Powder sweeping robot and internal mixer system

Abstract

The invention discloses a powder sweeping robot and an internal mixer system, the powder sweeping robot is applied to powder sweeping work of one or more internal mixer devices, 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; wherein the fixed end of the driving device is installed on the single internal mixer, or the powder sweeping robot further comprises a transferring device, the fixed end of the driving device is installed on the transferring device, and the transferring device is used for driving the driving device to move among the multiple internal mixers. According to the powder sweeping robot, 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 for sweeping powder for the internal mixer are liberated.

Description

Technical Field

[0001] The present invention relates to the technical field of internal mixers, and particularly to a powder-sweeping robot and an internal mixer system. Background Art

[0002] An enclosed rubber mixer is simply called an internal mixer, which is mainly used for the plasticating and mixing of rubber. An internal mixer is a machine that is provided with a pair of rotors with specific shapes and rotating relatively, and intermittently plasticates and mixes polymer materials in a closed state with adjustable temperature and pressure. It mainly consists of an internal mixing chamber, rotors, rotor sealing devices, pressure hammers, discharging devices, transmission devices, machine bases and other parts. During the process of feeding materials into the internal mixing chamber of the existing internal mixer, and during the process of the pressure hammer pressing down close to the rotors arranged in the internal mixing chamber, the polymer material powder is likely to fly and adhere to the side wall of the internal mixing chamber and / or the pressure hammer, resulting in the inability of this part of the powder to be added to the production process affected by the rotors.

[0003] Currently, in the market, to deal with such situations, workers use tools to clean the side walls and pressure hammers of the internal mixing chamber manually, so that the polymer materials attached to them are swept down above the rotors. However, manually cleaning the side walls and pressure hammers of the internal mixing chamber with tools has instability. There may be situations where powder sweeping is forgotten or not done properly due to personal factors of workers. At the same time, the polymer material powder may be inhaled by workers during the flying process, and long-term exposure may lead to respiratory diseases, which is not conducive to the physical health of workers. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a powder-sweeping robot applied to an internal mixer, so as to solve the technical problems that manually cleaning the side walls and pressure hammers of the internal mixing chamber with tools in the prior art has instability, and there may be situations where powder sweeping is forgotten or not done properly due to personal factors of workers. At the same time, the polymer material powder may be inhaled by workers during the flying process, and long-term exposure may lead to respiratory diseases, which is not conducive to the physical health of workers.

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

[0006] An embodiment of the present invention provides a powder-sweeping robot, which is applied to the powder-sweeping work of a single or multiple internal mixer devices. It includes: a driving device and a powder-sweeping device. The driving device is used to drive the powder-sweeping device to displace and / or rotate. 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;

[0007] Among them, the fixed end of the driving device is installed on a single mixer, or the powder-sweeping robot further 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 move among multiple mixers.

[0008] Furthermore, the driving device includes a freely movable robotic arm, and the powder-sweeping device is connected to the free end of the robotic arm.

[0009] 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.

[0010] 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.

[0011] Furthermore, the transfer device includes a guide rail and a sliding seat slidably connected to the guide rail, and the fixed end of the driving device is installed on the sliding seat.

[0012] Furthermore, the guide rail is laid on the ground beside the mixer, or the guide rail is laid on the installation surface at the top of the mixer, or the guide rail is suspended above the mixer.

[0013] Furthermore, the transfer device includes a transport vehicle that can move freely in translation, and the driving device is connected to the transport vehicle.

[0014] Furthermore, the transport vehicle is an automated guided vehicle.

[0015] An embodiment of the present invention further provides a kneader system, which includes the above-mentioned powder sweeping robot; the kneader system further includes a machine base and a kneader body disposed on the machine base. An inlet door and a kneading chamber are provided on the kneader body. A pressing hammer and a rotor for kneading processing are provided in the kneading chamber. The inlet door is used to control the opening or closing of the kneading chamber. When the fixed end of the driving device is installed on a single kneader, the fixed end of the driving device is connected to the machine base near the inlet door.

[0016] Furthermore, the powder sweeping device further includes a first mounting seat, which is connected to the driving device, and the powder sweeping workpiece is detachably connected to the first mounting seat.

[0017] The powder sweeping robot of the present invention drives the powder sweeping device to reach all corners of the kneading chamber through the driving device to achieve comprehensive cleaning. While making the powder sweeping effect more stable through the automated powder sweeping robot, it also liberates the human resources for powder sweeping the kneader.

[0018] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram when the inlet door of the kneader of the kneader system according to the embodiment of the present invention is opened;

[0020] Figure 2 It is a schematic structural diagram when the inlet door of the kneader of the kneader system according to the embodiment of the present invention is closed;

[0021] Figure 3 It is a first state schematic diagram when the pressing hammer in the kneading chamber of the kneader system according to the embodiment of the present invention presses down;

[0022] Figure 4 It is a second state schematic diagram when the pressing hammer in the kneading chamber of the kneader system according to the embodiment of the present invention presses down;

[0023] Figure 5 It is a third state schematic diagram when the pressing hammer in the kneading chamber of the kneader system according to the embodiment of the present invention presses down;

[0024] Figure 6 It is a first working scenario schematic diagram of the powder sweeping robot according to the embodiment of the present invention;

[0025] Figure 7 It is a second working scenario schematic diagram of the powder sweeping robot according to the embodiment of the present invention;

[0026] Figure 8 Schematic diagram of the third working scenario of the powder-sweeping robot according to an embodiment of the present invention;

[0027] Figure 9 First structural schematic diagram of the driving device in the powder-sweeping robot according to an embodiment of the present invention;

[0028] Figure 10 Second structural schematic diagram of the driving device in the powder-sweeping robot according to an embodiment of the present invention;

[0029] Figure 11 Third structural schematic diagram of the driving device in the powder-sweeping robot according to an embodiment of the present invention;

