A jetting system

Abstract

This invention relates to a spraying system, belonging to the field of spraying technology, to solve the problem of coating and nozzle clogging caused by poor mixing effect on the workpiece surface coating in existing technologies. The invention includes a feeding module, a nozzle module, a motion module, and a workpiece positioning module. The feeding module supplies material to the nozzle module and includes a material cylinder assembly, a mixing assembly, and a feeding pipe. The nozzle module is mounted on the motion module and its position is adjusted according to the movement of the motion module. The feeding pipe connects the material cylinder assembly and the nozzle module. The workpiece positioning module positions the workpiece for spraying. The feeding module, nozzle module, motion module, and workpiece positioning module are electrically connected to a control module. This invention improves spraying quality and efficiency, resulting in a uniform coating.

Description

Technical Field

[0001] This invention relates to the field of jetting technology, and more particularly to a jetting system. Background Technology

[0002] In the prior art, when spraying the workpiece surface, the coating is not well stirred before entering the nozzle, resulting in insufficient bonding force between the coating and the workpiece surface, poor adhesion, inconsistent coating thickness, and coating clumping that affects the use of the workpiece. Spraying can also cause nozzle blockage. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide a spraying system to solve the problem of coating and nozzle blockage caused by poor stirring effect of workpiece surface coating in the prior art.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] A spraying system includes a feeding module, a nozzle module, a motion module, a control module, and a workpiece positioning module;

[0006] The feeding module is used to supply material to the nozzle module, and includes a material cylinder assembly, a mixing assembly, and a feeding pipe;

[0007] The nozzle module is mounted on the motion module, and its position is adjusted by the movement of the motion module; the feeding pipe connects the material cylinder assembly and the nozzle module;

[0008] The workpiece positioning module is used to position the workpiece for spraying.

[0009] The feeding module, the nozzle module, the motion module, and the workpiece positioning module are electrically connected to the control module.

[0010] Furthermore, the material cylinder assembly includes a powder hopper, a liquid hopper, and a hopper;

[0011] The mixing component is disposed inside the silo; the mixing component is used to mix and stir the materials in the silo.

[0012] Furthermore, the feeding module also includes a hopper cleaning component; the hopper cleaning component is used to clean the hopper after spraying.

[0013] Furthermore, the feeding module also includes an air compressor, which is located on one side of the hopper and is used to feed the nozzle module by compressing air.

[0014] Furthermore, the workpiece positioning module includes a worktable, a rotating structure, and a clamping structure.

[0015] Furthermore, the rotating structure includes a fourth motor and a third rotating shaft; the third rotating shaft is disposed in the middle of the worktable and is connected to the output shaft of the fourth motor; the worktable is capable of rotating under the drive of the rotating structure.

[0016] Furthermore, the clamping structure includes a lifting column, grippers, and a fifth motor; the lifting column can be raised and lowered under the action of the fifth motor, and the grippers can extend into the workpiece to clamp it.

[0017] Furthermore, it also includes a 3D scanning module, which is used to scan the shape of the workpiece.

[0018] Furthermore, it also includes air detection equipment, which is used to detect the dust concentration in the spraying chamber and issue an alarm in a timely manner when the dust concentration exceeds the set standard.

[0019] Furthermore, it also includes a dust removal device, which is electrically connected to the control module and is used to adsorb and remove indoor dust during spraying.

[0020] Furthermore, the mixing component includes a first mixing component and a second mixing component, wherein the first mixing component is disposed at the lower part of the hopper and the second mixing component is disposed at the upper part of the hopper.

[0021] Furthermore, the first mixing assembly includes a first motor, a screw, a central stirring section, and a first support.

[0022] The central stirring part is sleeved on the screw, and the first motor drives the screw to rotate and lift the central stirring part.

[0023] The first bracket is sleeved on the screw, and the first motor drives the screw to rotate and lift the first bracket.

[0024] Furthermore, the central stirring section is a vortex-shaped plate.

