A quartz welding device and welding process with adjustable welding angle

Abstract

This invention belongs to the field of quartz product processing technology, and particularly relates to a quartz welding device and welding process with adjustable welding angle. The welding device includes: a worktable; two sets of clamping components disposed on the worktable for clamping two sets of products respectively; and a welding torch assembly disposed on the worktable for welding the two sets of products into one piece. The included angle between the two sets of clamping components is adjustable; by adjusting the included angle between the two sets of clamping components, the included angle between the two sets of products can be changed. The welding is performed from top to bottom, that is, after fixing the two plate-shaped quartz products, welding is performed from top to bottom using the welding torch assembly. Compared with horizontal welding, this method is not only more efficient but also prevents the weld points from falling onto the products.

Description

Technical Field

[0001] This invention belongs to the field of quartz product processing technology, and particularly relates to a quartz welding device and welding process with adjustable welding angle. Background Technology

[0002] Semiconductor processing materials, including non-metallic materials such as silicon, ceramics, quartz, and silicon carbide, possess a series of properties such as high hardness, high purity, low coefficient of thermal expansion, electrical insulation, and chemical stability. They are an important component of semiconductor equipment, and their demand is increasing.

[0003] Electronic-grade quartz products are indispensable raw materials in the semiconductor industry. In the production of semiconductor integrated circuits, wafers, as the basic raw material, require large quantities of electronic-grade quartz products such as quartz sheets and rings for diffusion, oxidation, and etching processes. Due to their excellent properties such as high purity, high temperature resistance, low thermal expansion, and strong chemical stability, electronic-grade quartz products are widely used in semiconductor chip manufacturing. Therefore, there is a close relationship between electronic-grade quartz products and the semiconductor industry; the rapid development of the semiconductor industry will directly drive the development of electronic-grade quartz products.

[0004] Semiconductor materials are typically joined together by welding. Currently, there are two main welding methods: manual welding and machine welding. However, traditional thermal processing requires workers to pre-fix the quartz components to be welded using auxiliary tools such as graphite blocks and jigs before performing precision firing and welding. Furthermore, adjusting the welding angle is inconvenient, time-consuming, and labor-intensive, and products are prone to being scrapped due to movement during the welding process. Summary of the Invention

[0005] The purpose of this invention is to provide a quartz welding device and welding process with adjustable welding angle to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, on the one hand, a quartz welding apparatus with an adjustable welding angle is provided, comprising:

[0007] Workbench;

[0008] A clamping assembly, disposed on the worktable, has two sets for clamping two sets of products respectively;

[0009] And a welding torch assembly, set on the workbench, for welding two sets of products into one piece;

[0010] The included angle between the two sets of clamping components is adjustable. By adjusting the included angle between the two sets of clamping components, the included angle between the two sets of products can be changed.

[0011] In the above technical solution, the welding torch assembly further includes:

[0012] Spray gun mounting base;

[0013] A spray gun, mounted on a spray gun holder, is used to generate a flame for welding two sets of products.

[0014] A lifting assembly, mounted on the worktable, is used to drive the spray gun mounting base to move vertically.

[0015] And a translation component for moving the spray gun holder in the horizontal direction.

[0016] In any of the above technical solutions, the lifting component further includes:

[0017] The ball screw module is vertically arranged, and there are two sets, which are symmetrically arranged on the worktable;

[0018] Two driven wheels are respectively disposed at the ends of the screws on the two ball screw modules;

[0019] The drive wheel is mounted on the worktable;

[0020] The first motor has its main shaft connected to the drive wheel and is used to drive the drive wheel to rotate;

[0021] A drive belt is used to connect the driving pulley and the driven pulley;

[0022] And a horizontal guide rail, with both ends respectively set on the nut seats on the two ball screw modules;

[0023] The spray gun mounting base is mounted on the horizontal guide rail.

