Internal mixer

Abstract

The utility model discloses an internal mixer. The internal mixer comprises an internal mixer body and a powder sweeping robot, the internal mixer body is provided with an internal mixing chamber and a feeding door used for controlling the internal mixing chamber to be opened or closed. A processing device is arranged in the internal mixing chamber; when powder sweeping is needed, the powder sweeping robot stretches into the internal mixing chamber through the channel with the feeding door opened, and powder sweeping operation is carried out on a sweeping object; the cleaning object at least comprises the inner side wall of the internal mixing chamber or the machining device. According to the internal mixer disclosed by the utility model, the powder sweeping robot stretches into each corner in the internal mixing chamber, so that comprehensive sweeping is realized, the powder sweeping effect is more stable through the automatic powder sweeping robot, and manpower resources for sweeping powder for the internal mixer are liberated.

Description

Technical Field

[0001] This utility model relates to the technical field of internal mixer equipment, and in particular to an internal mixer. Background Technology

[0002] A closed-type rubber mixing mill, also known as an internal mixer, is mainly used for the plasticizing and mixing of rubber. An internal mixer is a machine equipped with a pair of rotors of a specific shape that rotate relative to each other, intermittently plasticizing and mixing polymer materials under adjustable temperature and pressure in a closed environment. It mainly consists of a mixing chamber, rotors, rotor sealing devices, pressure hammers, a discharge device, a transmission device, and a machine base. In existing internal mixers, during the feeding process into the mixing chamber and as the pressure hammers press down towards the rotors located within the mixing chamber, polymer powder easily flies and adheres to the side walls of the mixing chamber and / or the pressure hammers, preventing this powder from being incorporated into the production process driven by the rotors.

[0003] Currently, the market addresses this issue by manually cleaning the side walls and pressure hammers of the mixing chamber using tools, causing the polymer material adhering to them to be swept off and placed above the rotor. However, manually cleaning the side walls and pressure hammers of the mixing chamber using tools is unstable, and workers may forget to clean the powder or fail to clean it thoroughly due to personal factors. In addition, polymer powder may be inhaled by workers during the process of being airborne, and long-term exposure may lead to respiratory diseases, which is detrimental to the health of workers. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mixing machine that solves the problems of instability in the existing manual cleaning of the side walls and hammers of the mixing chamber, which may result in workers forgetting to clean the powder or failing to clean it properly due to personal factors. At the same time, polymer powder may be inhaled by workers during the process of being airborne, and long-term exposure may lead to respiratory diseases, which is detrimental to the health of workers.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a mixing machine, including: a mixing machine body and a powder-sweeping robot; the mixing machine body is provided with a mixing chamber and a feeding door for controlling the opening or closing of the mixing chamber; a processing device is provided in the mixing chamber; when powder sweeping is required, the powder-sweeping robot enters the mixing chamber through the channel opened by the feeding door and performs a powder sweeping operation on the object to be swept; the object to be swept includes at least the inner sidewall of the mixing chamber or the processing device.

[0007] The dust-sweeping robot includes a drive unit and a dust-sweeping device. The drive unit is used to drive the dust-sweeping device to move and / or rotate. The dust-sweeping device includes a dust-sweeping workpiece, which is used to perform dust-sweeping operations on the object to be cleaned.

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

[0009] The robotic arm includes at least a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm.

[0010] The robotic arm includes a base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm, and a sixth rotating arm. A first drive motor is provided between the first rotating arm and the base to drive the first rotating arm to rotate relative to the base. A second drive motor is provided between the second rotating arm and the first rotating arm to drive the second rotating arm to rotate relative to the first rotating arm. A third drive motor is provided between the third rotating arm and the second rotating arm to drive the third rotating arm to rotate relative to the second rotating arm. A fourth drive motor is provided between the fourth rotating arm and the third rotating arm to drive the fourth rotating arm to rotate relative to the third rotating arm. A fifth drive motor is provided between the fifth rotating arm and the fifth rotating arm to drive the sixth rotating arm to rotate relative to the fifth rotating arm. The powder-sweeping device is connected to the end of the sixth rotating arm.

[0011] The fixed end of the drive device is positioned relative to the body of the internal mixer. Alternatively, the powder sweeping robot may also include a transfer device, with the fixed end of the drive device mounted on the transfer device. The transfer device is used to move the drive device closer to or away from the body of the internal mixer.

[0012] The transfer device includes a guide rail and a slide block slidably connected to the guide rail, and the fixed end of the drive device is mounted on the slide block.

[0013] The transfer device includes a transport vehicle that can move freely in translation, and the drive device is mounted on the transport vehicle.

[0014] When the fixed end of the drive device is positioned relative to the body of the internal mixer, the drive device is located near the feed gate.

[0015] The powder sweeping device further includes a first mounting base, which is connected to the driving device, and the powder sweeping workpiece is detachably connected to the first mounting base.

[0016] The powder-sweeping workpiece includes at least a brush, scraper, friction cloth, friction block, powder suction assembly, or powder blowing assembly.

[0017] The powder suction assembly includes a powder suction container, a first air pump, and a dust suction head. The first air pump is used to provide a negative pressure environment inside the powder suction container, and the dust suction head is used to provide a channel for external fluid to enter the interior of the powder suction container.

[0018] The powder suction container is equipped with a filter screen inside. The two sides of the filter screen are respectively enclosed with the inner wall of the powder suction container to form an air suction chamber and a powder storage chamber. The air suction end of the first air pump is connected to the air suction chamber, and the dust suction head is connected to the powder storage chamber.

[0019] The powder suction container has a powder discharge port that communicates with the powder storage chamber, and the powder discharge port is provided with an openable and closable door.

[0020] A door control motor is provided next to the powder dispensing port, which is used to control the opening or closing of the movable door.

[0021] The powder blowing assembly includes a second air pump, which provides airflow to blow powder off the object being cleaned.

[0022] The powder blowing assembly is provided with a first air hole and a second air hole. The first air hole and the second air hole are connected by an air channel built into the powder sweeping workpiece. The exhaust end of the second air pump is connected to the first air hole to provide outward airflow to the second air hole.

[0023] The internal mixer body is also equipped with a sealing component, which is used to prevent the powder in the internal mixing chamber from flying out.

[0024] The internal mixer of this invention uses a powder-sweeping robot to reach every corner of the mixing chamber for comprehensive cleaning. The automated powder-sweeping robot not only makes the powder-sweeping effect more stable, but also frees up human resources used for cleaning the powder in the internal mixer.

[0025] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0026] Figure 1 This is a front view of the internal mixer in an embodiment of the present invention when the feed door is open;

[0027] Figure 2This is a front view of the internal mixer in an embodiment of the present invention when the feed door is closed;

[0028] Figure 3 This is a schematic diagram of the first state of the pressure hammer pressing down in the mixing chamber of the internal mixer according to an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the second state of the internal mixer in the mixing chamber of the present invention, showing the hammer pressing down.

[0030] Figure 5 This is a schematic diagram of the third state of the internal mixer in the mixing chamber of the present invention, where the pressure hammer is pressing down.

[0031] Figure 6 This is a schematic diagram of the first working scenario of the internal mixer according to an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the second working scenario of the internal mixer according to an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the third working scenario of the internal mixer according to an embodiment of the present utility model;

[0034] Figure 9 This is a first structural schematic diagram of the drive device of the internal mixer according to an embodiment of the present utility model;

[0035] Figure 10 This is a second structural schematic diagram of the drive device of the internal mixer according to an embodiment of the present utility model;

[0036] Figure 11 This is a schematic diagram of the third structure of the drive device of the internal mixer in an embodiment of the present invention;

[0037] Figure 12 This is a perspective view of the brush and insert shaft of the powder-sweeping workpiece in the internal mixer according to an embodiment of the present invention;

[0038] Figure 13 This is a top view of the brush and insert shaft of the powder-sweeping workpiece in the internal mixer according to an embodiment of this utility model;

[0039] Figure 14 This is a perspective view of the scraper and insert shaft of the internal mixer for cleaning powder in an embodiment of this utility model;

[0040] Figure 15 This is a side view of the scraper and insert shaft of the internal mixer in an embodiment of the present invention.

