A planetary vacuum kneader of a multi-stage stirring device

Abstract

This invention discloses a planetary vacuum kneader with a multi-stage stirring device, relating to the field of kneading equipment technology, including a kneader; a driving component is fixedly mounted on the top of the kneader by bolts; the driving component consists of an electric push rod with height adjustment, a moving plate, and a motor on the moving plate, which drives a biomimetic stirring paddle to perform a composite motion of revolution and rotation through a planetary gear system, forming a highly efficient mixing flow field without dead angles in cooperation with the stirring plate; simultaneously, the system senses the material state in real time through an acoustic emission sensor and dynamically adjusts the first shape memory alloy current to change the shape of the stirring paddle, enabling it to intelligently adapt to different material viscosities and always maintain optimal stirring performance. Through functions such as electromagnetic precise adjustment of the stirring gap, vacuum combined with low-temperature cold trap temperature control to prevent oxidation, and online safe sampling and detection, the system jointly ensures the high precision, stability, and reliability of the process, ultimately significantly improving processing efficiency and product quality.

Description

Technical Field

[0001] This invention relates to the field of kneading equipment technology, specifically a planetary vacuum kneader with a multi-stage stirring device. Background Technology

[0002] In the material mixing and reaction processes of chemical, pharmaceutical, and food industries, traditional stirring equipment has many limitations. First, its stirring flow field often has dead zones, leading to uneven material mixing and low efficiency. Second, it cannot sense the material state (such as viscosity changes) in real time and adaptively adjust stirring parameters. When dealing with materials with variable properties or high viscosity, it is prone to problems such as insufficient mixing, runaway reaction, or unstable product quality. Furthermore, the shape and gap of the stirring components in traditional equipment are fixed, lacking flexible adjustment capabilities and poor process adaptability. In addition, for materials that are easily oxidized or contain volatile components, conventional equipment cannot effectively isolate oxygen and treat volatiles, which not only affects product quality but also contaminates the vacuum system and damages the equipment. Summary of the Invention

[0003] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a planetary vacuum kneader with a multi-stage stirring device.

[0004] This invention is implemented as follows: a planetary vacuum kneader with a multi-stage mixing device is constructed. The device includes a kneader; a drive component is fixedly mounted on the top of the kneader by bolts; the drive component consists of an electric push rod with height adjustment, a moving plate, and a motor on the moving plate; a top cover is fixedly mounted on the bottom end of the motor of the drive component; a multi-stage transmission assembly is fixedly mounted on the end of the drive component motor drive shaft; a material tank is displaced on the kneader; and a controller is fixedly mounted on the side of the drive component via a cable.

[0005] Preferably, the multi-stage transmission assembly includes a planetary gear train fixedly installed at the end of the drive shaft of the motor; the planetary gear train specifically consists of a sun gear and planet gears, and a stirring component is inserted and fixed at the central hole of the planetary gear train; a gear ring is provided for meshing transmission on the outer side of the planetary gear train; a fixing ring frame is fixedly installed at the bottom of the gear ring by bolts; an adjusting component is fixedly installed at the bottom of the fixing ring frame; a displacement ring frame is fixedly installed at the bottom of the adjusting component, and a stirring plate is rotatably installed at the bottom of the displacement ring frame.

[0006] Preferably, the stirring component includes a fixed disk that is inserted and fixedly installed on the central hole of the planetary gear train, and an acoustic emission sensor with data acquisition function is fixedly installed inside the fixed disk; a bionic stirring paddle is inserted and fixedly installed at the bottom of the fixed disk, and the bionic stirring paddle is hollow, with a sealing cap fixedly installed at the tail of the paddle; an integrated conduit is provided inside the middle of the bionic stirring paddle, and a conductive cable and a heat exchange water pipe are provided inside the integrated conduit; a first shape memory alloy is arranged and fixedly installed in the gap between the bionic stirring paddle and the integrated conduit.