[0025] Furthermore, the second hybrid component includes a second motor, a first rotating shaft, and a second bracket; the second bracket is sleeved on the first rotating shaft, the first rotating shaft is connected to the output shaft of the second motor, and the second motor drives the first rotating shaft to rotate the second bracket.

[0026] The second support rotates in the opposite direction to the first support.

[0027] Furthermore, a plurality of first stirring rods are longitudinally arranged on the outer side of the first support; a plurality of second stirring rods are longitudinally arranged on the inner side of the second support; the first stirring rods and the second stirring rods are arranged opposite to each other;

[0028] The first stirring rod and the second stirring rod are disposed near the wall of the silo.

[0029] Furthermore, a peeling section is provided on the outer side of the second support, which is used to peel off the adhering material on the wall of the hopper.

[0030] Furthermore, the peeled portion has a serrated structure, and the angle between the upper side of the serrated structure and the hopper wall is greater than that between the lower side.

[0031] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0032] (1) The present invention transports the nozzle module to the position through the motion module, feeds the nozzle module through the feeding module, positions the workpiece through the workpiece positioning module, and controls the operation of the feeding module, motion module and nozzle module in a unified manner by the control module to realize automatic spraying.

[0033] (2) The present invention includes a workpiece positioning module for positioning the workpiece. The worktable in the workpiece positioning module can rotate so that the spraying of the next workpiece can continue after the spraying of one workpiece is completed. The clamping structure can extend into the workpiece to lift the workpiece for easy spraying.

[0034] (3) In this invention, the 3D scanning module is used to scan the shape of the workpiece and analyze the complexity of different areas of the workpiece and the requirements for coatings. The air detection device is used to detect the dust concentration in the spraying chamber, and an alarm is issued in time when the dust concentration exceeds the set standard. The dust removal device is electrically connected to the control module and is used for the adsorption and discharge of dust in the chamber during spraying.

[0035] (4) Compared with the prior art, which only sets a stirring part with a constant height in the center of the silo, the present invention sets a stirring part with a variable height in the center, so that materials at different heights can be mixed. In addition, the use of vortex plates makes the material in the center of the silo circumferentially stirred, axially stirred, lifted and pulled down to achieve multi-dimensional stirring of materials, improve stirring efficiency and stirring effect; ensure good fluidity of coating during the spraying process, prevent agglomeration and blockage of spray nozzles, and reduce the adhesion and thickness of coating to the workpiece surface.

[0036] (5) Compared with the prior art, the present invention has a bidirectional stirring bar structure with opposite rotation directions near the wall surface, so that the material near the wall surface is colliding and fully mixed by the vortex formed by the stirring bar, avoiding the stirring dead zone, and more forcefully washing away the wall surface deposits and the mixture near the wall surface, thereby improving the stirring effect of the mixture at the wall surface. The combined use of the central stirring part and the edge stirring part ensures that the material in the hopper is fully stirred and mixed evenly, thereby improving the spraying quality.

[0037] (6) Compared with the prior art, the present invention provides a peeling part near the wall surface, which can peel off the attached material on the wall surface and prevent residue on the wall surface. The serrated structure has two sides, and the angle between the upper side and the wall surface is greater than that between the lower side and the upper side. The upper side is used to peel off the attached material, and the attached material rolls into the mixture through the inclined surface of the lower side under its own gravity.

[0038] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the specification or be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained from the content specifically pointed out in the text and accompanying drawings. Attached Figure Description

[0039] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0040] Figure 1 This is a schematic diagram of the spray system in a specific embodiment;

[0041] Figure 2 This is a schematic diagram of the feeding module in a specific embodiment;

[0042] Figure 3 This is a schematic diagram of the structure of the hybrid component in a specific embodiment;

[0043] Figure 4 This is a schematic diagram of the structure of the peeled-off portion in a specific embodiment;

[0044] Figure 5 This is a schematic diagram of the nozzle module in a specific embodiment;

[0045] Figure 6 This is a schematic diagram of the nozzle cleaning assembly in a specific embodiment;

[0046] Figure 7 This is a schematic diagram of the workpiece positioning module in a specific embodiment.

