Powder sweeping workpiece, powder sweeping robot and internal mixer

Abstract

The utility model discloses a powder sweeping workpiece which comprises a workpiece body and an installation portion connected to the workpiece body, the installation portion is used for being connected with a powder sweeping robot, and the workpiece body is used for executing powder sweeping operation on a sweeping object. According to the powder sweeping workpiece, the powder sweeping workpiece can be connected to the powder sweeping robot through the mounting part, and the powder sweeping robot drives the powder sweeping workpiece to remove polymer material powder attached to the side wall of an internal mixing chamber or a pressing hammer more quickly and more thoroughly.

Description

Technical Field

[0001] This utility model relates to the field of internal mixer technology, and in particular to a powder-sweeping workpiece, a powder-sweeping robot, and 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 specific shapes 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, feeding and pressing devices, unloading devices, transmission devices, and a base.

[0003] In existing internal mixers, during the feeding process into the mixing chamber and the downward pressure of the hammers against the rotor located within the chamber, polymer powder easily becomes airborne and adheres to the side walls of the mixing chamber and / or the hammers, preventing this powder from being incorporated into the production process driven by the rotor. Currently, the market addresses this by manually cleaning the side walls of the mixing chamber and the hammers with tools, causing the adhered polymer material to be swept off and onto the rotor. However, existing powder-sweeping tools are typically conventional and designed for workers to grasp. The industry urgently needs a powder-sweeping tool that meets the requirements of modern automation, can be installed in automated machinery, and is suitable for powder sweeping to satisfy modern automated powder-sweeping needs. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a powder-sweeping workpiece, a powder-sweeping robot, and an internal mixer, so as to solve the technical problem that the existing powder-sweeping tools are usually conventional and used by workers to grab them, and do not have the conditions to be installed in automated mechanical equipment.

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

[0006] In a first aspect, this utility model provides a dust-sweeping workpiece, which includes a workpiece body and a mounting part connected to the workpiece body. The mounting part is used to connect with a dust-sweeping robot, and the workpiece body is used to perform dust-sweeping operations on the object to be cleaned.

[0007] Furthermore, the workpiece body is used to form one or more point contacts, line contacts, or surface contacts with the object being cleaned.

[0008] Furthermore, the workpiece body is a brush with bristles.

[0009] Furthermore, the workpiece body is a scraper with sharp edges.

[0010] Furthermore, the workpiece body is a soft friction cloth with a rough surface, or a hard friction block with a rough surface.

[0011] Furthermore, the powder-sweeping workpiece also includes an airflow structure, which is used to blow or suck air onto the object being cleaned on the workpiece body.

[0012] Furthermore, the airflow structure includes a powder-absorbing container, a first air pump, and a dust-collecting head. The first air pump is used to provide a negative pressure environment inside the powder-absorbing container, and the dust-collecting head is used to provide a channel for external fluid to be introduced into the interior of the powder-absorbing container.

[0013] Furthermore, the airflow structure includes a second air pump, a first air hole opened on the mounting portion, a second air hole opened on the workpiece body, and an air passage connecting the first air hole and the second air hole. The second air pump is used to input positive pressure airflow into the first air hole.

[0014] Secondly, this utility model provides a powder-sweeping robot, including a powder-sweeping workpiece as described above, and a driving device. The movable end of the driving device is provided with an installation station, and the installation part is detachably connected to the installation station.

[0015] Thirdly, this utility model provides a mixing machine, including a mixing machine body and a powder sweeping robot as described above. The mixing machine body is provided with a mixing chamber, and a pressure hammer is provided in the mixing chamber. The powder sweeping robot is used to drive the powder sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0016] The powder-sweeping workpiece of this invention, on the basis of direct contact between the workpiece body and the object being cleaned to wipe off the powder, also uses a powder-sweeping auxiliary structure to separate the powder adhering to the object being cleaned from the workpiece body. With the synergistic work of the workpiece body and the powder-sweeping auxiliary structure, polymer material powder adhering to the side wall of the mixing chamber or the pressure hammer can be removed more quickly and thoroughly.

[0017] 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

[0018] Figure 1 This is a front view of the internal mixer when the feed door is closed, according to an embodiment of the present invention.

[0019] Figure 2This is a front view structural diagram of the feed door of an internal mixer when it is opened, according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the first state of the pressure hammer pressing down in the mixing chamber of an internal mixer according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the second state of the pressure hammer pressing down in the mixing chamber of an internal mixer according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the third state of the pressure hammer pressing down in the mixing chamber of an internal mixer according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the cooperative structure of a powder-sweeping robot according to an embodiment of the present invention;

[0024] Figure 7 This is a perspective view of a powder-sweeping workpiece in the first embodiment of the present invention;

[0025] Figure 8 This is a top view of a powder-sweeping workpiece in the first embodiment of the present invention;

[0026] Figure 9 This is a perspective view of a powder-sweeping workpiece in a second embodiment of the present invention;

[0027] Figure 10 This is a side view of a powder-sweeping workpiece in a second embodiment of the present invention;

[0028] Figure 11 This is a perspective view of a powder-sweeping workpiece in the third embodiment of the present invention;

[0029] Figure 12 This is a top view of a powder-sweeping workpiece in the third embodiment of the present invention;

