping workpiece 222, and the powder sweeping workpiece 222 is used to perform a powder sweeping operation on a cleaning object.

[0063] It needs to be explained that the powder sweeping robot 2 of the present embodiment is used to perform powder sweeping operations for the mixing chamber 12 and the pressure hammer 13 of the internal mixer 1. Therefore, the cleaning object of the above-mentioned powder sweeping workpiece 222 is the mixing chamber 12 or the pressure hammer 13 of the internal mixer 1. The powder sweeping robot 2 of the present embodiment drives the powder sweeping device 22 to reach all corners of the mixing chamber 12 through the driving device 21 to achieve comprehensive cleaning. While the automated powder sweeping robot 2 makes the powder sweeping effect more stable, it also liberates the human resources used for sweeping powder for the internal mixer 1, thereby reducing the health risks of workers suffering from respiratory diseases and the like.

[0064] For further information, see Figures 4 to 6In order to make the powder sweeping robot 2 more flexible in performing operations, the driving device 21 of this embodiment includes a freely movable robotic arm, and the powder sweeping device 22 is connected to the free end of the robotic arm. The robotic arm is used to transport the powder sweeping device 22 from the internal mixer 1 to the internal mixing chamber 12 of the internal mixer 1 to perform the powder sweeping work. The high degree of freedom of the robotic arm is used to carry the powder sweeping device 22 to move, thereby greatly improving the efficiency of the powder sweeping operation. Specifically, the above-mentioned mechanical arm at least includes a three-axis mechanical arm or a four-axis mechanical arm or a five-axis mechanical arm or a six-axis mechanical arm 211 or a seven-axis mechanical arm 212, that is, the above-mentioned mechanical arm at least includes one of a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm 211, and a seven-axis mechanical arm 212. It can be understood that the mechanical arm is classified according to its number of axes (i.e., the number of degrees of freedom), and these axis numbers represent the number of directions in which the mechanical arm can move independently. Therefore, the higher the number of axes of the selected mechanical arm, the more flexible the mechanical arm is, but the corresponding cost is also higher. Users can choose a mechanical arm with a suitable number of axes according to their actual needs. Preferably, in this embodiment, a six-axis mechanical arm 211 is selected as the driving device 21. It should be explained that this embodiment only illustrates the mechanical 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.

[0065] In the first embodiment, if Figure 4 and Figure 5As shown, the robot arm in this embodiment is a six-axis robot arm 211, which includes 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; a third driving motor is provided between the third rotating arm 2114 and the second rotating arm 2113 Three driving motors are provided 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 can be understood 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 robotic arm to move freely in three-dimensional space. The powder sweeping device 22 is installed at the very end of the six-axis robotic arm 211, namely the end of the sixth rotating arm 2117, so that all movements of the six-axis robotic arm 211 will directly act on the powder sweeping device 22 to achieve precise control of the cleaning task.

[0066] In the second embodiment, if Figure 6As shown, the robot arm in this embodiment is a seven-axis robot arm 212, which includes a base 2121, a first rotating arm 2122, a second rotating arm 2123, a third rotating arm 2124, a fourth rotating arm 2125, a fifth rotating arm 2126, a sixth rotating arm 2127, and a seventh rotating arm 2128. A first motor is arranged between the first rotating arm 2122 and the base 2111 to drive the first rotating arm 2122 to rotate relative to the base 2121; a second motor is arranged between the second rotating arm 2123 and the first rotating arm 2122 to drive the second rotating arm 2123 to rotate relative to the first rotating arm 2122; a third motor is arranged between the third rotating arm 2124 and the second rotating arm 2123 to drive the third rotating arm 2124 to rotate relative to The second rotating arm 2123 rotates; a fourth motor is provided between the fourth rotating arm 2125 and the third rotating arm 2124 to drive the fourth rotating arm 2125 to rotate relative to the third rotating arm 2124; a fifth motor is provided between the fifth rotating arm 2126 and the fourth rotating arm 2125 to drive the fifth rotating arm 2126 to rotate relative to the fourth rotating arm 2125; a sixth motor is provided between the sixth rotating arm 2127 and the fifth rotating arm 2126 to drive the sixth rotating arm 2127 to rotate relative to the fifth rotating arm 2126; a seventh motor is provided between the seventh rotating arm 2128 and the sixth rotating arm 2127 to drive the seventh rotating arm 2128 to rotate relative to the sixth rotating arm 2127, and the powder sweeping device 22 is connected to the end of the seventh rotating arm 2128. It can be understood that each of the first arm 2122, the second arm 2123, the third arm 2124, the fourth arm 2125, the fifth arm 2126, the sixth arm 2127 and the seventh arm 2128 is equipped with a motor and a reducer to achieve precise angle control. The coordinated movement of these joints enables the robotic arm to move freely in three-dimensional space. The powder sweeping device 22 is installed at the very end of the seven-axis robotic arm 212, namely the end of the seventh arm 2128, so that all movements of the seven-axis robotic arm 212 will directly act on the powder sweeping device 22 to achieve precise control of the cleaning task.