[0041] Figure 16 This is a perspective view of the friction block and insert shaft of the internal mixer for scavenging powder in an embodiment of the present invention;

[0042] Figure 17This is a top view of the friction block and insert shaft of the internal mixer for scavenging powder in an embodiment of the present invention;

[0043] Figure 18 This is a perspective view of the first mounting base in the internal mixer according to an embodiment of the present invention;

[0044] Figure 19 This is a top view of the first mounting base in the internal mixer of this utility model embodiment;

[0045] Figure 20 This is a first cross-sectional view of the first mounting base in the internal mixer of this utility model embodiment;

[0046] Figure 21 This is a second sectional view of the first mounting base of the internal mixer in an embodiment of the present invention;

[0047] Figure 22 This is a first cross-sectional view of the first mounting base and the insert shaft cooperating in the internal mixer of this utility model embodiment;

[0048] Figure 23 This is a second sectional view of the first mounting base and the insert shaft cooperating in the internal mixer of this utility model embodiment;

[0049] Figure 24 This is a third sectional view of the first mounting base and the insert shaft cooperating in the internal mixer of this utility model embodiment;

[0050] Figure 25 This is a cross-sectional view of the powder suction container in the internal mixer of this utility model embodiment;

[0051] Figure 26 This is a perspective view of the sealing assembly in the internal mixer according to an embodiment of the present invention;

[0052] Figure 27 This is a flowchart of a powder cleaning method in a mixer according to an embodiment of the present invention;

[0053] Figure 28 This is a sub-flowchart of the powder cleaning method in the internal mixer according to an embodiment of the present invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 1. Internal mixer body; 11. Feed gate; 12. Mixing chamber; 13. Pressure hammer; 14. Rotor; 15. Sealing assembly; 151. Seal; 1511. Movable port; 152. Upper drive component; 153. Lower drive component; 154. Upper roller; 155. Lower roller;

[0056] 2. Powder-sweeping robot; 21. Drive unit; 211. Six-axis robotic arm; 2111. Base; 2112. First rotating arm; 2113. Second rotating arm; 2114. Third rotating arm; 2115. Fourth rotating arm; 2116. Fifth rotating arm; 2117. Sixth rotating arm; 212. Seven-axis robotic arm; 2121. Base; 2122. First rotating arm; 2123. Second rotating arm; 2124. Third rotating arm; 2125. Fourth rotating arm; 2126. Fifth rotating arm 2127. Sixth rotating arm; 2128. Seventh rotating arm; 22. Powder sweeping device; 221. First mounting base; 2211. Dust suction hole; 2212. Insertion hole; 22121. First threaded hole; 2213. Snap-fit ​​groove; 22131. First groove; 22132. Second groove; 22133. Third groove; 22134. Fourth groove; 2214. Elastic element; 2215. Connecting column; 22151. Vent hole; 23. Guide rail; 231. Slide block; 24. Transport vehicle;

[0057] 222, Powder-sweeping workpiece; 222a, Powder-sweeping workpiece; 2221, Brush; 22211, Brush bristles; 2224a, Insert shaft; 22241a, First air hole; 22242a, Second threaded hole; 22243a, Snap-fit ​​protrusion; 2225a, Second air hole; 222b, Powder-sweeping workpiece; 2222, Scraper; 22221, Edge; 2224b, Insert shaft; 22241b, First air hole; 22242b, Second threaded hole; 22243b, Snap-fit ​​protrusion; 2225b, Second air hole; 222c, Powder-sweeping workpiece; 2223, Friction block; 22231, Rough surface; 2224c, Insert shaft; 22241c, First air hole; 22242c, Second threaded hole; 22243c, Snap-fit ​​protrusion; 2225c, Second air hole;

[0058] 223. Powder suction container; 2231. Filter screen; 2232. Air extraction chamber; 2233. Powder storage chamber; 2234. Door; 2235. Dust suction pipe. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0061] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "resin", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0064] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0065] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0066] This utility model embodiment provides a mixing machine, including: a mixing machine body 1 and a powder-sweeping robot 2; the mixing machine body 1 is provided with a mixing chamber 12 and a feed door 11 for controlling the opening or closing of the mixing chamber 12; a processing device is provided in the mixing chamber 12; when powder sweeping is required, the powder-sweeping robot 2 enters the mixing chamber 12 through the channel opened by the feed door 11 and performs a powder sweeping operation on the object to be swept; the object to be swept includes at least the inner side wall of the mixing chamber 12 or the processing device. Specifically, the processing device is a rotatable rotor 14 and a liftable pressure hammer 13.

[0067] Specifically, please refer to Figures 1 to 5 When it is necessary to feed material into the mixing chamber 12 of the internal mixer body 1, the internal mixer body 1 controls the feed door 11 to open and the pressure hammer 13 to rise to the top, such as Figure 1 As shown, at this time, powder can be fed into the mixing chamber 12 through the channel opened by the feed door 11. After the feeding into the mixing chamber 12 is completed, the mixing machine body 1 will control the feed door 11 to close, as shown. Figure 2 As shown, at this time, the pressure hammer 13 inside the mixing chamber 12 will begin to cooperate with the rotor 14 to perform powder processing. The powder processing in the mixing chamber 12 is as follows: Figures 3 to 5 As shown, the pressure hammer 13 is controlled by the connecting rod to press down, forcing the powder poured into the mixing chamber 12 onto the rotor 14. The pressure of the pressure hammer 13, the rotation of the rotor 14, and the heating process gradually melt the powder. It is understandable that during the feeding of powder into the mixing chamber 12 and the pressing down of the pressure hammer 13, some powder may adhere to the inner wall of the mixing chamber 12 and / or the pressure hammer 13. This portion of powder will not participate in the mixing process between the pressure hammer 13 and the rotor 14, resulting in a discrepancy between the actual and expected output. Please refer to... Figures 6 to 8 In this embodiment, the powder-sweeping robot 2 enters the mixing chamber 12 of the mixing machine body 1 to perform powder-sweeping operation. While the powder-sweeping effect is made more stable by the automated powder-sweeping robot 2, it also frees up human resources used for powder-sweeping the mixing machine body 1, thereby reducing the health risks of workers such as respiratory diseases.

[0068] Furthermore, the dust-sweeping robot 2 includes a drive unit 21 and a dust-sweeping device 22. The drive unit 21 is used to drive the dust-sweeping device 22 to move and / or rotate. The dust-sweeping device 22 includes a dust-sweeping workpiece 222, which is used to perform dust-sweeping operations on the object to be cleaned.

[0069] Specifically, please refer to Figures 9 to 11 To make the powder sweeping robot 2 more flexible in its operation, the drive device 21 in this embodiment includes a freely movable robotic arm. The powder sweeping device 22 is connected to the free end of the robotic arm. The robotic arm is used to send the powder sweeping device 22 from the internal mixer body 1 to the internal mixing chamber 12 inside the internal mixer body 1 to perform the powder sweeping work. The high degree of freedom of the robotic arm is used to carry the powder sweeping device 22 to move, which greatly improves the efficiency of the powder sweeping operation. Specifically, the aforementioned robotic arm includes at least one of the following: a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm 211, or a seven-axis robotic arm 212. That is, the robotic arm includes at least one of these three-axis, four-axis, five-axis, six-axis, or seven-axis robotic arms 211. It is understood that robotic arms are classified according to their number of axes (i.e., the number of degrees of freedom). These axes represent how many directions the robotic arm can move independently. Therefore, a higher number of axes indicates greater flexibility, but also higher cost. Users can choose a robotic arm with a suitable number of axes based on their actual needs. Preferably, in this embodiment, a six-axis robotic arm 211 is selected as the drive device 21. It should be explained that this embodiment only illustrates a limited number of robotic arms for the drive device 21. In other embodiments, other devices capable of driving the powder-sweeping device 22 to displacement and / or rotation can also be used, which will not be elaborated here.

