Powder sweeping robot capable of replacing powder sweeping workpiece

Abstract

The utility model discloses a powder sweeping robot capable of replacing a powder sweeping workpiece, which comprises a driving device and a powder sweeping device, the driving device is used for driving the powder sweeping device to displace and / or rotate, the powder sweeping device comprises a first mounting seat, and a detachable connecting structure used for being detachably connected with the powder sweeping workpiece is arranged on the first mounting seat. According to the powder sweeping robot capable of replacing the powder sweeping workpiece, the powder sweeping device is driven by the driving device to reach all corners in the internal mixing chamber, comprehensive sweeping is achieved, and the detachable connecting structure on the powder sweeping device allows the powder sweeping workpiece installed on the detachable connecting structure to be conveniently detached or replaced so as to meet different sweeping requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to internal mixer technical field especially relates to a powder sweeping robot of replaceable powder sweeping work piece. BACKGROUND

[0002] Internal mixer is mainly used for plasticizing and mixing rubber. Internal mixer is a kind of machinery that is provided with a pair of specific shape and relative rotary rotors, and polymer materials are intermittently plasticized and mixed in the closed state of adjustable temperature and pressure, which is mainly composed of mixing chamber, rotor, rotor sealing device, feeding press, discharging device, transmission device and base etc.

[0003] The existing internal mixer is in the process of feeding into the mixing chamber, and the press hammer is pressed close to the rotor arranged in the mixing chamber, and the polymer material powder is easy to fly to adhere to the side wall of the mixing chamber and / or the press hammer, so that the part of powder cannot be added to the production process affected by the rotor. The current market response to such situation is to clean the side wall of the mixing chamber and the press hammer by manual use of tools, so that the polymer material adhered thereto is swept to above the rotor. However, cleaning the side wall of the mixing chamber and the press hammer by manual use of tools has instability, and the worker may forget to sweep powder or sweep powder out of place due to personal factors, and at the same time, the polymer material powder may be inhaled into the respiratory tract of the worker during the flying process, which may cause respiratory diseases in long-term exposure, and is not conducive to the health of the worker. SUMMARY

[0004] The utility model aims at overcoming the defects of prior art, providing a powder sweeping robot with replaceable powder sweeping work piece to solve the technical problems that the current cleaning of the side wall of the mixing chamber and the press hammer by manual use of tools has instability, and the worker may forget to sweep powder or sweep powder out of place due to personal factors, and at the same time, the polymer material powder may be inhaled into the respiratory tract of the worker during the flying process, which may cause respiratory diseases in long-term exposure, and is not conducive to the health of the worker.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] The utility model embodiment provides a powder sweeping robot with replaceable powder sweeping work piece, which comprises: 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 comprises a detachable connecting structure and a powder sweeping work piece, and the detachable connecting structure is used to form detachable connection with the powder sweeping work piece.

[0007] Further, the detachable connecting structure comprises a first mounting seat, the first mounting seat is connected to the driving device, and the powder sweeping work piece is detachably connected to the first mounting seat.

[0008] Further, the first mounting seat is provided with a socket, which is used for plugging with the dust sweeping workpiece.

[0009] Further, the inner side wall of the socket is provided with a clamping groove, which is used for clamping with the dust sweeping workpiece.

[0010] Further, the first mounting seat is provided with a first threaded hole, which is used for screwing with the dust sweeping workpiece.

[0011] Further, the first mounting seat is provided with a magnetic member, which is used for magnetic connection with the dust sweeping workpiece.

[0012] Further, the dust sweeping robot further comprises a workpiece library, which is used for storing the same and / or different types of dust sweeping workpieces.

[0013] Further, the driving device comprises a freely movable mechanical arm, and the dust sweeping device is connected to the free end of the mechanical arm; the mechanical arm at least comprises a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm or a seven-axis mechanical arm.

[0014] Further, the mechanical arm comprises 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 arranged 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 arranged 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 arranged 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 arranged 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 arranged 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 arranged 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 dust sweeping device is connected to the end of the sixth rotating arm.

[0015] Further, the dust sweeping workpiece at least comprises a brush, a scraper, a friction cloth, a friction block, a powder suction assembly or a powder blowing assembly.

[0016] Further, the bottom of the insertion hole is provided with an elastic member, the clamping fitting groove comprises a first slot, a second slot, a third slot and a fourth slot, a first end of the first slot is located at an inner circumferential edge of the insertion hole aperture, a second end of the first slot is communicated with a first end of the second slot in a direction of the bottom of the insertion hole, a second end of the second slot is communicated with a first end of the third slot in a direction of the aperture of the insertion hole, a second end of the third slot is communicated with a first end of the fourth slot in a direction of the bottom of the insertion hole, and a second end of the fourth slot is communicated with the first end of the first slot in a direction of the aperture of the insertion hole; wherein the second slot and the third slot are connected in an inverted V shape.

[0017] The powder sweeping workpiece is provided with an insertion shaft corresponding to the insertion hole, and the insertion shaft is provided with a clamping protrusion corresponding to the clamping fitting groove.

[0018] The powder sweeping robot with replaceable powder sweeping workpieces of the utility model can reach each corner in the mixing chamber through the driving device to realize comprehensive cleaning, and the detachable connecting structure on the powder sweeping device allows the powder sweeping workpiece installed thereon to be conveniently detached or replaced to adapt to different cleaning requirements.

[0019] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a first working scene schematic view of the powder sweeping robot with replaceable powder sweeping workpieces of the utility model embodiment.

[0021] Figure 2 It is a second working scene schematic view of the powder sweeping robot with replaceable powder sweeping workpieces of the utility model embodiment.

[0022] Figure 3 It is a third working scene schematic view of the powder sweeping robot with replaceable powder sweeping workpieces of the utility model embodiment.

[0023] Figure 4 It is a first structure schematic view of the driving device in the powder sweeping robot with replaceable powder sweeping workpieces of the utility model embodiment.

[0024] Figure 5 It is a second structure schematic view of the driving device in the powder sweeping robot with replaceable powder sweeping workpieces of the utility model embodiment.

[0025] Figure 6 It is a third structure schematic view of the driving device in the powder sweeping robot with replaceable powder sweeping workpieces of the utility model embodiment.

