Homogenizing device and homogenizing method based on dynamic trajectory control and application

Abstract

The invention provides a homogenizing device and method based on dynamic trajectory control and application, and the homogenizing device comprises a homogenizing tank, a driving controller, a driving shaft and a stirring assembly; the bottom of the driving shaft is fixedly connected with the stirring assembly and extends into the homogenizing tank; the top of the driving shaft is fixedly connected with the driving controller, and the driving controller can drive the driving shaft to perform lifting, rotating and curvilinear motion in a three-dimensional space, so that the stirring assembly can cover the whole space in the homogenizing tank. According to the homogenizing tank, it can be ensured that particles in all areas in the homogenizing tank can be subjected to equal acting force, lifting and curvilinear motion are combined, the space in the whole homogenizing tank can be stirred more efficiently, and the dead-angle-free and efficient homogenizing effect is achieved.

Description

Technical Field

[0001] This invention relates to the technical field of homogenization equipment, and in particular to a homogenization device and method based on dynamic trajectory control, and their applications. Background Technology

[0002] In the plastic granulation production process, for materials of the same batch or formulation, the particles produced from the extruder may exhibit slight differences in color, molecular weight distribution, or additive concentration within or between batches. Meanwhile, recycling is gradually becoming a development trend. Because the performance of recycled plastic granules is damaged during use or processing, they need to be mixed with virgin materials to achieve reuse; however, when virgin and recycled materials are mixed, the fluctuations in material properties are more pronounced. Therefore, large-scale homogenization devices are required to homogenize the finished particles to ensure the consistency and stability of the final product's performance.

[0003] Based on the current production practices of plastic granulation lines, the commonly used homogenization method in the downstream material collection process is as follows: a fixed rotating shaft is placed at the center of the homogenization tank, and the material is agitated by paddles on the rotating shaft to achieve homogenization. This homogenization method, where both the rotating shaft and paddles are fixed, has the following drawbacks: The rotation of the blades creates a stable flow field, resulting in mixing dead zones in areas such as the tank wall, tank bottom, and the back of the blades. At the same time, the blades scrape and shear the material at a high relative speed, which can easily cause plastic particles to break or generate too much dust, affecting product quality and causing losses. The blades also have a single motion mode, which cannot be optimized according to the material characteristics, resulting in poor adaptability. Summary of the Invention

[0004] To overcome the problems existing in related technologies, one of the objectives of this invention is to provide a homogenization device based on dynamic trajectory control; it can ensure that particles in all areas of the homogenization tank are subjected to equal forces, and the combination of lifting and curvilinear motion can more efficiently agitate the entire space inside the homogenization tank, achieving a homogenization effect with no dead angles and high efficiency.

[0005] A homogenization device based on dynamic trajectory control includes a homogenization tank, a drive controller, a drive shaft, and a stirring assembly. The bottom of the drive shaft is fixedly connected to the stirring assembly and extends into the homogenization tank. The top of the drive shaft is fixedly connected to the drive controller, and the drive controller can drive the drive shaft to move up and down, rotate, and curve in three-dimensional space, so that the stirring assembly can cover the entire space inside the homogenization tank.

[0006] In a preferred embodiment of the present invention, the stirring assembly includes a fixing member and a plurality of stirring claws. The fixing member is fixed in the drive shaft, and the plurality of stirring claws are evenly distributed around the fixing member and extend away from the fixing member.

[0007] In this application, the drive shaft has a cylindrical structure, and the fixing component has a circular structure. The fixing component and the drive shaft are connected by an elastic coupling, ensuring that the stirring assembly can undergo slight elastic deformation when subjected to resistance, thus achieving avoidance. This avoidance enables flexible mixing of solid particles. In this application, the stirring claws are evenly distributed around the periphery of the fixing component. The number of stirring claws can be any value greater than 1. Several stirring claws surround the end of the drive shaft. When the drive shaft rotates, the stirring claws agitate the material in the homogenization tank, ensuring uniform mixing of the material.

[0008] In a preferred embodiment of the present invention, the cross-sectional area of ​​the stirring claw gradually decreases in the extending direction of the stirring claw.

[0009] During the mixing and homogenization process, considering the principles of aerodynamics and fluid mechanics, the streamlined design allows material particles to flow smoothly against the surface of the mixing claws. The slender tail allows the flowing particles to smoothly recombine behind the mixing claws, thereby greatly reducing the size and intensity of the low-pressure wake region. The smaller the wake, the smaller the pressure difference before and after, and the pressure drag is significantly reduced.

[0010] In a preferred embodiment of the present invention, the outer wall of the stirring claw is an arc.