[0030] Figure 12 Stereoscopic view of the brush and the insertion shaft of the powder-sweeping workpiece in the powder-sweeping robot according to an embodiment of the present invention;

[0031] Figure 13 Top view of the brush and the insertion shaft of the powder-sweeping workpiece in the powder-sweeping robot according to an embodiment of the present invention;

[0032] Figure 14 Stereoscopic view of the scraper and the insertion shaft of the powder-sweeping workpiece in the powder-sweeping robot according to an embodiment of the present invention;

[0033] Figure 15 Side view of the scraper and the insertion shaft of the powder-sweeping workpiece in the powder-sweeping robot according to an embodiment of the present invention;

[0034] Figure 16 Stereoscopic view of the friction block and the insertion shaft of the powder-sweeping workpiece in the powder-sweeping robot according to an embodiment of the present invention;

[0035] Figure 17 Top view of the friction block and the insertion shaft of the powder-sweeping workpiece in the powder-sweeping robot according to an embodiment of the present invention;

[0036] Figure 18 Stereoscopic view of the first mounting seat in the powder-sweeping robot according to an embodiment of the present invention;

[0037] Figure 19 Top view of the first mounting seat in the powder-sweeping robot according to an embodiment of the present invention;

[0038] Figure 20 First cross-sectional view of the first mounting seat in the powder-sweeping robot according to an embodiment of the present invention;

[0039] Figure 21 Second cross-sectional view of the first mounting seat in the powder-sweeping robot according to an embodiment of the present invention;

[0040] Figure 22 First cross-sectional view of the cooperation between the first mounting seat and the insertion shaft in the powder-sweeping robot according to an embodiment of the present invention;

[0041] Figure 23The second cross-sectional view of the cooperation between the first mounting base and the insertion shaft in the powder-sweeping robot according to the embodiment of the present invention;

[0042] Figure 24 The third cross-sectional view of the cooperation between the first mounting base and the insertion shaft in the powder-sweeping robot according to the embodiment of the present invention;

[0043] Figure 25 The cross-sectional view of the powder-suction container in the powder-sweeping robot according to the embodiment of the present invention;

[0044] Figure 26 The flowchart of the powder cleaning method according to the embodiment of the present invention;

[0045] Figure 27 The sub-flowchart of the powder cleaning method according to the embodiment of the present invention.

[0046] Explanation of reference numerals:

[0047] 1, internal mixer; 11, feeding door; 12, internal mixing chamber; 13, pressing hammer; 14, rotor; 15, machine base;

[0048] 2, powder-sweeping robot; 21, driving device; 211, six-axis robotic 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 robotic arm; 2121, base; 2122, first rotating arm; 2123, second rotating arm; 2124, third rotating arm; 2125, fourth rotating arm; 2126, fifth rotating arm; 2127, sixth rotating arm; 2128, seventh rotating arm; 22, powder-sweeping device; 221, first mounting base; 2211, dust suction hole; 2212, insertion hole; 22121, first threaded hole; 2213, clamping and fitting groove; 22131, first groove; 22132, second groove; 22133, third groove; 22134, fourth groove; 2214, elastic member; 2215, connecting column; 22151, ventilation hole; 23, guide rail; 231, sliding seat; 24, transport vehicle;

[0049] 222. Sweeping powder workpiece; 222a. Sweeping powder workpiece; 2221. Brush; 22211. Bristles; 2224a. Insertion shaft; 22241a. First air hole; 22242a. Second threaded hole; 22243a. Clamping protrusion; 2225a. Second air hole; 222b. Sweeping powder workpiece; 2222. Scraper; 22221. Edge; 2224b. Insertion shaft; 22241b. First air hole; 22242b. Second threaded hole; 22243b. Clamping protrusion; 2225b. Second air hole; 222c. Sweeping powder workpiece; 2223. Friction block; 22231. Rough surface; 2224c. Insertion shaft; 22241c. First air hole; 22242c. Second threaded hole; 22243c. Clamping protrusion; 2225c. Second air hole;

[0050] 223. Powder suction container; 2231. Filter screen; 2232. Air extraction chamber; 2233. Powder storage chamber; 2234. Movable door; 2235. Dust suction pipeline. Detailed implementation manners

[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0052] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "resin", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0054] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more, unless otherwise specifically defined.

[0055] In the present invention, unless otherwise clearly specified or limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0057] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions 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 can be combined in a suitable manner in any one or more embodiments or examples.

[0058] An embodiment of the present invention provides a kneader system. Please refer to the attached Figures 1 to 6 , Figure 1 and Figure 2 which are the schematic connection structures of the kneader 1 in this embodiment, Figures 3 to 5 which is the cross-sectional view of the kneader 1 in this embodiment, Figure 6 and which is the schematic structure of the kneader system in this embodiment. Wherein, the kneader system of this embodiment includes a powder-sweeping robot 2, and also includes a machine base 15 and a kneader 1 body disposed on the machine base 15. An inlet door 11 and a kneading chamber 12 are disposed on the kneader 1 body. A pressing hammer 13 and a rotor 14 for kneading processing are disposed in the kneading chamber 12. The inlet door 11 is used to control the opening or closing of the kneading chamber 12. When the fixed end of the driving device 21 is mounted on a single kneader 1, the fixed end of the driving device 21 is connected to the machine base 15 near the inlet door 11.