[0026] Figure 7 The brush of the powder-sweeping workpiece in the powder-sweeping robot with replaceable powder-sweeping workpiece and the plug shaft are shown in the perspective view;

[0027] Figure 8 The brush of the powder-sweeping workpiece in the powder-sweeping robot with replaceable powder-sweeping workpiece and the plug shaft are shown in the plan view;

[0028] Figure 9 The scraper of the powder-sweeping workpiece in the powder-sweeping robot with replaceable powder-sweeping workpiece and the plug shaft are shown in the plan view;

[0029] Figure 10 The scraper of the powder-sweeping workpiece in the powder-sweeping robot with replaceable powder-sweeping workpiece and the plug shaft are shown in the side view;

[0030] Figure 11 The friction block of the powder-sweeping workpiece in the powder-sweeping robot with replaceable powder-sweeping workpiece and the plug shaft are shown in the perspective view;

[0031] Figure 12 The friction block of the powder-sweeping workpiece in the powder-sweeping robot with replaceable powder-sweeping workpiece and the plug shaft are shown in the plan view;

[0032] Figure 13 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the perspective view;

[0033] Figure 14 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the plan view;

[0034] Figure 15 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the first sectional view;

[0035] Figure 16 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the second sectional view;

[0036] Figure 17 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the first sectional view of the cooperation with the plug shaft;

[0037] Figure 18 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the second sectional view of the cooperation with the plug shaft;

[0038] Figure 19 The first mounting seat in the powder-sweeping robot with replaceable powder-sweeping workpiece is shown in the third sectional view of the cooperation with the plug shaft;

[0039] Figure 20 A cross-sectional view of the suction powder container in the powder-sweeping robot capable of replacing the powder-sweeping workpiece according to an embodiment of the present application is shown in the figure;

[0040] Figure 21 A front view structural schematic diagram of the feeding door of the internal mixer when the feeding door is closed according to an embodiment of the present application is shown in the figure;

[0041] Figure 22 A front view structural schematic diagram of the feeding door of the internal mixer when the feeding door is opened according to an embodiment of the present application is shown in the figure;

[0042] Figure 23 A first state schematic diagram of the press hammer in the mixing chamber of the internal mixer when the press hammer is pressed down according to an embodiment of the present application is shown in the figure;

[0043] Figure 24 A second state schematic diagram of the press hammer in the mixing chamber of the internal mixer when the press hammer is pressed down according to an embodiment of the present application is shown in the figure;

[0044] Figure 25 A third state schematic diagram of the press hammer in the mixing chamber of the internal mixer when the press hammer is pressed down according to an embodiment of the present application is shown in the figure;

[0045] Figure 26 A flow chart of the powder cleaning method according to an embodiment of the present application is shown in the figure;

[0046] Figure 27 A sub-flow chart of the powder cleaning method according to an embodiment of the present application is shown in the figure.

[0047] Explanation of reference signs:

[0048] 1, internal mixer; 11, feeding door; 12, mixing chamber; 13, press hammer; 14, rotor;

[0049] 2, powder-sweeping robot; 21, driving device; 211, six-axis mechanical 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 mechanical 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 matching groove; 22131, first groove; 22132, second groove; 22133, third groove; 22134, fourth groove; 2214, elastic member; 2215, connecting column; 22151, air hole; 23, transfer device;

[0050] 222, powder-sweeping workpiece; 222a, powder-sweeping workpiece; 2221, brush; 22211, bristles; 2224a, insertion shaft; 22241a, first air hole; 22242a, second threaded hole; 22243a, clamping protrusion; 2225a, second air hole; 222b, powder-sweeping workpiece; 2222, scraper; 22221, edge; 2224b, insertion shaft; 22241b, first air hole; 22242b, second threaded hole; 22243b, clamping protrusion; 2225b, second air hole; 222c, powder-sweeping workpiece; 2223, friction block; 22231, rough surface; 2224c, insertion shaft; 22241c, first air hole; 22242c, second threaded hole; 22243c, clamping protrusion; 2225c, second air hole;

[0051] 223, powder suction container; 2231, filter screen; 2232, air suction cavity; 2233, powder storage cavity; 2234, movable door; 2235, dust suction pipeline. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the utility model more clearly understood, the utility model will be further described in detail below in combination with the drawings and specific embodiments.

[0053] The technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings of the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0054] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "resin", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is the orientation or position relationship described based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0055] In addition, the terms "first", "second", "third", etc. are used herein only to describe various circumstances, and should not be construed as indicating or implying relative importance or an indicated number of the technical features. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0056] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be interpreted broadly, for example, it can be connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] In the present application, unless otherwise specifically defined and limited, the "upper" or "lower" of the first feature to the second feature can include the direct contact of the first and second features, or it can include the contact of the first and second features through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include the vertical direction of the first feature above and oblique above the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "lower", "lower" and "lower" of the first feature to the second feature include the vertical direction of the first feature below and oblique below the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0058] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description 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 any one or more embodiments or examples in a suitable manner.

[0059] Please refer to Figures 21 to 25 , it should be explained that when it is necessary to feed the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the opening of the feeding door 11 and the lifting of the plunger 13 to the top, as shown in Figure 22 , at this time, the powder can be fed into the mixing chamber 12 through the channel opened by the feeding door 11. When the feeding of the mixing chamber 12 is completed, the internal mixer 1 will control the closing of the feeding door 11, as shown in Figure 21As shown, at this time, the plunger 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 follows Figures 23 to 25 As shown, by controlling the plunger 13 to press down through the plunger connecting rod, the powder poured into the mixing chamber 12 is pressed on the rotor 14, and the powder is gradually melted by the pressure of the plunger 13, the rotation of the rotor 14 and heating. It can be understood that during the feeding of the mixing chamber 12 and the pressing of the plunger 13, part of the powder fed into the mixing chamber 12 may be attached to the inner wall of the mixing chamber 12 and / or the plunger 13, which will not be added to the mixing work between the plunger 13 and the rotor 14, resulting in a gap between the actual output and the expected output. For this part of the powder, it is generally cleaned by workers according to the specified time or specified process, and it is swept down from the inner wall of the mixing chamber 12 and the plunger 13, so that it naturally falls on the rotor 14 to rejoin the mixing work. However, the manual cleaning of the side wall of the mixing chamber 12 and the plunger 13 with tools has instability, and may occur due to personal factors of the worker, such as forgetting to sweep the powder, not sweeping the powder, and the like. At the same time, the polymer material powder may be inhaled into the respiratory tract of the worker during the flying process, which may cause respiratory diseases and is not conducive to the health of the worker. In order to solve the above problems, the utility model provides a powder sweeping robot, which is explained in the following embodiments.

[0060] Please refer to the accompanying Figures 1 to 3 The utility model embodiment provides a kind of powder sweeping robot 2 applied to mixing mill 1, it include: driving device 21 and powder sweeping device 22, driving device 21 is used to drive powder sweeping device 22 displacement and / or rotation, powder sweeping device 22 includes detachable connection structure and powder sweeping work piece 222, detachable connection structure is used to with powder sweeping work piece 222 Form detachable connection, powder sweeping work piece 222 is used to execute powder sweeping operation to cleaning object.