[0067] In the third embodiment, the robotic arm in this embodiment may also be a three-axis robotic arm, a four-axis robotic arm or a five-axis robotic arm, which will not be elaborated here.

[0068] For further information, please refer to Figures 1 to 3 Considering the supply and demand relationship and actual performance of the internal mixer 1 and the powder sweeping robot 2, the user can select the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to actual needs.

[0069] In the fourth embodiment, if Figure 1As shown, the fixed end of the driving device 21 is installed on the internal mixer 1, which means that the powder sweeping robot 2 in this embodiment is integrated with the internal mixer 1 on which it is installed. When the internal mixer 1 needs to perform a powder sweeping operation, 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 internal mixer chamber 12 and the pressure hammer 13 is cleaned.

[0070] In the fifth embodiment, if Figure 2 and Figure 3 As shown, the powder sweeping robot 2 also includes a transfer device 23, and the fixed end of the driving device 21 is installed on the transfer device 23, and the transfer device 23 is used to drive the driving device 21 to approach or move away from the internal mixer 1. Optionally, the transfer device 23 can be a ground rail laid on the floor of the workshop and a ground slide slidably connected to the ground rail, and the fixed end of the driving device 21 is installed on the ground slide. Optionally, the transfer device 23 can also be an AGV trolley, and the fixed end of the driving device 21 is installed on the AGV trolley. Optionally, the transfer device 23 can also be a suspended rail installed on the ceiling of the workshop or in the air and a suspended slide slidably connected to the suspended rail, and the fixed end of the driving device 21 is installed on the suspended slide. Optionally, in other embodiments, the transfer device 23 can also be other devices that can drive the driving device 21 to approach or move away from the internal mixer 1, which will not be repeated here. It can be understood that the powder sweeping robot 2 in this embodiment can serve multiple internal mixers 1 in the entire workshop. When receiving an instruction to perform a powder sweeping operation on a certain internal mixer 1, the transfer device 23 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 23 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 and the pressure hammer 13 to perform the powder sweeping operation. After the powder sweeping operation is completed, the transfer device 23 moves according to the instruction of the next internal mixer 1. Through the transfer device 23, the powder sweeping robot 2 of this embodiment can quickly move and switch between different internal mixers 1, which greatly improves the flexibility of the powder sweeping operation. At the same time, since the powder sweeping robot 2 can be shared between different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder sweeping robot 2, thereby reducing the equipment cost.

[0071] For further information, see Figures 7 to 12In order to meet the cleaning requirements under different working conditions, the powder sweeping workpiece 222 in this embodiment 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 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.

[0072] Among them, there are four implementation methods for sweeping the powder workpiece 222:

[0073] 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.

[0074] 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 .

[0075] 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 .

[0076] 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 .

[0077] 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.

[0078] Specifically, see Figure 7 and Figure 8 , Figure 7 and Figure 8 The 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.

[0079] Specifically, see Fig. 9 and Fig.10 , Fig. 9 and Fig.10 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.

[0080] Specifically, see Fig.11 and Fig.12 , Fig.11 and Fig.12 The 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.

[0081] 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.

[0082] Optionally, the following Figure 7 and Figure 8 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.

[0083] 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.

[0084] For further information, see Fig.13 and Fig.14 Considering the various options of assembling the powder sweeping workpiece 222 on the powder sweeping robot 2 under different working conditions, the powder sweeping device 22 in this embodiment further includes a first mounting seat 221, which 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 device. 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.