[0059] In this embodiment, when feeding materials into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the charging door 11 to open and the pressing hammer 13 to rise to the top. As Figure 1 shown, at this time, powder materials can be fed into the mixing chamber 12 through the passage opened by the charging door 11. After the feeding into the mixing chamber 12 is completed, the internal mixer 1 will control the charging door 11 to close. As Figure 2 shown, at this time, the pressing hammer 13 in the mixing chamber 12 will start to cooperate with the rotor 14 to perform the powder processing work. The powder processing work in the mixing chamber 12 is as Figures 3 to 5 shown. The pressing hammer 13 is controlled to press down through the connecting rod of the pressing hammer 13, and the powder materials poured into the mixing chamber 12 are pressed down onto the rotor 14. The powder materials are gradually melted by the pressure of the pressing hammer 13, the rotation of the rotor 14, and heating. It can be understood that during the process of feeding materials into the mixing chamber 12 and the pressing down of the pressing hammer 13, some of the powder materials fed into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the pressing hammer 13. This part of the powder materials will not be added to the mixing work between the pressing hammer 13 and the rotor 14, resulting in a gap between the actual output and the expected output. In the prior art, for this part of the powder materials, generally, workers clean them according to the specified time or process, sweep them off the inner wall of the mixing chamber 12 and the pressing hammer 13, and let them fall naturally onto the rotor 14 to rejoin the mixing work. However, manually using tools to clean the side wall of the mixing chamber 12 and the pressing hammer 13 has instability. There may be situations where workers forget to sweep the powder or the sweeping is not in place due to personal factors of the workers. At the same time, the polymer material powder may be inhaled by workers during the flying process, and long-term exposure may lead to respiratory diseases, which is not conducive to the physical health of workers. As Figure 6 shown, the present invention designs a powder sweeping robot 2 to sweep the powder for the mixing chamber 12 and the pressing hammer 13 of the internal mixer 1. The driving device 21 drives the powder sweeping device to reach each corner in the mixing chamber 12 to achieve comprehensive cleaning. By using the automated powder sweeping robot 2, the powder sweeping effect is more stable, and at the same time, the human resources for sweeping the powder for the internal mixer 1 are liberated.

[0060] Furthermore, the embodiment of the present invention also provides a powder sweeping robot 2. The powder sweeping robot 2 is applied to the powder sweeping work of a single or multiple internal mixer 1 devices. It includes: a driving device 21 and a powder sweeping device. The driving device 21 is used to drive the powder sweeping device to displace and / or rotate. The powder sweeping device includes a powder sweeping workpiece, and the powder sweeping workpiece is used to perform powder sweeping operations on the cleaning object. Among them, the fixed end of the driving device 21 is installed on a single internal mixer 1, or the powder sweeping robot 2 further includes a transfer device, and the fixed end of the driving device 21 is installed on the transfer device, and the transfer device is used to drive the driving device 21 to move among multiple internal mixers 1.

[0061] It should be noted that the powder-sweeping robot 2 in this embodiment is used to perform powder-sweeping operations for the kneading chamber 12 and the pressing hammer 13 of the internal mixer 1. Therefore, the cleaning object of the above-mentioned powder-sweeping workpiece is the kneading chamber 12 or the pressing hammer 13 of the internal mixer 1. The powder-sweeping robot 2 in this embodiment drives the powder-sweeping device to reach each corner inside the kneading chamber 12 through the driving device 21 to achieve comprehensive cleaning. By using the automated powder-sweeping robot 2, the powder-sweeping effect is made more stable, and at the same time, the human resources used for powder-sweeping the internal mixer 1 are liberated, thereby reducing the health risks such as respiratory diseases for workers.

[0062] Furthermore, please refer to Figures 6 to 8 , considering the supply-demand relationship and actual efficiency between 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.

[0063] In some embodiments, as Figure 6 shown, the driving device 21 of the powder-sweeping robot 2 is installed on a single internal mixer 1, which means that the powder-sweeping robot 2 in this embodiment is integrated with the internal mixer 1 it is installed on. When the internal mixer 1 needs to perform powder-sweeping operations, the powder-sweeping robot 2 can quickly execute, and through the driving device 21, quickly extend the powder-sweeping device to the kneading chamber 12 and the pressing hammer 13, so that the powder on the kneading chamber 12 and the pressing hammer 13 is cleaned.

[0064] In some embodiments, as Figure 7 shown, the driving device 21 of the powder-sweeping robot 2 is installed on a transfer device. The transfer device includes a guide rail 23 and a slider 231 slidably connected to the guide rail 23. The fixed end of the driving device 21 is installed on the slider 231. Thus, by using the sliding fit of the guide rail 23 and the slider 231, the driving device 21 of the powder-sweeping robot 2 can carry the powder-sweeping device and move between multiple internal mixers 1. Optionally, the guide rail 23 is laid on the ground beside the internal mixer 1, or the guide rail 23 is laid on the installation surface on the top of the internal mixer 1, or the guide rail 23 is suspended above the internal mixer 1. In this embodiment, it is selected to lay the guide rail 23 on the ground beside the internal mixer 1. It should be noted that in some common application scenarios, laying the guide rail 23 on the installation surface on the top of the internal mixer 1 means laying the guide rail 23 on the ceiling of the workshop where multiple internal mixers 1 are set, and the workshop ceiling provides support for the guide rail 23. It should be noted that in some common application scenarios, there are multiple columns arranged in the workshop where multiple internal mixers 1 are set, and suspending the guide rail 23 above the internal mixer 1 means connecting the guide rail 23 between multiple columns, and multiple columns provide support for the guide rail 23. In some embodiments, as Figure 8As shown, the driving end of the powder sweeping robot 2 is installed on the transfer device. The transfer device includes a transport vehicle 24 that can move freely in translation. The driving device 21 is connected to the transport vehicle 24. Thus, the free translational movement of the transport vehicle 24 enables the driving device 21 of the powder sweeping robot 2 to carry the powder sweeping device and move among multiple internal mixers 1. Preferably, the transport vehicle 24 is an Automated Guided Vehicle, which is an industrial vehicle that automatically operates and travels with a battery as the power source. Optionally, in other embodiments, the transfer device can also be other devices that can drive the driving device 21 closer to or farther away from the internal mixer 1, which will not be elaborated 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 powder sweeping operation on a certain internal mixer 1, the transfer device will drive the driving device 21 to move towards the target position according to the instruction. During the movement, the position and distance can be monitored in real time through sensors or vision systems installed on the transfer device to ensure accurate arrival. When the driving device 21 reaches the target position, it starts to work, extends the powder sweeping device into the internal mixing chamber 12 and the ram 13 of the internal mixer 1, and performs the powder sweeping operation. After the powder sweeping operation is completed, the transfer device moves according to the instruction of the next internal mixer 1. Through the transfer device, the powder sweeping robot 2 in this embodiment can quickly move and switch among different internal mixers 1, greatly improving the flexibility of the powder sweeping operation. At the same time, since the powder sweeping robot 2 can be shared among different internal mixers 1, there is no need to equip each internal mixer 1 with a powder sweeping robot 2, thus reducing the equipment cost.

