Thermal spraying equipment and spraying method

Abstract

The invention relates to the technical field of thermal spraying, and provides thermal spraying equipment and a spraying method.The thermal spraying equipment comprises a mounting table, a mechanical arm and a spraying gun, the mechanical arm is arranged on one side of the mounting table, and the spraying gun is arranged on the mechanical arm; a rotating roller is rotationally mounted on the mounting table, a mounting seat for mounting a workpiece is arranged on the peripheral wall of the rotating roller, the mounting seat is rotationally connected to the rotating roller, and the rotating central axis of the mounting seat is perpendicular to the rotating central axis of the rotating roller; the mounting table is provided with a first driving part and a second driving part, the first driving part is used for driving the rotating roller to rotate, and the second driving part is used for driving the mounting base to rotate. According to the thermal spraying equipment, the swing amplitude of the mechanical arm can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of thermal spraying, and in particular to a thermal spraying device and a spraying method. Background Art

[0002] Thermal spraying is to heat the coating material (such as metal, non-metal or alloy powder, wire or rod) to a molten or semi-molten state, and use high-speed airflow to atomize it into extremely fine particles, and then spray it onto the surface of the workpiece at a very high speed to form a strong coating. This process is designed to enhance the wear resistance, corrosion resistance, oxidation resistance and heat resistance of the workpiece.

[0003] In the prior art, thermal spraying equipment includes a mounting platform, a robotic arm and a spray gun. The mounting platform is used to mount and fix the workpiece to be sprayed, the robotic arm is arranged on one side of the mounting platform, and the spray gun is installed on the robotic arm. The robotic arm is used to drive the spray gun to move, so that the spray gun can spray different positions on the surface of the workpiece, so that a coating with specific properties is formed on the surface of the workpiece.

[0004] In this type of thermal spraying equipment, the flexibility of the robot arm can greatly increase the spraying range of the spray gun, allowing the spray gun to spray the surface of the workpiece at different angles. However, in actual spraying operations, after the front of the workpiece (the surface of the workpiece facing the spray gun) is sprayed, the robot arm needs to swing to the back of the workpiece (the surface of the workpiece facing away from the spray gun) so that the spray gun can spray the back of the workpiece, which requires a larger swing amplitude for the robot arm, and thus requires the spray workshop to reserve a larger space for the robot arm to move, resulting in a higher overall space occupancy rate. In addition, excessive swing amplitude can easily cause problems such as decreased robot arm accuracy, mechanical wear, and poor stability, so further improvements are needed. Summary of the invention

[0005] In order to reduce the swing amplitude of the robot arm, the present application provides a thermal spraying device and a spraying method.

[0006] In the first aspect, the present application provides a thermal spraying device adopting the following technical solution: A thermal spraying device comprises a mounting platform, a mechanical arm and a spray gun, wherein the mechanical arm is arranged on one side of the mounting platform, and the spray gun is arranged on the mechanical arm; the mounting platform is rotatably mounted with a rotating roller, and a mounting seat for mounting a workpiece is arranged on the peripheral wall of the rotating roller, and the mounting seat is rotatably connected to the rotating roller, and the rotation center axis of the mounting seat is perpendicular to the rotation center axis of the rotating roller; the mounting platform is respectively provided with a first driving member and a second driving member, the first driving member is used to drive the rotating roller to rotate, and the second driving member is used to drive the mounting seat to rotate.

[0007] By adopting the above-mentioned technical scheme, through the setting of the rotating roller and the mounting seat, the mounting seat is used to install and fix the workpiece to be sprayed. During the spraying operation, the mechanical arm is used to drive the spray gun to move to drive the spray gun to spray the surface of the workpiece. When spraying different positions on the surface of the workpiece, the second driving member is used to drive the mounting seat to rotate so that the workpiece rotates around the rotation center axis of the mounting seat. The second driving member is used to drive the rotating roller to rotate so that the workpiece can rotate around the center axis of the rotating roller. The cooperation of the first driving member and the second driving member enables the workpiece to rotate in two directions to cater to the position of the spray gun, so that the spray gun can spray different positions on the surface of the workpiece and reduce the swing amplitude of the mechanical arm.