[0030] Figure 13 This is a perspective view of a powder-sweeping workpiece in the fourth embodiment of the present invention;

[0031] Figure 14 This is a perspective view of the first mounting base in a powder-sweeping robot according to an embodiment of the present invention;

[0032] Figure 15 This is a top view of the first mounting base in a powder-sweeping robot according to an embodiment of the present invention;

[0033] Figure 16 This is a cross-sectional view of a powder-absorbing container in a powder-sweeping workpiece according to an embodiment of the present invention;

[0034] Figure 17 This is a first cross-sectional view of a first mounting base in a powder-sweeping robot according to an embodiment of the present invention;

[0035] Figure 18 This is a second cross-sectional view of the first mounting base in a powder-sweeping robot according to an embodiment of the present invention;

[0036] Figure 19 This is a first cross-sectional view of the first mounting base and mounting part cooperating in a powder-sweeping robot according to an embodiment of the present invention;

[0037] Figure 20 This is a second cross-sectional view of the first mounting base and the mounting part cooperating in a powder-sweeping robot according to an embodiment of the present invention;

[0038] Figure 21 This is a third sectional view of the first mounting base and the mounting part cooperating in a powder-sweeping robot according to an embodiment of the present invention;

[0039] Figure 22 This is a first structural schematic diagram of the drive device in a powder-sweeping robot according to an embodiment of the present invention;

[0040] Figure 23 This is a schematic diagram of the second structure of the drive device in a powder-sweeping robot according to an embodiment of the present invention;

[0041] Figure 24 This is a schematic diagram of the third structure of the drive device in a powder-sweeping robot according to an embodiment of the present invention;

[0042] Figure 25 This is a first structural schematic diagram of a mixer according to an embodiment of the present invention;

[0043] Figure 26 This is a schematic diagram of the second structure of a mixing mill according to an embodiment of the present invention;

[0044] Figure 27 This is a schematic diagram of the third structure of a mixing machine according to an embodiment of the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. Internal mixer; 11. Feed gate; 12. Mixing chamber; 13. Pressure hammer; 14. Rotor; 15. Transfer device;

[0047] 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, First mounting base; 221, Dust suction hole; 222, Insertion hole; 2221, First threaded hole; 223, Snap-fit ​​groove; 2231, First groove; 2232, Second groove; 2233, Third groove; 2234, Fourth groove; 224, Elastic element; 225, Connecting post; 2251, Vent hole;

[0048] 3. Powder sweeping workpiece; 31a. Plate brush; 312a. Second air hole; 31b. Roller brush; 312b. Second air hole; 311. Brush bristles; 32. Scraper; 321. Edge; 322. Second air hole; 33. Friction block; 331. Friction surface; 332. Second air hole; 34. Mounting part; 341. First air hole; 342. Second threaded hole; 343. Snap-fit ​​protrusion; 35. Powder suction container; 351. Filter screen; 352. Air extraction chamber; 353. Powder storage chamber; 354. Movable door; 355. Dust suction pipe. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Please see Figures 1 to 5 It needs to be explained that when material needs to be fed into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the feed gate 11 to open and the pressure hammer 13 to rise to the top, as... Figure 2 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 mill 1 will control the feed door 11 to close, as shown. Figure 1As 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 of the pressure hammer 13 to press down, pressing 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 cause the powder to gradually melt. It is understandable that during the process of feeding material into the mixing chamber 12 and pressing down the pressure hammer 13, some of the powder fed into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the pressure hammer 13. This part of the powder will not be used in the mixing process between the pressure hammer 13 and the rotor 14, resulting in a difference between the actual output and the expected output. This part of the powder is generally cleaned by workers according to the specified time or procedure, sweeping it off the inner wall of the mixing chamber 12 and the pressure hammer 13, allowing it to fall naturally onto the rotor 14 and be re-added to the mixing process. However, in the prior art, the side walls of the mixing chamber 12 and the pressure hammer 13 are usually cleaned manually using a powder-sweeping tool. Therefore, the existing powder-sweeping tools are usually conventional and designed for workers to grab and use. The industry urgently needs a powder-sweeping workpiece 3 that meets the requirements of modern automation, can be matched with automated mechanical equipment, and is suitable for powder sweeping, so as to meet the needs of modern automated powder sweeping. In order to solve the above problems, the present invention proposes a powder-sweeping workpiece 3, a powder-sweeping robot 2, and a mixing machine 1, which are explained in the following embodiments.

[0057] Please see the appendix Figure 6 This utility model embodiment provides a powder-sweeping workpiece 3, including: a workpiece body and a mounting part 34 connected to the workpiece body. The mounting part 34 is used to connect with a powder-sweeping robot 2, and the workpiece body is used to perform powder-sweeping operations on the object to be cleaned. It can be understood that this embodiment first proposes a powder-sweeping workpiece 3 applied to a powder-sweeping robot 2. Through the connection between the powder-sweeping workpiece 3 and the powder-sweeping robot 2, the powder-sweeping robot 2 can drive the powder-sweeping workpiece 3 to move, thereby improving the efficiency of the powder-sweeping work and removing polymer material powder adhering to the side wall of the mixing chamber 12 or the pressure hammer 13 more quickly and thoroughly. It should be explained that the powder-sweeping workpiece 3 in this embodiment is used to perform powder-sweeping operations on the mixing chamber 12 and the pressure hammer 13 of the internal mixer 1. Therefore, the cleaning object of the powder-sweeping workpiece 3 is the mixing chamber 12 or the pressure hammer 13 of the internal mixer 1. The powder-sweeping robot 2 in this embodiment drives the powder-sweeping workpiece 3 to reach all corners of the mixing chamber 12 through the drive device 21 to achieve comprehensive cleaning. The automated powder-sweeping robot 2 makes the powder-sweeping effect more stable and also frees up the human resources used to sweep the powder for the internal mixer 1, thereby reducing the health risks of workers suffering from respiratory diseases and other diseases.