[0065] Further, please refer to Figures 9 to 11 , to make the operation of the powder sweeping robot 2 more flexible, the driving device 21 in this embodiment includes a manipulator that can move freely. The powder sweeping device 22 is connected to the free end of the manipulator. The manipulator is used to send the powder sweeping device 22 from outside the internal mixer 1 into the internal mixing chamber 12 of the internal mixer 1 to perform the powder sweeping work. By utilizing the characteristic of the high degree of freedom of the manipulator to carry the powder sweeping device 22 to move, the efficiency of the powder sweeping operation is greatly improved.

[0066] Specifically, the above 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 211, or a seven-axis robotic arm 212. That is, the above robotic arm at least includes one of a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm 211, and a seven-axis robotic arm 212. It can be understood that robotic arms are classified according to their number of axes (i.e., the number of degrees of freedom), and these numbers of axes represent how many directions the robotic arm can move independently. Therefore, the higher the number of axes of the selected robotic arm, the more flexible the robotic arm is, but the corresponding cost is also higher. Users can select a robotic arm with an appropriate number of axes according to their actual needs. Preferably, in this embodiment, a six-axis robotic arm 211 is selected as the driving device 21. It should be explained that this embodiment only gives examples of the robotic arm of the driving device 21 with a limited number. In other embodiments, it can also be other devices that can drive the powder-sweeping device 22 to displace and / or rotate, which will not be elaborated here.

[0067] In the first embodiment, as Figure 9 and Figure 10As shown in the figure, the robotic arm in this embodiment is a six-axis robotic 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 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 outermost end of the six-axis robotic arm 211, that is, the end of the sixth rotating arm 2117. Therefore, 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.

[0068] In the second embodiment, as Figure 11As shown in the figure, the robotic arm in this embodiment is a seven-axis robotic 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 provided 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 provided 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 provided 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; 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. 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 rotating arm 2122, the second rotating arm 2123, the third rotating arm 2124, the fourth rotating arm 2125, the fifth rotating arm 2126, the sixth rotating arm 2127, and the seventh rotating 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 outermost end of the seven-axis robotic arm 212, that is, the end of the seventh rotating arm 2128. Therefore, 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.

[0069] In the third embodiment, the robotic arm in this embodiment can also be a three-axis robotic arm, a four-axis robotic arm, or a five-axis robotic arm, which will not be elaborated here.

[0070] Further, please refer to Figures 12 to 17 , 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 assembly or a powder blowing assembly. It should be noted that the above-mentioned brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the internal mixer 12 or the pressing hammer 13 for cleaning, while the powder suction assembly and the powder blowing assembly clean the surface of the internal mixer 12 or the pressing hammer 13 through the action of air flow.

[0071] Among them, the powder-sweeping workpiece 222 has the following four implementation manners:

[0072] Implementation manner 1: The powder-sweeping workpiece 222 includes one of a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder-sucking assembly, and a powder-blowing assembly.

[0073] Implementation manner 2: The powder-sweeping workpiece 222 includes a powder-sucking assembly and one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0074] Implementation manner 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.

[0075] Implementation manner 4: The powder-sweeping workpiece 222 includes a powder-sucking assembly and a powder-blowing assembly, and one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0076] Among them, the present application will introduce in detail three embodiments of the powder-sweeping workpiece 222, namely the powder-sweeping workpiece 222a, the powder-sweeping workpiece 222b, and the powder-sweeping workpiece 222c.

[0077] Specifically, refer to Figure 12 and Figure 13 , Figure 12 and Figure 13 which include the powder-sweeping workpiece 222a. The powder-sweeping workpiece 222a includes a brush 2221, an insertion shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The above-mentioned brush 2221 has bristles 22211 for forming point contact with the cleaning object. The first air hole 22241a is provided on the insertion shaft 2224a, and the second air hole 2225a is provided on the brush 2221. The functions of the insertion 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 elaborated here. Further, a second threaded hole 22242a and a clamping protrusion 22243a are also provided on the insertion shaft 2224a. 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 elaborated here.

[0078] Specifically, refer to Figure 14 and Figure 15 , Figure 14 and Figure 15It includes a powder-sweeping workpiece 222b. The powder-sweeping workpiece 222b includes a scraper 2222, an insertion shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The above-mentioned scraper 2222 has an edge 22221 for forming a line contact with the cleaning object. The first air hole 22241b is arranged on the insertion shaft 2224b, and the second air hole 2225b is arranged on the scraper 2222. 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 out an air flow towards the cleaning object. Thus, while the powder is scraped off by the edge 22221, the air flow blown out through the second air hole 2225b can also blow and carry away the polymer material powder adhering to the side wall of the internal mixer 12 or the ram 13, thereby achieving efficient cleaning. Further, a second threaded hole 22242b and a clamping protrusion 22243b are also arranged 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, and will not be elaborated here.