[0047] Figure label:

[0048] 1-Feeding module, 11-Cylinder assembly, 111-Powder hopper, 112-Liquid hopper, 113-Hopper, 12-Mixing assembly, 121-First mixing assembly, 1211-First motor, 1212-Screw, 1213-Central stirring section, 1214-First support, 1215-First stirring rod, 122-Second mixing assembly, 1221-Second motor, 1222-First rotating shaft, 1223-Second support, 1224-Second stirring rod, 1225-Stripping section, 13-Air compressor, 14-Hopper cleaning assembly, 141-Liquid inlet pipe, 142-Liquid outlet pipe, 15-Feeding pipe, 2-Nozzle module, 21-Nozzle assembly, 211-Nozzle, 2111-First nozzle, 2112-Second nozzle, 212-Rotating component, 212 1-Feeding interface, 2122-Liquid outlet interface, 213-Connector, 214-Fixed component, 22-Nozzle cleaning assembly, 221-Third motor, 222-Second rotating shaft, 223-First part, 224-Second part, 2241-Liquid inlet, 2242-Air inlet, 225-Third part, 2251-Venturi tube structure, 2252-Conical structure, 2253-Dirty removal structure, 23-Positioning probe, 3-Motion module, 31-Dust cover, 4-3D scanning module, 5-Control module, 6-Workpiece positioning module, 61-Base, 62-Column, 63-Support block, 64-Workbench, 65-Hanging column, 66-Gripper, 67-Third rotating shaft, 68-Fourth motor, 69-Fifth motor, 7-Air detection equipment, 8-Dust removal equipment. Detailed Implementation

[0049] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0050] A specific embodiment of the present invention, such as Figure 1 As shown, a spraying system is disclosed, including a feeding module 1, a nozzle module 2, a motion module 3, and a workpiece positioning module 6.

[0051] Feeding module 1 is used to supply material to nozzle module 2, such as Figure 2 As shown, it includes a material cylinder assembly 11, a mixing assembly 12, an air compressor 13, a hopper cleaning assembly 14, and a feeding pipe 15.

[0052] The feed cylinder assembly 11 includes a powder hopper 111, a liquid hopper 112, and a hopper 113. The powder in the powder hopper 111 and the liquid in the liquid hopper 112 are respectively transported to the hopper 113 for mixing in a certain proportion, and then discharged from the hopper 113. The powder hopper 111 has a powder hopper valve for controlling the flow rate of the powder in the powder hopper 111; the liquid hopper 112 has a liquid hopper valve for controlling the flow rate of the liquid in the liquid hopper 112; and the hopper 113 has a hopper valve for controlling the flow rate of the material in the hopper 113 when it is transported to the nozzle module 2.

[0053] The mixing component 12 is located inside the hopper 113 and is used for mixing and stirring the powder and liquid. For example... Figure 3 As shown, to prevent uneven mixing of the coating from causing inconsistent coating on the exterior of the workpiece and affecting the coating quality, the mixing component 12 includes a first mixing component 121 and a second mixing component 122 for center mixing and edge mixing. The first mixing component 121 is located at the lower part of the hopper 113, and the second mixing component 122 is located at the upper part of the hopper 113.

[0054] The first mixing component 121 includes a first motor 1211, a screw 1212, a central stirring section 1213, a first support 1214, and a first stirring rod 1215.

[0055] The first motor 1211 is located at the lower part of the hopper 113, and the central mixing unit 1213 is sleeved on the screw 1212. The first motor 1211 drives the screw 1212 to drive the central mixing unit 1213 to mix the material in the middle of the hopper 113. The central mixing unit 1213 can rotate and reciprocate as the screw 1212 rotates. When the central mixing unit 1213 rotates, it mixes and thoroughly stirs the material at different positions at the same height in the middle of the hopper 113; when the central mixing unit 1213 rises and falls, it mixes and thoroughly stirs the material at different heights in the middle of the hopper 113.