[0008] Optionally, the outer peripheral side of the rotating roller has a spraying zone and a cooling zone, respectively, and the spraying zone and the cooling zone are arranged at intervals around the central axis of the rotating roller; two mounting seats are provided, and both mounting seats are rotatably connected to the rotating roller, and when one of the mounting seats rotates around the central axis of the rotating roller to the spraying zone, the other mounting seat rotates to the cooling zone; the second driving member is used to drive the two mounting seats to rotate synchronously.

[0009] By adopting the above technical scheme, through the setting of the spraying area, the cooling area and the two mounting seats, the workpiece absorbs a large amount of heat during thermal spraying, which will cause the temperature to rise, making it inconvenient for the staff to pick up; after the workpiece is sprayed, the rotating roller is driven to rotate, and the workpiece after spraying is transferred to the cooling area for cooling. At the same time, the other mounting seat is transferred to the spraying area for spraying. After the workpiece of the other mounting seat is sprayed, the workpiece that has been cooled in the cooling area can be removed, so that the spraying and cooling of the workpiece can be synchronized, saving waiting time and thus improving the spraying efficiency.

[0010] Optionally, a mounting rod is provided between the mounting seat and the workpiece, and the workpiece is mounted on the side of the mounting seat away from the rotating roller through the mounting rod; a ventilation cavity is opened in each of the two mounting seats, and a first ventilation hole connected to the ventilation cavity is opened on the side wall of each mounting seat away from the rotating roller; the mounting platform is provided with a temperature control component, and the temperature control component is used to preheat the workpiece in the spraying area and cool the workpiece in the cooling area.

[0011] By adopting the above technical solution and setting the temperature control component, when one mounting seat drives the corresponding workpiece into the spraying area and the other mounting seat drives the corresponding workpiece into the cooling area, the temperature control component preheats the workpiece in the spraying area, reduces the temperature difference, and improves the quality of the workpiece surface coating. At the same time, during the preheating process of the workpiece, the temperature control component can cool the workpiece in the cooling area, increase the cooling speed of the workpiece, and improve work efficiency.

[0012] Optionally, the temperature control component includes a docking ring, a docking tube, a heating element, an air supply element and a third driving element. The docking ring is arranged on the mounting table and sleeved on the outer peripheral side of the rotating roller. A ventilation flow channel is opened in the docking ring, and the ventilation flow channel is respectively connected to the ventilation cavities of the two mounting seats; the heating element is arranged in the ventilation flow channel for heating the air, the docking tube is slidably installed on the mounting table for covering the mounting seat of the cooling zone, and the air supply element is arranged on the docking tube for blowing air into the docking tube; the third driving element is arranged on the docking tube, and the third driving element is used to drive the docking tube to slide to cover or detach from the mounting seat of the cooling zone.

[0013] By adopting the above-mentioned technical solution, through the arrangement of the docking ring and the docking tube, after one mounting seat is transferred to the spraying zone and the other mounting seat is transferred to the cooling zone, the docking tube is driven to slide by the third driving member to cover the workpiece arranged on the mounting seat in the cooling zone, and then air is blown into the docking tube through the air supply member, and the gas flows from the ventilation cavity of the mounting seat in the cooling zone into the ventilation flow channel of the docking ring, and then heats up under the action of the heating member, and enters the ventilation cavity of the mounting seat in the spraying zone, thereby the first ventilation hole of the mounting seat is blown outward to act on the workpiece in the spraying zone, so as to preheat the workpiece in the spraying zone. The docking tube is arranged on the mounting seat in the cooling zone. On the one hand, before the gas enters the ventilation flow channel, it can take away the heat of the workpiece in the cooling zone, thereby increasing the cooling rate of the workpiece in the cooling zone. On the other hand, the heat taken away by the gas is used to preheat the workpiece in the spraying zone, thereby achieving the effect of waste heat utilization.

[0014] Optionally, the mounting seat is connected to a rotating rod, which is rotatably connected to a rotating roller, and the mounting seat is rotatably mounted on the rotating roller via the rotating rod; an opening connected to the ventilation channel is provided on the side wall of the docking ring, and the opening is arranged in a ring shape around the central axis of the docking ring, and a connecting ring is rotatably installed on the inner wall of the docking ring located at the opening, and the shape of the connecting ring is adapted to the shape of the opening to close the opening; a connecting seat is provided on the outer peripheral wall of the rotating rod, and the connecting seat is located between the mounting seat and the rotating roller, and the connecting seat and the connecting ring are fixedly connected; a first connecting channel is provided in the connecting seat, and a second connecting channel is provided in the rotating rod, one end of the second connecting channel is connected to the first connecting channel, and the other end is connected to the ventilation cavity, and a connecting hole connected to the first connecting channel is provided on the side wall of the connecting ring close to the ventilation channel.