[0007] Preferably, the adjusting component includes sealing covers disposed on the bottom side of the fixed ring frame and the top of the displacement ring frame, and the sealing covers are fixedly installed on the upper and lower sides of the relay ring; the relay ring is provided with straight holes distributed in a ring shape, and a second shape memory alloy and a coil are fixedly installed inside the straight holes, and the second shape memory alloy and the coil are alternately distributed; the upper and lower sides of the coil are slidably provided with locking rods, and the locking rods are slidably disposed with the slots on the bottom side of the fixed ring frame and the top of the displacement ring frame; the locking rods are provided with current controllers.

[0008] Preferably, the upper cover includes a sealed upper cover fixedly disposed at the bottom of the moving plate of the drive component; a low-temperature cold trap is disposed inside the sealed upper cover, and liquid nitrogen or ultra-low temperature refrigerant flows directly through the jacket of the low-temperature cold trap; a sampling component is fixedly installed on the side port of the sealed upper cover.

[0009] Preferably, the sampling component includes a pressure-resistant tube body fixedly installed on the insertion and fixed to the sealing cap opening; a pressure valve with pressure regulation function is fixedly installed on the pressure-resistant tube body; a sealing assembly is fixedly installed on the top of the pressure-resistant tube body, and the sealing assembly specifically consists of a sealing plate and a multi-stage electromagnetic rod fixed on the bottom side of the sealing plate; a motor is fixedly installed on the top of the sealing plate of the sealing assembly, and a vortex component is fixedly installed on the bottom of the motor.

[0010] Preferably, the swirling element comprises a pressure cylinder fixedly mounted on the motor output shaft, a piston rotatably disposed inside the pressure cylinder, and a stirring paddle shaft fixedly mounted on the bottom side of the piston. The pressure cylinder is provided with two sets of sealing blocks to limit the rotation angle of the piston to within 90 degrees, and the piston inside the pressure cylinder is vertical.

[0011] Preferably, the blade structure of the biomimetic stirring impeller has a serrated trailing edge; the first shape memory alloy is a nickel-titanium alloy wire, and its two ends are electrically connected to the controller through the cable in the integrated conduit to form a closed-loop control system.

[0012] Preferably, the acoustic emission sensor monitors the stirring state in real time and feeds the signal back to the controller. The controller adjusts the current applied to the first shape memory alloy according to the signal processing result, thereby changing the rigidity and shape of the biomimetic stirring paddle.

[0013] Preferably, the current controller is signal-connected to the controller, and the second shape memory alloy is an iron-based shape memory alloy; the current controller independently controls the magnitude and direction of the current flowing to each of the coils, thereby generating magnetic fields of different intensities and directions, driving the corresponding snap-fit ​​rods to produce axial displacement.

[0014] The present invention has the following advantages: The present invention provides a planetary vacuum kneader with a multi-stage stirring device, which, compared with similar equipment, has the following improvements:

[0015] The planetary vacuum kneader of this invention, a multi-stage stirring device, drives a biomimetic stirring paddle through a planetary gear system to perform a composite motion of revolution and rotation, forming a highly efficient mixing flow field without dead angles in conjunction with the stirring plate. Simultaneously, the system uses an acoustic emission sensor to perceive the material state in real time and dynamically adjusts the first shape memory alloy current to change the shape of the stirring paddle, enabling it to intelligently adapt to different material viscosities and maintain optimal stirring performance. Through precise electromagnetic adjustment of the stirring gap, vacuum combined with a low-temperature cold trap for temperature control and oxidation prevention, and online safe sampling and detection, the system collectively ensures the high precision, stability, and reliability of the process, ultimately significantly improving processing efficiency and product quality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is an exploded structural diagram of the upper cover and multi-stage transmission assembly of the present invention;

[0018] Figure 3 This is an exploded structural diagram of the multi-stage transmission assembly of the present invention;

[0019] Figure 4 This is a schematic diagram of the fixed disk and biomimetic stirring paddle structure of the present invention;

[0020] Figure 5 This is a schematic diagram of the internal structure of the biomimetic stirring paddle of the present invention;

[0021] Figure 6 This is a cross-sectional structural diagram of the upper cover of the present invention.