[0056] Preferably, the central stirring section 1213 is a vortex plate with a spiral structure. When rotating, it has the effect of stirring materials at the same height in the radial direction and stirring materials at different heights in the axial direction. That is, it has the function of lifting the material upward and mixing it in the radial direction. Combined with the lifting and lowering drive of the screw 1212, the vortex plate can fully stir and mix the material in the middle of the hopper 113 in the horizontal and vertical directions.

[0057] Furthermore, generally, because the material near the wall is far from the mixing center, it cannot be effectively mixed, resulting in a mixing dead zone. This leads to inconsistent coating properties and affects the coating's usability. In this embodiment, a first support 1214 and a first stirring rod 1215 are provided in the first mixing assembly 121. The first support 1214 is sleeved on the screw 1212 and rotates with the screw 1212. The first stirring rod 1215 is longitudinally arranged outside the first support 1214. There are multiple first stirring rods 1215, which are arranged in parallel. During mixing, multiple stirring vortices are formed. As the first support 1214 and the first stirring rods 1215 rise and fall, the multiple stirring vortices collide with each other, and the materials at different heights are fully mixed. Because the first stirring rod 1215 is located near the wall, the material near the wall is stirred.

[0058] Furthermore, a second mixing component 122 is provided near the wall surface for cooperating with the first stirring rod 1215 for stirring. The second mixing component 122 includes a second motor 1221, a first rotating shaft 1222, a second support 1223, and a second stirring rod 1224. The second support 1223 is sleeved on the first rotating shaft 1222, and the first rotating shaft 1222 is connected to the output shaft of the second motor 1221. The second motor 1221 drives the first rotating shaft 1222 to rotate the second support 1223. The second stirring rod 1224 is longitudinally arranged inside the second support 1223. There are multiple second stirring rods 1224, which are arranged in parallel. The second stirring rods 1224 and the first stirring rod 1215 are arranged opposite each other and do not contact each other. When the first support 1214 and the second support 1223 rotate, they will not collide with each other. The second stirring rods 1224 are located near the wall surface, forming multiple stirring vortices during stirring, so that the materials are fully mixed.

[0059] The first support 1214 and the second support 1223 rotate in opposite directions. The vortex formed by the first stirring rod 1215 and the second stirring rod 1224 collides with each other and mixes synergistically, making the materials mix together faster and more evenly, and flushing the wall-adhered substances and the mixture near the wall with greater force, thereby improving the mixing effect of the mixture at the wall.

[0060] Furthermore, a peeling portion 1225 is provided on the outer side of the second support 1223. For example... Figure 4 As shown, preferably, the peeling part 1225 has a serrated structure. When the second support 1223 rotates, the peeling part 1225 can peel off the adhering material on the wall surface and allow it to enter the material mixture in the hopper 113 for further stirring, reducing agglomeration and affecting flowability. Specifically, the serrated structure has two sides, with the upper side having a larger angle with the wall surface than the lower side. The upper side is used to peel off the adhering material, which rolls down the inclined surface of the lower side into the mixture under its own gravity.

[0061] Compared to existing technologies where a stirring section with a fixed height is only located at the center of the hopper 113, this embodiment features a central stirring section 1213 with a variable height. This allows materials at different heights to be mixed. Furthermore, the use of vortex blades enables the material at the center of the hopper 113 to be stirred circumferentially, axially, lifted, and pulled downwards, achieving multi-dimensional stirring of the material. This improves stirring efficiency and effect, ensures good flowability of the coating during spraying, prevents clumping and clogging of the nozzles, and reduces adhesion and thickness variations between the coating and the workpiece surface. A bidirectional stirring bar structure is provided near the wall, allowing the material near the wall to collide and mix thoroughly due to the vortex formed by the stirring bars. This avoids dead zones and more effectively washes away wall deposits and the mixture near the wall, improving the stirring effect of the mixture at the wall surface. The combined use of the central stirring section 1213 and the edge stirring section ensures thorough and uniform mixing of the material in the hopper 113, improving spraying quality. The peeling section 1225 near the wall can peel off the deposits from the wall surface, allowing them to continue stirring in the material mixture within the hopper 113.