[0070] In the first embodiment, as Figure 9 and Figure 10As shown, the robotic arm in this embodiment is a six-axis robotic arm 211, which includes a base 2111, a first rotating arm 2112, a second rotating arm 2113, a third rotating arm 2114, a fourth rotating arm 2115, a fifth rotating arm 2116, and a sixth rotating arm 2117. A first 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. Three drive motors 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; and a powder sweeping device 22 is connected to the end of the sixth rotating arm 2117. Understandably, each of the six rotating arms 2112, 2113, 2114, 2115, 2116, and 2117 is equipped with a motor and a reducer to achieve precise angle control. The coordinated movement of these joints allows the robotic arm to move freely in three-dimensional space. The dust removal device 22 is installed at the very end of the six-axis robotic arm 211, i.e., at the end of the sixth rotating arm 2117. Thus, all the movements of the six-axis robotic arm 211 directly act on the dust removal device 22 to achieve precise control of the cleaning task.

[0071] In the second embodiment, as Figure 11As shown, the robotic arm in this embodiment is a seven-axis robotic arm 212, which includes a base 2121, a first rotating arm 2122, a second rotating arm 2123, a third rotating arm 2124, a fourth rotating arm 2125, a fifth rotating arm 2126, a sixth rotating arm 2127, and a seventh rotating arm 2128. A first motor is provided between the first rotating arm 2122 and the base 2111 to drive the first rotating arm 2122 to rotate relative to the base 2121; a second motor is provided between the second rotating arm 2123 and the first rotating arm 2122 to drive the second rotating arm 2123 to rotate relative to the first rotating arm 2122; a third motor is provided between the third rotating arm 2124 and the second rotating arm 2123 to drive the third rotating arm 2124 to rotate relative to the base 2121. The second rotating arm 2123 rotates; a fourth motor is provided between the fourth rotating arm 2125 and the third rotating arm 2124 to drive the fourth rotating arm 2125 to rotate relative to the third rotating arm 2124; a fifth motor is provided between the fifth rotating arm 2126 and the fourth rotating arm 2125 to drive the fifth rotating arm 2126 to rotate relative to the fourth rotating arm 2125; a sixth motor is provided between the sixth rotating arm 2127 and the fifth rotating arm 2126 to drive the sixth rotating arm 2127 to rotate relative to the fifth rotating arm 2126; a seventh motor is provided between the seventh rotating arm 2128 and the sixth rotating arm 2127 to drive the seventh rotating arm 2128 to rotate relative to the sixth rotating arm 2127; and the powder sweeping device 22 is connected to the end of the seventh rotating arm 2128. Understandably, 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 allows the robotic arm to move freely in three-dimensional space. The dust removal device 22 is installed at the very end of the seven-axis robotic arm 212, i.e., at the end of the seventh rotating arm 2128. Thus, all the movements of the seven-axis robotic arm 212 will directly act on the dust removal device 22 to achieve precise control of the cleaning task.

[0072] In the third embodiment, the robotic arm in this embodiment can also be a three-axis robotic arm, a four-axis robotic arm, or a five-axis robotic arm, which will not be elaborated here.

[0073] For further information, please refer to [link / reference]. Figures 6 to 8 The fixed end of the drive device 21 is positioned relative to the internal mixer body 1. Alternatively, the powder-sweeping robot 2 may also include a transfer device, with the fixed end of the drive device 21 mounted on the transfer device. The transfer device is used to move the drive device 21 closer to or further away from the internal mixer body 1. It is understandable that, considering the supply and demand relationship between the internal mixer body 1 and the powder-sweeping robot 2, as well as their actual efficiency, users can choose the installation relationship between the powder-sweeping robot 2 and the internal mixer body 1 according to their actual needs.

[0074] In some embodiments, such as Figure 6As shown, when the fixed end of the drive device 21 is positioned relative to the internal mixer body 1, the drive device 21 is located near the feed gate 11. It can be understood that the fixed end of the drive device 21 is installed on the internal mixer body 1, which means that the powder-sweeping robot 2 in this embodiment is integrated with the internal mixer body 1 on which it is installed. When the internal mixer body 1 needs to perform a powder-sweeping operation, the powder-sweeping robot 2 can quickly execute the operation, rapidly extending the powder-sweeping device 22 into the mixing chamber 12 and the pressure hammer 13 via the drive device 21, thus cleaning the powder on the mixing chamber 12 and the pressure hammer 13.

[0075] In some embodiments, such as Figure 7 As shown, the transfer device includes a guide rail 23 and a slide block 231 slidably connected to the guide rail 23. The fixed end of the drive device 21 is mounted on the slide block 231. Thus, by utilizing the sliding engagement of the guide rail 23 and the slide block 231, the drive device 21 of the powder-sweeping robot 2 can carry the powder-sweeping device 22 between multiple internal mixer bodies 1. Optionally, the guide rail 23 is laid on the ground beside the internal mixer body 1, or the guide rail 23 is laid on the mounting surface on top of the internal mixer body 1, or the guide rail 23 is suspended above the internal mixer body 1. In this embodiment, the guide rail 23 is laid on the ground beside the internal mixer body 1. It should be explained that in some common application scenarios, the mounting surface on top of the internal mixer body 1 refers to the guide rail 23 being laid on the ceiling of a workshop where multiple internal mixer bodies 1 are located, with the workshop ceiling providing support for the guide rail 23. It should be explained that in some common application scenarios, multiple columns are arranged in a workshop with multiple internal mixer bodies 1. The guide rail 23 being suspended above the internal mixer body 1 means that the guide rail 23 is connected between multiple columns, and the multiple columns provide support for the guide rail 23.

[0076] In some embodiments, such as Figure 8 As shown, the transfer device includes a transport vehicle 24 that can move freely in translation, and a drive unit 21 is mounted on the transport vehicle 24. Thus, the free translational movement of the transport vehicle 24 allows the drive unit 21 of the powder-sweeping robot 2 to carry the powder-sweeping device 22 between multiple internal mixer bodies 1. Preferably, the transport vehicle 24 is an automated guided vehicle (AGV), which is an automatically operated industrial vehicle powered by a battery.

[0077] Optionally, in other embodiments, the transfer device can also be other devices capable of driving the drive device 21 closer to or further away from the internal mixer body 1, which will not be elaborated here. It is understood that if the drive device 21 of the powder-sweeping robot 2 is installed on the transfer device, the powder-sweeping robot 2 in this embodiment can serve multiple internal mixer bodies 1 throughout the workshop. When it receives an instruction to perform a powder-sweeping operation on a certain internal mixer body 1, the transfer device will drive the drive device 21 to move towards the target position according to the instruction. During the movement, the position and distance can be monitored in real time by sensors or a vision system installed on the transfer device to ensure accurate arrival. After the drive device 21 reaches the target position, it begins to work, extending the powder-sweeping device 22 into the mixing chamber 12 and the pressure hammer 13 to perform the powder-sweeping operation. After the powder-sweeping operation is completed, the transfer device moves according to the instruction of the next internal mixer body 1. With the transfer device, the powder sweeping robot 2 in this embodiment can move and switch quickly between different internal mixer bodies 1, which greatly improves the flexibility of powder sweeping operation. At the same time, since the powder sweeping robot 2 can be shared between different internal mixer bodies 1, it is not necessary to equip each internal mixer body 1 with a powder sweeping robot 2, thereby reducing equipment costs.