[0085] 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.

[0086] Alternatively, if Fig.16 As shown, an elastic member 2214 is provided at the bottom of the socket 2212, a snap-fit ​​groove 2213 is provided on the inner peripheral side of the socket 2212, and a snap-fit ​​protrusion 22243a is provided on the outer peripheral side of the insertion shaft 2224a. When the insertion shaft 2224a is inserted into the socket 2212, the snap-fit ​​protrusion 22243a slides into the snap-fit ​​groove 2213 and snaps into it, so that the powder sweeping workpiece 222 forms a stable connection with the first mounting seat 221.

[0087] Preferably, see Fig.15The snap-fitting groove 2213 includes a first groove 22131, a second groove 22132, a third groove 22133 and a fourth groove 22134. The first end of the first groove 22131 is located at the inner circumference of the hole opening of the insertion hole 2212, the second end of the first groove 22131 is connected to the first end of the second groove 22132 toward the bottom of the hole of the insertion hole 2212, the second end of the second groove 22132 is connected to the first end of the third groove 22133 toward the hole opening of the insertion hole 2212, the second end of the third groove 22133 is connected to the first end of the fourth groove 22134 toward the bottom of the hole of the insertion hole 2212, and the second end of the fourth groove 22134 is connected to the first end of the first groove 22131 toward the hole opening of the insertion hole 2212, wherein the second groove 22132 and the third groove 22133 are connected to form an inverted V shape. It is understandable that the engagement position of the engagement protrusion 22243a and the engagement matching groove 2213 in this embodiment is located at the connection between the second groove 22132 and the third groove 22133. It should be explained that the connection between the first groove 22131, the second groove 22132, the third groove 22133 and the fourth groove 22134 all has an angle. Furthermore, the elastic member 2214 at the bottom of the socket 2212 provides a certain pre-tightening force for the plug shaft 2224a, so that the plug shaft 2224a can be subjected to a certain resistance when inserted into the socket 2212, and the snap-fit ​​groove 2213 realizes the self-locking function of the powder sweeping workpiece 222. When the snap-fit ​​protrusion 22243a on the plug shaft 2224a moves along the path of the snap-fit ​​groove 2213, it will pass through different groove sections and reach a self-locking state at the connection point between the second groove 22132 and the third groove 22133 under the action of the elastic member 2214. At this time, even if it is subjected to external force, the snap-fit ​​protrusion 22243a is difficult to disengage from this position, thereby ensuring the stability of the connection.

[0088] See also Figures 17 to 19 , Figures 17 to 192212, the first mounting base 221 is provided with a first screw threaded joint 224a which is provided at the bottom of the first mounting base 221. The first screw threaded joint 224a is provided at the bottom of the first mounting base 221, and the second screw threaded joint 224a is provided at the bottom of the first mounting base 221. The first screw threaded joint 224a is provided at the bottom of the first mounting base 221, and the second screw threaded joint 224a is provided at the bottom of the first mounting base 221. a continues to be inserted, the locking protrusion 22243a will enter the second groove 22132, and the pressure on the plug-in shaft 2224a will be removed at this time; after the plug-in shaft 2224a enters the second groove 22132, the elastic member 2214 at the bottom of the socket 2212 applies an upward pre-tightening force to the plug-in shaft 2224a, and this pre-tightening force will cause the plug-in shaft 2224a to move upward along the path of the second groove 22132; when the locking protrusion 22243a reaches the connecting point between the second groove 22132 and the third groove 22133, since the path of the third groove 22133 is downward, and the plug-in shaft 2224a has been subjected to the pre-tightening force of the elastic member 2214 at this time, the locking protrusion 22243a will be stuck in this position, forming a self-locking state. At this time, the powder sweeping workpiece 222a is firmly connected to the powder sweeping device 22. In an embodiment for removing the powder sweeping workpiece 222a from the first mounting seat 221, it is only necessary to press the insertion shaft 2224a toward the socket 2212 again, and the locking protrusion 22243a will move toward the bottom of the hole 2212 along the path of the third groove 22133. As the insertion shaft 2224a continues to be inserted, the locking protrusion 22243a will enter the fourth groove 22134. At this time, the pressure on the insertion of the insertion shaft 2224a into the socket 2212 is removed, and the insertion shaft 2224a will be moved upward along the path of the fourth groove 22134 by the force of the elastic member 2214. At this time, it is only necessary to apply a pulling force to the insertion shaft 2224a toward the outside of the socket 2212 to make the insertion shaft 2224a withdraw from the socket 2212, thereby removing the powder sweeping workpiece 222a from the first mounting seat 221.