[0024] In any of the above technical solutions, the spray gun mounting base is further slidably disposed along the length direction of the horizontal guide rail;

[0025] The translation component includes:

[0026] A rack is provided along the length of the horizontal guide rail;

[0027] A transmission gear is disposed within the spray gun mounting base and meshes with the rack;

[0028] A second motor is provided, which is located on the outer wall of the spray gun mounting base, and its main shaft extends into the spray gun mounting base and is connected to the transmission gear.

[0029] In any of the above technical solutions, further, at least one of the two sets of clamping assemblies is rotatably arranged in the horizontal direction. The opposite ends of both clamping assemblies are rotatably arranged via a vertically arranged shaft, and the rotational axes of the two clamping assemblies are on the same straight line; the quartz welding device further includes:

[0030] A base is provided on the worktable for the two clamping assemblies to slide on it.

[0031] In any of the above technical solutions, the clamping component further includes:

[0032] A vacuum suction cup is rotatably mounted vertically along the axis and has several suction holes on it to hold the product in place by negative pressure.

[0033] The quartz welding device further includes a vacuum pump, which is connected to the two vacuum suction cups respectively, and is used to make the vacuum suction cups tighten or loosen the product.

[0034] In any of the above technical solutions, it further includes: a driving unit for driving the two vacuum suction cups to slide along the arc-shaped slide of the base with the axis as the rotation center.

[0035] In any of the above technical solutions, the driving unit further includes:

[0036] A number of permanent magnets are arranged at equal intervals on the arc-shaped slide rail of the base;

[0037] The coil module has two sets, which are respectively disposed on the two vacuum chucks and opposite to the permanent magnet;

[0038] The control unit includes a control for controlling the magnitude and direction of the current passing through the two sets of coil modules, causing the two vacuum chucks to rotate to adjust the angle between them.

[0039] On the other hand, a welding process for the above-mentioned quartz welding apparatus is also provided, the welding process steps of which are as follows:

[0040] S1. Loading: Place the two sets of products to be welded on the two vacuum suction cups respectively, then start the control unit to turn on the vacuum pump. The vacuum pump creates negative pressure on the vacuum suction cups to firmly suction the two sets of products. Then adjust the position between the two sets of products so that they can be welded.

[0041] S2, Angle Adjustment: According to actual needs, the control unit controls the current on the coil module to make the two vacuum suction cups rotate. After the included angle between the two reaches the preset angle, the control unit controls the two vacuum suction cups to stop moving.

[0042] S3. The control unit controls the second motor to move the spray gun holder and the spray gun on it from the edge to the angle between the two sets of products, and then stops.

[0043] S4. Welding: The control unit starts the first motor, which drives the horizontal guide rail, spray gun holder and spray gun to move from top to bottom. At the same time, the spray gun starts and welds the angle between the two sets of products from top to bottom until the two sets of products are welded. Then the spray gun stops spraying fire, the first motor rotates in the opposite direction to reset the horizontal guide rail, and the second motor rotates in the opposite direction to reset the spray gun holder and spray gun.

[0044] S5. Unloading: Remove the welded product from the vacuum suction cup to complete the welding process.

[0045] The beneficial effects of this invention are:

[0046] 1. To facilitate the installation of various components and ensure the normal and stable operation of the welding gun assembly, a top-down welding method is adopted. That is, after fixing the two plate-shaped quartz products, the welding gun assembly is used to weld them from top to bottom. Compared with horizontal welding, this method is not only more efficient, but also prevents the weld points from falling onto the product.

[0047] 2. Traditional motor drives require additional transmission components, such as gear and rack structures, which not only occupy more space but also increase costs. Therefore, magnetic levitation linear motor technology is adopted. Permanent magnets are placed inside the arc-shaped slide, and then a coil module is placed in the part of the vacuum suction cup that extends into the arc-shaped slide. After the control unit powers on the coil module, the magnetic force generated drives it to slide inside the arc-shaped slide. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0049] Figure 2 This is a top view of the structure of the present invention;

[0050] Figure 3 This is a schematic diagram of the internal structure of the translation component of the present invention;

[0051] Figure 4 This is a control block diagram of the control unit of the present invention;