[0061] It needs to be explained that the powder sweeping robot 2 of the embodiment is used to perform powder sweeping operation for the mixing chamber 12 and the plunger 13 of the mixing mill 1, so the cleaning object of the above-mentioned powder sweeping work piece 222 is the mixing chamber 12 or the plunger 13 of the mixing mill 1. The powder sweeping robot 2 of the embodiment reaches each corner in the mixing chamber 12 by driving device 21 driving powder sweeping device 22, realizes comprehensive cleaning, and makes the powder sweeping effect more stable by automatic powder sweeping robot 2. Also, it liberates human resources for powder sweeping of the mixing mill 1, thereby reducing the health risks of workers suffering from respiratory diseases and the like. The detachable connection structure on the powder sweeping device 22 allows the powder sweeping work piece 222 installed thereon to be easily detached or replaced to adapt to different cleaning needs.

[0062] Further, please refer to Figures 4 to 6In order to make the sweeping robot 2 more flexible in operation, the driving device 21 of the embodiment comprises a freely movable mechanical arm, and the sweeping device 22 is connected to the free end of the mechanical arm. The sweeping device 22 is sent from the internal mixer 1 to the mixing chamber 12 of the internal mixer 1 by using the mechanical arm to perform the sweeping work. The sweeping device 22 is moved by using the high degree of freedom of the mechanical arm, which greatly improves the efficiency of the sweeping operation. Specifically, the mechanical arm described above comprises at least a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm 211, or a seven-axis mechanical arm 212. That is, the mechanical arm described above comprises one of the three-axis mechanical arm, the four-axis mechanical arm, the five-axis mechanical arm, the six-axis mechanical arm 211, and the seven-axis mechanical arm 212. It can be understood that the mechanical arm is classified according to the number of axes (i.e., the number of degrees of freedom). The number of axes represents how many directions the mechanical arm can move independently. Therefore, the higher the number of axes of the mechanical arm, the more flexible the mechanical arm is, but the cost is also higher. Users can select a mechanical arm with a suitable number of axes according to their actual needs. Preferably, a six-axis mechanical arm 211 is selected as the driving device 21 in the embodiment. It should be explained that the embodiment only illustrates the mechanical arm of the driving device 21 with a limited number of examples. In other embodiments, other devices capable of driving the sweeping device 22 to move and / or rotate can also be used, which will not be described here.

[0063] In the first embodiment, as Figure 4 and Figure 5As shown, the mechanical arm in this embodiment is a six-axis mechanical 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 drive 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 drive 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 drive 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 drive 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 drive 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 drive 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. The 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 mechanical arm to move freely in three-dimensional space. The sweeping device 22 is installed at the end of the six-axis mechanical arm 211, i.e., the end of the sixth rotating arm 2117. Therefore, all movements of the six-axis mechanical arm 211 directly affect the sweeping device 22, enabling precise control of the sweeping task.

[0064] In the second embodiment, as Figure 6As shown, the mechanical arm in this embodiment is a seven-axis mechanical arm 212, which includes a base 2121, a first rotating arm 2122, a second rotating arm 2123, a third rotating arm 2124, a fourth rotating arm 2125, a fifth rotating arm 2126, a sixth rotating arm 2127, and a seventh rotating arm 2128. A first motor is arranged between the first rotating arm 2122 and the base 2111 to drive the first rotating arm 2122 to rotate relative to the base 2121. A second motor is arranged between the second rotating arm 2123 and the first rotating arm 2122 to drive the second rotating arm 2123 to rotate relative to the first rotating arm 2122. A third motor is arranged between the third rotating arm 2124 and the second rotating arm 2123 to drive the third rotating arm 2124 to rotate relative to the second rotating arm 2123. A fourth motor is arranged 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 arranged 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 arranged 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 arranged 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 mechanical arm to move freely in three-dimensional space. The powder sweeping device 22 is installed at the end of the seven-axis mechanical arm 212, i.e., the end of the seventh rotating arm 2128. Therefore, all movements of the seven-axis mechanical arm 212 directly affect the powder sweeping device 22, achieving precise control of the cleaning task.

[0065] In a third embodiment, the mechanical arm in this embodiment can also be a three-axis mechanical arm, a four-axis mechanical arm, or a five-axis mechanical arm, which will not be described here.

[0066] Further, please refer to Figures 1 to 3 , considering the supply and demand relationship between the internal mixer 1 and the powder sweeping robot 2 and the actual efficiency, the user can select the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to actual needs.

[0067] In an embodiment, as Figure 1As shown, the fixed end of the driving device 21 is installed on the internal mixer 1, which means that the sweeping robot 2 in this embodiment is integrated with the internal mixer 1 on which it is installed. When the internal mixer 1 needs to perform a sweeping operation, the sweeping robot 2 can quickly perform the operation by quickly extending the sweeping device 22 into the mixing chamber 12 and the platen 13 through the driving device 21, so that the powder on the mixing chamber 12 and the platen 13 is cleaned.

[0068] In another embodiment, as shown in Figure 2 and Figure 3 As shown, the sweeping robot 2 also includes a transfer device 23, and the fixed end of the driving device 21 is installed on the transfer device 23. The transfer device 23 is used to drive the driving device 21 to approach or move away from the internal mixer 1. Optionally, the transfer device 23 can be a ground guide rail laid on the workshop floor and a ground sliding seat slidingly connected to the ground guide rail, and the fixed end of the driving device 21 is installed on the ground sliding seat. Alternatively, the transfer device 23 can also be an AGV trolley, and the fixed end of the driving device 21 is installed on the AGV trolley. Alternatively, the transfer device 23 can also be a suspended guide rail installed on the workshop ceiling or in the air and a suspended sliding seat slidingly connected to the suspended guide rail, and the fixed end of the driving device 21 is installed on the suspended sliding seat. Alternatively, the transfer device 23 can also be other devices capable of driving the driving device 21 to approach or move away from the internal mixer 1 in other embodiments, which will not be described here. It can be understood that the sweeping robot 2 in this embodiment can serve multiple internal mixers 1 in the entire workshop. When receiving an instruction that a certain internal mixer 1 needs to be swept, the transfer device 23 will drive the driving device 21 to move to the target position according to the instruction. During the movement, the position and distance can be monitored in real time through sensors or vision systems installed on the transfer device 23 to ensure accurate arrival. When the driving device 21 reaches the target position, it starts to work and extends the sweeping device 22 into the mixing chamber 12 and the platen 13 to perform the sweeping operation. After the sweeping operation is completed, the transfer device 23 moves according to the instruction of the next internal mixer 1. Through the transfer device 23, the sweeping robot 2 in this embodiment can quickly move and switch between different internal mixers 1, greatly improving the flexibility of the sweeping operation. At the same time, since the sweeping robot 2 can be shared between different internal mixers 1, it is not necessary to equip each internal mixer 1 with a sweeping robot 2, thereby reducing the equipment cost.

[0069] Further, please refer to Figures 7 to 12In order to meet the cleaning needs in different working conditions, the powder sweeping workpiece 222 in the 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 needs to be explained that the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223 are used to directly contact the mixing chamber 12 or the pressing hammer 13 for cleaning, and the powder suction assembly and the powder blowing assembly are used to act on the surface of the mixing chamber 12 or the pressing hammer 13 through air flow for cleaning.