[0089] Optionally, the clamping protrusion 22243a is a spring wave ball with elasticity in the radial direction of the insertion shaft 2224a. Preferably, the groove depth of the first groove 22131 gradually decreases from its first end to the second end, and the groove depth of the second end of the first groove 22131 is less than the groove depth of the first end of the second groove 22132; the groove depth of the second groove 22132 gradually decreases from its first end to the second end, and the groove depth of the second end of the second groove 22132 is less than the groove depth of the first end of the third groove 22133; the groove depth of the third groove 22133 gradually decreases from its first end to the second end, and the groove depth of the second end of the third groove 22133 is less than the groove depth of the first end of the fourth groove 22134; the groove depth of the fourth groove 22134 gradually decreases from its first end to the second end, and the groove depth of the second end of the fourth groove 22134 is less than the groove depth of the first end of the first groove 22131. It can be understood that the connection between the first groove 22131 and the second groove 22132 forms a first step due to the groove depth difference, the connection between the second groove 22132 and the third groove 22133 forms a second step due to the groove depth difference, the connection between the third groove 22133 and the fourth groove 22134 forms a third step due to the groove depth difference, and the connection between the fourth groove 22134 and the first groove 22131 forms a fourth step due to the groove depth difference. Optionally, the deepest groove depth and the shallowest groove depth and the groove depth variation range of the first groove 22131, the second groove 22132, the third groove 22133, and the fourth groove 22134 are all the same. The spring wave ball set on the powder sweeping workpiece 222a of this embodiment has a protruding length in a non-stressed natural state greater than or equal to the deepest groove depth of the snap-fit ​​groove 2213, and a protruding length in a compressed state equal to or less than the shallowest groove depth of the snap-fit ​​groove 2213, so that the spring wave ball will be subject to gradually increasing resistance during the insertion process, thereby slowing down its speed and forming a self-locking at the connection between the second groove 22132 and the third groove 22133. In addition, due to the change in the groove depth, steps are formed at the connection between adjacent grooves. These steps provide additional locking points for the spring wave ball and enhance the stability of the connection. Specifically, the spring wave ball of this embodiment utilizes its elastic characteristics and can smoothly enter and move along a path where the groove depth gradually decreases. When the spring wave ball is compressed, its protruding length will decrease, so that it can smoothly pass through the shallower groove depth area and restore its original length in the self-locking position to form a lock.Specifically, when the insertion shaft 2224a of the powder sweeping workpiece 222a begins to be inserted into the insertion hole 2212 with the spring ball, the spring ball first enters the first groove 22131. As the insertion shaft 2224a goes deeper, the spring ball moves along the gradually decreasing groove depth of the first groove 22131 until it enters the second groove 22132 through the connection between the first groove 22131 and the second groove 22132. Here, due to the first step formed by the sudden change in the groove depth, the spring ball will encounter resistance from the first step in the direction of returning to the first groove 22131. Therefore, the insertion shaft 2224a, which is pre-tightened by the elastic member 2214, will naturally drive the spring ball to move along the second groove 22132 under the influence of the resistance of the first step, so as to pass through the connection between the second groove 22132 and the third groove 22133 to the third groove 22133, thereby forming a self-locking state. When the powder sweeping workpiece 222a is disassembled, when downward pressure is applied to the insertion shaft 2224a, the spring wave ball will naturally move along the third groove 22133 due to the obstruction of the second step to pass through the connection between the third groove 22133 and the fourth groove 22134 to the fourth groove 22134. At this time, the spring wave ball will naturally move upward along the fourth groove 22134 due to the obstruction of the elastic preload force and the third step. Optionally, the snap-fit ​​groove 2213 is an axisymmetric figure, and the symmetry axis of the snap-fit ​​groove 2213 passes through the intersection of the ray from the second end to the first end of the first groove 22131 and the ray from the first end to the second end of the fourth groove 22134. The symmetry axis of the snap-fit ​​groove 2213 also passes through the intersection of the ray from the first end to the second end of the second groove 22132 and the ray from the second end to the first end of the third groove 22133.