[0058] The workpiece body is used to form one or more point contacts, line contacts, or surface contacts with the object being cleaned. Understandably, in practical applications, different workpiece bodies can be selected for dust removal based on the working conditions. The contact method between the workpiece body and the object being cleaned largely determines the precision and efficiency of the cleaning. Point contact is suitable for small areas requiring precise cleaning, line contact is suitable for long, narrow areas requiring rapid cleaning, and surface contact is suitable for areas requiring large-area cleaning. By selecting the appropriate workpiece body and contact method, efficient cleaning can be achieved for different working conditions, reducing cleaning time.

[0059] The workpiece body has the following four implementation methods:

[0060] Implementation method 1: such as Figure 7 and Figure 8 As shown, the workpiece body is a brush with bristles 311, which are used to form point contact with the object being cleaned. Optionally, the brush can be as follows: Figure 7 and Figure 8 The brush 31a shown can also be as follows: Figure 13 The roller brush 31b shown differs from the plate brush 31a in that the roller brush 31b can rotate relative to the mounting part 34, while the plate brush 31a is fixed to the mounting part 34. It should be explained that... Figure 13 The roller brush 31b in Figure 7 , Figure 8 Each of the brushes 31a in the middle is provided with bristles 311, but Figure 13 To show other structures on the roller brush 31b, the bristles 311 are not shown.

[0061] Implementation method 2: such as Figure 9 and Figure 10 As shown, the workpiece body is a scraper 32 with an edge 321, which is used to form a line contact with the object being cleaned.

[0062] Implementation method 3: such as Figure 11 and Figure 12 As shown, the workpiece body is a soft friction cloth with a rough surface 331, or a hard friction block 33 with a rough surface 331, the rough surface 331 being used to form surface contact with the object being cleaned.

[0063] It is understandable that the brush, scraper 32, friction cloth, and friction block 33 mentioned above are different cleaning tools, and their contact methods and friction characteristics with the object being cleaned are different. The brush forms point contact with the object being cleaned through its soft bristles 311, which is suitable for situations where precise cleaning is required or where scratching the surface is avoided; the scraper 32 forms line contact with the object being cleaned through its sharp edges, which is suitable for situations where large areas of attached powder need to be removed quickly; and the friction cloth and friction block 33 form surface contact with the object being cleaned through their large contact surfaces, which is suitable for situations where comprehensive and uniform cleaning is required.

[0064] Furthermore, during the dust removal process of the dust-sweeping workpiece 3, problems such as incomplete cleaning and dust dispersion may occur, affecting cleaning efficiency and the working environment. To solve these problems, the dust-sweeping workpiece 3 in this embodiment also includes an airflow structure. The airflow structure is used to blow or suck air onto the workpiece body to achieve a more efficient and cleaner cleaning effect. When the airflow structure blows air onto the workpiece body, the gas flows to the workpiece body through the air passage structure, blowing away or removing dust particles attached to the surface, facilitating subsequent collection and processing. When the airflow structure sucks air onto the workpiece body, it draws in and collects dust particles around the object being cleaned, preventing dust dispersion and diffusion.

[0065] Specifically, please refer to Figures 14 to 16 In this embodiment, the airflow structure includes a powder suction container 35, a first air pump, and a dust suction head. The first air pump provides a negative pressure environment inside the powder suction container 35, and the dust suction head provides a channel for external fluid to enter the powder suction container 35. It should be explained that although the workpiece body 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, in this embodiment, a negative pressure is provided to the powder suction container 35 by a first air pump. This negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to draw external fluid into the powder suction container 35. As a result, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 35 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation where the powder swept off by the powder sweeping workpiece 3 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

[0066] For further details, please refer to Figure 16The powder suction container 35 is equipped with a filter screen 351 inside. The two sides of the filter screen 351 form an air extraction chamber 352 and a powder storage chamber 353, respectively, by enclosing the inner wall of the powder suction container 35. The air extraction end of the first air pump is connected to the air extraction chamber 352, and the dust suction head is connected to the powder storage chamber 353. When the first air pump is started, the powder enters the powder storage chamber 353 through the dust suction head. Due to the obstruction of the filter screen 351, the powder is retained in the powder storage chamber 353, while the air passes through the filter screen 351 and enters the air extraction chamber 352, maintaining a negative pressure state inside the powder suction container 35. Furthermore, the powder suction container 35 has a powder discharge port connected to the powder storage chamber 353, and the powder discharge port is equipped with an openable and closable door 354. When it is necessary to clean the powder, the openable door 354 of the powder discharge port is opened, and the powder is discharged from the powder storage chamber 353.