[0022] The components include: kneader-1, drive unit-2, top cover unit-3, multi-stage transmission assembly-4, material tank-5, controller-6, sealed top cover-31, low-temperature cold trap-32, sampling unit-33, pressure-resistant tube body-331, pressure valve-332, sealing assembly-333, swirl unit-334, planetary gear system-41, stirring unit-42, gear ring-43, fixed ring frame-44, adjusting unit-45, displacement ring frame-46, stirring plate-47, fixed disk-421, bionic stirring paddle-422, sealing cover-423, integrated conduit-424, first shape memory alloy-425, acoustic emission sensor-426, relay ring-451, sealing cover-452, second shape memory alloy-453, coil-454, snap-fit ​​rod-455, and current controller-456. Detailed Implementation

[0023] The following is in conjunction with the appendix Figures 1-6 The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0026] Example 1:

[0027] Please see Figures 1-6The present invention discloses a planetary vacuum kneader with a multi-stage mixing device, comprising a kneader 1; a drive component 2 is fixedly mounted on the top of the kneader 1 by bolts; the drive component 2 consists of an electric push rod with height adjustment, a moving plate, and a motor on the moving plate; a top cover 3 is fixedly mounted on the bottom end of the motor of the drive component 2; a multi-stage transmission assembly 4 is fixedly mounted on the end of the drive shaft of the motor of the drive component 2; a material tank 5 is disposed on the kneader 1; and a controller 6 is fixedly mounted on the side of the drive component 2 by a cable.

[0028] The multi-stage transmission assembly 4 includes a planetary gear train 41 fixedly installed at the end of the drive shaft of the motor of the drive component 2; the planetary gear train 41 is specifically composed of a sun gear and planet gears, and a stirring component 42 is inserted and fixed at the central hole of the planetary gear train 41; a gear ring 43 is provided for meshing transmission on the outer side of the planetary gear train 41; a fixed ring frame 44 is fixedly installed at the bottom of the gear ring 43 by bolts; an adjusting component 45 is fixedly installed at the bottom of the fixed ring frame 44; a displacement ring frame 46 is fixedly installed at the bottom of the adjusting component 45, and a stirring plate 47 is rotatably installed at the bottom of the displacement ring frame 46.

[0029] The stirring component 42 includes a fixed disk 421 that is inserted and fixedly installed on the central hole of the planetary gear train 41, and an acoustic emission sensor 426 with data acquisition function is fixedly installed inside the fixed disk 421; a bionic stirring paddle 422 is inserted and fixedly installed at the bottom of the fixed disk 421, and the bionic stirring paddle 422 is hollow, with a sealing cap 423 fixedly installed at the tail of the rod; an integrated conduit 424 is provided in the middle of the inside of the bionic stirring paddle 422, and a cable with conductive function and a water pipe with heat exchange function are provided inside the integrated conduit 424; a first shape memory alloy 425 is arranged and fixedly installed in the gap between the bionic stirring paddle 422 and the integrated conduit 424.

[0030] The adjusting component 45 includes a sealing cover 452 disposed on the bottom side of the fixed ring frame 44 and the top of the displacement ring frame 46, and the sealing cover 452 is fixedly installed on the upper and lower sides of the relay ring 451; the relay ring 451 is provided with straight holes distributed in a ring shape, and a second shape memory alloy 453 and a coil 454 are fixedly installed in the straight holes respectively, and the second shape memory alloy 453 and the coil 454 are alternately distributed; a retaining rod 455 is slidably disposed on the upper and lower sides of the coil 454, and the retaining rod 455 is slidably disposed with the bottom side of the fixed ring frame 44 and the top slot of the displacement ring frame 46 respectively; the retaining rod 455 is provided with a current controller 456.

[0031] The biomimetic impeller 422 has a serrated trailing edge; the first shape memory alloy 425 is a nickel-titanium alloy wire, and its two ends are electrically connected to the controller 6 through the cable in the integrated conduit 424 to form a closed-loop control system.