[0078] Furthermore, such as Figure 18 and Figure 19 As shown, the dust removal device 22 also includes a first mounting base 221, which is connected to the drive device 21. The dust removal workpiece 222 is detachably connected to the first mounting base 221, allowing users to easily replace the dust removal workpiece 222 to adapt to different cleaning needs and working conditions, thereby improving the flexibility and applicability of the equipment.

[0079] Furthermore, such as Figures 12 to 17 As shown, to meet the cleaning needs under different working conditions, the powder-sweeping workpiece 222 in this embodiment includes at least a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder-suction assembly, or a powder-blowing assembly. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the mixing chamber 12 or the pressure hammer 13 for cleaning, while the powder-suction assembly and powder-blowing assembly clean the surface of the mixing chamber 12 or the pressure hammer 13 through airflow.

[0080] The powder-sweeping workpiece 222 has the following four implementation methods:

[0081] Implementation method 1: The powder sweeping workpiece 222 includes one of the following: brush 2221, scraper 2222, friction cloth, friction block 2223, powder suction component, and powder blowing component.

[0082] Implementation method 2: The powder-sweeping workpiece 222 includes a powder-absorbing component, and one of the following: a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0083] Implementation method 3: The powder sweeping workpiece 222 includes a powder blowing assembly, and one of the following: a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0084] Implementation method 4: The powder-sweeping workpiece 222 includes a powder suction component and a powder blowing component, as well as one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0085] This application will describe in detail three embodiments of the powder-sweeping workpiece 222, namely powder-sweeping workpiece 222a, powder-sweeping workpiece 222b, and powder-sweeping workpiece 222c.

[0086] Specifically, see Figure 12 and Figure 13 , Figure 12 and Figure 13 The device includes a powder-sweeping workpiece 222a, which comprises a brush 2221, a shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211 for making point contact with the object being cleaned. The first air hole 22241a is located on the shaft 2224a, and the second air hole 2225a is located on the brush 2221. The functions of the shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be described later in the specification and will not be repeated here. Furthermore, the shaft 2224a also has a second threaded hole 22242a and a snap-fit ​​protrusion 22243a. The functions of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a will be described later in the specification and will not be repeated here.

[0087] Specifically, see Figure 14 and Figure 15 , Figure 14 and Figure 15The cleaning device includes a powder-sweeping workpiece 222b, which comprises a scraper 2222, a shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming line contact with the object being cleaned. The first air hole 22241b is located on the shaft 2224b, and the second air hole 2225b is located on the scraper 2222. The shaft 2224b is used to insert into the insertion hole 2212 on the first mounting base 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump. The second air hole 2225b is used to blow airflow toward the object being cleaned. Thus, while the edge 22221 scrapes off the powder, the airflow blown through the second air hole 2225b can also blow away and carry away the polymer material powder adhering to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, the insert shaft 2224b is also provided with a second threaded hole 22242b and a snap-fit ​​protrusion 22243b. The functions of the second threaded hole 22242b and the snap-fit ​​protrusion 22243b are the same as those of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a, and will not be described in detail here.

[0088] Specifically, see Figure 16 and Figure 17 , Figure 16 and Figure 17 The cleaning process includes a powder-sweeping workpiece 222c, which comprises a friction block 2223, a shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The aforementioned friction cloth / friction block 2223 has a rough surface 22231 for forming surface contact with the object being cleaned. It should be noted that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft, while the friction block 2223 is hard. Understandably, while the rough surface 22231 causes the polymer material powder on the side wall of the mixing chamber 12 or the pressure hammer 13 to fall off due to friction, the airflow blown out through the second air hole 2225c also blows away and carries away the polymer material powder adhering to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, the insert shaft 2224c is also provided with a second threaded hole 22242c and a snap-fit ​​protrusion 22243c. The functions of the second threaded hole 22242c and the snap-fit ​​protrusion 22243c are the same as those of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a, and will not be described in detail here.

[0089] Specifically, the brush 2221, scraper 2222, friction cloth, and friction block 2223 are all equipped with insert shafts, and the scraper 2222, friction cloth, and friction block 2223 are detachably connected to the insertion hole 2212 provided on the first mounting base 221 through the insert shafts.

[0090] Optionally, the following are... Figure 12 and Figure 13Taking the powder-sweeping workpiece 222a as an example, the insert shaft 2224a is provided with a second threaded hole 22242a. During installation, a screw can be passed through the first mounting base 221 and the second threaded hole 22242a to achieve a stable connection between the insert shaft 2224a and the first mounting base 221, thereby achieving a stable connection between the brush 2221, scraper 2222, friction cloth, or friction block 2223 and the first mounting base 221. Optionally, the insert shaft 2224a is also provided with a snap-fit ​​protrusion 22243a, which is used to make the insert shaft 2224a form a snap-fit ​​relationship in the insertion hole 2212.

[0091] Optionally, the brush 2221 can be a roller brush or a plate brush. The roller brush can rotate relative to the insert shaft 2224a, while the plate brush is fixed to the insert shaft 2224a.

[0092] Specifically, the brush 2221, scraper 2222, friction cloth, and friction block 2223 in the powder-sweeping workpiece 222 are detachably connected to the first mounting base 221.

[0093] Optionally, the first mounting base 221 is provided with an insertion hole 2212. The brush 2221, scraper 2222, friction cloth and friction block 2223 in the powder sweeping workpiece 222 are all provided with insertion shafts. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the insertion hole 2212 on the first mounting base 221 through the insertion shafts provided thereon. Through a simple plug-in operation, the operator can quickly change the powder sweeping workpiece 222.

[0094] Optionally, such as Figure 20 As shown, an elastic element 2214 is provided at the bottom of the insertion hole 2212, and a snap-fit ​​groove 2213 is provided on the inner circumference of the insertion hole 2212. A snap-fit ​​protrusion 22243a is provided on the outer circumference of the insertion shaft 2224a. When the insertion shaft 2224a is inserted into the insertion hole 2212, the snap-fit ​​protrusion 22243a slides into the snap-fit ​​groove 2213 and snaps into it, so that the powder sweeping workpiece 222 and the first mounting base 221 form a stable connection.

[0095] Preferably, please refer to Figure 21The snap-fit ​​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 on the inner periphery of the opening of the insertion hole 2212. The second end of the first groove 22131 is connected to the first end of the second groove 22132 towards 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 towards the opening of the insertion hole 2212. The second end of the third groove 22133 is connected to the first end of the fourth groove 22134 towards 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 towards the opening of the insertion hole 2212. The second groove 22132 and the third groove 22133 are connected in an inverted V shape. It is understood that in this embodiment, the snap-fit ​​protrusion 22243a and the snap-fit ​​groove 2213 are located at the connection between the second groove 22132 and the third groove 22133. It should be explained that the connections between the first groove 22131, the second groove 22132, the third groove 22133, and the fourth groove 22134 all have included angles. Furthermore, the elastic element 2214 at the bottom of the insertion hole 2212 provides a certain preload for the insertion shaft 2224a, so that the insertion shaft 2224a can be subjected to a certain resistance when it is inserted into the insertion hole 2212. The snap-fit ​​groove 2213 realizes the self-locking function of the powder-sweeping workpiece 222. When the snap-fit ​​protrusion 22243a on the insertion shaft 2224a moves along the path of the snap-fit ​​groove 2213, it will pass through different groove segments and reach a self-locking state under the action of the elastic element 2214 at the connection between the second groove 22132 and the third groove 22133. At this time, even if it is subjected to external force, the snap-fit ​​protrusion 22243a is difficult to dislodge from this position, thus ensuring the stability of the connection.