[0011] The outer wall here refers to the arc-shaped structure of the outer wall along the extension direction of the stirring claw; simultaneously, the cross-sectional appearance of the stirring claw in the plane perpendicular to the drive shaft axis is also arc-shaped; furthermore, the cross-sectional area of ​​the stirring claw gradually decreases along its extension direction, forming a teardrop-shaped stirring claw. The streamlined design of the teardrop-shaped stirring claw allows particles to flow smoothly along the surface, and the slender tail allows the flowing particles to smoothly recombine behind the arm, thus greatly reducing the size and intensity of the low-pressure wake region. The smaller the wake, the smaller the pressure difference before and after, and the significantly reduced pressure drag. At the same time, the smooth surface better guides particles to slide or roll along its surface, rather than causing violent collisions and rebounds.

[0012] In a preferred embodiment of the present invention, the stirring claw is provided with a flow guide hole.

[0013] The guide hole refers to a through hole penetrating the stirring claw. The inner diameter of the guide hole can be smaller than or greater than or equal to the outer diameter of the material being stirred. In this application, the stirring claws are several evenly distributed at the end of the drive shaft. When guide holes are provided in the stirring claws, more complex vortices will be generated around the guide holes during the stirring process, enhancing the mixing effect and promoting the homogenization of materials.

[0014] The second objective of this application is to provide a homogenization method based on dynamic trajectory control, implemented using a homogenization device based on dynamic trajectory control as described above, comprising: The homogenization parameters are set according to the properties of the material to be stirred; the homogenization parameters include the curve type during the curve motion process; The drive controller drives the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank until the stirring assembly completely covers the axis of the homogenization tank; within each step, the drive controller drives the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft.

[0015] The drive shaft of this application moves sequentially from the top to the bottom or from the bottom to the top of the homogenization tank. After each step, the drive controller drives the drive shaft and the stirring assembly to perform curved motion in the plane, achieving uniform stirring within that step space. This process is repeated until uniform stirring is achieved at all locations within the homogenization tank. This allows for more efficient stirring of the entire homogenization tank, achieving a homogenization effect with no dead corners and high efficiency.

[0016] In a preferred embodiment of the present invention, the curvilinear motion includes Hilbert curves, spiral curves, random walk curves, Brownian motion curves, and Möbius strip curves.

[0017] As the drive shaft moves along the aforementioned curve, it rotates synchronously, ensuring that the stirring assembly completely covers every corner of the corresponding plane. The PLC control center of this application has a built-in trajectory programming model that digitally drives the drive shaft to execute non-fixed, non-periodic preset composite motion trajectories. This trajectory is generated based on a space-filling algorithm, ensuring that the stirring claws cover the designated space within the homogenization tank during the operating cycle.

[0018] The third objective of this application is to provide an application of a homogenization device based on dynamic trajectory control, characterized in that the homogenization device based on dynamic trajectory control, as described above, is used to achieve homogenization and mixing of at least two types of plastic granules with the same material but different properties.

[0019] This application ensures that all plastic granules in the homogenization tank are subjected to equal force, and the combination of lifting and curved motion can more efficiently agitate the entire homogenization tank space, achieving a homogenization effect with no dead corners and high efficiency.

[0020] In a preferred embodiment of the present invention, for polypropylene plastic granules or polyethylene plastic granules, the curve is a Hilbert curve or a spiral curve; for ABS plastic granules or polycarbonate plastic granules, the curve is a random walk algorithm curve.

[0021] In a preferred embodiment of the present invention, the drive controller stores homogenization formulas for different plastic granules and corresponding homogenization parameters; when the material to be stirred is placed in the homogenization tank, the corresponding homogenization formula is retrieved from the drive controller, and the drive controller drives the drive shaft to execute the homogenization formula.

[0022] The PLC control center stores homogenization formulas for different plastic granules, along with corresponding homogenization parameters. When the material to be stirred is placed in the homogenization tank, the corresponding homogenization formula is retrieved from the PLC control center, which then drives the drive shaft to execute the homogenization. When homogenized plastic granules with specific properties are required, the target properties can be input into the PLC control center via a host computer. The system automatically matches the composition and proportion of the plastic granules before homogenization, along with the corresponding parameters. After the operator adds the indicated components and proportions, the PLC control center executes the corresponding homogenization parameters.

[0023] The beneficial effects of this invention are as follows: This invention provides a homogenization device based on dynamic trajectory control, comprising a homogenization tank, a drive controller, a drive shaft, and a stirring assembly. The bottom of the drive shaft is fixedly connected to the stirring assembly and extends into the homogenization tank. The top of the drive shaft is fixedly connected to the drive controller, and the drive controller can drive the drive shaft to move up and down, rotate, and curve in three-dimensional space, allowing the stirring assembly to cover the entire space inside the homogenization tank. This invention ensures that particles in all areas of the homogenization tank receive equal forces, and the combination of up and down movement and curve motion can more efficiently agitate the entire space inside the homogenization tank, achieving a homogenization effect with no dead zones and high efficiency.