[0067] 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 354. 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 354 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 354, and the sliding door groove is used to provide support and sliding pair for the sliding of the movable door 354. The gate control motor is used to drive the movable door 354 to slide into or out of the hidden door groove. When the movable door 354 slides into the hidden door groove, the powder dispensing port opens; when the movable door 354 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 35. Optionally, the door control motor can be a telescopic cylinder, the telescopic end of which is connected to the movable door 354, and the telescopic end of which moves in the same direction as the sliding direction of the movable door 354.

[0068] 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. Conversely, 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 powder-sweeping workpiece 3 in this embodiment performs a powder-sweeping operation, the bidirectional motor rotates clockwise, making one end of the first air pump connected to the suction chamber 352 of the powder-sweeping container 35 the suction end. By creating a negative pressure state in the powder-sweeping container 35, the suction head draws external powder into the powder storage chamber 353 of the powder-sweeping container 35. When the powder-sweeping workpiece 3 in this embodiment finishes the powder-sweeping operation and needs to release the powder in the powder-absorbing container 35 to the rotor 14 of the mixing chamber 12, the bidirectional motor reverses, so that one end of the first air pump connected to the air extraction chamber 352 of the powder-absorbing container 35 becomes the exhaust end. By blowing air into the powder-absorbing container 35, the powder adhering to the powder-absorbing container 35 can be blown out of the powder-absorbing container 35 by the airflow and fall above the rotor 14.

[0069] Optionally, this embodiment also includes a vibration motor, which is mounted on the powder suction container 35. It is understood that when the movable door 354 is opened to pour out the powder from the powder storage chamber 353 of the powder suction container 35, some powder may adhere to the filter screen 351 or the inner wall of the powder storage chamber 353. In this case, besides using the first air pump to blow air into the powder suction container 35 to remove the powder, the vibration motor can also vibrate the powder suction container 35. During vibration, the powder adhering to the filter screen 351 or the inner wall of the powder suction container 35 can be effectively separated by centrifugal force to fall out of the powder suction container 35 naturally or be blown out of the powder suction container 35 by the airflow from the first air pump.

[0070] Furthermore, the airflow structure includes a second air pump, a first air hole 341 opened on the mounting part 34, a second air hole opened on the workpiece body, and an air passage connecting the first air hole 341 and the second air hole. The second air pump is used to input positive pressure airflow into the first air hole 341.

[0071] This application will describe in detail three embodiments in which the second air holes are respectively arranged on the brush, the scraper 32 and the friction block 33.

[0072] Specifically, see Figure 7 and Figure 8 , Figure 7 and Figure 8The device includes a brush 31a and a mounting part 34. A first air hole 341 is provided on the mounting part 34, and a second air hole 312a is provided on the brush 31a. The first air hole 341 and the second air hole 312a are connected by an air passage built into the brush 31a and the mounting part 34. The exhaust end of a second air pump is connected to the first air hole 341 to provide outward airflow to the second air hole 312a. Thus, during the powder sweeping operation performed by the brush bristles 311, the airflow ejected from the second air hole 312a combines with the brushing action of the bristles 311 to gently blow away and remove the powder adhering to the surface. By combining airflow and brushing action, the brush 31a can more effectively remove the powder adhering to the surface, and clean the polymer material powder on the side wall of the mixing chamber 12 or the pressure hammer 13 more quickly and thoroughly. Please refer to [link to relevant documentation]. Figure 13 , Figure 13 The device includes a roller brush 31b and a mounting part 34. A first air hole 341 is provided on the mounting part 34, and a second air hole 312b is provided on the roller brush 31b. It can be understood that the second air hole 312b on the roller brush 31b and the second air hole 312a on the plate brush 31a have the same function, which will not be elaborated here.

[0073] Specifically, see Figure 9 and Figure 10 , Figure 9 and Figure 10 The system includes a scraper 32 and a mounting part 34. A first air hole 341 is provided on the mounting part 34, and a second air hole 322 is provided on the scraper 32. The first air hole 341 and the second air hole 322 are connected by an air passage built into the scraper 32 and the mounting part 34. The exhaust end of the second air pump is connected to the first air hole 341 to provide outward airflow to the second air hole 322. Thus, while the powder is scraped off by the edge 321, the airflow blown out through the second air hole 322 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. By combining the scraping action and the airflow, the scraper 32 can more effectively remove stubborn powder or stains adhering to the surface, thereby achieving efficient cleaning.

[0074] Specifically, please refer to Figure 11 and Figure 12 , Figure 11 and Figure 12The device includes a friction block 33 and a mounting part 34. A first air hole 341 is provided on the mounting part 34, and a second air hole 332 is provided on the friction block 33. The first air hole 341 and the second air hole 332 are connected by an air passage built into the friction block 33 and the mounting part 34. The exhaust end of the second air pump is connected to the first air hole 341 to provide outward airflow to the second air hole 332. While the polymer material powder on the side wall of the mixing chamber 12 or the pressure hammer 13 is falling off due to friction on the rough surface 331, the airflow blown out through the second air hole 332 also blows and carries away the polymer material powder attached to the side wall of the mixing chamber 12 or the pressure hammer 13, thereby achieving efficient cleaning.