[0032] The acoustic emission sensor 426 monitors the stirring state in real time and feeds the signal back to the controller 6. The controller 6 adjusts the current applied to the first shape memory alloy 425 according to the signal processing results, thereby changing the rigidity and shape of the biomimetic stirring paddle 422.

[0033] The current controller 456 is connected to the controller 6 via a signal. The second shape memory alloy 453 is an iron-based shape memory alloy. The current controller 456 independently controls the magnitude and direction of the current flowing to each coil 454, thereby generating magnetic fields of different intensities and directions, driving the corresponding locking rod 455 to produce axial displacement.

[0034] Example 2:

[0035] Please see Figures 1-6 The planetary vacuum kneader of the multi-stage stirring device of the present invention, compared with the first embodiment, further includes: the upper cover 3 includes a sealing upper cover 31 fixedly disposed at the bottom of the moving plate of the driving component 2; a low temperature cold trap 32 is disposed inside the sealing upper cover 31, and liquid nitrogen or ultra-low temperature refrigerant flows directly in the jacket of the low temperature cold trap 32; a sampling component 33 is fixedly installed on the side port of the sealing upper cover 31.

[0036] The sampling component 33 includes a pressure-resistant tube body 331 fixedly installed on the pipe opening of the sealing cover 31; a pressure valve 332 with pressure regulation function is fixedly installed on the pressure-resistant tube body 331; a sealing component 333 is fixedly installed on the top of the pressure-resistant tube body 331, and the sealing component 333 is specifically composed of a sealing plate and a multi-stage electromagnetic rod fixed on the bottom side of the sealing plate; a motor is fixedly installed on the top of the sealing plate of the sealing component 333, and a vortex component 334 is fixedly installed on the bottom of the motor.

[0037] The swirling element 334 comprises a pressure cylinder fixedly mounted on the motor output shaft, a piston rotatably disposed inside the pressure cylinder, and a stirring paddle shaft fixedly mounted on the bottom side of the piston. Two sets of sealing blocks are fixedly disposed inside the pressure cylinder to limit the rotation angle of the piston to within 90 degrees, and the piston inside the pressure cylinder is vertical.

[0038] The working principle of a planetary vacuum kneader based on the above-mentioned multi-stage stirring device is as follows:

[0039] When using this equipment, first place it in the working area, then connect it to an external power source to provide the necessary power. The drive unit 2 lowers the sealing cover 31 of the upper cover 3, sealing it against the material tank 5 to form a closed chamber. A vacuum system is used to evacuate the chamber, removing air bubbles and preventing material oxidation or volatilization. After the motor of the drive unit 2 is started by the controller 6, its transmission shaft directly drives the sun gear of the planetary gear train 41 of the multi-stage transmission assembly 4, engaging the surrounding planetary gears and the gear ring 43. This causes the planetary gears to rotate on their own axis while revolving around the sun gear. Since the fixed disk 421 of the stirring component 42 is inserted into the central hole of the planetary gear train 41, the fixed disk 421 and the bionic stirring paddle 422 rotate at high speed while simultaneously revolving slowly around the sun gear, and the stirring plate 47 revolves slowly. Together, they form a complex and efficient shearing, squeezing, and kneading flow field within the material tank 5, processing materials without dead angles. Here, an acoustic emission sensor 426 is used. The system monitors the acoustic signals generated by the material state during the stirring process in real time and feeds the data back to the controller 6. After processing the signal, the controller 6 adjusts the current output to the first shape memory alloy 425 as needed. When current passes through the first shape memory alloy 425, it is heated due to the Joule heating effect, causing a phase change and a change in length. Multiple first shape memory alloys 425 are arranged in an orderly manner in the hollow rod of the bionic stirring paddle 422. Their changes cause the blades of the bionic stirring paddle 422 to bend or twist, changing its flow angle and overall rigidity. The serrated trailing edge of the bionic stirring paddle 422 can further optimize the flow field and reduce resistance eddies. This forms a closed-loop control system, enabling the stirring paddle to adaptively change its shape according to real-time working conditions to cope with materials of different viscosities in the optimal state, improving efficiency and quality. The controller 6 simultaneously sends instructions to the current controller 456 in the regulating component 45. The current controller 456 independently controls the magnitude and direction of the current to each coil 454, thereby generating a magnetic field with controllable intensity and direction at each coil position. The magnetic field drives the corresponding locking rod 455. Axial displacement is generated by overcoming friction. Since the retaining rods 455 are respectively engaged in the slots of the fixed ring frame 44 and the displacement ring frame 46, their displacement will precisely change the relative distance between the fixed ring frame 44 and the displacement ring frame 46, and can also form a fixed frame with the fixed ring frame 44 and the displacement ring frame 46. This change in distance will eventually change the gap between the stirring plate 47 and the inner wall of the material tank 5. Here, the liquid nitrogen or ultra-low temperature refrigerant flowing in the low temperature cold trap 32 can condense and capture the volatile substances generated during the stirring process, protect the vacuum pump, and provide cooling for heat-sensitive materials, so as to precisely control the process temperature.The sampling process is performed by sampling component 33. A vacuum pump, via pressure valve 332, draws material from the pressure-resistant tube 331. Simultaneously, a motor drives the stirring paddle shaft of the cyclone element 334 to rotate, agitating the material within the pressure-resistant tube 331. The design of the pressure cylinder and fan-shaped block creates a pressure buffer between the motor and the cyclone element 334, preventing damage to the small motor during operation. The extracted sample can be used for real-time quality inspection, thereby achieving more precise process control.