[0052] Reference numerals: 10, Product; 100, Workbench; 110, Air pipe groove; 200, Clamping assembly; 210, Vacuum suction cup; 211, Support plate; 2111, Embedding part; 212, Square suction cup; 213, Tray; 214, Driving component; 300, Welding torch assembly; 310, Spray gun holder; 320, Spray gun; 330, Lifting assembly; 331, Ball screw module; 332, Driven wheel; 333, Driving wheel; 334, First motor; 335, Transmission belt; 336, Horizontal guide rail; 340, Translation assembly; 341, Rack; 342, Transmission gear; 343, Second motor; 400, Shaft; 500, Vacuum pump; 510, Air pipe; 600, Base; 700, Driving part; 710, Permanent magnet; 720, Coil module; 800, Control unit. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0054] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0055] Example 1:

[0056] This embodiment provides a quartz welding device with an adjustable welding angle, including:

[0057] Workbench 100;

[0058] The clamping assembly 200 is disposed on the worktable 100 and has two sets for clamping two sets of products respectively.

[0059] And welding torch assembly 300, which is set on workbench 100, is used to weld two sets of products into one piece;

[0060] The included angle between the two sets of clamping components 200 is adjustable. By adjusting the included angle between the two sets of clamping components 200, the included angle between the two sets of products can be changed.

[0061] In this technical solution, due to the large size of quartz products, the traditional welding method involves clamping them with quartz clamps, manually adjusting the angle between the two sets of products, and finally welding them with a welding torch. This method is prone to causing the products to move during welding, which leads to a decrease in welding accuracy and may even result in the scrapping of the welded products. Based on this, a device for welding large quartz products has been developed.

[0062] Specifically, during the experiment, to facilitate the placement of various components and ensure the normal and stable operation of the welding gun assembly 300, a top-down welding method was adopted. This involved fixing the two plate-shaped quartz products and then welding them from top to bottom using the welding gun assembly 300. Compared to horizontal welding, this method is not only more efficient but also prevents the weld points from falling onto the products. With this design, the angle adjustment of the two quartz products can be achieved as follows:

[0063] The two sets of clamping assemblies 200 are rotatably arranged in the horizontal direction. Specifically, the opposite ends of the two clamping assemblies 200 are rotatably arranged through a vertically arranged shaft 400, and the rotation axes of the two clamping assemblies 200 are on the same straight line;

[0064] The clamping assembly 200 includes:

[0065] Vacuum suction cup 210 is rotatably mounted vertically via shaft 400 and has several suction holes on it to hold the product tightly with negative pressure.

[0066] The quartz welding device also includes: a vacuum pump 500, which is connected to two vacuum suction cups 210 via air pipes, for making the vacuum suction cups 210 tighten or loosen the product; an air pipe groove is also provided on the worktable 100, so that the air pipe extends from the bottom of the worktable 100 to the top and connects to the vacuum suction cups 210; and a base 600, which is set on the worktable 100 and is used for the ends of the two vacuum suction cups 210 that are away from the shaft 400 to slide on it.

[0067] In this technical solution, by adjusting the angle between the two sets of clamping components 200, operators can easily adapt to the shapes and sizes of different products, achieving flexible welding. This improves production efficiency and flexibility because operators can quickly adjust the angle without stopping the machine to change fixtures or adjust other welding parameters. In summary, this quartz welding device, through its adjustable angle design, enables flexible welding of different quartz products, improving production efficiency and product quality.

[0068] The quartz product is held in place by a vacuum suction cup 210, and then the angle between the two quartz products is changed by rotating the vacuum suction cup 210, thus achieving the adjustment of the product angle, which is very convenient.

[0069] Example 2:

[0070] This embodiment provides a quartz welding device with an adjustable welding angle, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0071] In this embodiment, a drive unit 700 is also included, which drives the two vacuum suction cups 210 to slide along the arc-shaped slide of the base 600 with the axis 400 as the rotation center.

[0072] In this technical solution, if the angle of the two vacuum suction cups 210 is adjusted manually, there will be a certain error. Therefore, a drive unit 700 is provided to automatically adjust the vacuum suction cups 210.