[0024] This application also provides a homogenization method based on dynamic trajectory control, comprising: setting homogenization parameters according to the properties of the material to be stirred; the homogenization parameters including the curve type in the curve motion process; the drive controller driving the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank until the stirring assembly completely covers the axis of the homogenization tank; within each step, the drive controller driving the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft. In this application, the drive shaft moves sequentially from the top to the bottom or from the bottom to the top of the homogenization tank. After each step, the drive controller drives the drive shaft and the stirring assembly to perform a planar curve motion, achieving uniform stirring within the step space, and moving sequentially until uniform stirring is achieved at all positions within the homogenization tank; this can more efficiently stir the entire space inside the homogenization tank, achieving a homogenization effect with no dead corners and high efficiency.

[0025] This application also provides an application of a homogenization device based on dynamic trajectory control. The homogenization device described above is used to homogenize and mix at least two types of plastic granules with the same material but different properties. This application ensures that the plastic granules in all areas of the homogenization tank are subjected to equal forces, and the combination of lifting and curved motion enables more efficient agitation of the entire homogenization tank space, achieving a homogenization effect with no dead zones and high efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the stirring assembly in Embodiment 4 of this application; Figure 2 This is a schematic diagram showing the connection between the stirring assembly and the drive shaft in Embodiment 4 of this application; Figure 3 This is a top view showing the connection between the stirring assembly and the drive shaft in Embodiment 4 of this application; Figure 4 This is a flowchart illustrating the homogenization method in the embodiments of this application.

[0027] Figure label: 11. Fixing component; 12. Stirring claw; 13. Drive shaft; 14. Homogenizing tank; 15. Flexible coupling. Detailed Implementation

[0028] Preferred embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] Example 1 This application provides a homogenization device based on dynamic trajectory control, including a homogenization tank, a drive controller, a drive shaft, and a stirring assembly; the bottom of the drive shaft is fixedly connected to the stirring assembly and extends into the homogenization tank; the top of the drive shaft is fixedly connected to the drive controller, and the drive controller can drive the drive shaft to move up and down, rotate, and curve in three-dimensional space, so that the stirring assembly can cover the entire space inside the homogenization tank.

[0032] In this application, the drive controller specifically includes a servo motor and a ball spline joint. The servo motor is connected to the drive shaft through the ball spline joint, ensuring that the drive shaft can rotate 360° around its axis and perform linear lifting and lowering motion around its axis under the drive of the servo motor.

[0033] In this application, the servo motor drives the drive shaft and the stirring assembly to perform lifting and rotating movements. At the same time, the drive controller also includes a PLC control center. The PLC control center drives the servo motor, drive shaft and stirring assembly to perform curved movements together according to a preset curved trajectory.

[0034] In this application, the drive controller can be installed on the outside of the homogenization tank, the drive shaft and the stirring assembly can be inserted into the homogenization tank, and an oil seal structure can be set at the connection between the drive shaft and the homogenization tank to achieve sealing of the homogenization tank.

[0035] This application also allows the drive controller, drive shaft, and stirring assembly to be installed together inside the homogenization tank. At the same time, a protective cover is provided on the outside of the drive controller to prevent materials from entering the drive controller during the stirring process.

[0036] In this application, curvilinear motion refers to the drive controller driving the drive shaft and the stirring assembly to perform curvilinear motion together. During curvilinear motion, the drive shaft and the stirring assembly rotate synchronously under the action of the servo motor. Here, rotation refers to rotation around the axis of the drive shaft.

[0037] In this application, the curvilinear motion can specifically be planar curvilinear motion, and the curve is an irregular curve, such as a Hilbert curve, a spiral curve, a random walk curve, a Brownian motion curve, a Möbius strip curve, etc. The random walk curve refers to a planar curve simulated by a random walk algorithm, and the Brownian motion curve refers to a planar curve calculated by simulating Brownian motion. Because the drive shaft rotates synchronously as it moves along the aforementioned curves, it ensures that the stirring component can completely cover every corner of the corresponding plane. The PLC control center of this application has a built-in trajectory programming model that can digitally drive the drive shaft to execute non-fixed, non-periodic preset composite motion trajectories. This trajectory is generated based on a space-filling algorithm, ensuring that the stirring claw can cover the specified space within the homogenization tank during the operating cycle.