[0040] This invention provides an improved planetary vacuum kneader with a multi-stage stirring device. The planetary gear train 41 drives a biomimetic stirring paddle 422 in a combined revolution and rotation motion, working in conjunction with the stirring plate 47 to form a highly efficient mixing flow field without dead zones. Simultaneously, the system uses an acoustic emission sensor 426 to perceive the material state in real time and dynamically adjusts the current of the first shape memory alloy 425 to change the shape of the stirring paddle, enabling it to intelligently adapt to different material viscosities and maintain optimal stirring performance. Through precise electromagnetic adjustment of the stirring gap, vacuum combined with a low-temperature cold trap for temperature control and oxidation prevention, and online safe sampling and detection, the system collectively ensures the high precision, stability, and reliability of the process, ultimately significantly improving processing efficiency and product quality.

[0041] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0042] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A planetary vacuum kneader of a multi-stage stirring device, comprising a kneader (1); a driving member (2) is fixedly installed on the top of the kneader (1) by bolts; the driving member (2) is composed of an electric push rod with height adjustment, a moving plate and a motor on the moving plate; an upper cover member (3) is fixedly installed at the bottom end of the motor of the driving member (2); a multi-stage transmission assembly (4) is fixedly arranged at the end of the motor transmission shaft of the driving member (2); a material tank (5) is arranged on the upper part of the kneader (1); a controller (6) is fixedly installed on the side of the driving member (2) by a cable; characterized in that the multi-stage transmission assembly (4) comprises a planetary gear train (41) fixedly installed at the end of the motor transmission shaft of the driving member (2); the planetary gear train (41) is specifically composed of a sun gear and a planetary gear, and a stirring member (42) is inserted and fixed in the central hole of the planetary gear train (41); a gear ring (43) is arranged in meshing transmission on the outside of the planetary gear train (41); a fixed ring frame (44) is fixedly installed at the bottom of the gear ring (43) by bolts; an adjusting member (45) is fixedly installed at the bottom of the fixed ring frame (44); a displacement ring frame (46) is fixedly installed at the bottom of the adjusting member (45), and a stirring plate (47) is rotatably installed at the bottom of the displacement ring frame (46); the stirring member (42) comprises a fixed disc (421) inserted and fixedly installed on the central hole of the planetary gear train (41), and an acoustic emission sensor (426) with data acquisition function is fixedly arranged inside the fixed disc (421); a bionic stirring paddle (422) is inserted and fixed at the bottom of the fixed disc (421), and the bionic stirring paddle (422) is in a hollow shape, a sealing cover (423) is fixedly installed at the tail of the rod body; an integrated wire tube (424) is arranged in the middle of the inside of the bionic stirring paddle (422), and an electric cable with electric conduction function and a water pipe with heat exchange function are arranged in the integrated wire tube (424); a first memory alloy (425) is fixedly arranged in the gap between the bionic stirring paddle (422) and the integrated wire tube (424); the trailing edge of the paddle structure of the bionic stirring paddle (422) is serrated; the first memory alloy (425) is a nitinol alloy wire, the two ends of which are electrically connected with the controller (6) through the electric cable in the integrated wire tube (424), forming a closed-loop control system.