[0075] In one feasible embodiment, the first and second air pumps are the same air pump. It should be noted that, to prevent powder from entering the mixing chamber 12 of the internal mixer 1 through the second air hole, 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 simultaneously supplies air to both the second air hole and the powder suction container 35, effectively reducing product production costs.

[0076] Please see Figure 6 This embodiment of the invention also provides a powder-sweeping robot 2, including a powder-sweeping workpiece 3 as described above, and a drive device 21. An installation station is provided on the movable end of the drive device 21, and the installation part 34 is detachably connected to the installation station. It is understood that traditional cleaning methods involve manually cleaning the side walls of the mixing chamber 12 and the pressing device using tools. This method is unstable and may result in workers forgetting to sweep the powder or failing to sweep it properly due to personal factors. Furthermore, polymer powder may be inhaled by workers during the airborne process, and long-term exposure may lead to respiratory diseases, which is detrimental to workers' health. This embodiment uses a powder-sweeping robot 2 to drive the powder-sweeping workpiece 3, aiming to achieve automated, high-precision, and flexible cleaning operations, and can more effectively remove powder adhering to the surfaces of the mixing chamber 12 and the pressing hammer 13.

[0077] Optionally, the mounting part 34 is provided with one or more of a magnetic connection structure, a snap-fit ​​structure, and a threaded connection structure. The mounting part 34 is detachably connected to the dust-sweeping robot 2 through one or more of these structures. Optionally, the magnetic connection structure can be a magnetic component on the mounting part 34, allowing the mounting part 34 to be magnetically connected to the dust-sweeping robot 2. Optionally, the snap-fit ​​structure can be a snap-fit ​​groove and / or a snap-fit ​​block on the mounting part 34, allowing the mounting part 34 to snap onto the dust-sweeping robot 2. Optionally, the threaded connection structure can be a threaded hole on the mounting part 34, allowing the mounting part 34 to be threadedly connected to the dust-sweeping robot 2 through the threaded hole and a screw. In one feasible embodiment, when the dust-sweeping workpiece 3 needs to be mounted on the dust-sweeping robot 2, simply bring the mounting station close to the mounting part 34; the magnetic force of the magnetic component will automatically cause the mounting part 34 to adhere to the dust-sweeping robot 2, completing the connection. When disassembly is required, simply pull the mounting part 34 away from the mounting station with gentle force. In another feasible embodiment, when the dust-collecting workpiece 3 needs to be installed on the dust-collecting robot 2, the mounting part 34 is aligned with the mounting station, and the snap-fit ​​groove and / or snap-fit ​​block provided on the mounting part 34 is pushed or screwed into the mounting station with appropriate force and angle to complete the connection; when disassembly is required, the mounting part 34 is separated from the mounting station by following the reverse operation steps. In another feasible embodiment, when the dust-collecting workpiece 3 needs to be installed on the dust-collecting robot 2, the mounting part 34 is simply aligned and inserted into the mounting station, and the threaded hole is aligned with the threaded hole provided on the mounting station before screwing in the screw to complete the connection; when disassembly is required, the screw is unscrewed in the reverse direction and the mounting part 34 is pulled out to separate the mounting part 34 from the mounting station. It should be noted that the above-mentioned magnetic connection structure, snap-fit ​​structure, and threaded connection structure can be provided individually or in combination.

[0078] Preferably, such as Figures 7 to 13 As shown, Figures 7 to 13 These are, respectively, a powder-sweeping workpiece 3 including a brush 31a, a powder-sweeping workpiece 3 including a scraper 32, a powder-sweeping workpiece 3 including a friction block 33, and a powder-sweeping workpiece 3 including a roller brush 31b, wherein the mounting part 34 is a shaft insert. Correspondingly, as... Figure 14 and Figure 15 As shown, Figure 14 and Figure 15A first mounting base 22 is provided on the movable end of the drive device 21. The mounting station is the insertion hole 222 provided on the first mounting base 22. The workpiece body is inserted into the insertion hole 222 on the first mounting base 22 through the mounting part 34 connected thereto. Through a simple insertion operation, the operator can quickly change different types of dust-collecting workpieces 3. Preferably, the dust-collecting head in the dust-collecting workpiece 3 can be installed on the first mounting base 22. Optionally, at least two dust-collecting heads are evenly arranged around the insertion hole 222, and the dust-collecting port of the dust-collecting head faces the same direction as the insertion port of the insertion hole 222. Optionally, the dust-collecting head is a dust-collecting pipe 355. The first mounting base 22 has a dust-collecting hole 221. One end of the dust-collecting pipe 355 is connected to the dust-collecting hole 221, and the other end is connected to the dust-collecting container 35.

[0079] Furthermore, such as Figures 7 to 13 As shown, each of the mounting portions 34 is provided with a snap-fit ​​protrusion 343. Correspondingly, as... Figure 17 As shown, an elastic element 224 is provided at the bottom of the insertion hole 222 on the first mounting base 22, and a snap-fit ​​groove 223 is provided on the inner circumference side of the insertion hole 222. When the mounting part 34 is inserted into the insertion hole 222, the snap-fit ​​protrusion 343 slides into the snap-fit ​​groove 223 and snaps into it, so that the powder sweeping workpiece 3 and the first mounting base 22 form a stable connection.