[0015] By adopting the above-mentioned technical solution and setting the connecting seat, the connecting seat is connected to the docking ring through the connecting ring, so that the first connecting flow channel of the connecting seat can always be connected with the ventilation flow channel of the docking ring; the gas in the docking tube can enter the ventilation flow channel of the docking ring, and enter the ventilation cavity of the spraying area mounting seat after being properly heated in the ventilation flow channel, and then be discharged from the first ventilation hole of the mounting seat and act on the workpiece in the spraying area to preheat the workpiece.

[0016] Optionally, an opening and closing plate is slidably installed in the ventilation cavity of each mounting seat, and a second ventilation hole is opened on the plate surface of the opening and closing plate, and the second ventilation hole is staggered with the first ventilation hole. The plate surface of the opening and closing plate away from the rotating roller is provided with an opening and closing column for inserting the first ventilation hole; a reset spring is provided between the opening and closing plate and the inner wall of the ventilation cavity, and the reset spring normally causes the opening and closing column to be inserted into the first ventilation hole to close the first ventilation hole; the opening and closing plate is provided with a linkage component, and when the docking tube cover is provided with a mounting seat in the cooling zone, the linkage component drives the opening and closing plates in the two mounting seats to slide synchronously to open their respective corresponding first ventilation holes.

[0017] By adopting the above technical solution, through the setting of the opening and closing plate and the linkage assembly, under normal conditions, the opening and closing plates are under the action of their corresponding reset springs, and the opening and closing columns of the opening and closing plates are inserted into the first vent, thereby closing the first vent, reducing the possibility of the spraying material falling into the ventilation cavity through the first vent during the spraying operation. When it is necessary to preheat the workpiece in the spraying area and cool the workpiece in the cooling area, the linkage assembly drives the two opening and closing plates to slide synchronously, so that the opening and closing columns of the two opening and closing plates are separated from their corresponding first vents, so that the gas in the docking tube can circulate and act on the workpiece in the spraying area, improving the convenience of preheating or cooling the workpiece.

[0018] Optionally, the linkage assembly includes a pushing ring and a linkage member, wherein two pushing rings are provided and are arranged corresponding to two mounting seats, each pushing ring is slidably sleeved on the outer peripheral wall of the corresponding mounting seat and is connected and fixed to the opening and closing plate in the mounting seat, and when the docking tube cover is arranged on the mounting seat in the cooling zone, the docking tube pushes the pushing ring and forces the corresponding opening and closing plate to move toward the rotating roller to force the opening and closing column to disengage from the first vent hole; the linkage member is arranged between the opening and closing plates of the two mounting seats to drive the two opening and closing plates to move synchronously and in opposite directions.

[0019] By adopting the above-mentioned technical scheme, through the setting of the pushing ring and the linkage part, when the workpiece is preheated or cooled, the docking tube cover is driven to cover the mounting seat arranged in the cooling zone. During the displacement of the docking tube, the corresponding opening and closing plate is pushed by the pushing ring, forcing the opening and closing plate to move toward the rotating roller, so that the opening and closing column can be separated from the first air hole to open the first air hole; the linkage part enables the two opening and closing plates to slide synchronously to synchronously open the ventilation cavities of the two mounting seats, so that the gas blown into the docking tube can flow, thereby preheating or cooling the workpiece, and improving the operational convenience of the overall structure.

[0020] Optionally, the mounting rod includes a first mounting portion and a second mounting portion, one end of the first mounting portion is connected to the mounting seat, and one end of the second mounting portion is connected to the workpiece; an end surface of the second mounting portion away from the workpiece is provided with an insertion groove for the first mounting portion to be inserted, and an inner wall of the insertion groove is provided with a limit block, and an outer peripheral wall of the first mounting portion is provided with a limiting arc groove, and the limiting arc groove is arranged in an arc shape around the central axis of the first mounting portion, and one end of the limiting arc groove is provided with a connecting groove, and an end of the connecting groove away from the limiting arc groove passes through the end surface of the first mounting portion away from the mounting seat for the limit block to enter and exit; a limiting hole is provided on the inner wall of the insertion groove, and the opening and closing plate is provided with a limiting rod, one end of the limiting rod is connected to the opening and closing plate, and the other end passes through the first mounting portion and is used to insert the limiting hole, and when the limit block enters the limiting arc groove and rotates to the end of the limiting arc groove away from the connecting groove, the limiting rod is inserted into the limiting hole.