[0096] Please see Figures 22 to 24 , Figures 22 to 24This is a schematic diagram illustrating the process of assembling the insert shaft 2224a into the insertion hole 2212. In an embodiment where the powder-sweeping workpiece 222a is mounted on the first mounting base 221, the insert shaft 2224a of the powder-sweeping workpiece 222a is first aligned with the insertion hole 2212 on the first mounting base 221 to ensure that the insert shaft 2224a can be smoothly inserted into the insertion hole 2212. After the insert shaft 2224a is aligned with the insertion hole 2212, it is forcefully inserted into the insertion hole 2212. During the insertion process, the snap-fit ​​protrusion 22243a on the insert shaft 2224a will move along the snap-fit ​​groove 2213 on the inner sidewall of the insertion hole 2212. When the snap-fit ​​protrusion 22243a reaches the first groove 22131, it will move along the path of the first groove 22131 towards the bottom of the insertion hole 2212. As insertion of a continues, the locking protrusion 22243a will enter the second groove 22132, at which point the pressure on the insertion shaft 2224a is released. After the insertion shaft 2224a enters the second groove 22132, the elastic element 2214 at the bottom of the insertion hole 2212 applies an upward preload to the insertion shaft 2224a. This preload will cause the insertion shaft 2224a to move upward along the path of the second groove 22132. When the locking protrusion 22243a reaches the connection between the second groove 22132 and the third groove 22133, since the path of the third groove 22133 is downward, and the insertion shaft 2224a is already subjected to the preload of the elastic element 2214, the locking protrusion 22243a will be locked in this position, forming a self-locking state. At this time, the powder-sweeping workpiece 222a is firmly connected to the powder-sweeping device 22. In one embodiment where the powder-sweeping workpiece 222a is removed from the first mounting base 221, simply press the insert shaft 2224a into the insertion hole 2212 again. The locking protrusion 22243a will move along the path of the third groove 22133 toward the bottom of the insertion hole 2212. As the insert shaft 2224a continues to be inserted, the locking protrusion 22243a will enter the fourth groove 22134. At this time, the pressure on the insert shaft 2224a inserted into the insertion hole 2212 is removed. The insert shaft 2224a will move upward along the path of the fourth groove 22134 under the force of the elastic element 2214. At this time, it is only necessary to apply a force to pull the insert shaft 2224a out of the insertion hole 2212 to make the insert shaft 2224a exit the insertion hole 2212, that is, remove the powder-sweeping workpiece 222a from the first mounting base 221.

[0097] Optionally, the snap-fit ​​protrusion 22243a is a spring ball with elasticity in the radial direction of the insert shaft 2224a. Preferably, the groove depth of the first groove 22131 gradually decreases from its first end to its second end, and the groove depth at the second end of the first groove 22131 is less than the groove depth at the first end of the second groove 22132; the groove depth of the second groove 22132 gradually decreases from its first end to its second end, and the groove depth at the second end of the second groove 22132 is less than the groove depth at the first end of the third groove 22133; the groove depth of the third groove 22133 gradually decreases from its first end to its second end, and the groove depth at the second end of the third groove 22133 is less than the groove depth at the first end of the fourth groove 22134; the groove depth of the fourth groove 22134 gradually decreases from its first end to its second end, and the groove depth at the second end of the fourth groove 22134 is less than the groove depth at the first end of the first groove 22131. It is understandable that the connection between the first groove 22131 and the second groove 22132 forms a first step due to the difference in groove depth; the connection between the second groove 22132 and the third groove 22133 forms a second step due to the difference in groove depth; the connection between the third groove 22133 and the fourth groove 22134 forms a third step due to the difference in groove depth; and the connection between the fourth groove 22134 and the first groove 22131 forms a fourth step due to the difference in groove depth. Optionally, the deepest and shallowest groove depths, as well as the range of change in groove depth, are the same for the first groove 22131, the second groove 22132, the third groove 22133, and the fourth groove 22134. In this embodiment, the spring ball on the powder-sweeping workpiece 222a has an extension length greater than or equal to the deepest groove depth of the locking groove 2213 in its unloaded, natural state, and an extension length equal to or less than the shallowest groove depth of the locking groove 2213 in its compressed state. This causes the spring ball to experience gradually increasing resistance during insertion, thus slowing its speed and forming a self-locking mechanism at the connection between the second groove 22132 and the third groove 22133. Furthermore, due to the change in groove depth, steps are formed at the connection between adjacent grooves. These steps provide additional locking points for the spring ball, enhancing the stability of the connection. Specifically, the spring ball in this embodiment utilizes its elastic properties to smoothly enter and move along a path where the groove depth gradually decreases. When the spring ball is compressed, its extension length decreases, allowing it to smoothly pass through areas with shallower groove depths, and it returns to its original length at the self-locking position, forming a lock.Specifically, when the insert shaft 2224a of the powder-sweeping workpiece 222a, carrying the spring ball, begins to insert into the insertion hole 2212, the spring ball first enters the first groove 22131. As the insert shaft 2224a goes deeper, the spring ball moves along the gradually decreasing groove depth of the first groove 22131 until it passes through the connection between the first groove 22131 and the second groove 22132 and enters the second groove 22132. Here, due to the first step formed by the sudden change in groove depth, the spring ball will be resisted by the first step in the direction of returning to the first groove 22131. Therefore, the insert shaft 2224a, which is subjected to the preload of the elastic element 2214, will naturally drive the spring ball to move along the second groove 22132 to pass through the connection between the second groove 22132 and the third groove 22133 and enter the third groove 22133, forming a self-locking state. When disassembling the powder-sweeping workpiece 222a, when downward pressure is applied to the insert shaft 2224a, the spring ball, due to the obstruction of the second step, will naturally move along the third groove 22133 to pass through the connection between the third groove 22133 and the fourth groove 22134 into the fourth groove 22134. At this time, due to the elastic preload and the obstruction of the third step, the spring ball will naturally move upward along the fourth groove 22134. Optionally, the snap-fit ​​groove 2213 is an axisymmetric figure, and the axis of symmetry of the snap-fit ​​groove 2213 passes through the intersection of the ray from the second end to the first end of the first groove 22131 and the ray from the first end to the second end of the fourth groove 22134. The axis of symmetry of the snap-fit ​​groove 2213 also passes through the intersection of the ray from the first end to the second end of the second groove 22132 and the ray from the second end to the first end of the third groove 22133.

[0098] For further details, please refer to Figure 18 , Figure 19 as well as Figure 25In this embodiment, the powder suction assembly includes a powder suction container 223, a first air pump, and a suction head. The first air pump provides a negative pressure environment inside the powder suction container 223, and the suction head provides a channel for external fluid to enter the powder suction container 223. It should be explained that although the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder-sweeping workpiece 222 can largely separate the powder adhering to the mixing chamber 12 or the pressure hammer 13, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but may float briefly before re-adhering to the mixing chamber 12 or the pressure hammer 13. Based on this, the powder suction assembly in this embodiment provides negative pressure to the powder suction container 223 through a first air pump. This negative pressure is transmitted to the suction head, giving the suction head the pressure to draw external fluid into the powder suction container 223. Thus, the powder floating in the mixing chamber 12 is sucked into the powder suction container 223 by the suction head under the action of the first air pump, effectively preventing the powder swept off by the powder sweeping workpiece 222 from re-adhering to the wall of the mixing chamber 12 or the pressure hammer 13 after floating. Preferably, the suction head is mounted on the first mounting base 221. Optionally, at least two suction heads are evenly arranged around the insertion hole 2212, and the suction port of the suction head faces the same direction as the insertion port of the insertion hole 2212. Optionally, the suction head is the suction pipe 2235, and the first mounting base 221 has a suction hole 2211. One end of the suction pipe 2235 is connected to the suction hole 2211, and the other end is connected to the powder suction container 223.