[0079] Specifically, referring to Figure 16 and Figure 17 , Figure 16 and Figure 17 It includes a powder-sweeping workpiece 222c. The powder-sweeping workpiece 222c includes a friction block 2223, an insertion shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The above-mentioned 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 polymer material powder on the side wall of the internal mixer 12 or the ram 13 drops due to the friction on the rough surface 22231, the air flow blown out through the second air hole 2225c also blows and carries away the polymer material powder adhering to the side wall of the internal mixer 12 or the ram 13, thereby achieving efficient cleaning. Further, a second threaded hole 22242c and a clamping protrusion 22243c are also arranged 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, and will not be elaborated here.

[0080] Specifically, insertion shafts are arranged on the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223. The scraper 2222, the friction cloth, and the friction block 2223 are detachably connected to the jacks 2212 arranged on the first mounting seat 221 connected to the driving device 21 through the insertion shafts.

[0081] Optionally, the following takes Figure 12 and Figure 13Taking the powder-sweeping workpiece 222a as an example, a second threaded hole 22242a is provided on the insertion 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 firm connection between the insertion shaft 2224a and the first mounting seat 221, and further achieve a firm 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 clamping protrusion 22243a is also provided on the insertion shaft 2224a, and the clamping protrusion 22243a is used to form a clamping fit relationship between the insertion shaft 2224a and the insertion hole 2212.

[0082] Optionally, the above-mentioned brush 2221 can be a roller brush or a flat brush. The roller brush can rotate relative to the insertion shaft 2224a, while the flat brush is fixed to the insertion shaft 2224a.

[0083] Furthermore, please refer to Figure 18 and Figure 19 Considering the various options for assembling the powder-sweeping workpiece 222 to the powder-sweeping robot 2 under different working conditions, the powder-sweeping device 22 in this embodiment further 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 requirements 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.

[0084] Specifically, an insertion hole 2212 is provided on the first mounting seat 221. Insertion shafts are provided on the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223 in the powder-sweeping workpiece 222. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the insertion hole 2212 on the first mounting seat 221 through the insertion shafts provided thereon. Through a simple plugging operation, the operator can quickly replace the powder-sweeping workpiece 222.

[0085] Optionally, as Figure 20 shown, an elastic member 2214 is provided at the bottom of the insertion hole 2212, a clamping fit groove 2213 is provided on the inner peripheral side of the insertion hole 2212, and a clamping protrusion 22243a is provided on the outer peripheral side of the insertion shaft 2224a. When the insertion shaft 2224a is inserted into the insertion hole 2212, the clamping protrusion 22243a slides into the clamping fit groove 2213 and is clamped with it, so that the powder-sweeping workpiece 222 and the first mounting seat 221 form a stable connection.

[0086] Preferably, please refer to Figure 21The 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.

[0087] See also Figures 22 to 24 , Figures 22 to 24Schematic diagram of the process of assembling the insertion shaft 2224a into the jack 2212. In an embodiment where the powder-sweeping workpiece 222a is installed on the first mounting base 221, first, the insertion shaft 2224a of the powder-sweeping workpiece 222a needs to be aligned with the jack 2212 on the first mounting base 221 to ensure that the insertion shaft 2224a can be smoothly inserted into the jack 2212. After the insertion shaft 2224a is aligned with the jack 2212, force is applied to insert the insertion shaft 2224a into the jack 2212. During the insertion process, the clamping protrusion 22243a on the insertion shaft 2224a will move along the clamping mating groove 2213 on the inner wall of the jack 2212. When the clamping protrusion 22243a reaches the first groove 22131, it will move along the path of the first groove 22131 towards the bottom of the jack 2212. As the insertion shaft 2224a continues to be inserted, the clamping protrusion 22243a will enter the second groove 22132, and at this time, the pressure on the insertion shaft 2224a is removed. After the insertion shaft 2224a enters the second groove 22132, the elastic member 2214 at the bottom of the jack 2212 exerts an upward pre-tightening force on the insertion shaft 2224a, and this pre-tightening force will cause the insertion shaft 2224a to move upward along the path of the second groove 22132. When the clamping protrusion 22243a reaches the connection between the second groove 22132 and the third groove 22133, since the path of the third groove 22133 is downward and the insertion shaft 2224a is already under the action of the pre-tightening force of the elastic member 2214, the clamping 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 of removing the powder-sweeping workpiece 222a from the first mounting base 221, only need to press the insertion shaft 2224a towards the inside of the jack 2212 again, and the clamping protrusion 22243a will move along the path of the third groove 22133 towards the bottom of the jack 2212. As the insertion shaft 2224a continues to be inserted, the clamping protrusion 22243a will enter the fourth groove 22134. At this time, the pressure for inserting the insertion shaft 2224a into the jack 2212 is removed, and the insertion shaft 2224a will move upward along the path of the fourth groove 22134 under the action of the elastic member 2214. At this time, only need to apply a pulling force to the insertion shaft 2224a to pull it out of the jack 2212, that is, remove the powder-sweeping workpiece 222a from the first mounting base 221.