[0021] By adopting the above technical solution, through the setting of the limit block and the limit rod, when the workpiece is installed, the plug-in slot of the second installation part is aligned with the first installation part and pushed, so that the limit block enters the limit arc groove from the connecting groove, and then the second installation part is rotated to transfer the limit block to the end of the limit arc groove away from the connecting groove. At this time, the opening and closing plate drives the limit rod to be inserted into the limit hole under the action of the reset spring, thereby fixing the limit block and keeping it at the end of the limit arc groove away from the connecting groove, so that the first installation part and the second installation part are connected to each other, and then the workpiece is installed on the mounting seat. When the workpiece is sprayed and disassembled, the opening and closing plate is driven to slide, forcing the limit rod to disengage from the limit hole, and then the second installation part can be removed by rotating the second installation part, which greatly improves the convenience of disassembly and assembly of the workpiece.

[0022] Optionally, when the docking tube cover is arranged on the mounting seat in the cooling zone and the first air vent of the mounting seat is opened, the limit rod disengages from the limit hole; an unlocking member is provided between the second mounting portion and the docking tube, and the unlocking member is used to rotate the limit block to one end of the limit arc groove close to the connecting groove.

[0023] By adopting the above-mentioned technical scheme and setting the unlocking member, when the docking sleeve cover is arranged on the mounting seat in the cooling zone (at this time, the limit rod is disengaged from the limit hole), and the docking sleeve has finished cooling the workpiece in the cooling zone, the second mounting part is driven to rotate by the unlocking member, so that the limit block rotates to one end of the limit arc groove close to the connecting groove, and the workpiece, under the action of its own gravity, the limit block can fall out of the limit arc groove through the connecting groove, and the workpiece can fall into the docking sleeve, thereby realizing the quick release of the workpiece and greatly improving the working efficiency of the overall structure.

[0024] In the second aspect, a thermal spraying method provided by the present application adopts the following technical solution: A thermal spraying method specifically comprises the following steps: S1, workpiece installation: installing the workpiece to be sprayed on a mounting seat; S2, spraying: spraying the surface of the workpiece with a spray gun; S3, workpiece removal: removing the workpiece after spraying.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the arrangement of the rotating roller and the mounting seat, the mounting seat is used to install and fix the workpiece to be sprayed. During the spraying operation, the mechanical arm is used to drive the spray gun to move so as to drive the spray gun to spray the surface of the workpiece. When spraying different positions on the surface of the workpiece, the second driving member is used to drive the mounting seat to rotate so that the workpiece rotates around the rotation center axis of the mounting seat. The second driving member is used to drive the rotating roller to rotate so that the workpiece can rotate around the center axis of the rotating roller. The cooperation of the first driving member and the second driving member enables the workpiece to rotate in two directions to cater to the position of the spray gun, so that the spray gun can spray different positions on the surface of the workpiece and reduce the swing amplitude of the mechanical arm; 2. Through the arrangement of the docking ring and the docking tube, after one mounting seat is transferred to the spraying zone and the other mounting seat is transferred to the cooling zone, the docking tube is driven to slide by the third driving member to cover the workpiece arranged on the mounting seat in the cooling zone, and then air is blown into the docking tube through the air supply member, and the gas flows from the ventilation cavity of the mounting seat in the cooling zone into the ventilation flow channel of the docking ring, and then heats up under the action of the heating member, and enters the ventilation cavity of the mounting seat in the spraying zone, thereby the first ventilation hole of the mounting seat is blown outward to act on the workpiece in the spraying zone, so as to preheat the workpiece in the spraying zone. The docking tube is arranged on the mounting seat in the cooling zone. On the one hand, before the gas enters the ventilation flow channel, it can take away the heat of the workpiece in the cooling zone, thereby increasing the cooling rate of the workpiece in the cooling zone. On the other hand, the heat taken away by the gas is used to preheat the workpiece in the spraying zone, thereby achieving the effect of waste heat utilization; 3. Through the setting of the limit block and the limit rod, when the workpiece is installed, the plug-in slot of the second mounting part is aligned with the first mounting part and pushed, so that the limit block enters the limit arc slot from the connecting slot, and then the second mounting part is rotated to transfer the limit block to the end of the limit arc slot away from the connecting slot. At this time, the opening and closing plate, under the action of the reset spring, drives the limit rod to be inserted into the limit hole, thereby fixing the limit block and keeping it at the end of the limit arc slot away from the connecting slot, so that the first mounting part and the second mounting part are connected to each other, and then the workpiece is installed on the mounting seat. When the workpiece is disassembled after spraying, the opening and closing plate is driven to slide, forcing the limit rod to disengage from the limit hole, and then the second mounting part can be removed by rotating the second mounting part, which greatly improves the convenience of disassembly and assembly of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall structure of Example 1; Figure 2is a schematic diagram of the structure of the second motor in Embodiment 1; Figure 3 is a schematic diagram of the structure of the second motor in Embodiment 2; Figure 4 is a partial cross-sectional view of the mounting cavity of Embodiment 2; Figure 5 is a partial cross-sectional view of a temperature control assembly according to Embodiment 3; Figure 6 yes Figure 5 The enlarged view of point A in the middle; Figure 7 is a partial cross-sectional view of a linkage assembly according to Embodiment 4; Figure 8 yes Figure 7 The enlarged view of point B in the middle; Fig. 9 is a partial cross-sectional view of an unlocking member according to Embodiment 5; Fig.10 is a partial cross-sectional view of the limiting arc groove in Example 5; Fig.11 yes Fig. 9 Enlarged view of point C in the middle.