[0099] For further details, please refer to Figure 25 The powder suction container 223 is equipped with a filter screen 2231 inside. The two sides of the filter screen 2231 are respectively enclosed by the inner wall of the powder suction container 223 to form an air extraction chamber 2232 and a powder storage chamber 2233. The air extraction end of the first air pump is connected to the air extraction chamber 2232, and the dust suction head is connected to the powder storage chamber 2233. When the first air pump is started, the powder enters the powder storage chamber 2233 through the dust suction head. Due to the obstruction of the filter screen 2231, the powder is retained in the powder storage chamber 2233, while the air passes through the filter screen 2231 and enters the air extraction chamber 2232, maintaining a negative pressure state inside the powder suction container 223. Furthermore, the powder suction container 223 has a powder discharge port connected to the powder storage chamber 2233. The powder discharge port is equipped with an openable and closable door 2234. When it is necessary to clean the powder, the openable door 2234 of the powder discharge port is opened, and the powder is discharged from the powder storage chamber 2233.

[0100] Furthermore, a gate control motor is provided beside the powder dispensing port. The gate control motor is used to control the opening or closing of the movable door 2234. This gate control motor is electrically connected to the control system of the powder-collecting robot 2 in this embodiment. Optionally, the powder dispensing port in this embodiment is a rectangular opening, and the movable door 2234 is a rectangular door. Further, a hidden door groove is formed on the inner wall of the first side of the rectangular opening, and sliding door grooves are formed on the inner walls of the two adjacent sides of the inner wall of the first side of the rectangular opening. It can be understood that the hidden door groove is used to accommodate the movable door 2234, and the sliding door groove is used to provide support and sliding pair for the sliding of the movable door 2234. The gate control motor is used to drive the movable door 2234 to slide into or out of the hidden door groove. When the movable door 2234 slides into the hidden door groove, the powder dispensing port opens; when the movable door 2234 slides out of the hidden door groove, the powder dispensing port closes. Preferably, the powder dispensing port is located on the lower side of the powder suction container 223. Optionally, the door control motor can be a telescopic cylinder, the telescopic end of which is connected to the movable door, and the telescopic end of which moves in the same direction as the sliding direction of the movable door 2234.

[0101] Optionally, the motor in the first air pump that drives the impeller to rotate to generate airflow is a bidirectional motor. This bidirectional motor allows the impeller of the first air pump to switch between clockwise and counterclockwise rotation, making the suction and exhaust ends of the first air pump reversible. For example, when the bidirectional motor in this embodiment rotates clockwise, the impeller of the first air pump rotates clockwise, with the first end of the first air pump being the suction end and the second end being the exhaust end. When the bidirectional motor in this embodiment rotates counterclockwise, the impeller of the first air pump rotates counterclockwise, with the first end of the first air pump being the exhaust end and the second end being the suction end. Therefore, when the dust-sweeping device 22 in this embodiment performs the dust-sweeping operation, the bidirectional motor rotates clockwise, making the end of the first air pump connected to the suction chamber 2232 of the dust-sweeping container 223 the suction end. By creating a negative pressure state in the dust-sweeping container 223, the suction head draws external powder into the dust-sweeping storage chamber 2233 of the dust-sweeping container 223. When the powder sweeping device 22 in this embodiment completes the powder sweeping operation and needs to release the powder in the powder suction container 223 to the rotor 14 of the mixing chamber 12, the bidirectional motor reverses, making one end of the first air pump connected to the air extraction chamber 2232 of the powder suction container 223 the exhaust end. 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 by the airflow and fall to the rotor 14. Optionally, the powder sweeping device 22 also includes a vibration motor, which is mounted on the first mounting base 221 or on the powder suction container 223. Optionally, the powder sweeping device 22 also includes a second mounting base, which is connected to the drive device 21. The first mounting base 221 is connected to the second mounting base, and a buffer assembly is connected between the first mounting base 221 and the second mounting base. The buffer assembly can be several springs or other elastic elements 2214 to buffer the vibration transmitted from the first mounting base 221 to the drive device 21.

[0102] It is understandable that when the movable door 2234 is opened to pour out the powder in the powder storage chamber 2233 of the powder suction container 223, some powder may adhere to the filter screen 2231 or the inner wall of the powder storage chamber 2233. At this time, in addition to blowing air into the powder suction container 223 using the first air pump to remove the powder, the powder suction container 223 can also be vibrated by a vibration motor installed on the first mounting base 221 or the powder suction container 223. During the vibration process, the powder adhering to the filter screen 2231 or the inner wall of the powder suction container 223 can be effectively separated by centrifugal force and fall out of the powder suction container 223 naturally or be blown out of the powder suction container 223 by the airflow of the first air pump. Furthermore, considering that the powder-sweeping workpiece 222 may not have sufficient cleaning power because it only relies on the drive device 21 to contact the wall of the mixing chamber 12 and the surface of the pressure hammer 13, the first mounting base 221 can be vibrated by a vibration motor installed on the first mounting base 221, which in turn drives the powder-sweeping workpiece 222 installed on the first mounting base 221 to vibrate. The powder-sweeping workpiece 222 in the vibrating state has a stronger cleaning power, which can make the powder on the wall of the mixing chamber 12 and the surface of the pressure hammer 13 more thoroughly removed.

[0103] Furthermore, the powder blowing assembly in this embodiment includes a second air pump, which provides airflow to blow powder off the object being cleaned. It should be explained that the airflow provided by the second air pump can be blown directly towards the object being cleaned through an air nozzle, or it can be blown out through air passages formed in the brush 2221 / scraper 2222 / friction cloth / friction block 2223 of the powder-sweeping workpiece 222 to act on the object being cleaned; this is not limited in this embodiment.

[0104] For further details, please refer to Figures 12 to 17 as well as Figures 22 to 24 In this embodiment, the airflow provided by the second air pump is blown out through the air passages opened on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder-sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, scraper 2222, friction cloth, and friction block 2223 all include a shaft and a second air hole opened on the shaft. The shaft is used to be inserted into the insertion hole 2212 on the first mounting base 221, and the second air hole is used to be inserted into the connecting post 2215 in the insertion hole 2212, so that the vent hole 22151 on the connecting post 2215 is connected to the second air hole.

[0105] by Figure 12 and Figure 13Taking the powder-sweeping workpiece 222a as an example, the workpiece 222a is provided with a first air hole 22241a and a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected by an air passage built into the workpiece 222a. The exhaust end of the second air pump is connected to the first air hole 22241a to provide outward airflow to the second air hole 2225a. It can be understood that the powder-sweeping robot 2 in this embodiment can deliver airflow to the powder-sweeping workpiece 222a through the second air pump. By using the airflow to sweep away the powder, the polymer material powder adhering to the side wall of the mixing chamber 12 or the pressure hammer 13 can be removed more quickly and thoroughly. When the powder-sweeping robot 2 provides compressed gas to the first air hole 22241a through the second air pump, the gas will be ejected from the second air hole 2225a. This ejected airflow can blow away and carry away the polymer material powder adhering to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning.

[0106] In this embodiment, the powder-sweeping workpiece 222a includes a brush 2221 and a shaft 2224a. The shaft 2224a has a first air hole 22241a, and the brush 2221 has a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected by an air passage built into the brush 2221 and the shaft 2224a. The exhaust end of a second air pump is connected to the first air hole 22241a to provide outward airflow to the second air hole 2225a. Thus, during the powder-sweeping process, the brush 2221 can also blow away polymer material powder adhering to the side wall of the mixing chamber 12 or the pressure hammer 13 through the airflow blown from the first air hole 22241a to the second air hole 2225a. This, combined with the brush bristles 22211, makes the cleaning of polymer material powder from the side wall of the mixing chamber 12 or the pressure hammer 13 faster and more thorough. It is understood that... Figure 9 , Figure 10 The air passages provided on the middle scraper 2222 and the insert shaft 2224b Figure 11 , Figure 12 The air passages provided on the friction block 2223 and the insert shaft 2224c are the same as those provided on the brush 2221 and the insert shaft 2224a in this embodiment, and will not be described in detail here.