[0088] Optionally, the snap projection 22243a is a spring detent that is elastic 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 its second end, and the groove depth at the second end of the first groove 22131 is less than the groove depth at the first end of the second groove 22132; the groove depth of the second groove 22132 gradually decreases from its first end to its second end, and the groove depth at the second end of the second groove 22132 is less than the groove depth at the first end of the third groove 22133; the groove depth of the third groove 22133 gradually decreases from its first end to its second end, and the groove depth at the second end of the third groove 22133 is less than the groove depth at the first end of the fourth groove 22134; the groove depth of the fourth groove 22134 gradually decreases from its first end to its second end, and the groove depth at the second end of the fourth groove 22134 is less than the groove depth at the first end of the first groove 22131. It can be understood that a first step is formed at the connection between the first groove 22131 and the second groove 22132 due to the groove depth difference, a second step is formed at the connection between the second groove 22132 and the third groove 22133 due to the groove depth difference, a third step is formed at the connection between the third groove 22133 and the fourth groove 22134 due to the groove depth difference, and a fourth step is formed at the connection between the fourth groove 22134 and the first groove 22131 due to the groove depth difference. Optionally, the deepest groove depth, the shallowest groove depth, and the groove depth change range of the first groove 22131, the second groove 22132, the third groove 22133, and the fourth groove 22134 are the same. In this embodiment, the extended length of the spring detent provided on the powder sweeping workpiece 222a in the non-force natural state is greater than or equal to the deepest groove depth of the snap-fit groove 2213, and the extended length in the compressed state is equal to or less than the shallowest groove depth of the snap-fit groove 2213, so that the spring detent will be subjected to a gradually increasing resistance during the insertion process, thereby slowing down its speed and forming a self-lock at the connection between the second groove 22132 and the third groove 22133. In addition, due to the change of the groove depth, steps are formed at the connections of adjacent grooves, and these steps provide additional locking points for the spring detent, enhancing the stability of the connection. Specifically, the spring detent in this embodiment utilizes its elastic characteristics to be able to smoothly enter and move along the path with gradually decreasing groove depth. When the spring detent is compressed, its extended length will decrease, so that it can smoothly pass through the area with a shallower groove depth and restore its original length at the self-lock position to form a lock.Specifically, when the insertion shaft 2224a of the powder sweeping workpiece 222a starts to insert into the insertion hole 2212 with the spring detent, the spring detent first enters the first groove 22131. As the insertion shaft 2224a goes deeper, the spring detent 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 detent will be resisted by the first step in the direction of returning to the first groove 22131. Therefore, the insertion shaft 2224a under the pre-tightening force of the elastic member 2214 will naturally drive the spring detent to move along the second groove 22132 to pass through the connection between the second groove 22132 and the third groove 22133 into the third groove 22133, forming a self-locking state. When disassembling the powder sweeping workpiece 222a, when a downward pressure is applied to the insertion shaft 2224a, the spring detent will naturally move along the third groove 22133 to pass through the connection between the third groove 22133 and the fourth groove 22134 into the fourth groove 22134. At this time, under the elastic pre-tightening force and the blockage of the third step, the spring detent will naturally move upward along the fourth groove 22134. Optionally, the clamping and mating groove 2213 is an axisymmetric figure, and the axis of symmetry of the clamping and mating 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 axis of symmetry of the clamping and mating 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.

[0089] Further, please refer to Figure 18 , Figure 19 and Figure 25, in this embodiment, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head. 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 noted 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 internal mixer chamber 12 or the pressing hammer 13 to a large extent, the powder separated from the internal mixer chamber 12 or the pressing hammer 13 may not directly fall above the rotor 14, but may re-adhere to the internal mixer chamber 12 or the pressing 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 this negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to suck external fluid into the powder suction container 223. Thus, the floating powder in the internal mixer 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 by the powder sweeping workpiece 222 re-adheres to the inner wall of the internal mixer chamber 12 or the pressing hammer 13 after floating. Preferably, the dust suction head is installed on the first mounting seat 221. Optionally, at least two dust suction heads are evenly arranged around the jack 2212, and the dust suction ports of the dust suction heads face the same direction as the insertion ports of the jack 2212. Optionally, the dust suction head is the dust suction pipe 2235. 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.

[0090] Further, please refer to Figure 25 , a filter screen 2231 is provided inside the powder suction container 223. The two sides of the filter screen 2231 respectively enclose an air extraction chamber 2232 and a powder storage chamber 2233 with the inner wall of the powder suction container 223. The air extraction end of the first air pump is communicated with the air extraction chamber 2232, and the dust suction head is communicated with 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 blocking of the filter screen 2231, the powder is left in the powder storage chamber 2233, while the air passes through the filter screen 2231 and enters the air extraction chamber 2232 to maintain the negative pressure state inside the powder suction container 223. Further, a powder discharge port communicated with the powder storage chamber 2233 is provided on the powder suction container 223, and a movable door 2234 that can be opened and closed is provided at the powder discharge port. When it is necessary to clean the powder, the movable door 2234 of the powder discharge port is opened, and the powder is discharged from the powder storage chamber 2233.

[0091] Further, a door control motor is provided on the side of the powder feeding port. The door control motor is used to control the opening or closing of the movable door 2234, and the door control motor is electrically connected to the control system of the powder sweeping robot 2 in this embodiment. Optionally, the powder feeding port in this embodiment is a rectangular opening, and the movable door 2234 is a rectangular door. Further, a door storage groove is provided on the inner wall of the first side of the rectangular opening, and sliding door grooves are 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 door storage groove is used to accommodate the movable door 2234, and the sliding door grooves are used to provide support and a sliding pair for the sliding of the movable door 2234. The door control motor is used to drive the movable door 2234 to slide into or out of the door storage groove. When the movable door 2234 slides into the door storage groove, the powder feeding port is opened, and when the movable door 2234 slides out of the door storage groove, the powder feeding port is closed. Preferably, the powder feeding 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.

[0092] Optionally, the motor in the first air pump for driving the impeller to rotate to generate air flow is a bidirectional motor. Thus, 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 air suction end and the air exhaust end of the first air pump are adjustable. 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 air suction end, and the second end of the first air pump is the air exhaust end. When the bidirectional motor in this embodiment rotates in reverse, the wind wheel of the first air pump rotates counterclockwise, the first end of the first air pump is the air exhaust end, and the second end of the first air pump is the air suction end. Thus, when the powder sweeping device 22 in this embodiment performs the powder sweeping operation, the bidirectional motor rotates forward, so that the end of the first air pump communicating with the air suction chamber 2232 of the powder suction container 223 is the air 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 finishes the powder sweeping operation and needs to release the powder in the powder suction container 223 above the rotor 14 of the internal mixer 12, the bidirectional motor rotates in reverse, so that the end of the first air pump communicating with the air suction chamber 2232 of the powder suction container 223 is the air 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 outside the powder suction container 223 to fall above the rotor 14. Optionally, the powder sweeping device 22 further includes a vibration motor, and the vibration motor 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 further includes a second mounting seat. The second mounting seat is connected to the driving device 21, the first mounting seat 221 is connected to the second mounting seat, and a buffer assembly is connected between the first mounting seat 221 and the second mounting seat. The buffer assembly can be a plurality of springs or other elastic members 2214 for buffering the vibration transmitted from the first mounting seat 221 to the driving device 21.