[0038] In this application, the curvilinear motion can also be a three-dimensional curve, meaning that the curve is random and distributed throughout the homogenization tank, ensuring that when the drive shaft moves along the three-dimensional curve, the stirring component, which rotates synchronously with the drive shaft, can completely cover every corner of the plane. The PLC control center of this application has a built-in trajectory programming model that can digitally drive the drive shaft to execute a non-fixed, non-periodic preset composite motion trajectory. This trajectory is generated based on a space-filling algorithm, ensuring that the stirring claws can cover the designated space within the homogenization tank during the operating cycle.

[0039] This application ensures that particles in all areas of the homogenization tank are subjected to equal forces, and the combination of lifting and curvilinear motion can more efficiently agitate the entire space inside the homogenization tank, achieving a homogenization effect with no dead angles and high efficiency.

[0040] This application also provides a homogenization method based on dynamic trajectory control, comprising: setting homogenization parameters according to the properties of the material to be stirred; the homogenization parameters including the curve type in the curve motion process; the drive controller driving the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank until the stirring assembly completely covers the axis of the homogenization tank; within each step, the drive controller driving the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft. In this application, the drive shaft moves sequentially from the top to the bottom or from the bottom to the top of the homogenization tank. After each step, the drive controller drives the drive shaft and the stirring assembly to perform a planar curve motion, achieving uniform stirring within the step space, and moving sequentially until uniform stirring is achieved at all positions within the homogenization tank; this can more efficiently stir the entire space inside the homogenization tank, achieving a homogenization effect with no dead corners and high efficiency.

[0041] This application also provides an application of a homogenization device based on dynamic trajectory control. The homogenization device described above is used to homogenize and mix at least two types of plastic granules with the same material but different properties. This application ensures that the plastic granules in all areas of the homogenization tank are subjected to equal forces, and the combination of lifting and curved motion enables more efficient agitation of the entire homogenization tank space, achieving a homogenization effect with no dead zones and high efficiency.

[0042] Example 2 This application provides a homogenization device based on dynamic trajectory control, including a homogenization tank, a drive controller, a drive shaft, and a stirring assembly; the bottom of the drive shaft is fixedly connected to the stirring assembly and extends into the homogenization tank; the top of the drive shaft is fixedly connected to the drive controller, and the drive controller can drive the drive shaft to move up and down, rotate, and curve in three-dimensional space, so that the stirring assembly can cover the entire space inside the homogenization tank.

[0043] Furthermore, the stirring assembly includes a fixing member and a plurality of stirring claws. The fixing member is fixed in the drive shaft, and the plurality of stirring claws are evenly distributed around the fixing member and extend away from the fixing member.

[0044] In this application, the drive shaft has a cylindrical structure, and the fixing component has a circular structure. The fixing component and the drive shaft are connected by an elastic coupling, ensuring that the stirring assembly can undergo slight elastic deformation when subjected to resistance, thus achieving avoidance. This avoidance enables flexible mixing of solid particles. In this application, the stirring claws are evenly distributed around the periphery of the fixing component. The number of stirring claws can be any value greater than 1. Several stirring claws surround the end of the drive shaft. When the drive shaft rotates, the stirring claws agitate the material in the homogenization tank, ensuring uniform mixing of the material.

[0045] Furthermore, in the extending direction of the stirring claw, the cross-sectional area of ​​the stirring claw gradually decreases.

[0046] Assuming the top of the stirring claw is fixed within the fixture, the bottom of the stirring claw extends away from the fixture along the axis of the drive shaft. In practical operation, as one embodiment, the stirring claw can first expand outwards towards the outside of the fixture, and then contract inwards towards the center of the fixture, forming a structure of expansion followed by contraction along the axis of the drive shaft. Note that the expansion and contraction here refer to the distance between the stirring claw and the axis of the fixture first increasing and then decreasing; this increases the contact area between the stirring claw and the material. Simultaneously, along the extension direction of the stirring claw, the cross-sectional area gradually decreases, forming a streamlined extension structure.

[0047] In another embodiment, the cross-sectional area of ​​the fixing member is larger than that of the drive shaft. The stirring claw is fixed at the edge of the fixing member, and the cross-sectional area of ​​the stirring claw gradually decreases along the axial direction of the drive shaft, forming a streamlined extension structure.

[0048] During the mixing and homogenization process, considering the principles of aerodynamics and fluid mechanics, the streamlined design allows material particles to flow smoothly against the surface of the mixing claws. The slender tail allows the flowing particles to smoothly recombine behind the mixing claws, thereby greatly reducing the size and intensity of the low-pressure wake region. The smaller the wake, the smaller the pressure difference before and after, and the pressure drag is significantly reduced.

[0049] Furthermore, the outer wall of the stirring claw is arc-shaped.