[0062] The hopper cleaning assembly 14 includes an inlet pipe 141 and an outlet pipe 142. The inlet pipe 141 is located at the upper part of the hopper 113, and the outlet pipe 142 is located at the lower part of the hopper 113. Both the inlet pipe 141 and the outlet pipe 142 are equipped with corresponding valves. When the spraying is finished, cleaning fluid is injected into the hopper 113 through the inlet pipe 141. The mixing assembly 12 is used to clean the hopper 113 and scrape off the adhering substances on the wall. The cleaned liquid is discharged from the outlet pipe 142.

[0063] An air compressor 13 is located on one side of the hopper 113 and is connected to the hopper 113. It is used to feed the nozzle module 2 with compressed air. The conveying pipe is a flexible hose that connects the hopper 113 and the nozzle module 2. It is used to transport the mixed material in the hopper 113 to the nozzle module 2 for spraying.

[0064] The nozzle module 2 is mounted on the motion module 3. For example... Figure 5 As shown, the nozzle module 2 includes a nozzle assembly 21 and a nozzle cleaning assembly 22.

[0065] The nozzle assembly 21 includes a nozzle 211, a rotating component 212, a connecting component 213, and a fixing component 214. The rotating component 212 is used to mount the nozzle 211; the connecting component 213 connects the fixing component 214 and the rotating component 212; the fixing component 214 is located at the lower part of the Y-axis slider and is used to drive the other components of the nozzle assembly 21 and the Y-axis slider to move together. A feed inlet 2121 is provided on the outside of the rotating component 212, which connects to the feeding pipe 15. The other side of the feed inlet 2121 is a liquid outlet 2122.

[0066] There are two nozzles 211, including a first nozzle 2111 and a second nozzle 2112. The diameter of the first nozzle 2111 is larger than the diameter of the second nozzle 2112. The first nozzle 2111 is used for general spraying; the second nozzle 2112 is a long and thin nozzle 211, used for spraying long, narrow cavities and narrow slit structures, and can penetrate deep into the interior during spraying. The first nozzle 2111 is located at the lower part of the rotating component 212, and the second nozzle 2112 is located at the side of the rotating component 212. The rotating component 212 can rotate around its own axis, and the direction of the two nozzles 211 can rotate with the rotating component 212. During the spraying operation, the feed port 2121 injects the mixed paint; after the spraying operation, the feed port 2121 injects cleaning fluid.

[0067] like Figure 6 As shown, the nozzle cleaning assembly 22 is disposed inside the nozzle assembly 21, and includes a third motor 221, a second rotating shaft 222, a first part 223, a second part 224, and a third part 225. The second part 224 and the third part 225 are retractable into the first part 223. The first part 223 is fixed inside the connector 213. When extended, the second part 224 is located inside the rotating member 212, and the third part 225 is located inside the nozzle 211. During the spraying operation, the second part 224 and the third part 225 are retracted into the first part 223; when the nozzle 211 needs to be cleaned after the spraying operation, the second part 224 and the third part 225 extend out of the first part 223.

[0068] The second part 224 has a liquid inlet 2241, a liquid outlet 2241, and an air inlet 2242 on its wall surface. The liquid inlet 2241 corresponds to the feed interface 2121 on the wall surface of the rotating part 212, and the liquid outlet is located on the side opposite to the liquid inlet 2241, corresponding to the liquid outlet interface 2122 on the wall surface of the rotating part 212. The air inlet 2242 is located on the side of the rotating part 212 opposite to the second nozzle 2112. It is sealed during spraying and filled with compressed air during cleaning to increase the flow rate of the cleaning fluid, form a vortex, and flush the nozzle orifice of the nozzle 211.

[0069] The third part 225 is provided with a venturi tube structure 2251 and a conical structure 2252. The lower part of the venturi tube structure 2251 is provided with a conical tube structure 2252 that matches the head of the nozzle 211. The venturi tube structure 2251 further accelerates the flushing cleaning fluid flow, improving the flushing effect of the nozzle 211 at the nozzle orifice.