[0080] Preferably, please refer to Figure 18The snap-fit ​​groove 223 includes a first groove 2231, a second groove 2232, a third groove 2233, and a fourth groove 2234. The first end of the first groove 2231 is located at the inner periphery of the opening of the insertion hole 222. The second end of the first groove 2231 connects to the first end of the second groove 2232 towards the bottom of the insertion hole 222. The second end of the second groove 2232 connects to the first end of the third groove 2233 towards the opening of the insertion hole 222. The second end of the third groove 2233 connects to the first end of the fourth groove 2234 towards the bottom of the insertion hole 222. The second end of the fourth groove 2234 connects to the first end of the first groove 2231 towards the opening of the insertion hole 222. The second groove 2232 and the third groove 2233 are connected in an inverted V-shape. It can be understood that in this embodiment, the snap-fit ​​position of the snap-fit ​​protrusion 343 and the snap-fit ​​groove 223 is located at the connection point of the second groove 2232 and the third groove 2233. It should be explained that the connections between the first groove 2231, the second groove 2232, the third groove 2233, and the fourth groove 2234 all have included angles. Furthermore, the elastic element 224 at the bottom of the insertion hole 222 provides a certain pre-tightening force to the mounting part 34, so that the mounting part 34 can be subjected to a certain resistance when inserted into the insertion hole 222. The snap-fit ​​groove 223 realizes the self-locking function of the powder-sweeping workpiece 3. When the snap-fit ​​protrusion 343 on the mounting part 34 moves along the path of the snap-fit ​​groove 223, it will pass through different groove segments and reach a self-locking state under the action of the elastic element 224 at the connection between the second groove 2232 and the third groove 2233. At this time, even if subjected to external force, the snap-fit ​​protrusion 343 is difficult to disengage from this position, thereby ensuring the stability of the connection.

[0081] Specifically, please refer to Figures 19 to 21 , Figures 19 to 21This is a schematic diagram illustrating the process of assembling the mounting part 34 into the insertion hole 222. In one embodiment where the powder-sweeping workpiece 3 is mounted on the first mounting base 22, the mounting part 34 of the powder-sweeping workpiece 3 is first aligned with the insertion hole 222 on the first mounting base 22 to ensure that the mounting part 34 can be smoothly inserted into the insertion hole 222. After the mounting part 34 is aligned with the insertion hole 222, the mounting part 34 is forcefully inserted into the insertion hole 222. During the insertion process, the snap-fit ​​protrusion 343 on the mounting part 34 moves along the snap-fit ​​groove 223 on the inner sidewall of the insertion hole 222. When the snap-fit ​​protrusion 343 reaches the first groove 2231, it moves along the path of the first groove 2231 towards the bottom of the insertion hole 222. As the mounting part 34 continues to move... As the insertion continues, the snap-fit ​​protrusion 343 will enter the second groove 2232. At this time, the pressure on the mounting part 34 is released. After the mounting part 34 enters the second groove 2232, the elastic element 224 at the bottom of the insertion hole 222 applies an upward pre-tightening force to the mounting part 34. This pre-tightening force will cause the mounting part 34 to move upward along the path of the second groove 2232. When the snap-fit ​​protrusion 343 reaches the connection between the second groove 2232 and the third groove 2233, since the path of the third groove 2233 is downward, and the mounting part 34 is already subjected to the pre-tightening force of the elastic element 224, the snap-fit ​​protrusion 343 will be stuck in this position, forming a self-locking state. At this time, the powder sweeping workpiece 3 is firmly connected to the powder sweeping workpiece 3. In one embodiment where the powder-sweeping workpiece 3 is removed from the first mounting base 22, simply press the mounting part 34 into the insertion hole 222 again. The locking protrusion 343 will move along the path of the third groove 2233 toward the bottom of the insertion hole 222. As the mounting part 34 continues to be inserted, the locking protrusion 343 will enter the fourth groove 2234. At this time, the pressure on the mounting part 34 inserted into the insertion hole 222 is removed. The mounting part 34 will move upward along the path of the fourth groove 2234 under the force of the elastic member 224. At this time, it is only necessary to apply a force to pull the mounting part 34 out of the insertion hole 222 to remove the mounting part 34 from the insertion hole 222, that is, remove the powder-sweeping workpiece 3 from the first mounting base 22.