[0027] Description of the accompanying drawings: 1. mounting platform; 11. first motor; 12. second motor; 121. first bevel gear; 2. mechanical arm; 3. spray gun; 4. rotating roller; 41. spraying area; 42. cooling area; 43. baffle; 44. mounting cavity; 441. second connecting frame; 5. mounting seat; 51. mounting rod; 511. first mounting part; 5111. limiting arc groove; 5112. connecting groove; 512. second mounting part; 5121. plug-in groove; 5122. limiting block; 5123. limiting hole; 52. ventilation cavity; 53. first ventilation hole; 54. rotating rod; 541. second connecting flow channel; 542. second bevel gear; 54 3. Through hole; 55. Connecting seat; 551. First connecting flow channel; 6. Temperature control component; 61. Docking ring; 611. Ventilation flow channel; 612. Connecting ring; 613. Connecting hole; 62. Docking tube; 621. Buffer pad; 63. Heating wire; 64. Air supply pipe; 65. Cylinder; 7. Opening and closing plate; 71. Second vent hole; 72. Opening and closing column; 73. Return spring; 74. Limit rod; 75. Connecting rod; 8. Linkage component; 81. Pushing ring; 811. First connecting frame; 82. Linkage gear; 83. Linkage rack; 9. Unlocking piece; 91. Unlocking sleeve; 911. Pushing groove; 912. Force rod; 92. Unlocking rod. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1 -Attached Fig.11 This application is described in further detail.

[0029] Example 1 The embodiment of the present application discloses a thermal spraying device.

[0030] Reference Figure 1 , Figure 2 A thermal spraying device includes a mounting platform 1, a mechanical arm 2 and a spray gun 3, wherein the mechanical arm 2 is located on one side of the mounting platform 1, and the spray gun 3 is installed at the output end of the mechanical arm 2 (the mechanical arm 2 and the spray gun 3 are both existing technical structures, and their structures are not elaborated too much here); the mounting platform 1 is rotatably installed with a rotating roller 4, the central axis of the rotating roller 4 is horizontally arranged, and a mounting seat 5 is installed on the peripheral wall of the rotating roller 4, and the mounting seat 5 is used for installing and fixing the workpiece to be sprayed.

[0031] Reference Figure 1 , Figure 2 In this embodiment, the mounting seat 5 is disc-shaped, and a rotating rod 54 is fixedly installed on the mounting seat 5. One end of the rotating rod 54 is fixedly connected to the side wall of the mounting seat 5 close to the rotating roller 4, and the other end passes through the rotating roller 4 and is rotatably connected to the rotating roller 4. The mounting seat 5 is rotatably installed on the rotating roller 4 through the rotating rod 54, and the rotation center axis of the mounting seat 5 is perpendicular to the rotation center axis of the rotating roller 4.