[0050] The outer wall here refers to the arc-shaped structure of the outer wall along the extension direction of the stirring claw; simultaneously, the cross-sectional appearance of the stirring claw in the plane perpendicular to the drive shaft axis is also arc-shaped; furthermore, the cross-sectional area of ​​the stirring claw gradually decreases along its extension direction, forming a teardrop-shaped stirring claw. The streamlined design of the teardrop-shaped stirring claw allows particles to flow smoothly along the surface, and the slender tail allows the flowing particles to smoothly recombine behind the arm, thus greatly reducing the size and intensity of the low-pressure wake region. The smaller the wake, the smaller the pressure difference before and after, and the significantly reduced pressure drag. At the same time, the smooth surface better guides particles to slide or roll along its surface, rather than causing violent collisions and rebounds.

[0051] Furthermore, the stirring claw is provided with a flow guide hole.

[0052] The guide hole refers to a through hole penetrating the stirring claw. The inner diameter of the guide hole can be smaller than or greater than or equal to the outer diameter of the material being stirred. In this application, the stirring claws are several evenly distributed at the end of the drive shaft. When guide holes are provided in the stirring claws, more complex vortices will be generated around the guide holes during the stirring process, enhancing the mixing effect and promoting the homogenization of materials.

[0053] Example 3 like Figure 4 As shown, the homogenization method based on dynamic trajectory control provided in this application is implemented based on the homogenization device in Embodiment 2, and includes: The homogenization parameters are set according to the properties of the material to be stirred; the homogenization parameters include the curve type during the curve motion process; The drive controller drives the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank until the stirring assembly completely covers the axis of the homogenization tank; within each step, the drive controller drives the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft.

[0054] In this embodiment, the drive controller includes a PLC control center, a servo motor, and a ball spline joint. The servo motor is connected to the drive shaft via the ball spline joint, ensuring that the drive shaft can rotate 360° around its axis and perform linear lifting and lowering motion around its axis under the drive of the servo motor. The PLC control center drives the servo motor, drive shaft, and stirring assembly to perform curved motion together according to a preset curved trajectory. This ensures that the drive shaft can rotate while performing curved motion.

[0055] In this application, the homogenization tank is specifically a cylindrical structure. The internal space of the homogenization tank is divided into multiple spaces along its axial direction. The length of each space along the axial direction is equal to the length of the stirring claw. In each space, the drive shaft drives the stirring claw to rotate. At the same time, the PLC control center drives the servo motor, drive shaft and stirring claw to perform planar curved motion synchronously. The servo motor drives the drive shaft and stirring claw to rotate, ensuring that the stirring claw moves curved in the plane while rotating, so as to achieve the maximum degree of stirring without dead angles in the space.

[0056] When dividing the internal space of the homogenization tank, a space needs to be reserved at the top and bottom of the homogenization tank to avoid collision between the stirring components and the top and bottom of the homogenization tank.

[0057] The drive shaft of this application moves sequentially from the top to the bottom or from the bottom to the top of the homogenization tank. After each step, the drive controller drives the drive shaft and the stirring assembly to perform curved motion in the plane, achieving uniform stirring within that step space. This process is repeated until uniform stirring is achieved at all locations within the homogenization tank. This allows for more efficient stirring of the entire homogenization tank, achieving a homogenization effect with no dead corners and high efficiency.

[0058] Curvilinear motion in this application includes Hilbert curves, spiral curves, random walk curves, Brownian motion curves, and Möbius strip curves.

[0059] In this application, the curvilinear motion can specifically be curvilinear motion within a plane, and the curve is an irregular curve, such as a Hilbert curve, a spiral curve, a random walk curve, a Brownian motion curve, a Möbius strip curve, etc. Among them, the random walk curve refers to the planar curve simulated by the random walk algorithm, and the Brownian motion curve refers to the planar curve calculated by simulating Brownian motion. Since the drive shaft rotates synchronously when it moves according to the above curves, it ensures that the stirring component can completely cover every corner of the plane.

[0060] Example 4 like Figures 1-3 As shown, this application provides a homogenization device based on dynamic trajectory control, including a homogenization tank 14, a drive controller, a drive shaft 13, and a stirring assembly. The drive controller includes a PLC control center, a servo motor, and a ball spline joint. The servo motor is connected to the drive shaft 13 via the ball spline joint, ensuring that the drive shaft 13 can rotate 360° around its axis and perform linear lifting and lowering motion around its axis under the drive of the servo motor. The PLC control center drives the servo motor, drive shaft 13, and stirring assembly to perform curved motion together according to a preset curved trajectory, ensuring that the drive shaft 13 can rotate while performing curved motion.