[0070] Furthermore, a cleaning structure 2253 is provided on the exterior of the third part 225. Exemplarily, the cleaning structure 2253 in this embodiment is a brush. The brush is spirally disposed on the outer peripheral wall of the third part 225. When the third part 225 extends out of the second part 224, it rotates into the nozzle 211 under the drive of the third motor 221, simultaneously brushing the inner wall of the nozzle 211 to remove excess material.

[0071] Compared to existing technologies, this embodiment features a telescopic nozzle cleaning assembly 22. During spraying, the first part 223 retracts and is fixed to prevent interference with the spraying process. After spraying, the first part 223 extends to clean the nozzle 211. The third part 225 is equipped with a Venturi tube structure 2251 and an air inlet 2242 for charging compressed air. The combined action of the Venturi tube and compressed air ensures a more thorough cleaning of the nozzle 211. The outer peripheral wall of the third part 225 has spirally arranged brushes. When the second rotating shaft 222 rotates, the brushes unsweep away any paint residue that has not been thoroughly rinsed from the inner wall of the nozzle 211, resulting in a more thorough cleaning of the nozzle 211.

[0072] Furthermore, the nozzle module 2 also includes a positioning probe 23, which is used to feed back the position of the nozzle to the control module 5.

[0073] Motion module 3 is a three-axis motion system, including the X-axis, Y-axis, and Z-axis. The X-axis is used to adjust the horizontal position of nozzle 211 in the X direction, the Y-axis is used to adjust the horizontal position of nozzle 211 in the Y direction, and the Z-axis is used to adjust the vertical position of nozzle 211. Nozzle module 2 is mounted on the Y-axis slider.

[0074] The three-axis motion system of motion module 3 is existing technology and will not be described in detail here.

[0075] The motion module 3 is equipped with a dust cover 31 to prevent dust and paint dust particles from entering the moving parts and to prevent wear on the parts. The dust cover 31 is a flexible cover, which is set on the end and the slider and can retract or expand with the movement of the slider.

[0076] The 3D scanning module 4 is set on the Z-axis and is used to scan the shape of the workpiece and analyze the complexity of different areas of the workpiece and the requirements for coatings.

[0077] Furthermore, a control module 5 is also provided, which is used to control the movement of the nozzle 211, the operation of the motion mechanism, and the feeding of the feeding mechanism. The feeding module 1, the nozzle module 2, the motion module 3, and the workpiece positioning module 6 are electrically connected to the control module 5.

[0078] like Figure 7 As shown, the workpiece positioning module 6 includes a base 61, a column 62, a support block 63, a worktable 64, a rotating structure, and a clamping structure.

[0079] The column 62 is located between the base 61 and the support block 63, and the support block 63 is provided with a worktable 64 on its upper part.

[0080] The rotating structure includes a fourth motor 68 and a third rotating shaft 67. The third rotating shaft 67 is positioned between the support block 63 and the worktable 64, and is connected to the output shaft of the fourth motor 68. The worktable 64 can rotate under the drive of the rotating structure. When one workpiece is finished being painted, the fourth motor 68 drives the third rotating shaft 67 to rotate the worktable 64 for painting the next workpiece.

[0081] The clamping structure is positioned above the workpiece and includes a fifth motor 69, a lifting column 65, and grippers 66. The fifth motor 69 drives the lifting column 65 to rise and fall, adjusting the height of the workpiece. The grippers 66 can extend into the workpiece to lift it for easy painting.

[0082] Furthermore, an air detection device 7 is also installed to detect the dust concentration in the spraying chamber. When the dust concentration exceeds the set standard, an alarm will be issued in a timely manner.

[0083] Furthermore, a dust removal device 8 is also provided for the adsorption and discharge of indoor dust during spraying. The dust removal device 8 is electrically connected to the control module 5.