[0090] For further information, see Fig.13 , Fig.14 as well as Fig. 20The powder suction assembly in this embodiment 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 adhering 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, thereby, 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 that the powder swept off by the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating. 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 is in 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 opened on the first mounting seat 221, and 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.

[0091] For further information, see Fig. 20 , 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 extraction chamber 2232 and a powder storage chamber 2233, the air extraction end of the first air pump is connected to the air extraction 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 extraction chamber 2232, maintaining the negative pressure state inside the powder suction container 223. Further, a powder discharge port connected to the powder storage chamber 2233 is provided on the powder suction container 223, 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] Furthermore, the powder blowing assembly in this embodiment 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.

[0096] For further information, see Figures 7 to 19 In this embodiment, the airflow provided by the second air pump is blown out through the air passage on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223 all include an insert shaft and a second air hole on the insert shaft, the insert shaft is used to be plugged with the insert hole 2212 on the first mounting seat 221, and the second air hole is used to be plugged with the connecting column 2215 in the insert hole 2212, so that the vent hole 22151 on the connecting column 2215 is connected to the second air hole.

[0097] by Figure 7 and Figure 8As 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.

[0098] The powder sweeping workpiece 222a in this embodiment includes a brush 2221 and an insert shaft 2224a, wherein the insert shaft 2224a is provided with a first air hole 22241a, and the brush 2221 is provided with a second air hole 2225a, wherein the first air hole 22241a is connected to the second air hole 2225a via an air passage built into the brush 2221 and the insert shaft 2224a, 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, so that the brush 2221 can also use the airflow blown from the first air hole 22241a to the second air hole 2225a to blow away the polymer material powder attached to the side wall of the mixing chamber 12 or the pressure hammer 13 during the process of performing the powder sweeping work using the bristles 22211, and cooperate with the bristles 22211 to clean the polymer material powder on the side wall of the mixing chamber 12 or the pressure hammer 13 more quickly and thoroughly. It can be understood that Fig. 9 , Fig.10 The air passages provided on the middle scraper 2222 and the plug shaft 2224b, Fig.11 , Fig.12 The air passages provided on the middle friction block 2223 and the insertion shaft 2224c are the same as the air passages provided on the brush 2221 and the insertion shaft 2224a in this embodiment, and are not described in detail herein.

[0099] like Fig.13 , Fig.14 as well as Fig.16As shown, specifically, 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.

[0100] Alternatively, if Figures 17 to 19 As shown, a first threaded hole 22121 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 22121 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 22132 and the third groove 22133 to be in a self-locking state, the first threaded hole 22121 and the second threaded hole 22242a are aligned and connected. At this time, the first threaded hole 22121 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.

[0101] 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 .

[0102] 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.

[0103] In a specific embodiment that can be realized, 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 of the mixer 1 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.

[0104] The present invention also provides a method for cleaning powder. Fig.26 and Fig. 27 The powder cleaning method is executed by a powder sweeping robot or a control terminal. The control terminal is used to control the powder sweeping robot to use at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber 12. The powder cleaning method provided by the present application is described in detail below.

[0105] See also Fig.26 , Fig.26 Schematic diagram of the powder cleaning method provided in the embodiment of the present application. Fig.26 As shown, in some embodiments, the powder cleaning method includes steps S100-S200:

[0106] Step S100: obtaining status information of the internal mixing chamber of the internal mixer.

[0107] Step S200: controlling at least one powder sweeping workpiece to clean the powder in the mixing chamber according to the status information.

[0108] Among them, the status information is used to indicate the working status in the mixing chamber 12 of the internal mixer 1. In some embodiments, a corresponding powder sweeping robot is configured for each internal mixer 1, and the internal mixer 1 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 a corresponding internal mixer 1, and when the control terminal executes the powder cleaning method, the status information of a internal mixer 1 corresponding to each powder sweeping robot is obtained. In other embodiments, a powder sweeping robot can perform powder cleaning work on the internal mixer chambers 12 of multiple internal mixers 1. 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 1, and when the control terminal executes the powder cleaning method, the status information of all internal mixers 1 corresponding to each powder sweeping robot is obtained. It should be explained that the cleaning objects in the internal mixer chamber 12 include the inner wall of the internal mixer chamber 12 and the pressure hammer 13.