[0093] 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 outwards, some powder may adhere to the filter net 2231 or the inner wall of the powder storage chamber 2233. At this time, in addition to the method of blowing air into the powder suction container 223 by using the first air pump to make the powder fall off, 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 adhering to the filter net 2231 or the inner wall in the powder suction container 223 can be effectively separated by the centrifugal force and 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. Further, considering that the powder sweeping workpiece 222 only contacts the wall of the internal mixer chamber 12 and the surface of the pressure hammer 13 by being driven by the driving 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, and then the powder sweeping workpiece 222 mounted on the first mounting seat 221 is driven to vibrate. The powder sweeping workpiece 222 in the vibrating state has a stronger cleaning force and can make the powder on the wall of the internal mixer chamber 12 and the surface of the pressure hammer 13 fall off more thoroughly.

[0094] Further, the powder blowing assembly in this embodiment includes a second air pump, and the second air pump is used to provide an air flow to blow the powder off from the cleaning object. It should be explained that the air flow provided by the second air pump can be directly blown out towards the cleaning object through the air nozzle, or can be blown out through the air passage opened in 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.

[0095] Further, please refer to Figures 12 to 17 , an explanation is made in this embodiment for the air flow provided by the second air pump to be blown out through the air passage opened in 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, both the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223 include an insertion shaft and a second air hole opened on the insertion shaft. The insertion shaft is used to be inserted into the insertion hole 2212 on the first mounting seat 221, and the second air hole is used to be inserted into the connecting column 2215 in the insertion hole 2212 and make the air vent hole 22151 on the connecting column 2215 communicate with the second air hole.

[0096] Specifically, taking Figure 12 and Figure 13Taking the powder-sweeping workpiece 222a as an example, a first air hole 22241a and a second air hole 2225a are provided on the powder-sweeping workpiece 222a. The first air hole 22241a and the second air hole 2225a are connected through an air passage built in the powder-sweeping workpiece 222a. The exhaust end of the second air pump is connected to the first air hole 22241a to provide an outward airflow for the second air hole 2225a. It can be understood that the powder-sweeping robot 2 in this embodiment can deliver airflow to the powder-sweeping workpiece 222a through the second air pump. By using the airflow to blow the powder, the polymer material powder attached to the side wall of the internal mixer 12 or the ram 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 spray out from the second air hole 2225a. This sprayed airflow can blow and carry away the polymer material powder attached to the side wall of the internal mixer 12 or the ram 13, thus achieving efficient cleaning.

[0097] The powder-sweeping workpiece 222a in this embodiment includes a brush 2221 and a plug shaft 2224a. A first air hole 22241a is opened on the plug shaft 2224a, and a second air hole 2225a is opened on the brush 2221. The first air hole 22241a and the second air hole 2225a are connected through an air passage built in the brush 2221 and the plug shaft 2224a. The exhaust end of the second air pump is connected to the first air hole 22241a to provide an outward airflow for the second air hole 2225a. Thus, during the process of the brush 2221 performing the powder-sweeping work by using the bristles 22211, the airflow blown from the first air hole 22241a to the second air hole 2225a can also blow and carry away the polymer material powder attached to the side wall of the internal mixer 12 or the ram 13, and cooperate with the bristles 22211 to clean the polymer material powder on the side wall of the internal mixer 12 or the ram 13 more quickly and thoroughly. It can be understood that Figure 14 、 Figure 15 the air passage channels provided on the scraper 2222 and the plug shaft 2224b in Figure 16 、 Figure 17 the air passage channels provided on the friction block 2223 and the plug shaft 2224c in

[0098] are the same as the air passage channels provided on the brush 2221 and the plug shaft 2224a in this embodiment, and will not be elaborated here.

[0098] As Figure 20 shown, specifically, a connecting column 2215 is provided at the bottom of the jack 2212 on the first mounting seat 221. An air vent hole 22151 that conducts both ends thereof is opened on the connecting column 2215. One end of the air vent hole 22151 is connected to the jack 2212, and the other end is connected to the exhaust end of the second air pump through a trachea. As Figures 22 to 24As shown, taking the powder-sweeping workpiece 222a as an example, a first air hole 22241a is provided at one end of the insertion shaft 2224a away from the brush 2221, and a second air hole 2225a is provided on the brush 2221. The first air hole 22241a and the second air hole 2225a are communicated through an air passage built in the workpiece body. When the insertion shaft 2224a is inserted into the insertion hole 2212, the connecting column 2215 is inserted into the first air hole 22241a, and the exhaust end of the second air pump is conducted with the second air hole 2225a.

[0099] Optionally, as Figures 22 to 24 shown, a first threaded hole 22121 is radially formed on the side wall of the insertion hole 2212, and a corresponding second threaded hole 22242a is provided 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 communicating position between 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 just aligned and conducted. 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.

[0100] Optionally, the connecting column 2215 is arranged at the center of the bottom of the insertion hole 2212, and at least one of the elastic members 2214 arranged at the bottom of the insertion hole 2212 is a spring and is arranged around the outer peripheral side of the connecting column 2215.

[0101] Optionally, a sealing ring is sleeved on the outer periphery of the connecting column 2215, and the sealing ring can make the insertion of the connecting column 2215 and the first air hole 22241a more airtight and stable.