[0070] Among them, the powder sweeping workpiece 222 has the following four implementation modes:

[0071] Implementation mode 1: The powder sweeping workpiece 222 includes one of the brush 2221, the scraper 2222, the friction cloth, the friction block 2223, the powder suction assembly, and the powder blowing assembly.

[0072] Implementation mode 2: The powder sweeping workpiece 222 includes the powder suction assembly and one of the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223.

[0073] Implementation mode 3: The powder sweeping workpiece 222 includes the powder blowing assembly and one of the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223.

[0074] Implementation mode 4: The powder sweeping workpiece 222 includes the powder suction assembly and the powder blowing assembly and one of the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223.

[0075] Among them, the application will introduce three embodiments of the powder sweeping workpiece 222, which are the powder sweeping workpiece 222a, the powder sweeping workpiece 222b, and the powder sweeping workpiece 222c.

[0076] Specifically, refer to Figure 7 and Figure 8 , Figure 7 and Figure 8 include the powder sweeping workpiece 222a, which includes the brush 2221, the shaft 2224a, the first air hole 22241a, and the second air hole 2225a. The brush 2221 has bristles 22211 for point contact with the cleaning object. The first air hole 22241a is arranged on the shaft 2224a, and the second air hole 2225a is arranged on the brush 2221. The functions of the shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be introduced in the following part of the specification and will not be repeated here. Further, the shaft 2224a is also provided with a second threaded hole 22242a and a clamping protrusion 22243a. The functions of the second threaded hole 22242a and the clamping protrusion 22243a will be introduced in the following part of the specification and will not be repeated here.

[0077] Specifically, refer to Figure 9 and Figure 10 , Figure 9 and Figure 10 sweeping workpiece 222b, sweeping workpiece 222b includes a scraper 2222, a shaft 2224b, a first air hole 22241b, a second air hole 2225b, the scraper 2222 has an edge 22221 for line contact with the cleaning object, the first air hole 22241b is provided on the shaft 2224b, the second air hole 2225b is provided on the scraper 2222, the first air hole 22241b is used to communicate with the exhaust end of the second air pump, and the second air hole 2225b is used to blow air flow to the cleaning object, so that the air flow blown out of the second air hole 2225b can also blow and carry away the polymer material powder attached to the side wall of the internal mixer 1 or the press hammer 13 while the edge 22221 rubs off the powder, thereby achieving efficient cleaning. Further, the shaft 2224b is also provided with a second threaded hole 22242b and a clamping protrusion 22243b, and the second threaded hole 22242b and the clamping protrusion 22243b have the same function as the second threaded hole 22242a and the clamping protrusion 22243a, which will not be described here.

[0078] Specifically, refer to Figure 11 and Figure 12 , Figure 11 and Figure 12 sweeping workpiece 222c, sweeping workpiece 222c includes a friction block 2223, a shaft 2224c, a first air hole 22241b, a second air hole 2225c, the friction cloth / friction block 2223 has a rough surface 22231 for 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 the air flow blown out of the second air hole 2225c also blows and carries away the polymer material powder attached to the side wall of the internal mixer 1 or the press hammer 13 while the rough surface 22231 rubs off the polymer material powder on the side wall of the internal mixer 1 or the press hammer 13, thereby achieving efficient cleaning. Further, the shaft 2224c is also provided with a second threaded hole 22242c and a clamping protrusion 22243c, and the second threaded hole 22242c and the clamping protrusion 22243c have the same function as the second threaded hole 22242a and the clamping protrusion 22243a, which will not be described here.

[0079] Specifically, the detachable connection structure includes a first mounting seat 221, the first mounting seat 221 is connected to the driving device 21, and the sweeping workpiece 222 is detachably connected to the first mounting seat 221. The first mounting seat 221 is provided with a socket 2212 for plug connection with the sweeping workpiece 222.

[0080] Specifically, the sweeping workpiece 222, such as the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223, is provided with a plug shaft, and the scraper 2222, the friction cloth, and the friction block 2223 are detachably connected to the plug hole 2212 provided on the first mounting seat 221 through the plug shaft.

[0081] Optionally, the following is illustrated by the sweeping workpiece 222a of Figure 7 and Figure 8 The plug shaft 2224a is provided with a second threaded hole 22242a, and a screw can be used to pass through the first mounting seat 221 and the second threaded hole 22242a during installation, so as to achieve stable connection of the plug shaft 2224a and the first mounting seat 221, and further achieve stable connection of the brush 2221 or the scraper 2222 or the friction cloth or the friction block 2223 and the first mounting seat 221. Optionally, the plug shaft 2224a is further provided with a clamping protrusion 22243a, which is used to form a clamping fitting relationship of the plug shaft 2224a in the plug hole 2212.

[0082] Optionally, the above-mentioned brush 2221 can be a roller brush or a plate brush. The roller brush can rotate relative to the plug shaft 2224a, and the plate brush is fixed with the plug shaft 2224a.

[0083] Further, please refer to Figure 13 and Figure 14 In view of the multiple choices of the sweeping workpiece 222 assembled in the sweeping robot 2 under different working conditions, the sweeping device 22 in the embodiment further comprises a first mounting seat 221 connected to the driving device 21, and the sweeping workpiece 222 is detachably connected to the first mounting seat 221. Users can easily replace the 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 sweeping workpiece 222 are detachably connected to the first mounting seat 221.

[0084] Optionally, the first mounting seat 221 is provided with a plug hole 2212, and the brush 2221, the scraper 2222, the friction cloth, and the friction block 2223 in the sweeping workpiece 222 are all provided with a plug shaft. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the plug hole 2212 on the first mounting seat 221 through the plug shaft provided thereon. Through a simple plug-in operation, the operator can quickly replace the sweeping workpiece 222.

[0085] Optionally, as Figure 16As shown, the bottom of the insertion hole 2212 is provided with an elastic member 2214, the inner circumferential side of the insertion hole 2212 is provided with a clamping fitting groove 2213, and the outer circumferential side of the insertion shaft 2224a is provided with a clamping protrusion 22243a. When the insertion shaft 2224a is inserted into the insertion hole 2212, the clamping protrusion 22243a slides into the clamping fitting groove 2213 and is clamped thereon, so that the dust removal workpiece 222a and the first mounting seat 221 form a stable connection.