[0109] See also Fig. 27 , Fig. 27 Yes Yes Fig.26 In the detailed flow chart of step S200, in some embodiments, the powder cleaning method includes steps S210-S220:

[0110] Step S210: determining whether the internal mixer is a target internal mixer that needs to be cleaned of powder according to the status information.

[0111] 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.

[0112] In some embodiments, the state information includes the current working temperature of the internal mixer chamber 12 of the internal mixer 1, and step S210 includes: when the current working temperature reaches the preset working temperature, judging that the internal mixer 1 is the target internal mixer 1. Optionally, 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.

[0113] In some embodiments, during a single operation of the internal mixer 1, the internal mixer 1 switches between multiple working states in sequence, and each working state corresponds to a preset working temperature. Generally, during a single operation of the internal mixer 1, the preset working temperature in each working state increases in sequence. For example, during a single operation of the internal mixer 1, the internal mixer 1 switches between four working states in sequence, 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. In this way, the internal mixer 1 can gradually melt the polymer material powder. Further, the state information in such an embodiment includes the current working state and the current working temperature of the internal mixer chamber 12 of the internal mixer 1. Step S210 includes: when the current working temperature reaches the preset working temperature corresponding to the current working state, the internal mixer 1 is judged to be the target internal mixer 1. It should be explained that when the current working temperature of the internal mixer 1 reaches the preset working temperature corresponding to the current working state, it means that the internal mixer 1 should enter the next working state. At this time, the internal mixer 1 is judged to be the target internal mixer 1, and then step S220 is performed to allow the flying polymer material powder to continue to participate in the production process before the internal mixer 1 enters the next working state, thereby improving the quality and output of the final product. Exemplarily, when the current working state of the internal mixer 1 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 1 should enter the second working state, and at this time, the internal mixer 1 is judged to be the target internal mixer 1.

[0114] In some embodiments, the above-mentioned state information includes the working time of the current working state of the mixing chamber 12 of the internal mixer 1, and step S210 includes: when the working time reaches the preset time, the internal mixer 1 is judged to be the target internal mixer 1. As described above, in a single working process of the internal mixer 1, the internal mixer 1 will switch to multiple working states in sequence, each working state corresponds to a preset time, and when the working time of the internal mixer 1 reaches the preset time corresponding to the current working state, the internal mixer 1 is judged to be the target internal mixer 1. It can be understood that when the working time of the internal mixer 1 reaches the preset time corresponding to the current working state, it means that the internal mixer 1 should enter the next working state. At this time, the internal mixer 1 is judged to be the target internal mixer 1, and then step S220 is performed to allow the flying polymer material powder to continue to participate in the production process before the internal mixer 1 enters the next working state, thereby improving the quality and output of the final product.

[0115] 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. A powder sweeping robot used in an internal mixer, characterized in that: include: A driving device and a powder sweeping device, wherein 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 a cleaning object.

2. A powder sweeping robot for use in an internal mixer according to claim 1, characterized in that: The driving device comprises a freely movable mechanical arm, and the powder sweeping device is connected to the free end of the mechanical arm.

3. A powder sweeping robot applied to an internal mixer according to claim 2, 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.

4. A powder sweeping robot for use in an internal mixer according to claim 2, 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.

5. The powder sweeping robot used for an internal mixer according to claim 1, characterized in that: The fixed end of the driving device is installed on the internal mixer.

6. The powder sweeping robot used for an internal mixer according to claim 1, characterized in that: The powder sweeping robot further comprises a transfer device, a 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.

7. The powder sweeping robot used for an 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.

8. The powder sweeping robot used for an 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.

9. The powder sweeping robot used for an internal mixer according to claim 8, 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.

10. The powder sweeping robot used for an internal mixer according to claim 9, 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.

11. The powder sweeping robot used for an internal mixer according to claim 10, characterized in that: A door-controlled motor is arranged beside the powder discharge port, and the door-controlled motor is used to control the opening or closing of the movable door.

12. The powder sweeping robot used for an internal mixer according to claim 8, 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.

13. The powder sweeping robot used for an internal mixer according to claim 12, 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.

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