[0107] like Figure 13 , Figure 14 as well as Figure 16As shown, specifically, a connecting post 2215 is provided at the bottom of the insertion hole 2212 on the first mounting base 221. The connecting post 2215 has a vent hole 22151 that connects its two ends. One end of the vent hole 22151 is connected to the insertion hole 2212, and the other end is connected to the exhaust end of the second air pump through an air pipe. Taking the powder-sweeping workpiece 222a as an example, the end of the insertion shaft 2224a away from the brush 2221 is provided with a first air hole 22241a, and the brush 2221 is provided with a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected through an air passage built into the workpiece body. When the insertion shaft 2224a is inserted into the insertion hole 2212, the connecting post 2215 is inserted into the first air hole 22241a, and the exhaust end of the second air pump is connected to the second air hole 2225a.

[0108] Optionally, such as Figures 17 to 19 As shown, the side wall of the insertion hole 2212 is provided with a first threaded hole 22121 along the radial direction, and the outer side wall of the insertion shaft 2224a of the powder 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 the first threaded hole 22121 and the second threaded hole 22242a are only aligned and connected when the locking protrusion 22243a is located at the communication position between the second groove 22132 and the third groove 22133 and is in a self-locking state. At this time, the first threaded hole 22121 and the second threaded hole 22242a can be connected by screws to make the connection between the powder sweeping workpiece 222a and the powder sweeping robot 2 more stable.

[0109] Optionally, the connecting post 2215 is disposed at the center of the bottom of the socket 2212, and at least one of the elastic members 2214 disposed at the bottom of the socket 2212 is a spring and is disposed around the outer periphery of the connecting post 2215.

[0110] Optionally, a sealing ring is provided around the outer periphery of the connecting post 2215, which can make the connection between the connecting post 2215 and the first air hole 22241a more airtight and stable.

[0111] In one feasible embodiment, the powder-collecting workpiece 222 includes one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223, as well as a powder-collecting component and a powder-blowing component. The powder-collecting component collects powder through a negative pressure airflow provided by a first air pump, and the powder-blowing component blows powder through a positive pressure airflow provided by a second air pump. The first and second air pumps are the same pump. It should be noted that, to prevent powder in the mixing chamber 12 from entering through the second air hole and remaining in the first air hole and vent 22151, a filter screen can be installed at the second air hole in this embodiment to prevent external powder from rushing in through it. In this embodiment, the same air pump is used to simultaneously supply air to both the powder-blowing component and the powder-collecting component, effectively reducing product production costs while also making the collaborative work of the powder-blowing component and the powder-collecting component more coordinated.

[0112] For further details, please refer to Figure 26 The mixing mill body 1 is also equipped with a sealing component 15, which is used to prevent the powder in the mixing chamber 12 from flying out.

[0113] In some embodiments, both the sealing assembly 15 and the feed door 11 are located at the entrance of the mixing chamber 12. The drive device 21 of the powder sweeping robot 2 is a robotic arm. When powder sweeping is required, the feed door 11 is opened, the sealing assembly 15 is lowered, and the drive device 21 enters the mixing chamber 12 through the channel opened by the feed door 11 and through the sealing assembly 15 to perform powder sweeping operation on the object to be swept. The flying powder generated during the powder sweeping operation will be blocked by the sealing assembly 15 and cannot fly out, effectively ensuring the cleanliness of the workshop environment and reducing the situation where workshop staff inhale powder into their respiratory tract.

[0114] Specifically, the sealing assembly 15 in this embodiment includes a sealing element 151 and a driving element. The driving element is used to drive the sealing element 151 to block the entrance of the mixing chamber 12 or to drive the sealing element 151 to leave the entrance of the mixing chamber 12. The sealing element 151 has a movable opening 1511, which is used for the driving device 21 of the powder sweeping robot 2 to pass through. Thus, the movable opening 1511 satisfies the need for the powder sweeping robot 2 to enter the mixing chamber 12 to perform powder sweeping operation, and the sealing element 151 blocks the flying powder during the powder sweeping operation to prevent the powder in the mixing chamber 12 from flying out.

[0115] Optionally, in this embodiment, the sealing element 151 is a soft, elastic dustproof cloth, the length and width of which, when laid flat, are greater than the length and width of the inlet of the mixing chamber 12, respectively. Further, a rotatable upper roller 154 and a lower roller 155 are respectively provided on the upper and lower sides of the inlet of the mixing chamber 12. The upper side of the dustproof cloth is connected to the upper roller 154, and the lower side is connected to the lower roller 155 via a rope. The length of the rope after it is straightened is greater than the length of the inlet of the mixing chamber 12. The driving components include an upper driving component 152 for driving the upper roller 154 to rotate and a lower driving component 153 for driving the lower roller 155 to rotate. Therefore, when the sealing component 15 is not needed, driving the upper roller 154 and the lower roller 155 to rotate causes the sealing element 151 to be wound and stored on the upper roller 154, and the inlet of the mixing chamber 12 is not obstructed by the sealing element 151. When the sealing assembly 15 in this embodiment is needed, the upper roller 154 and the lower roller 155 are driven to rotate, causing the seal 151 to be released downward from the upper roller 154. The entrance to the mixing chamber 12 is blocked by the seal 151, and the dust sweeping robot 2 can pass through the movable opening 1511 on the seal 151 and enter the mixing chamber 12. Preferably, the seal 151 should not be tight at the entrance of the mixing chamber 12, as this is not conducive to the movement of the dust sweeping robot 2 in the movable opening 1511. Therefore, when using the sealing assembly 15, the upper roller 154 can rotate more times than the lower roller 155, so that the seal 151 released by the upper roller 154 is in a relaxed state at the entrance of the mixing chamber 12, thereby reducing interference with the movement of the dust sweeping robot 2.

[0116] This utility model embodiment also provides a powder cleaning method, please refer to... Figure 27 and Figure 28 The powder cleaning method is performed by the powder sweeping robot 2 or by the control terminal. The control terminal is used to control the powder sweeping robot 2 to perform powder cleaning work on the mixing chamber 12 using at least one powder sweeping workpiece. The powder cleaning method provided in this application is described in detail below.

[0117] Please see Figure 27 , Figure 27 This is a schematic flowchart of the powder cleaning method provided in the embodiments of this application. Figure 27 As shown, in some embodiments, the powder cleaning method includes steps S100-S200:

[0118] Step S100: Obtain the status information inside the mixing chamber 12 of the internal mixer.

[0119] Step S200: Control at least one powder-sweeping workpiece to perform powder cleaning work on the mixing chamber 12 according to the status information.

[0120] The status information is used to indicate the working status within the mixing chamber 12 of the internal mixer. In some embodiments, a corresponding powder-sweeping robot 2 is configured for each internal mixer, with a one-to-one correspondence between the internal mixer and the powder-sweeping robot 2. In this case, when the powder-sweeping robot 2 performs the powder cleaning method, it acquires the status information of the corresponding internal mixer. When the control terminal performs the powder cleaning method, it acquires the status information of the internal mixer corresponding to each powder-sweeping robot 2. In other embodiments, one powder-sweeping robot 2 can perform powder cleaning work on the mixing chambers 12 of multiple internal mixers. In this case, when the powder-sweeping robot 2 performs the powder cleaning method, it acquires the status information of all corresponding internal mixers. When the control terminal performs the powder cleaning method, it acquires the status information of all internal mixers corresponding to each powder-sweeping robot 2. It should be explained that the cleaning objects within the mixing chamber 12 include the inner wall of the mixing chamber 12 and the pressure hammer 13.

[0121] Please see Figure 28 , Figure 28 Yes, yes Figure 27 A detailed flowchart of step S200 is provided. In some embodiments, the powder cleaning method includes steps S210-S220:

[0122] Step S210: Determine whether the internal mixer is the target internal mixer that requires powder cleaning based on the status information.