[0032] Reference Figure 1 , Figure 2 A mounting rod 51 is installed between the mounting seat 5 and the workpiece, and the mounting rod 51 includes a first mounting portion 511 and a second mounting portion 512. One end of the first mounting portion 511 is fixedly connected to the side wall of the mounting seat 5 away from the rotating roller 4. The first mounting portion 511 and the mounting seat 5 are coaxially arranged, and one end of the second mounting portion 512 is fixedly connected to the workpiece. The second mounting portion 512 and the workpiece can be connected by spot welding; in this embodiment, the first mounting portion 511 and the second mounting portion 512 are connected by bolt connection.

[0033] Reference Figure 1 , Figure 2 The mounting platform 1 is respectively provided with a first driving member and a second driving member. The first driving member is used to drive the rotating roller 4 to rotate. In this embodiment, the first driving member is set to a first motor 11, and the first motor 11 is fixedly installed on the mounting platform 1. The output shaft of the first motor 11 is coaxially connected to the rotating roller 4, so that the rotating roller 4 can rotate around its own central axis; the second driving member is used to drive the mounting seat 5 to rotate, and the second motor 12 is set to a second motor 12, and the second motor 12 is fixedly installed on the peripheral wall of the rotating roller 4. The output shaft of the second motor 12 is coaxially connected to the rotating rod 54, so that the mounting seat 5 can rotate around its own central axis.

[0034] Reference Figure 1A baffle 43 is provided on the outer peripheral side of the rotating roller 4. The baffle 43 can be made of iron sheet. The rotating rod 54 is penetrated by the baffle 43. The baffle 43 is used to shield the second motor 12 to reduce the possibility of the spraying material contaminating the second motor 12.

[0035] The implementation principle of Example 1 of the present application is as follows: after the workpiece is installed on the mounting seat 5, the robot arm 2 is used to drive the spray gun 3 to move, so as to drive the spray gun 3 to spray the surface of the workpiece. During the spraying process, through the cooperation of the first motor 11 and the second motor 12, the workpiece can revolve around the central axis of the rotating roller 4, and can also rotate around the central axis of the rotating rod 54, so as to adjust the position of the workpiece at multiple angles. In conjunction with the robot arm 2, the spraying range of the spray gun 3 is greatly improved, so that the spray gun 3 can spray different positions on the surface of the workpiece, and the swing amplitude of the robot arm 2 is reduced.

[0036] Example 2 The embodiment of the present application discloses a thermal spraying device.

[0037] Reference Figure 3 , Figure 4 The difference between the thermal spraying equipment disclosed in the embodiment of the present application and the embodiment 1 is that: In this embodiment, an installation cavity 44 is opened on the end surface of the rotating roller 4 away from the first motor 11, and the second motor 12 is fixedly installed on the side wall of the mounting platform 1 away from the first motor 11, and the output shaft of the second motor 12 extends into the installation cavity 44; there are two mounting seats 5, and the two mounting seats 5 are rotatably installed on the rotating roller 4 through a rotating rod 54, and one end of the rotating rod 54 of each mounting seat 5 extends into the installation cavity 44.

[0038] Reference Figure 3 , Figure 4 , the output shaft of the second motor 12 is coaxially connected to the first bevel gear 121, and the peripheral wall of the rotating rod 54 of each mounting seat 5 is coaxially connected to the second bevel gear 542, and the first bevel gear 121 and the two second bevel gears 542 are meshed and driven to drive the two mounting seats 5 to rotate synchronously. For the convenience of description, the areas outside the rotating roller 4 are defined as the spraying area 41 and the cooling area 42 respectively. The spraying area 41 and the cooling area 42 are arranged at intervals around the central axis of the rotating roller 4. The spraying area 41 is located above the cooling area 42. The spraying area 41 performs the spraying operation of the workpiece, and the cooling area 42 performs the cooling of the workpiece. When one of the mounting seats 5 rotates around the central axis of the rotating roller 4 to the spraying area 41, the other mounting seat 5 rotates to the cooling area 42.

[0039] The implementation principle of Example 2 of the present application is as follows: when the workpiece is sprayed in the spraying area 41, it will absorb a large amount of heat, which is inconvenient for the staff to pick up. By setting two mounting seats 5, after the workpiece in the spraying area 41 is sprayed, the rotating roller 4 is driven to rotate, and the workpiece after spraying is transferred to the cooling area 42 for cooling. At the same time, the other mounting seat 5 is transferred to the spraying area 41 for spraying. After the workpiece of the other mounting seat 5 is sprayed, the workpiece that has been cooled in the cooling area 42 can be removed, so that the spraying and cooling of the workpiece can be synchronized, saving waiting time and thereby improving the spraying efficiency.