[0061] like Figures 1-3 As shown, the stirring assembly in this application includes a fixed member 11 and five stirring claws 12. The fixed member 11 and the drive shaft 13 are connected by an elastic coupling 15 to ensure that the stirring assembly can undergo slight elastic deformation when subjected to resistance, thereby avoiding resistance. The five stirring claws 12 are evenly distributed around the fixed member 11. In the extension direction of the stirring claws 12, the stirring claws 12 first expand outward toward the outside of the fixed member 11, and then contract inward toward the center of the fixed member 11. In the axial direction of the drive shaft 13, a structure of first expanding outward and then contracting inward is formed. Note that the expansion and contraction here refer to the distance between the stirring claws 12 and the axis of the fixed member 11 first increasing and then decreasing; this increases the contact area between the stirring claws 12 and the material. At the same time, along the extension direction of the stirring claws 12, the cross-sectional area of ​​the stirring claws 12 gradually decreases, forming a streamlined extension structure.

[0062] Meanwhile, the outer wall of the stirring claw 12 has an arc-shaped structure in its extension direction; in the plane perpendicular to the axis of the drive shaft 13, the cross-sectional appearance of the stirring claw 12 is also arc-shaped. Because the cross-sectional area of ​​the stirring claw 12 gradually decreases in its extension direction, the streamlined design allows particles to flow smoothly along the surface, and the slender tail allows the flowing particles to smoothly recombine behind the arm, thus greatly reducing the size and intensity of the low-pressure wake region. The smaller the wake, the smaller the pressure difference, and the significantly reduced pressure drag. At the same time, the smooth surface can better guide particles to slide or roll along its surface, rather than causing violent collisions and rebounds.

[0063] The stirring claw 12 is provided with a guide hole (not shown in the figure); the guide hole refers to the through hole that runs through the stirring claw 12. During the stirring process, a more complex vortex will be generated around the guide hole, which will enhance the mixing effect and promote the homogenization of materials.

[0064] The stirring component in this application can be as follows: Figure 1 As shown, it extends from the top of the homogenization tank 14 into the interior of the homogenization tank 14, or it can be like... Figure 2 As shown, it is installed at the bottom of the homogenization tank 14.

[0065] The stirring component in this application is made of food-grade ultra-high molecular weight polyethylene, and its surface is polished after molding to ensure a smooth surface and low friction. The specific materials and processing technology in this application form a flexible design and low friction coefficient stirring claw 12, which changes the mixing process from "shearing" to "gentle stirring", effectively reducing the breakage rate and dust generation rate of PP plastic granules.

[0066] In this application, the homogenization device is used to achieve homogenization and mixing of PP plastic granules. The PP plastic granules in the homogenization tank 14 are granules from different batches, or a mixture of recycled PP plastic granules and virgin PP plastic granules. That is, the materials used for homogenization are all PP plastic granules, but their sources or production batches are different, resulting in slight differences in their performance. The homogenization device of this application can meet the requirements for consistency in color and performance of the differentiated PP plastic granules.

[0067] PP plastic granules have a medium to soft hardness, good toughness, a low coefficient of friction, and a light density of 0.9 g / cm³. 3 PP plastic granules exhibit moderate sensitivity to thermal shear, and correspondingly, the homogenization process for PP plastic granules aims for high efficiency and smoothness.

[0068] A homogenization method based on dynamic trajectory control is used to achieve homogenized mixing of PP plastic granules, comprising: PP plastic granules from different batches or sources are placed into a homogenization tank; homogenization parameters are set via a host computer in the PLC control center. These parameters include: a Hilbert curve generated by the trajectory programming model in the PLC control center based on the internal space of the homogenization tank; a drive shaft rotation speed of 25-35 rpm; a minimum distance of 20 cm between the drive shaft and the top and bottom of the homogenization tank during ascent and descent; and a homogenization time of 10-20 minutes.

[0069] The servo motor drives the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank; within each step, the servo motor drives the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft.

[0070] Repeat the above steps until the stirring assembly completely covers the designated space along the axis of the homogenizing tank to complete the homogenization.

[0071] Example 5 This application provides a homogenization device based on dynamic trajectory control, including a homogenization tank, a drive controller, a drive shaft, and a stirring assembly. The drive controller includes a PLC control center, a servo motor, and a ball spline joint. The servo motor is connected to the drive shaft via the ball spline joint, ensuring that the drive shaft can rotate 360° around its axis and perform linear lifting motion around its axis under the drive of the servo motor. The PLC control center drives the servo motor, drive shaft, and stirring assembly to perform curved motion together according to a preset curved trajectory, ensuring that the drive shaft can rotate while performing curved motion.