2. The planetary vacuum kneader of claim 1, wherein: the adjusting member (45) comprises a sealing cover (452) arranged at the bottom side of the fixed ring frame (44) and the top of the displacement ring frame (46), and the sealing cover (452) is fixedly installed on the upper and lower sides of a relay ring (451); straight holes are arranged in a ring shape in the relay ring (451), and a second memory alloy (453) and a coil (454) are fixedly installed in the straight holes, respectively, and the second memory alloy (453) and the coil (454) are alternately distributed.

3. A planetary vacuum kneader of the multi-stage mixing device according to claim 2, characterized in that: The coil (454) is slidably provided with a clamping rod (455) on the upper and lower sides, and the clamping rod (455) is slidably provided with a fixed ring frame (44) bottom and a displacement ring frame (46) top hole slot respectively; The clamping rod (455) is provided with a current controller (456).

4. The planetary vacuum kneader of claim 3, wherein: The upper cover (3) includes a sealing upper cover (31) fixedly arranged on the moving plate bottom of the driving part (2); The sealing upper cover (31) is provided with a low temperature cold trap (32) inside, and the low temperature cold trap (32) is directly circulated with liquid nitrogen or ultra-low temperature coolant in the jacket; The sealing upper cover (31) is fixedly installed with a sampling part (33) on the side pipe.

5. A planetary vacuum kneader of the multi-stage mixing device according to claim 4, characterized in that: The sampling part (33) includes a pressure-resistant pipe body (331) fixedly installed on the sealing upper cover (31) pipe, which is fixedly installed on the sealing upper cover (31) pipe; The pressure-resistant pipe body (331) is fixedly provided with a pressure valve (332) with pressure regulating function; The pressure-resistant pipe body (331) is fixedly provided with a sealing assembly (333) on the top, and the sealing assembly (333) is composed of a sealing plate and a plurality of electromagnetic rods fixedly arranged on the bottom side of the sealing plate; The sealing assembly (333) is fixedly installed with a motor on the top of the sealing plate, and the motor is fixedly installed with a rotating flow part (334) on the bottom.

6. A planetary vacuum kneader of the multi-stage mixing device according to claim 5, characterized in that: The rotating flow part (334) includes a pressure cylinder fixedly installed on the motor output shaft, a piston rotatably arranged in the pressure cylinder, and a stirring paddle shaft fixedly installed on the bottom side of the piston, and the pressure cylinder is fixedly provided with two sets of blocking blocks in the inside for limiting the rotation angle of the piston within 90 degrees, and the piston in the pressure cylinder is vertically arranged.

7. A planetary vacuum kneader of the type defined in claim 6, characterized in that: The acoustic emission sensor (426) monitors the stirring state in real time and feeds back the signal to the controller (6), and the controller (6) adjusts the current applied to the first memory alloy (425) according to the signal processing result, so as to change the rigidity and shape of the bionic stirring paddle (422).

8. A planetary vacuum kneader of the multi-stage mixing device according to claim 7, characterized in that: The current controller (456) is signal connected with the controller (6), the second memory alloy (453) is an iron-based memory alloy; The current controller (456) independently controls the current size and direction of each coil (454), so as to generate magnetic field with different intensity and direction, drive the corresponding clamping rod (455) to produce axial displacement.

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