[0086] Preferably, referring to Figure 15 , the clamping 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 circumferential side of the aperture of the insertion hole 2212. The second end of the first groove 22131 is connected to the first end of the second groove 22132 in the direction of the bottom of the insertion hole 2212. The second end of the second groove 22132 is connected to the first end of the third groove 22133 in the direction of the aperture of the insertion hole 2212. The second end of the third groove 22133 is connected to the first end of the fourth groove 22134 in the direction of the bottom of the insertion hole 2212. The second end of the fourth groove 22134 is connected to the first end of the first groove 22131 in the direction of the aperture of the insertion hole 2212. The second groove 22132 and the third groove 22133 are connected in an inverted V shape. It can be understood that the clamping position of the clamping protrusion 22243a and the clamping fitting groove 2213 in the 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 have an included angle. Further, the elastic member 2214 at the bottom of the insertion hole 2212 provides a certain pre-tightening force for the insertion shaft 2224a, so that the insertion shaft 2224a can be subjected to a certain resistance when being inserted into the insertion hole 2212, and the clamping fitting groove 2213 realizes the self-locking function of the dust removal workpiece 222. When the clamping protrusion 22243a on the insertion shaft 2224a moves along the path of the clamping fitting groove 2213, it will pass through different groove sections and reach a self-locking state at the connection between the second groove 22132 and the third groove 22133 under the action of the elastic member 2214. At this time, even if subjected to external force, the clamping protrusion 22243a is also difficult to come out from this position, thereby ensuring the stability of the connection.

[0087] Please refer to Figures 17 to 19 , Figures 17 to 19For the process of assembling the shaft 2224a into the hole 2212, in an embodiment of installing the sweeping workpiece 222a on the first mounting seat 221, first, the shaft 2224a of the sweeping workpiece 222a needs to be aligned with the hole 2212 on the first mounting seat 221, ensuring that the shaft 2224a can be smoothly inserted into the hole 2212; after the shaft 2224a is aligned with the hole 2212, the shaft 2224a is forced to be inserted into the hole 2212, and in the process of insertion, the clamping protrusion 22243a on the shaft 2224a will move along the clamping groove 2213 on the inner wall of the hole 2212; when the clamping protrusion 22243a reaches the first groove 22131, it will move along the path of the first groove 22131 to the bottom of the hole 2212, and as the shaft 2224a continues to be inserted, the clamping protrusion 22243a will enter the second groove 22132, at which time the pressure on the shaft 2224a is removed; after the shaft 2224a enters the second groove 22132, the elastic member 2214 at the bottom of the hole 2212 exerts an upward pre-tightening force on the shaft 2224a, which will make the shaft 2224a move upward along the path of the second groove 22132; when the clamping protrusion 22243a reaches the communication between the second groove 22132 and the third groove 22133, since the path of the third groove 22133 is downward, and the shaft 2224a is now affected by the pre-tightening force of the elastic member 2214, the clamping protrusion 22243a will be clamped at this position, forming a self-locking state, at which time the sweeping workpiece 222a has been stably connected to the sweeping device 22. In an embodiment of dismounting the sweeping workpiece 222a from the first mounting seat 221, the shaft 2224a is again pressed towards the hole 2212, and the clamping protrusion 22243a will move along the path of the third groove 22133 to the bottom of the hole 2212, and as the shaft 2224a continues to be inserted, the clamping protrusion 22243a will enter the fourth groove 22134, at which time the pressure on the shaft 2224a inserted into the hole 2212 is removed, and the shaft 2224a will move upward along the path of the fourth groove 22134 under the action of the elastic member 2214, at which time, only a force is needed to be applied to the shaft 2224a to pull it out of the hole 2212, i.e. to dismount the sweeping workpiece 222a from the first mounting seat 221.

[0088] Optionally, the clamping protrusion 22243a is a spring wave bead having elasticity in the radial direction of the insertion shaft 2224a. Preferably, the groove depth of the first groove 22131 gradually decreases from the first end to the second end, the groove depth of the second end of the first groove 22131 is smaller than the groove depth of the first end of the second groove 22132; the groove depth of the second groove 22132 gradually decreases from the first end to the second end, the groove depth of the second end of the second groove 22132 is smaller than the groove depth of the first end of the third groove 22133; the groove depth of the third groove 22133 gradually decreases from the first end to the second end, the groove depth of the second end of the third groove 22133 is smaller than the groove depth of the first end of the fourth groove 22134; the groove depth of the fourth groove 22134 gradually decreases from the first end to the second end, the groove depth of the second end of the fourth groove 22134 is smaller than the groove depth of the first end of the first groove 22131. It can be understood that the communication between the first groove 22131 and the second groove 22132 forms a first step due to the difference in groove depth, the communication between the second groove 22132 and the third groove 22133 forms a second step due to the difference in groove depth, the communication between the third groove 22133 and the fourth groove 22134 forms a third step due to the difference in groove depth, and the communication between the fourth groove 22134 and the first groove 22131 forms a fourth step due to the difference in groove depth. Optionally, the deepest groove depth and the shallowest groove depth of the first groove 22131, the second groove 22132, the third groove 22133, and the fourth groove 22134 are the same, and the groove depth variation range is the same. The extension length of the spring wave bead provided on the powder sweeping workpiece 222a in the non-stressed natural state is greater than or equal to the deepest groove depth of the clamping fitting groove 2213, and the extension length in the compressed state is equal to or less than the shallowest groove depth of the clamping fitting groove 2213, so that the spring wave bead will be subjected to gradually increasing resistance during insertion, thereby slowing down its speed, and forming a self-locking at the communication between the second groove 22132 and the third groove 22133, in addition, due to the change of the groove depth, the communication between the adjacent grooves forms steps, which provide additional locking points for the spring wave bead and enhance the stability of the connection. Specifically, the spring wave bead of the present embodiment utilizes its elastic properties to smoothly enter and move along the path with gradually decreasing groove depth, when the spring wave bead is compressed, its extension length will decrease, thereby being able to smoothly pass through the area with shallower groove depth, and restore its original length at the self-locking position to form locking.Specifically, when the plug shaft 2224a of the dusting workpiece 222a starts to be inserted into the plug hole 2212 with the spring ball, the spring ball first enters the first slot 22131, and as the plug shaft 2224a is inserted deeper, the spring ball moves along the first slot 22131 with gradually decreasing slot depth, until it enters the second slot 22132 through the communication between the first slot 22131 and the second slot 22132. At this point, due to the first step formed by the sudden change of the slot depth, the spring ball will be blocked by the first step in the direction of returning to the first slot 22131, and therefore, the plug shaft 2224a affected by the resistance of the first step will naturally drive the spring ball to move along the second slot 22132 to pass through the communication between the second slot 22132 and the third slot 22133 and enter the third slot 22133, forming a self-locking state. When the dusting workpiece 222a is disassembled, when a downward pressure is applied to the plug shaft 2224a, the spring ball will naturally move along the third slot 22133 to pass through the communication between the third slot 22133 and the fourth slot 22134 and enter the fourth slot 22134, and at this time, the spring ball will naturally move upward along the fourth slot 22134 due to the elastic pre-tightening force and the resistance of the third step. Optionally, the clamping and fitting slot 2213 is an axisymmetric figure, and the axis of symmetry of the clamping and fitting slot 2213 passes through the intersection of the ray from the second end of the first slot 22131 to the first end and the ray from the first end of the fourth slot 22134 to the second end, and the axis of symmetry of the clamping and fitting slot 2213 also passes through the intersection of the ray from the first end of the second slot 22132 to the second end and the ray from the second end of the third slot 22133 to the first end.