[0123] Step S220: When the internal mixer is determined to be the target internal mixer based on the status information, control at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber 12 of the target internal mixer.

[0124] In some embodiments, the aforementioned status information includes the current operating temperature of the mixing chamber 12 of the internal mixer, and step S210 includes: when the current operating temperature reaches a preset operating temperature, determining that the internal mixer is the target internal mixer. Optionally, the preset operating temperature ranges from 50 degrees to 200 degrees, for example, preset operating temperatures are 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees, or 200 degrees, etc.

[0125] In some embodiments, during a single operation of the internal mixer, the mixer sequentially switches between multiple operating states, each corresponding to a preset operating temperature. Generally, during a single operation of the internal mixer, the preset operating temperature for each operating state increases sequentially. For example, during a single operation of the internal mixer, the mixer sequentially switches between four operating states: the preset operating temperature for the first operating state is 95 degrees Celsius, the preset operating temperature for the second operating state is 120 degrees Celsius, the preset operating temperature for the third operating state is 140 degrees Celsius, and the preset operating temperature for the fourth operating state is 155 degrees Celsius. In this way, the internal mixer can gradually melt the polymer material powder. Further, the state information in this embodiment includes the current operating state and current operating temperature of the mixing chamber 12 of the internal mixer. Step S210 includes: when the current operating temperature reaches the preset operating temperature corresponding to the current operating state, determining that the internal mixer is the target internal mixer. It should be explained that when the current operating temperature of the internal mixer reaches the preset operating temperature corresponding to the current operating state, it indicates that the internal mixer should enter the next operating state. At this time, the internal mixer is identified as the target internal mixer, and then step S220 is executed to ensure that the airborne polymer material powder continues to participate in the production process before the internal mixer enters the next operating state, thereby improving the quality and yield of the final product. For example, when the current operating state of the internal mixer is the first operating state, and the current operating temperature reaches the preset operating temperature of 95 degrees corresponding to the current operating state, it indicates that the internal mixer should enter the second operating state, and at this time, the internal mixer is identified as the target internal mixer.

[0126] In some embodiments, the aforementioned status information includes the working duration of the current working state of the mixing chamber 12 of the internal mixer. Step S210 includes: when the working duration reaches a preset duration, determining that the internal mixer is the target internal mixer. As described above, during a single operation of the internal mixer, the internal mixer will sequentially switch between multiple working states, each working state corresponding to a preset duration. When the working duration of the internal mixer reaches the preset duration corresponding to the current working state, the internal mixer is determined to be the target internal mixer. It can be understood that when the working duration of the internal mixer reaches the preset duration corresponding to the current working state, it indicates that the internal mixer should enter the next working state. At this time, the internal mixer is determined to be the target internal mixer, and then step S220 is executed to allow the flying polymer material powder to continue participating in the production process before the internal mixer enters the next working state, thereby improving the quality and yield of the final product.

[0127] The above examples are merely illustrative of the technical content of this utility model to facilitate reader understanding, but do not imply that the implementation of this utility model is limited to these embodiments. Any technical extensions or re-creations made based on this utility model are protected by this utility model. The scope of protection of this utility model is defined by the claims.

Claims

1. A personal mixer, characterized in that, include: The internal mixer body and the powder-sweeping robot are provided; the internal mixer body is provided with a mixing chamber and a feed door for controlling the opening or closing of the mixing chamber; a processing device is provided in the mixing chamber; when powder sweeping is required, the powder-sweeping robot enters the mixing chamber through the channel opened by the feed door and performs a powder sweeping operation on the object to be swept; the object to be swept includes at least the inner side wall of the mixing chamber or the processing device.

2. The internal mixer according to claim 1, characterized in that, The dust-sweeping robot includes a drive unit and a dust-sweeping device. The drive unit is used to drive the dust-sweeping device to move and / or rotate. The dust-sweeping device includes a dust-sweeping workpiece, which is used to perform dust-sweeping operations on the object to be cleaned.

3. The internal mixer according to claim 2, characterized in that, The drive device includes a freely movable robotic arm, and the powder sweeping device is connected to the free end of the robotic arm.

4. The internal mixer according to claim 3, characterized in that, The robotic arm includes at least a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm.

5. A mixer according to claim 3, characterized in that, The robotic arm includes a base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm, and a sixth rotating arm. A first drive motor is provided between the first rotating arm and the base to drive the first rotating arm to rotate relative to the base. A second drive motor is provided between the second rotating arm and the first rotating arm to drive the second rotating arm to rotate relative to the first rotating arm. A third drive motor is provided between the third rotating arm and the second rotating arm to drive the third rotating arm to rotate relative to the second rotating arm. A fourth drive motor is provided between the fourth rotating arm and the third rotating arm to drive the fourth rotating arm to rotate relative to the third rotating arm. A fifth drive motor is provided between the fifth rotating arm and the fourth rotating arm to drive the fifth rotating arm to rotate relative to the fourth rotating arm. A sixth drive motor is provided between the sixth rotating arm and the fifth rotating arm to drive the sixth rotating arm to rotate relative to the fifth rotating arm. The powder-sweeping device is connected to the end of the sixth rotating arm.

6. A mixing machine according to claim 2, characterized in that, The fixed end of the drive device is positioned relative to the body of the internal mixer. Alternatively, the powder sweeping robot may also include a transfer device, with the fixed end of the drive device mounted on the transfer device. The transfer device is used to move the drive device closer to or away from the body of the internal mixer.

7. A mixer according to claim 6, characterized in that, The transfer device includes a guide rail and a slide block slidably connected to the guide rail, and the fixed end of the drive device is mounted on the slide block.

8. A mixing machine according to claim 6, characterized in that, The transfer device includes a transport vehicle that can move freely in translation, and the drive unit is mounted on the transport vehicle.

9. A mixer according to claim 6, characterized in that, When the fixed end of the drive device is positioned relative to the body of the internal mixer, the drive device is located near the feed gate.

10. A mixer according to claim 2, characterized in that, The powder sweeping device further includes a first mounting base, which is connected to the driving device, and the powder sweeping workpiece is detachably connected to the first mounting base.

11. A mixer according to claim 2, characterized in that, The powder-sweeping workpiece includes at least a brush, scraper, friction cloth, friction block, powder suction component, or powder blowing component.

12. A mixer according to claim 11, characterized in that, The powder suction assembly includes a powder suction container, a first air pump, and a suction head. The first air pump is used to provide a negative pressure environment inside the powder suction container, and the suction head is used to provide a channel for external fluid to enter the interior of the powder suction container.

13. A mixer according to claim 12, characterized in that, The powder suction container is equipped with a filter screen inside. The two sides of the filter screen are respectively enclosed with the inner wall of the powder suction container to form an air suction chamber and a powder storage chamber. The air suction end of the first air pump is connected to the air suction chamber, and the dust suction head is connected to the powder storage chamber. The powder suction container has a powder discharge port that communicates with the powder storage chamber, and the powder discharge port is provided with an openable and closable door.

14. A mixer according to claim 13, characterized in that, A door control motor is provided next to the powder dispensing port, which is used to control the opening or closing of the movable door.

15. A mixer according to claim 11, characterized in that, The powder blowing assembly includes a second air pump for providing airflow to blow powder off the object being cleaned.

16. A mixer according to claim 15, characterized in that, The powder blowing assembly is provided with a first air hole and a second air hole. The first air hole and the second air hole are connected by an air channel built into the powder sweeping workpiece. The exhaust end of the second air pump is connected to the first air hole to provide outward airflow to the second air hole.

17. A mixer according to claim 1, characterized in that, The internal mixer body is also equipped with a sealing component, which is used to prevent powder from flying out of the mixing chamber.

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