[0072] The stirring assembly in this application includes a fixed member and eight stirring claws. The fixed member and the drive shaft are connected by an elastic coupling to ensure that the stirring assembly can undergo slight elastic deformation when subjected to resistance, thus achieving avoidance. The eight stirring claws are evenly distributed around the periphery of the fixed member. The cross-sectional area of ​​the fixed member is larger than that of the drive shaft. The stirring claws are fixed at the edge of the fixed member, and the cross-sectional area of ​​the stirring claws gradually decreases along the axial direction of the drive shaft, forming a streamlined extension structure. Simultaneously, the outer wall of the stirring claw is arc-shaped in the extension direction; in a plane perpendicular to the drive shaft axis, the cross-sectional appearance of the stirring claw is arc-shaped. Due to the gradual decrease in the cross-sectional area of ​​the stirring claw in the extension direction, a teardrop-shaped stirring claw is formed. The streamlined design of the teardrop-shaped stirring claw allows particles to flow smoothly along the surface, and the slender tail allows the flowing particles to smoothly recombine behind the arm, thereby greatly reducing the size and intensity of the low-pressure wake region. The smaller the wake, the smaller the pressure difference before and after, and the pressure drag is significantly reduced. At the same time, a smooth surface can better guide particles to slide or roll along its surface, rather than causing violent collisions and bounces.

[0073] The stirring claw is equipped with guide holes; the guide holes refer to the through holes that penetrate the stirring claw. During the stirring process, more complex vortices will be generated around the guide holes, which will enhance the mixing effect and promote the homogenization of materials.

[0074] In this application, there are two stirring components, which are arranged sequentially along the axis of the drive shaft. The distance between the two stirring components is as small as possible while ensuring that they do not collide. Both stirring components are fixedly connected to the drive shaft via spring couplings.

[0075] The stirring assembly in this application is made of food-grade ultra-high molecular weight polyethylene, and its surface is polished after molding to ensure a smooth surface and low friction. The specific materials and processing techniques used in this application create a flexible, low-friction stirring claw, which transforms the mixing process from "shearing" to "gentle stirring," effectively reducing the breakage rate and dust generation rate of ABS plastic granules.

[0076] In this application, the homogenization device is used to achieve homogenization and mixing of ABS plastic granules. The ABS plastic granules in the homogenization tank are granules from different batches, or a mixture of recycled PP plastic granules and virgin ABS plastic granules. That is, the materials used for homogenization are all ABS plastic granules, but their sources or production batches are different, resulting in slight differences in their performance. The homogenization device of this application can meet the requirements for consistency in color and performance of the differentiated ABS plastic granules.

[0077] ABS plastic granules are relatively hard and brittle, with a low coefficient of friction and a relatively high density of 1.05 g / cm³. 3 ABS plastic granules are highly sensitive to thermal shearing, and correspondingly, the homogenization process of ABS plastic granules should be gentle and thorough.

[0078] A homogenization method based on dynamic trajectory control is used to achieve homogenized mixing of ABS plastic granules, comprising: ABS plastic granules from different batches or sources are placed into a homogenization tank; homogenization parameters are set via a host computer in the PLC control center. These parameters include: a trajectory programming model in the PLC control center generates a random walk algorithm curve based on the internal space of the homogenization tank to avoid a fixed flow field and localized overheating; the rotational speed of the drive shaft is set to 12-20 r / s to reduce shear or frictional heat generation; the minimum distance between the drive shaft and the top and bottom of the homogenization tank during ascent and descent is set to 30 cm; and the homogenization time is set to 20-35 min.

[0079] The servo motor drives the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank; within each step, the servo motor drives the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft.

[0080] Repeat the above steps until the stirring assembly completely covers the designated space along the axis of the homogenizing tank to complete the homogenization.

[0081] Example 6 This application provides a homogenization device based on dynamic trajectory control for homogenizing and mixing PP plastic granules. Specifically, it includes a homogenization tank, a drive controller, a drive shaft, and a stirring assembly. The drive controller includes a PLC control center, a servo motor, and a ball spline joint. The servo motor is connected to the drive shaft via the ball spline joint, ensuring that the drive shaft can rotate 360° around its axis and perform linear lifting motion around its axis under the drive of the servo motor. The PLC control center drives the servo motor, drive shaft, and stirring assembly to perform curved motion together according to a preset curved trajectory, ensuring that the drive shaft can rotate simultaneously with the curved motion.

[0082] The PLC control center stores homogenization formulas for different plastic granules and corresponding homogenization parameters. When the material to be stirred is placed in the homogenization tank, the corresponding homogenization formula is retrieved from the PLC control center, and the PLC control center drives the drive shaft to execute the homogenization formula.