[0102] In a specific implementable embodiment, the powder-sweeping workpiece 222 includes at the same time one of the brush 2221, the scraper 2222, the friction cloth, the friction block 2223, as well as a powder suction component and a powder blowing component. The powder suction component collects the powder through the negative pressure air flow provided by the first air pump, and the powder blowing component blows the powder through the positive pressure air flow 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 internal mixer 1 from entering and staying in the first air hole and the ventilation hole 22151 through the second air hole, a filter screen 2231 can be arranged at the second air hole in this embodiment to prevent the external powder from pouring in through the second air hole. In this embodiment, the air source supply for both the powder blowing component and the powder suction component is realized by using the same air pump, effectively reducing the production cost of the product and making the coordinated work of the powder blowing component and the powder suction component more coordinated.

[0103] The embodiment of the present invention also provides a powder cleaning method. Please refer to Figure 26And Figure 27 This powder cleaning method is executed by the powder sweeping robot or by the control terminal. The control terminal is used to control the powder sweeping robot to perform powder cleaning work on the internal mixer 12 using at least one powder sweeping workpiece. The following specifically describes the powder cleaning method provided by this application.

[0104] Please refer to Figure 26 , Figure 26 is a schematic flowchart of the powder cleaning method provided by an embodiment of this application. As Figure 26 shown, in some embodiments, this powder cleaning method includes steps S100 - S200:

[0105] Step S100: Obtain the status information inside the internal mixer chamber of the internal mixer.

[0106] Step S200: Control at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber according to the status information.

[0107] Among them, the status information is used to represent the working status inside the internal mixer 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 and the powder sweeping robot are in one-to-one correspondence. At this time, when the powder sweeping robot executes this powder cleaning method, the powder sweeping robot obtains the status information of a corresponding internal mixer 1. When the control terminal executes this powder cleaning method, it obtains the status information of an internal mixer 1 corresponding to each powder sweeping robot. In some other embodiments, one 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 this powder cleaning method, the powder sweeping robot obtains the status information of all corresponding internal mixers 1. When the control terminal executes this powder cleaning method, it obtains the status information of all internal mixers 1 corresponding to each powder sweeping robot. It should be noted that the cleaning objects inside the internal mixer chamber 12 include the inner wall of the internal mixer chamber 12 and the pressure hammer 13.

[0108] Please refer to Figure 27 , Figure 27 is Figure 26 a refined flowchart of step S200 in

[0109] Step S210: Determine whether the internal mixer is the target internal mixer that needs to perform powder cleaning work according to the status information.

[0110] Step S220: When it is determined according to the status information that the internal mixer is the target internal mixer, control at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0111] In some embodiments, the above-mentioned status information includes 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, determining that the internal mixer 1 is the target internal mixer 1. Optionally, the range of the preset working temperature is 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, 200 degrees, etc.

[0112] In some embodiments, during a single working process of the internal mixer 1, the internal mixer 1 sequentially switches between multiple working states, and each working state corresponds to a preset working temperature. Generally, during a single working process of the internal mixer 1, the preset working temperature under each working state increases sequentially. For example, during a single working process of the internal mixer 1, the internal mixer 1 sequentially switches between 4 working states. 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 status information in such embodiments 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, determining that the internal mixer 1 is the target internal mixer 1. It should be noted 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, it is determined that the internal mixer 1 is the target internal mixer 1, and then step S220 is executed to enable 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. At this time, it is determined that the internal mixer 1 is the target internal mixer 1.

[0113] In some embodiments, the above-mentioned status information includes the working duration of the current working state of the internal mixer chamber 12 of the internal mixer 1. Step S210 includes: when the working duration reaches a preset duration, determining that the internal mixer 1 is the target internal mixer 1. As described above, during a single working process of the internal mixer 1, the internal mixer 1 will sequentially switch between multiple working states, and each working state corresponds to a preset duration. When the working duration of the internal mixer 1 reaches the preset duration corresponding to the current working state, it is determined that the internal mixer 1 is the target internal mixer 1. It can be understood that when the working duration of the internal mixer 1 reaches the preset duration corresponding to the current working state, it means that the internal mixer 1 should enter the next working state. At this time, it is determined that the internal mixer 1 is the target internal mixer 1, and then step S220 is executed to enable 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.

[0114] The above only uses embodiments to further illustrate the technical content of the present invention to make it easier for readers to understand, but it does not mean that the embodiments of the present invention are limited to this. Any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the present invention is subject to the claims.

Claims

1. A powder sweeping robot, characterized in that: The powder sweeping robot is applied to the powder sweeping work of a single or multiple internal mixers, and comprises: 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 comprises a powder sweeping workpiece, and the powder sweeping workpiece is used to perform a powder sweeping operation on a cleaning object; Among them, the fixed end of the driving device is installed on a single internal mixer, 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 move between multiple internal mixers.

2. A powder sweeping robot 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 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. The powder sweeping robot 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 according to claim 1, characterized in that: The transfer device comprises 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.

6. The powder sweeping robot according to claim 5, characterized in that: The guide rail is laid on the ground beside the internal mixer, or the guide rail is laid on the installation surface on the top of the internal mixer, or the guide rail is suspended above the internal mixer.

7. The powder sweeping robot according to claim 1, characterized in that: The transfer device comprises a transport vehicle which can freely move in translation, and the driving device is connected to the transport vehicle.

8. The powder sweeping robot according to claim 7, characterized in that: The transport vehicle is an automatic guided vehicle.

9. An internal mixer system, characterized in that: The internal mixer system includes the powder sweeping robot as described in any one of claims 1 to 8; the internal mixer system also includes a machine base and an internal mixer body arranged on the machine base, the internal mixer body is provided with a feed door and a mixing chamber, the mixing chamber is provided with a hammer and a rotor used for mixing processing, the feed door is used to control the opening or closing of the mixing chamber, and when the fixed end of the driving device is installed on a single internal mixer, the fixed end of the driving device is connected to the machine base near the feed door.

10. An internal mixer system according to claim 9, 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.

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