[0073] Specifically, the drive unit 700 includes:

[0074] The permanent magnet 710 has several of them, which are arranged at equal intervals on the arc-shaped slide of the base 600;

[0075] The coil module 720 has two sets, which are respectively set on two vacuum chucks 210 and opposite to the permanent magnet 710;

[0076] And a control unit 800, including a control unit for controlling the magnitude and direction of the current passing through the two sets of coil modules 720, so as to rotate the two vacuum chucks 210 to adjust the angle between them.

[0077] Since the two vacuum suction cups 210 share a single shaft 400, using a traditional motor drive would require additional transmission components, such as a rack and pinion structure 341, which would not only occupy more space but also increase costs. Therefore, magnetic levitation linear motor technology is employed. Permanent magnets 710 are placed within the arc-shaped slide rail, and coil modules 720 are placed at the points where the vacuum suction cups 210 extend into the arc-shaped slide rail. When the control unit 800 energizes the coil modules 720, the resulting magnetic force drives them to slide within the arc-shaped slide rail. Since the drive unit 700 used in this application is a relatively mature existing technology, it will not be described in detail here; its ability to achieve the desired effect is sufficient.

[0078] Example 3:

[0079] This embodiment provides a quartz welding device with an adjustable welding angle, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0080] In this embodiment, the welding torch assembly 300 includes:

[0081] Spray gun mounting bracket 310;

[0082] A spray gun 320, mounted on a spray gun holder 310, is used to generate a flame for welding two sets of products.

[0083] The lifting assembly 330 is mounted on the worktable 100 and is used to drive the spray gun mounting base 310 to move vertically.

[0084] And a translation component 340 for moving the spray gun mount 310 in the horizontal direction.

[0085] In this technical solution, the spray gun 320 is a quartz welding gun that uses hydrogen and oxygen as combustion media. The spray gun 320 is fixed in place by the spray gun holder 310, and the spray gun 320 generates a flame for welding. The lifting assembly 330 allows the spray gun holder 310 to move vertically, thereby adapting to the welding needs of products at different heights or positions. The translation assembly 340 allows the spray gun holder 310 to move horizontally, facilitating the loading and unloading of products. This welding gun assembly 300 can improve the safety and production efficiency of the welding process.

[0086] In this embodiment, specifically, the lifting assembly 330 includes:

[0087] The ball screw module 331 is vertically arranged, and there are two sets, which are symmetrically arranged on the worktable 100.

[0088] Two driven wheels 332 are respectively disposed on the ends of the screws of the two ball screw modules 331;

[0089] The drive wheel 333 is mounted on the worktable 100;

[0090] The first motor 334 has its main shaft connected to the drive wheel 333 and is used to drive the drive wheel 333 to rotate.

[0091] The drive belt 335 is used to connect the driving pulley 333 and the driven pulley 332.

[0092] And the horizontal guide rail 336, with both ends respectively set on the nut seats on the two ball screw modules 331;

[0093] The spray gun mounting base 310 is mounted on the horizontal guide rail 336.

[0094] The spray gun mounting base 310 is slidably installed along the length of the horizontal guide rail 336;

[0095] Translation component 340 includes:

[0096] Rack 341 is arranged along the length of horizontal guide rail 336;

[0097] The transmission gear 342 is disposed in the spray gun mounting base 310 and meshes with the rack 341;

[0098] The second motor 343 is mounted on the outer wall of the spray gun mounting base 310, and its main shaft extends into the spray gun mounting base 310 and is connected to the transmission gear 342.

[0099] In this technical solution, for the horizontal and vertical movement of the spray gun 320 assembly, the design of the ball screw module 331, driven wheel 332, driving wheel 333, first motor 334, transmission belt 335 and horizontal guide rail 336 achieves precise lifting motion control and horizontal movement, which has stability, flexibility and adjustability, and can improve the accuracy and efficiency of welding operations.

[0100] Example 4:

[0101] This embodiment provides a welding process for the quartz welding apparatus in the above embodiments.