[0082] Optionally, the snap-fit ​​protrusion 343 is a spring ball with elasticity in the radial direction of the mounting portion 34. Preferably, the groove depth of the first groove 2231 gradually decreases from its first end to its second end, and the groove depth at the second end of the first groove 2231 is less than the groove depth at the first end of the second groove 2232; the groove depth of the second groove 2232 gradually decreases from its first end to its second end, and the groove depth at the second end of the second groove 2232 is less than the groove depth at the first end of the third groove 2233; the groove depth of the third groove 2233 gradually decreases from its first end to its second end, and the groove depth at the second end of the third groove 2233 is less than the groove depth at the first end of the fourth groove 2234; the groove depth of the fourth groove 2234 gradually decreases from its first end to its second end, and the groove depth at the second end of the fourth groove 2234 is less than the groove depth at the first end of the first groove 2231. It is understandable that the connection between the first groove 2231 and the second groove 2232 forms a first step due to the difference in groove depth; the connection between the second groove 2232 and the third groove 2233 forms a second step due to the difference in groove depth; the connection between the third groove 2233 and the fourth groove 2234 forms a third step due to the difference in groove depth; and the connection between the fourth groove 2234 and the first groove 2231 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 2231, the second groove 2232, the third groove 2233, and the fourth groove 2234. In this embodiment, the spring ball on the powder-sweeping workpiece 3 has an extension length greater than or equal to the deepest groove depth of the locking groove 223 in its unloaded, natural state, and an extension length equal to or less than the shallowest groove depth of the locking groove 223 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 2232 and the third groove 2233. 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 mounting part 34 of the powder-sweeping workpiece 3, carrying the spring ball, begins to be inserted into the socket 222, the spring ball first enters the first groove 2231. As the mounting part 34 goes deeper, the spring ball moves along the gradually decreasing groove depth of the first groove 2231 until it enters the second groove 2232 through the connection between the first groove 2231 and the second groove 2232. 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 2231. Therefore, the mounting part 34, which is subjected to the pre-tightening force of the elastic element 224, will naturally drive the spring ball to move along the second groove 2232 to pass through the connection between the second groove 2232 and the third groove 2233 into the third groove 2233, forming a self-locking state.When the powder-sweeping workpiece 3 is disassembled, when downward pressure is applied to the mounting part 34, the spring ball, due to the obstruction of the second step, will naturally move along the third groove 2233 to pass through the connection between the third groove 2233 and the fourth groove 2234 into the fourth groove 2234. 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 2234. Optionally, the snap-fit ​​groove 223 is an axisymmetric figure, and the axis of symmetry of the snap-fit ​​groove 223 passes through the intersection of the ray from the second end to the first end of the first groove 2231 and the ray from the first end to the second end of the fourth groove 2234. The axis of symmetry of the snap-fit ​​groove 223 also passes through the intersection of the ray from the first end to the second end of the second groove 2232 and the ray from the second end to the first end of the third groove 2233.

[0083] Optionally, such as Figures 7 to 13 As shown, Figures 7 to 13 The three types of powder-sweeping workpieces are: a brush 31a, a scraper 32, a friction block 33, and a roller brush 31b. Each of these workpieces has a second threaded hole 342 on its mounting part 34. During installation, a screw can be passed through the first mounting base 22 and the second threaded hole 342 to achieve a stable connection between the mounting part 34 and the first mounting base 22, thereby achieving a stable connection between the workpiece body and the first mounting base 22.

[0084] Optionally, such as Figures 19 to 21 As shown, the side wall of the insertion hole 222 on the first mounting base 22 is provided with a first threaded hole 2221 in the radial direction. The second threaded hole 342 on the mounting part 34 is correspondingly provided with the first threaded hole 2221. The threads of the first threaded hole 2221 and the second threaded hole 342 are continuous. Only when the locking protrusion 343 is located at the communication position between the second groove 2232 and the third groove 2233 and is in a self-locking state, the first threaded hole 2221 and the second threaded hole 342 are aligned and connected. At this time, the first threaded hole 2221 and the second threaded hole 342 can be connected by screws to make the connection between the powder sweeping workpiece 3 and the powder sweeping robot 2 more stable.

[0085] Furthermore, such as Figure 14 , Figure 17 as well as Figure 21As shown, each of the insertion holes 222 on the first mounting base 22 is provided with a connecting post 225. The connecting post 225 has a vent hole 2251 that connects its two ends. One end of the vent hole 2251 is connected to the insertion hole 222, and the other end is connected to the exhaust end of the second air pump via an air pipe. Taking a powder-sweeping workpiece 3 with a brush 31a as the main body as an example, the end of the mounting part 34 away from the brush 31a is provided with a first air hole 341, and the brush 31a is provided with a second air hole 312a. The first air hole 341 and the second air hole 312a are connected by an air passage built into the workpiece body. When the mounting part 34 is inserted into the insertion hole 222, the connecting post 225 is inserted into the first air hole 341, and the exhaust end of the second air pump is connected to the second air hole 312a.

[0086] Optionally, the connecting post 225 is located at the center of the bottom of the insertion hole 222, and at least one of the elastic elements 224 located at the bottom of the insertion hole 222 is a spring and is arranged around the outer periphery of the connecting post 225. Optionally, a sealing ring is provided around the outer periphery of the connecting post 225, which can make the insertion of the connecting post 225 with the first air hole 341 more airtight and stable.

[0087] For further details, please refer to Figures 22 to 24 In order to make the powder sweeping robot 2 more flexible in performing operations, the drive device 21 in this embodiment includes a freely movable robotic arm. The installation station is set at the free end of the robotic arm. The robotic arm is used to send the powder sweeping workpiece 3 from the internal mixer 1 to the internal mixing chamber 12 inside the internal mixer 1 to perform the powder sweeping work. The high degree of freedom of the robotic arm is used to carry the powder sweeping workpiece 3 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 and 212. 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 workpiece 3 to displacement and / or rotation can also be used, which will not be elaborated here.

[0088] In the first embodiment, as Figure 22 and Figure 23As 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 the powder-sweeping workpiece 3 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 enables the robotic arm to move freely in three-dimensional space. The dust-sweeping workpiece 3 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 will directly act on the dust-sweeping workpiece 3 to achieve precise control of the cleaning task.