[0089] Further, please refer to Figure 13 、 Figure 14 and Figure 20The powder suction assembly in the embodiment 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 external fluid to enter the inside of the powder suction container 223. It should be explained that although the brush 2221, the scraper 2222, the friction cloth or the friction block 2223 in the powder sweeping workpiece 222 can separate the powder adhered to the mixing chamber 12 or the press hammer 13 to a greater extent, the powder separated from the mixing chamber 12 or the press hammer 13 can still be re-adhered to the mixing chamber 12 or the press hammer 13 after floating for a short time instead of directly falling above the rotor 14. Based on this, the powder suction assembly in the embodiment provides a negative pressure for the powder suction container 223 through the first air pump, and the negative pressure is transmitted to the dust suction head, so that the dust suction head has a pressure for sucking external fluid into the powder suction container 223. Therefore, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 223 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation that the powder swept by the powder sweeping workpiece 222 is re-adhered to the cavity wall of the mixing chamber 12 or the press 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 uniformly arranged around the insertion hole 2212, and the dust suction port of the dust suction head faces the same direction as the insertion port of the insertion hole 2212. Alternatively, the dust suction head is a dust suction pipeline 2235, the first mounting seat 221 is provided with a dust suction hole 2211, one end of the dust suction pipeline 2235 is connected to the dust suction hole 2211, and the other end of the dust suction pipeline 2235 is connected to the powder suction container 223.

[0090] Further, referring to Figure 20 , the inside of the powder suction container 223 is provided with a filter screen 2231, two sides of the filter screen 2231 are respectively surrounded by the inner walls of the powder suction container 223 to form an air suction cavity 2232 and a powder storage cavity 2233, the air suction end of the first air pump is communicated with the air suction cavity 2232, and the dust suction head is communicated with the powder storage cavity 2233. When the first air pump is started, the powder enters the powder storage cavity 2233 through the dust suction head, and the air enters the air suction cavity 2232 through the filter screen 2231 due to the blockage of the filter screen 2231, so as to maintain the negative pressure state inside the powder suction container 223. Further, the powder suction container 223 is provided with a powder discharge port communicated with the powder storage cavity 2233, and the powder discharge port is provided with an openable and closable movable door 2234. 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 cavity 2233.

[0091] Further, a door control motor is arranged beside the powder discharging opening, 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 discharging robot 2 in the embodiment. Optionally, the powder discharging opening in the embodiment is a rectangular opening, and the movable door 2234 is a rectangular door. Further, a hidden door groove is arranged on the first side inner wall of the rectangular opening, and a sliding door groove is arranged on the two adjacent side inner walls of the first side inner wall of the rectangular opening. It can be understood that the hidden door groove is used to accommodate the movable door 2234, the sliding door groove is used to provide support and sliding pairs for the sliding of the movable door 2234, and the door control motor is used to drive the movable door 2234 to slide into or slide out of the hidden door groove. When the movable door 2234 slides into the hidden door groove, the powder discharging opening is opened. When the movable door 2234 slides out of the hidden door groove, the powder discharging opening is closed. Preferably, the powder discharging opening is arranged on the lower side of the powder suction container 223. Optionally, the door control motor can be a telescopic air cylinder, the telescopic end of the telescopic air cylinder is connected to the movable door, and the telescopic direction of the telescopic end of the telescopic air cylinder is the same as the sliding direction of the movable door 2234.

[0092] Optionally, the motor for driving the impeller to rotate to generate air flow in the first air pump is a bidirectional motor, so that the bidirectional motor can drive the fan wheel of the first air pump to switch between clockwise rotation and counterclockwise rotation, so that the suction end and the exhaust end of the first air pump can be adjusted. For example, when the bidirectional motor in the embodiment is rotating forward, the fan wheel of the first air pump rotates clockwise, the first end of the first air pump is the suction end, and the second end of the first air pump is the exhaust end. When the bidirectional motor in the embodiment is reversed, the fan wheel of the first air pump rotates counterclockwise, the first end of the first air pump is the exhaust end, and the second end of the first air pump is the suction end. Thus, when the powder sweeping device 22 in the embodiment performs the powder sweeping operation, the bidirectional motor is rotated forward, so that the end of the first air pump connected to the suction cavity 2232 of the powder suction container 223 is the suction end, and by forming a negative pressure state in the powder suction container 223, the dust collecting head can suck the external powder into the powder storage cavity 2233 of the powder suction container 223. When the powder sweeping device 22 in the embodiment has completed the powder sweeping operation and needs to release the powder in the powder suction container 223 to the upper side of the rotor 14 of the mixing chamber 12, the bidirectional motor is reversed, so that the end of the first air pump connected to the suction cavity 2232 of the powder suction container 223 is the exhaust end, and by blowing air into the powder suction container 223, the powder adhering to the powder suction container 223 can be blown out of the powder suction container 223 to fall onto the upper side of the rotor 14. Optionally, the powder sweeping device 22 further comprises a vibration motor, which is arranged on the first mounting seat 221 or the vibration motor is arranged on the powder suction container 223. Optionally, the powder sweeping device 22 further comprises a second mounting seat, which 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, which are used to buffer the vibration transmitted from the first mounting seat 221 to the driving device 21.

[0093] It can be understood that when the active door 2234 is opened to pour the powder in the powder storage cavity 2233 of the powder suction container 223 outwards, part of the powder may adhere to the filter screen 2231 or the inner wall of the powder storage cavity 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 separate, the powder suction container 223 can also be vibrated by the vibration motor arranged on the first mounting seat 221 or the powder suction container 223. During the vibration process, the powder adhered to the filter screen 2231 or the inner wall of the powder suction container 223 can be effectively separated by centrifugal force to naturally fall out of the powder suction container 223 or be blown out of the powder suction container 223 by the air flow of the first air pump. Further, considering that the powder sweeping workpiece 222 only contacts the chamber wall of the mixing chamber 12 and the surface of the pressing hammer 13 by being driven by the driving device 21, there may be a situation that the cleaning force is insufficient. At this time, the first mounting seat 221 can be vibrated by the vibration motor arranged on the first mounting seat 221, and the powder sweeping workpiece 222 mounted on the first mounting seat 221 is further driven to vibrate. The powder sweeping workpiece 222 in the vibrating state has a stronger cleaning force, and the powder on the chamber wall of the mixing chamber 12 and the surface of the pressing hammer 13 can be separated more completely.

[0094] Further, please refer to Figures 7 to 19 The powder blowing assembly in the embodiment includes a second air pump, which is used to provide air flow to blow the powder off the cleaning object. It needs to be explained that the air flow provided by the second air pump can be directly blown out through the air nozzle in the direction of the cleaning object, or can be blown out through the air passage opened in the brush 2221, the scraper 2222, the friction cloth or the friction block 2223 of the powder sweeping workpiece 222 to act on the cleaning object. In the embodiment, it is not limited.