[0102] The welding process steps are as follows:

[0103] S1. Loading: Place the two sets of products to be welded on the two vacuum suction cups 210 respectively, then start the control unit 800 to turn on the vacuum pump 500. The vacuum pump 500 generates negative pressure in the vacuum suction cups 210 to suck up the two sets of products. Then adjust the position between the two sets of products so that they can be welded.

[0104] S2, Angle Adjustment: According to actual needs, the control unit 800 controls the current on the coil module 720 to make the two vacuum suction cups 210 rotate. After the included angle between the two reaches the preset angle, the control unit 800 controls the two vacuum suction cups 210 to stop moving.

[0105] S3, Control Unit 800 controls the second motor 343 to run, driving the spray gun holder 310 and the spray gun 320 on it to gradually move from the edge to the position of the angle between the two sets of products, and then stops;

[0106] S4. Welding: The control unit 800 starts the first motor 334, which drives the horizontal guide rail 336, the spray gun holder 310 and the spray gun 320 to move from top to bottom. At the same time, the spray gun 320 starts to weld the angle between the two sets of products from top to bottom until the welding of the two sets of products is completed. Then the spray gun 320 stops spraying fire, the first motor 334 rotates in the opposite direction to reset the horizontal guide rail 336, and the second motor 343 rotates in the opposite direction to reset the spray gun holder 310 and the spray gun 320.

[0107] S5. Unloading: Remove the welded product from the vacuum suction cup 210 to complete the welding process.

[0108] In step S2, after the angle between the two vacuum chucks 210 is adjusted, the positions of the two sets of quartz products need to be finely adjusted to ensure accurate alignment. Specifically, the final positions of the two sets of products are different for welding at different angles, so adjustments are needed to align them. The adjustment method is as follows.

[0109] The vacuum suction cup 210 mainly consists of a support plate 211 and a square suction cup 212. The support plate 211 is vertically arranged, with one side connected to the shaft 400 via a hinge. The lower end of the other side has a protruding insert 2111 that extends into the arc-shaped slide of the base 600. The coil module 720 is installed on the insert 2111. The square suction cup 212 is slidably mounted on the support plate 211 along a guide rail. The support plate 211 is also equipped with a driving component 214 for driving the square suction cup 212 to slide. The driving component 214 can be a cylinder or a manual adjustment rod, which moves the square suction cup 212 closer to or further away from the shaft 400, thereby allowing the two sets of products to move closer or further away from each other. After the two sets of products are precisely aligned, the square suction cup 212 is fixed and then welded. To prevent mistakes and reduce the difficulty for workers when initially loading products for welding products of different sizes, a tray 213 structure can be set on the square suction cup 212. The tray 213 structure is L-shaped, with its bottom plate used to limit and support the bottom of the product, and its side plates used to limit the sides of the product. When loading, the worker only needs to place the product on the bottom plate of the tray 213, and then move the product so that the side of the product abuts against the side plate of the tray 213. Then the square suction cup 212 will hold the product firmly. The structure of the tray 213 is not limited to this, as long as it can achieve the function and effect.