[0040] In addition, both mounting seats 5 are driven by the second motor 12, that is, when the workpiece in the spraying zone 41 rotates around the rotating rod 54 during the spraying process, the workpiece in the cooling zone 42 can also rotate synchronously. The workpiece in the rotating state can increase the cooling speed, thereby improving the cooling effect of the workpiece in the cooling zone 42.

[0041] Example 3 The embodiment of the present application discloses a thermal spraying device.

[0042] Reference Figure 5 , Figure 6 The difference between the thermal spraying equipment disclosed in the embodiment of the present application and the embodiment 2 is that: In this embodiment, ventilation cavities 52 are provided in the two mounting seats 5, and a plurality of first ventilation holes 53 are provided on the side wall of each mounting seat 5 away from the rotating roller 4, and the plurality of first ventilation holes 53 are connected to the ventilation cavity 52; the mounting platform 1 is provided with a temperature control component 6, and the temperature control component 6 is used to preheat the workpiece in the spraying area 41 and cool the workpiece in the cooling area 42.

[0043] Reference Figure 5 , Figure 6 In this embodiment, the temperature control component 6 includes a docking ring 61, a docking tube 62, a heating element, an air supply element and a third driving element. The docking ring 61 is an annular structure. The docking ring 61 is fixedly installed on the side wall of the mounting platform 1, and the docking ring 61 is sleeved on the outer peripheral wall of the rotating roller 4 and is coaxially arranged between the rotating roller 4; there are two docking rings 61, and the two docking rings 61 are arranged at intervals along the length direction of the rotating roller 4. A mounting area is formed between the two docking rings 61, and a ventilation flow channel 611 is opened in the docking ring 61. The ventilation flow channel 611 is arranged in an annular shape around the central axis of the rotating roller 4. An opening connected to the ventilation flow channel 611 is opened on the side wall of the docking ring 61 close to the mounting area, and the opening is arranged in an annular shape around the central axis of the docking ring 61. A connecting ring 612 is installed on the inner wall of the docking ring 61 at the opening. The shape of the connecting ring 612 is adapted to the shape of the opening to close the opening. The connecting ring 612 is rotatably installed on the docking ring 61 and can rotate around the central axis of the rotating roller 4.

[0044] Reference Figure 5 , Figure 6 A connecting seat 55 is sleeved on the outer peripheral wall of the rotating rod 54, and the connecting seat 55 is rotatably connected to the rotating rod 54. The connecting seat 55 is located between the mounting seat 5 and the rotating roller 4 and is located in the mounting area. The connecting seat 55 is fixedly connected to the connecting rings 612 of the two docking rings 61; two connecting seats 55 are provided and are arranged corresponding to the two mounting seats 5, and a first connecting flow channel 551 is opened in the connecting seat 55, and the first connecting flow channel 551 is arranged in a ring shape around the central axis of the rotating rod 54, and a second connecting flow channel 541 is opened in the rotating rod 54, and one end of the second connecting flow channel 541 is connected to the first connecting flow channel 551, and the other end is connected to the ventilation cavity 52, and a connecting hole 613 connected to the first connecting flow channel 551 is opened on the side wall of the connecting ring 612 near the ventilation flow channel 611, and the ventilation flow channel 611 is indirectly connected to the ventilation cavities 52 of the two mounting seats 5 through the connecting seat 55.

[0045] Reference Figure 5 , Figure 6 , a heating element is arranged in the air flow channel 611 for heating the air. In the present embodiment, the heating element is arranged as a heating wire 63; a docking tube 62 is slidably mounted on the mounting platform 1 and can be raised and lowered, the docking tube 62 is located below the rotating roller 4, and the top of the docking tube 62 is openly arranged to cover the mounting seat 5 of the cooling zone 42; an air supply component comprises an air supply pipe 64 and a hair dryer, the air supply pipe 64 is a hose, the air supply pipe 64 is installed on the docking tube 62, the outlet end of the air supply pipe 64 is connected to the inside of the docking tube 62, and the inlet end of the air supply pipe 64 is connected to the hair dryer (the hair dryer is not shown in the figure).