[0095] Further, the air flow provided by the second air pump in the embodiment is blown out through the air passage opened in the brush 2221, the scraper 2222, the friction cloth or the friction block 2223 of the powder sweeping workpiece 222 to act on the cleaning object. In the embodiment, the brush 2221, the scraper 2222, the friction cloth and the friction block 2223 all include a plug shaft and a second air hole opened in the plug shaft. The plug 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 the air hole 22151 on the connecting column 2215 is in communication with the second air hole.

[0096] In Figure 7 and Figure 8The first gas hole 22241a and the second gas hole 2225a are communicated through the gas channel built in the sweeping workpiece 222a, the exhaust end of the second air pump is communicated with the first gas hole 22241a to provide the outward airflow for the second gas hole 2225a. It can be understood that the sweeping robot 2 of the embodiment can deliver the airflow to the sweeping workpiece 222a through the second air pump, and the polymer material powder attached to the side wall of the internal mixer 1 or the press hammer 13 can be removed more quickly and completely by blowing the powder with the airflow. When the sweeping robot 2 provides the compressed gas to the first gas hole 22241a through the second air pump, the gas will be sprayed from the second gas hole 2225a, and the sprayed airflow can blow and carry away the polymer material powder attached to the side wall of the internal mixer 1 or the press hammer 13, thereby achieving efficient cleaning.

[0097] The sweeping workpiece 222a in the embodiment includes a brush 2221 and a plug shaft 2224a, the plug shaft 2224a is provided with the first gas hole 22241a, the brush 2221 is provided with the second gas hole 2225a, the first gas hole 22241a and the second gas hole 2225a are communicated through the gas channel built in the brush 2221 and the plug shaft 2224a, the exhaust end of the second air pump is communicated with the first gas hole 22241a to provide the outward airflow for the second gas hole 2225a, so that the brush 2221 can also blow and carry away the polymer material powder attached to the side wall of the internal mixer 1 or the press hammer 13 through the airflow blown from the second gas hole 2225a to the first gas hole 22241a in the process of performing the sweeping work by using the bristles 22211, and the polymer material powder on the side wall of the internal mixer 1 or the press hammer 13 can be cleaned more quickly and completely in cooperation with the bristles 22211. It can be understood that, Figure 9 、 Figure 10 The gas channel provided on the scraper 2222 and the plug shaft 2224b in the embodiment, Figure 11 、 Figure 12 The gas channel provided on the friction block 2223 and the plug shaft 2224c in the embodiment is the same as the gas channel provided on the brush 2221 and the plug shaft 2224a in the embodiment, and will not be described here.

[0098] As Figure 13 、 Figure 14 and Figure 16As shown, specifically, the bottom of the insertion hole 2212 of the first mounting seat 221 is provided with a connecting column 2215, the connecting column 2215 is provided with a ventilation hole 22151 which is communicated with both ends of the connecting column 2215, one end of the ventilation hole 22151 is communicated with the insertion hole 2212, and the other end is communicated with the exhaust end of the second air pump through an air pipe; taking the sweeping workpiece 222a as an example, the end of the insertion shaft 2224a away from the brush 2221 is provided with a first air hole 22241a, the brush 2221 is provided with a second air hole 2225a, and the first air hole 22241a and the second air hole 2225a are communicated through an air duct 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 communicated with the second air hole 2225a. Optionally, as shown in the first embodiment, Figures 17 to 19 As shown, the side wall of the insertion hole 2212 of the first mounting seat 221 is provided with a first threaded hole 22121 in the radial direction, the outer side wall of the insertion shaft 2224a of the sweeping workpiece 222a is provided with a corresponding second threaded hole 22242a, 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 communication position between the second groove 22132 and the third groove 22133 to be in the self-locking state, the first threaded hole 22121 and the second threaded hole 22242a are in alignment and communication, at this time, the first threaded hole 22121 and the second threaded hole 22242a can be connected by a screw, so that the connection between the sweeping workpiece 222a and the sweeping robot 2 is more stable.

[0099] Optionally, in another embodiment, the first mounting seat 221 is provided with a magnetic member, the magnetic member is used for magnetic attraction connection with the sweeping workpiece 222, and the sweeping workpiece 222 is connected to the driving device 21 through the magnetic attraction member.

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

[0101] Optionally, the outer periphery of the connecting column 2215 is provided with a sealing ring, which can make the connection between the connecting column 2215 and the first air hole 22241a more airtight and stable.

[0102] In one possible implementation, the powder sweeping workpiece 222 comprises a brush 2221, a scraper 2222, one of a friction cloth and a friction block 2223, and a powder suction assembly and a powder blowing assembly. The powder suction assembly collects powder through a negative pressure airflow provided by a first air pump, and the powder blowing assembly blows powder through a positive pressure airflow provided by a 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 avoid powder in the mixing chamber 12 of the internal mixer 1 entering and remaining in the first air hole 22151 through the second air hole, a filter screen can be arranged at the second air hole in this embodiment to avoid external powder from flowing in through the second air hole. In this embodiment, the same air pump is used to simultaneously supply air sources to the powder blowing assembly and the powder suction assembly, which effectively reduces the product production cost and makes the cooperation of the powder blowing assembly and the powder suction assembly more coordinated.

[0103] Optionally, the powder sweeping robot 2 of this embodiment further comprises a workpiece library for storing the same and / or different types of powder sweeping workpieces, which can be brushes 2221, scrapers 2222, friction cloths, friction blocks 2223, etc. of different sizes.

[0104] The utility model embodiment further provides a powder cleaning method, please refer to Figure 26 and Figure 27 The powder cleaning method is executed by the powder sweeping robot or by a control terminal, and the control terminal is used to control the powder sweeping robot to perform powder cleaning work on the mixing chamber 12 by using at least one powder sweeping workpiece. The powder cleaning method provided by the present application is described in detail below.

[0105] Please refer to Figure 26 , Figure 26 is a flowchart of the powder cleaning method provided by the embodiment of the present application.

[0106] As Figure 1 shown, in some embodiments, the powder cleaning method comprises steps S100-S200:

[0107] Step S100: acquiring state information in the mixing chamber of the internal mixer.

[0108] Step S200: controlling at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber according to the state information.

[0109] The state information is used to represent the working state in the mixing chamber 12 of the mixer 1. In some embodiments, one corresponding powder cleaning robot is configured for each mixer 1, and the mixer 1 is one-to-one corresponding to the powder cleaning robot. When the powder cleaning method is executed by the powder cleaning robot, the state information of the corresponding mixer 1 is obtained by the powder cleaning robot. When the powder cleaning method is executed by the control terminal, the state information of the corresponding mixer 1 of each powder cleaning robot is obtained. In other embodiments, one powder cleaning robot can perform powder cleaning work on the mixing chambers 12 of multiple mixers 1. When the powder cleaning method is executed by the powder cleaning robot, the state information of all corresponding mixers 1 is obtained by the powder cleaning robot. When the powder cleaning method is executed by the control terminal, the state information of all corresponding mixers 1 of each powder cleaning robot is obtained. It should be explained that the cleaning object in the mixing chamber 12 includes the inner wall of the mixing chamber 12 and the plunger 13.