[0110] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A quartz soldering device with adjustable soldering angle, characterized in that, The quartz welding device comprises a workbench (100), a clamping assembly (200) arranged on the workbench (100) and having two groups for clamping two groups of products respectively, and a welding gun assembly (300) arranged on the workbench (100) and used for welding the two groups of products into one body. The angle between the two groups of clamping assemblies (200) is adjustable, and the angle between the two groups of products is changed by adjusting the angle between the two groups of clamping assemblies (200). At least one of the two groups of clamping assemblies (200) is arranged in a horizontal direction. The opposite ends of the two clamping assemblies (200) are rotatably arranged through a vertically arranged shaft (400), and the rotation axes of the two clamping assemblies (200) are on the same straight line. The quartz welding device further comprises a base (600) arranged on the workbench (100) and used for sliding the two clamping assemblies (200) thereon. The clamping assembly (200) comprises a vacuum chuck (210) rotatably arranged in a vertical direction through the shaft (400) and provided with a plurality of suction holes for tightly sucking products by negative pressure. The quartz welding device further comprises a vacuum pump (500) connected to the two vacuum chucks (210) respectively and used for tightly sucking or releasing the products by the vacuum chucks (210). The quartz welding device further comprises a driving part (700) for driving the two vacuum chucks (210) to slide along the arc-shaped slide of the base (600) with the shaft (400) as the rotation center. The driving part (700) comprises a plurality of permanent magnets (710) arranged at equal intervals on the arc-shaped slide of the base (600). The quartz welding device further comprises a coil module (720) having two groups and arranged on the two vacuum chucks (210) respectively and opposite to the permanent magnets (710). The control unit (800) comprises a control unit (800) for controlling the current size and direction passing through the two groups of coil modules (720) to rotate the two vacuum chucks (210) to adjust the angle therebetween. The welding gun assembly (300) comprises a spray gun fixing seat (310), a spray gun (320) arranged on the spray gun fixing seat (310) and used for generating a flame to weld the two groups of products, a lifting assembly (330) arranged on the workbench (100) and used for driving the spray gun fixing seat (310) to move in a vertical direction, and a translation assembly (340) used for moving the spray gun fixing seat (310) in a horizontal direction. The lifting assembly (330) comprises a ball screw module (331) arranged vertically and having two groups and symmetrically arranged on the workbench (100), a driven wheel (332) having two and arranged on the end of the screw rod of the ball screw module (331) respectively, a driving wheel (333) arranged on the workbench (100), and a first motor (334) with the main shaft connected to the driving wheel (333) and used for driving the driving wheel (333) to rotate. ​ ​ ​ 2. A quartz welding device with adjustable welding angle according to claim 1, characterized in that ​ ​ ​ ​ ​ 3. A quartz soldering device with adjustable soldering angle according to claim 2, characterized in that ​ ​ ​ ​ ​ A transmission belt (335) is used to connect the driving wheel (333) and the driven wheel (332); And a horizontal guide rail (336) is arranged on the nut seat of the two ball screw modules (331) at both ends. The spray gun fixing seat (310) is arranged on the horizontal guide rail (336).

4. A quartz soldering device with adjustable soldering angle according to claim 3, characterized in that The spray gun fixing seat (310) is arranged on the horizontal guide rail (336). The translation assembly (340) comprises: A rack (341) is arranged along the length direction of the horizontal guide rail (336); A transmission gear (342) is arranged in the spray gun fixing seat (310) and is engaged with the rack (341); And a second motor (343) is arranged on the outer wall of the spray gun fixing seat (310), and the main shaft of the second motor (343) extends into the spray gun fixing seat (310) and is connected with the transmission gear (342).

5. A welding process for the welding angle adjustable quartz welding device of claim 4, characterized in that, The welding process steps are as follows: S1, feeding: two groups of products to be welded are placed on two vacuum chucks (210) respectively, and then the control unit (800) is started to start the vacuum pump (500), the vacuum pump (500) generates negative pressure on the vacuum chuck (210), and the two groups of products are sucked tightly, then the positions of the two groups of products are adjusted to enable the two groups of products to be welded; S2, angle adjustment: according to actual needs, the control unit (800) controls the current on the coil module (720) to make the two vacuum chucks (210) rotate, and when the included angle between the two vacuum chucks (210) reaches the preset angle, the control unit (800) controls the two vacuum chucks (210) to stop moving; S3, then the control unit (800) drives the second motor (343) to run, and drives the spray gun fixing seat (310) and the spray gun (320) thereon to gradually move from the edge to the position of the included angle between the two groups of products, and then stop; S4, welding: the control unit (800) starts the first motor (334) to drive the horizontal guide rail (336), the spray gun fixing seat (310) and the spray gun (320) to move from top to bottom, at the same time, the spray gun (320) is started to weld the included angle between the two groups of products from top to bottom, until the two groups of products are welded, the spray gun (320) stops spraying, the first motor (334) reverses to reset the horizontal guide rail (336), and the second motor (343) reverses to reset the spray gun fixing seat (310) and the spray gun (320); S5, discharging: the welded product on the vacuum chuck (210) is taken off, and the welding is completed.

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