[0083] In this application, homogenization formulation refers to the formulation homogenization performed to ensure quality uniformity when the final performance of a material deviates due to the presence of recycled materials in the raw materials or changes during processing. For example, a low-performance parameter is mixed with a high-performance parameter in a certain ratio to obtain a product with the target performance. For instance, if the standard is 4, the low-performance parameter is 3.6, and the high-performance parameter is 4.8, mixing them in a 1:1 ratio can ensure a value >4, making it a qualified product. Another example is when two batches of plastic granules are whitish or dark in color, respectively; neutralizing them in a certain ratio yields the target color.

[0084] The homogenization formula in this application includes the properties of the plastic granules before mixing, the properties of the plastic granules after mixing, and the weight ratio of the raw materials during mixing. Each homogenization formula has corresponding homogenization parameters. When it is necessary to obtain homogenized plastic granules with specific properties, the target properties of the homogenized plastic granules can be input into the PLC control center via a host computer. The system automatically matches the composition and ratio of the plastic granules before homogenization, as well as the corresponding parameters. After the operator adds the components according to the indicated composition and ratio, the PLC control center executes the corresponding homogenization parameters.

[0085] This application requires different trajectory curves for plastic granulation particles with varying properties, as shown in Table 1. The PLC control center in this application has a built-in trajectory programming model, which calculates the optimal trajectory curve based on the properties of the plastic granulation particles and a dynamic model.

[0086] Table 1. Applicable curve trajectories for different plastic granules

[0087] This application is used to achieve homogenization and mixing of at least two types of plastic granules with the same material but different properties; it can ensure that the plastic granules in all areas of the homogenization tank are subjected to equal forces, and the combination of lifting and curved motion can more efficiently agitate the entire space inside the homogenization tank, achieving a homogenization effect with no dead corners and high efficiency.

[0088] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings. In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0089] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0090] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A homogenization device based on dynamic trajectory control, characterized in that, It includes a homogenization tank, a drive controller, a drive shaft, and a stirring assembly; the bottom of the drive shaft is fixedly connected to the stirring assembly and extends into the homogenization tank; the top of the drive shaft is fixedly connected to the drive controller, and the drive controller can drive the drive shaft to move up and down, rotate and curve in three-dimensional space, so that the stirring assembly can cover the entire space inside the homogenization tank.

2. The homogenization device based on dynamic trajectory control according to claim 1, characterized in that, The stirring assembly includes a fixing member and several stirring claws. The fixing member is fixed in the drive shaft, and the several stirring claws are evenly distributed around the fixing member and extend away from the fixing member.

3. The homogenization device based on dynamic trajectory control according to claim 2, characterized in that, In the extending direction of the stirring claw, the cross-sectional area of ​​the stirring claw gradually decreases.

4. The homogenization device based on dynamic trajectory control according to claim 2, characterized in that, The outer wall of the stirring claw is arc-shaped.

5. A homogenization device based on dynamic trajectory control according to claim 2, characterized in that, The stirring claw is provided with a flow guide hole.

6. A homogenization method based on dynamic trajectory control, characterized in that, The implementation of the homogenization device based on dynamic trajectory control according to any one of claims 1-5 includes: The homogenization parameters are set according to the properties of the material to be stirred; the homogenization parameters include the curve type during the curve motion process; The drive controller drives the drive shaft and the stirring assembly to move one step at a time along the axis of the homogenization tank until the stirring assembly completely covers the axis of the homogenization tank; within each step, the drive controller drives the drive shaft and the stirring assembly to perform at least one planar curve motion while rotating; the step refers to the dimension of the stirring assembly in the drive shaft in the axial direction of the drive shaft.

7. The homogenization method based on dynamic trajectory control according to claim 6, characterized in that, The curvilinear motions include Hilbert curves, spiral curves, random walk curves, Brownian motion curves, and Möbius strip curves.

8. An application of a homogenization device based on dynamic trajectory control, characterized in that, The homogenization device based on dynamic trajectory control according to any one of claims 1-5 is used to achieve homogenization and mixing of at least two types of plastic granules with the same material but different properties.

9. The application of the homogenization device based on dynamic trajectory control according to claim 8, characterized in that, For polypropylene or polyethylene plastic granules, the curve is a Hilbert curve or a spiral curve; for ABS or polycarbonate plastic granules, the curve is a random walk algorithm curve.

10. The application of the homogenization device based on dynamic trajectory control according to claim 8, characterized in that, The drive controller stores homogenization formulas for different plastic granules and corresponding homogenization parameters. When the material to be stirred is placed in the homogenization tank, the drive controller retrieves the corresponding homogenization formula and drives the drive shaft to execute the homogenization formula.

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