[0089] In the second embodiment, as Figure 24As 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 workpiece 3 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 enables the robotic arm to move freely in three-dimensional space. The dust-sweeping workpiece 3 is installed at the very end of the seven-axis robotic arm 212, i.e., 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-sweeping workpiece 3 to achieve precise control of the cleaning task.

[0090] 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.

[0091] Please see Figures 25 to 27 This utility model embodiment also provides a mixing machine 1, including a mixing machine 1 body and a powder sweeping robot 2 as described above. The mixing machine 1 body is provided with a mixing chamber 12, and a pressure hammer 13 is provided in the mixing chamber 12. The powder sweeping robot 2 is used to drive the powder sweeping workpiece 3 to sweep the powder on the inner wall of the mixing chamber 12 and the surface of the pressure hammer 13.

[0092] Furthermore, considering the supply and demand relationship and actual efficiency of the internal mixer 1 and the powder sweeping robot 2, users can choose the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to their actual needs.

[0093] In some embodiments, such as Figure 25 As shown, the fixed end of the drive device 21 is installed on the internal mixer 1, which means that the powder 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 powder sweeping operation, the powder sweeping robot 2 can quickly perform the operation and quickly extend the powder sweeping workpiece 3 into the mixing chamber 12 and the pressure hammer 13 through the drive device 21, so that the powder on the mixing chamber 12 and the pressure hammer 13 is swept away.

[0094] In some embodiments, such as Figure 26 and Figure 27 As shown, the powder-sweeping robot 2 also includes a transfer device 15. The fixed end of the drive device 21 is mounted on the transfer device 15, which is used to move the drive device 21 closer to or away from the internal mixer 1. Optionally, the transfer device 15 can be a floor rail laid on the workshop floor and a floor slide slidably connected to the floor rail, with the fixed end of the drive device 21 mounted on the floor slide. Optionally, the transfer device 15 can also be an AGV (Automated Guided Vehicle), with the fixed end of the drive device 21 mounted on the AGV. Optionally, the transfer device 15 can also be a suspended rail installed on the workshop ceiling or in a suspended position and a suspended slide slidably connected to the suspended rail, with the fixed end of the drive device 21 mounted on the suspended slide. Optionally, in other embodiments, the transfer device 15 can also be other devices capable of moving the drive device 21 closer to or away from the internal mixer 1, which will not be elaborated here. It is understood that the powder-sweeping robot 2 in this embodiment can serve multiple internal mixers 1 throughout the workshop. When it receives an instruction to perform a powder-sweeping operation on a certain internal mixer 1, the transfer device 15 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 vision systems installed on the transfer device 15 to ensure accurate arrival. After the drive device 21 reaches the target position, it starts working, extending the powder-sweeping workpiece 3 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 15 moves according to the instruction of the next internal mixer 1. Through the transfer device 15, the powder-sweeping robot 2 in this embodiment can move and switch quickly between different internal mixers 1, greatly improving the flexibility of the powder-sweeping operation. At the same time, since the powder-sweeping robot 2 can be shared among different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder-sweeping robot 2, thereby reducing equipment costs.

[0095] 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 powder-sweeping workpiece, characterized in that, The dust-sweeping workpiece includes a workpiece body and a mounting part connected to the workpiece body. The mounting part is used to connect with the dust-sweeping robot, and the workpiece body is used to perform dust-sweeping operations on the object to be cleaned.

2. The powder-sweeping workpiece according to claim 1, characterized in that, The workpiece body is used to form one or more point contacts, line contacts, or surface contacts with the object being cleaned.

3. A powder-sweeping workpiece according to claim 1 or 2, characterized in that, The workpiece body is a brush with bristles.

4. A powder-sweeping workpiece according to claim 1 or 2, characterized in that, The workpiece body is a scraper with sharp edges.

5. A powder-sweeping workpiece according to claim 1 or 2, characterized in that, The workpiece body is a soft friction cloth with a rough surface, or a hard friction block with a rough surface.

6. A powder-sweeping workpiece according to claim 1, characterized in that, The powder-sweeping workpiece also includes an airflow structure, which is used to blow or suck air onto the object being cleaned on the workpiece body.

7. A powder-sweeping workpiece according to claim 6, characterized in that, The airflow structure includes a powder-absorbing container, a first air pump, and a dust-collecting head. The first air pump is used to provide a negative pressure environment inside the powder-absorbing container, and the dust-collecting head is used to provide a channel for external fluid to enter the interior of the powder-absorbing container.

8. A powder-sweeping workpiece according to claim 6, characterized in that, The airflow structure includes a second air pump, a first air hole on the mounting portion, a second air hole on the workpiece body, and an air passage connecting the first air hole and the second air hole. The second air pump is used to input positive pressure airflow into the first air hole.

9. A powder-sweeping robot, characterized in that, The workpiece for powder sweeping, as described in any one of claims 1-8, further includes a driving device, wherein an installation station is provided on the movable end of the driving device, and the installation part is detachably connected to the installation station.

10. A personal mixer, characterized in that, The invention includes a mixing mill body and a powder-sweeping robot as described in claim 9. The mixing mill body is provided with a mixing chamber, and a pressure hammer is provided in the mixing chamber. The powder-sweeping robot is used to drive the powder-sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

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