[0110] Please refer to Figure 27 , Figure 27 is is Figure 26 The detailed flowchart of step S200 in some embodiments, the powder cleaning method includes steps S210-S220:

[0111] Step S210: judging whether the mixer is a target mixer that needs to perform powder cleaning work according to the state information.

[0112] Step S220: when the mixer is judged to be the target mixer according to the state information, controlling at least one powder cleaning workpiece to perform powder cleaning work on the mixing chamber of the target mixer.

[0113] In some embodiments, the above-mentioned state information includes the current working temperature of the mixing chamber 12 of the mixer 1, and step S210 includes: when the current working temperature reaches the preset working temperature, judging the mixer 1 to be the target mixer 1. Optionally, the preset working temperature ranges from 50 degrees to 200 degrees, for example, the preset working temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees, etc.

[0114] In some embodiments, the internal mixer 1 switches a plurality of working states in sequence in a single working process of the internal mixer 1, and each working state corresponds to a preset working temperature. Generally, the preset working temperature in each working state is increased in sequence in a single working process of the internal mixer 1. For example, the internal mixer 1 switches four working states in sequence in a single working process of the internal mixer 1, the preset working temperature of the first working state is 95 degrees, the preset working temperature of the second working state is 120 degrees, the preset working temperature of the third working state is 140 degrees, and the preset working temperature of the fourth working state is 155 degrees. In this way, the internal mixer 1 can gradually melt the polymer material powder. Further, the state information in such embodiments includes the current working state and the current working temperature of the mixing chamber 12 of the internal mixer 1, and 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 explained that when the current working temperature of the internal mixer 1 reaches the preset working temperature corresponding to the current working state, it means that the internal mixer 1 should enter the next working state, and at this time, the internal mixer 1 is determined as the target internal mixer 1, and then step S220 is performed to make the flying polymer material powder continue to participate in the production process before the internal mixer 1 enters the next working state, thereby improving the quality and yield of the final product. For example, 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 95 degrees corresponding to the current working state, it means that the internal mixer 1 should enter the second working state, and at this time, the internal mixer 1 is determined as the target internal mixer 1.

[0115] In some embodiments, the above-mentioned state information includes the working time length of the current working state of the mixing chamber 12 of the internal mixer 1, and step S210 includes: when the working time length reaches a preset time length, determining that the internal mixer 1 is the target internal mixer 1. As described above, in a single working process of the internal mixer 1, the internal mixer 1 will switch a plurality of working states in sequence, and each working state corresponds to a preset time length. When the working time length of the internal mixer 1 reaches the preset time length corresponding to the current working state, the internal mixer 1 is determined as the target internal mixer 1. It can be understood that when the working time length of the internal mixer 1 reaches the preset time length corresponding to the current working state, it means that the internal mixer 1 should enter the next working state, and at this time, the internal mixer 1 is determined as the target internal mixer 1, and then step S220 is performed to make the flying polymer material powder continue to participate in the production process before the internal mixer 1 enters the next working state, thereby improving the quality and yield of the final product.

[0116] The above only further illustrates the technical content of the utility model with examples, so that the reader can more easily understand, but does not represent that the embodiment of the utility model is limited to this, and any technical extension or re-creation made according to the utility model is protected by the utility model. The protection scope of the utility model is subject to the patent claim.

Claims

1. A replaceable dust-sweeping robot for a workpiece, characterized by, The application relates to a dust-sweeping robot, which comprises a driving device and a dust-sweeping device, the driving device is used for driving the dust-sweeping device to move and / or rotate, the dust-sweeping device comprises a detachable connecting structure and a dust-sweeping workpiece, and the detachable connecting structure is used for forming detachable connection with the dust-sweeping workpiece. The detachable connecting structure comprises a first mounting base, the first mounting base is connected with the driving device, and the dust-sweeping workpiece is detachably connected with the first mounting base.

2. The replaceable powder sweeping robot of claim 1, wherein, A socket is arranged on the first mounting base, and the socket is used for plug-in connection with the dust-sweeping workpiece.

3. The replaceable powder sweeping robot of claim 2, wherein, An inner side wall of the socket is provided with a clamping matching groove, and the clamping matching groove is used for clamping connection with the dust-sweeping workpiece.

4. The replaceable powder sweeping robot of claim 3, wherein, A first threaded hole is arranged on the first mounting base, and the first threaded hole is used for screw connection with the dust-sweeping workpiece.

5. The replaceable powder sweeping robot of claim 2, wherein, A magnetic piece is arranged on the first mounting base, and the magnetic piece is used for magnetic attraction connection with the dust-sweeping workpiece.

6. The replaceable powder sweeping robot of claim 2, wherein, The dust-sweeping robot further comprises a workpiece library, and the workpiece library is used for storing dust-sweeping workpieces of the same type and / or different types.

7. The replaceable powder sweeping robot of claim 1, wherein, The driving device comprises a freely movable mechanical arm, the dust-sweeping device is connected with a free end of the mechanical arm, and the mechanical arm at least comprises a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm or a seven-axis mechanical arm.

8. The replaceable powder sweeping robot of claim 1, wherein, The mechanical arm comprises 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 arranged 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 arranged 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 arranged 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 arranged 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 arranged 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 arranged 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 dust-sweeping device is connected with a terminal end of the sixth rotating arm.

9. The replaceable powder sweeping robot of claim 8, wherein, The dust-sweeping workpiece at least comprises a brush, a scraper, a friction cloth, a friction block, a powder suction assembly or a powder blowing assembly.

10. The replaceable powder sweeping robot of claim 1, wherein, An elastic piece is arranged at the bottom of the socket, the clamping matching groove comprises a first groove, a second groove, a third groove and a fourth groove, a first end of the first groove is located at an inner peripheral edge of a hole mouth of the socket, a second end of the first groove is communicated with a first end of the second groove in a hole bottom direction of the socket, a second end of the second groove is communicated with a first end of the third groove in a hole mouth direction of the socket, a second end of the third groove is communicated with a first end of the fourth groove in the hole bottom direction of the socket, and a second end of the fourth groove is communicated with the first end of the first groove in the hole mouth direction of the socket; the second groove and the third groove are connected in an inverted V shape.

11. The replaceable powder sweeping robot of claim 4, wherein, The dust-sweeping workpiece is provided with an insertion shaft corresponding to the socket, and the insertion shaft is provided with a clamping protrusion corresponding to the clamping matching groove. ​

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