[0084] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A spray system, characterized in that, It includes a feeding module, a nozzle module, a motion module, a control module, and a workpiece positioning module; The feeding module is used to supply material to the nozzle module, and includes a material cylinder assembly, a mixing assembly, and a feeding pipe; The material cylinder assembly includes a hopper; the mixing assembly includes a first mixing assembly and a second mixing assembly, the first mixing assembly being disposed at the lower part of the hopper and the second mixing assembly being disposed at the upper part of the hopper; the first mixing assembly includes a first motor, a screw, a central stirring part, and a first support; the central stirring part and the first support are sleeved on the screw, and the first motor drives the screw to rotate and lift the central stirring part and the first support; the central stirring part is a vortex vane; the second mixing assembly includes a second motor, a first rotating shaft, and a second support; the second support is sleeved on the first rotating shaft. The first rotating shaft is connected to the output shaft of the second motor; the rotation direction of the second support is opposite to that of the first support; a plurality of first stirring rods are longitudinally arranged on the outer side of the first support; a plurality of second stirring rods are longitudinally arranged on the inner side of the second support; the first stirring rods and the second stirring rods are arranged opposite to each other; the first stirring rods and the second stirring rods are arranged near the wall of the hopper; a peeling part is provided on the outer side of the second support, the peeling part being used to peel off the adhering material on the wall of the hopper; the peeling part has a serrated structure, and the angle between the upper side of the serrated structure and the wall of the hopper is greater than that between the lower side; The nozzle module is mounted on the motion module, and its position is adjusted by the movement of the motion module; the feeding pipe connects the material cylinder assembly and the nozzle module; The nozzle module includes a nozzle assembly and a nozzle cleaning assembly; the nozzle cleaning assembly is located inside the nozzle assembly and includes a third motor, a second rotating shaft, a first part, a second part, and a third part; during the spraying operation, the second part and the third part can retract into the first part to prevent interference with the spraying operation. After the spraying operation, the first part extends to clean the nozzle; the second part has a liquid inlet, liquid outlet and air inlet on its wall; the third part has a venturi tube structure, and the lower part of the venturi tube structure has a tapered tube structure that matches the head of the nozzle; the brush spiral is set on the outer peripheral wall of the third part; when the third part extends out of the second part, it rotates into the nozzle under the drive of the third motor, and while rotating, it brushes the inner wall of the nozzle to remove excess material. The workpiece positioning module is used to position the workpiece for spraying; the feeding module, the spray head module, the motion module, and the workpiece positioning module are electrically connected to the control module.

2. The injection system according to claim 1, characterized in that, The feed cylinder assembly includes a powder hopper and a liquid hopper; The mixing component is disposed inside the silo; the mixing component is used to mix and stir the materials in the silo.

3. The injection system according to claim 2, characterized in that, The feeding module also includes a hopper cleaning component; the hopper cleaning component is used to clean the hopper after spraying.

4. The injection system according to claim 2, characterized in that, The feeding module also includes an air compressor, which is located on one side of the hopper and is used to feed the nozzle module with compressed air.

5. The injection system according to claim 1, characterized in that, The workpiece positioning module includes a worktable, a rotating structure, and a clamping structure.

6. The injection system according to claim 5, characterized in that, The rotating structure includes a fourth motor and a third rotating shaft; the third rotating shaft is located in the middle of the worktable and is connected to the output shaft of the fourth motor; the worktable can rotate under the drive of the rotating structure.

7. The injection system according to claim 5, characterized in that, The clamping structure includes a lifting column, grippers, and a fifth motor; the lifting column can be raised and lowered under the action of the fifth motor, and the grippers can extend into the workpiece to clamp it.

8. The injection system according to claim 1, characterized in that, It also includes a 3D scanning module, which is used to scan the shape of the workpiece.

9. The injection system according to claim 1, characterized in that, It also includes air detection equipment, which is used to detect the dust concentration in the spraying chamber and issue an alarm in a timely manner when the dust concentration exceeds the set standard.

10. The injection system according to claim 1, characterized in that, It also includes a dust removal device, which is electrically connected to the control module and is used to adsorb and remove indoor dust during spraying.

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