[0046] Reference Figure 5 The third driving member is arranged on the docking tube 62, and the third driving member is used to drive the docking tube 62 to slide to cover or detach from the mounting seat 5 of the cooling zone 42; in this embodiment, the third driving member is arranged as a cylinder 65, the cylinder 65 is vertically arranged, the cylinder body of the cylinder 65 is installed on the ground, and the piston rod of the cylinder 65 is connected to the docking tube 62. When the piston rod of the cylinder 65 extends outward, the docking tube 62 is lifted and covers the mounting seat 5 of the cooling zone 42.

[0047] It should be noted that, in the present embodiment, when the workpiece is being cooled and preheated (i.e., the docking tube 62 covers the mounting seat 5 of the cooling zone 42), the rotating roller 4 is in a stationary state. It can be understood that when the docking tube 62 covers the mounting seat 5 of the cooling zone 42, the workpiece is cooled and preheated, and when the docking tube 62 is separated from the mounting seat 5 of the cooling zone 42, the workpiece is sprayed.

[0048] The implementation principle of Example 3 of the present application is as follows: after the sprayed workpiece is transferred to the cooling zone 42, the docking tube 62 is driven to rise, covering the workpiece on the mounting seat 5 of the cooling zone 42, and then air is blown into the docking tube 62, and the gas flows from the ventilation cavity 52 of the mounting seat 5 of the cooling zone 42 into the ventilation flow channel 611 of the docking ring 61. Since the ventilation flow channel 611 of the docking ring 61 is annular around the central axis of the rotating roller 4, the gas can enter the ventilation cavity 52 of the mounting seat 5 of the spraying zone 41 after being heated in the ventilation flow channel 611, and then be blown out through the first ventilation hole 53 of the mounting seat 5, thereby preheating the workpiece in the spraying zone 41.

[0049] The docking sleeve 62 is covered on the mounting seat 5 of the cooling zone 42. On the one hand, before the gas enters the air flow channel 611, it can take away the heat of the workpiece in the cooling zone 42, thereby increasing the cooling rate of the workpiece in the cooling zone 42. On the other hand, the heat taken away by the gas is used to preheat the workpiece in the spraying zone 41, thereby achieving the effect of waste heat utilization.

[0050] Example 4 The embodiment of the present application discloses a thermal spraying device.

[0051] Reference Figure 7 , Figure 8 The difference between the thermal spraying equipment disclosed in the embodiment of the present application and the embodiment 3 is that: In the present embodiment, an opening and closing plate 7 is slidably installed in the ventilation cavity 52 of each mounting seat 5, and a plurality of second ventilation holes 71 penetrating the opening and closing plate 7 are provided on the plate surface of the opening and closing plate 7, and all the first ventilation holes 53 and all the second ventilation holes 71 are staggered; a plurality of opening and closing columns 72 are fixedly installed on the plate surface of the opening and closing plate 7 away from the rotating roller 4, and the plurality of opening and closing columns 72 are arranged corresponding to the plurality of first ventilation holes 53, and each opening and closing column 72 is used to insert the corresponding first ventilation hole 53.

[0052] Reference Figure 7 , Figure 8 A return spring 73 is installed between the opening and closing plate 7 and the inner wall of the ventilation cavity 52, one end of the return spring 73 is fixedly connected to the opening and closing plate 7, and the other end is fixedly connected to the inner wall of the ventilation cavity 52. ​​The return spring 73 normally makes the opening and closing plate 7 fit against the inner side wall of the ventilation cavity 52 away from the rotating roller 4, and the opening and closing column 72 is inserted into the corresponding first ventilation hole 53; it should be noted that, in the present embodiment, when the opening and closing plate 7 is fitted against the inner side wall of the ventilation cavity 52 away from the rotating roller 4, the end face of the opening and closing column 72 away from the opening and closing plate 7 is kept flush with the side wall of the mounting seat 5 away from the rotating roller 4.

[0053] Reference Figure 7 , Figure 8The opening and closing plate 7 is provided with a linkage component 8. When the docking tube 62 covers the mounting seat 5 of the cooling zone 42, the linkage component 8 drives the opening and closing plates 7 in the two mounting seats 5 to slide synchronously to open the corresponding first vents 53; the linkage component 8 includes a pushing ring 81 and a linkage member. Two pushing rings 81 are provided and corresponding to the two mounting seats 5. Each pushing ring 81 is slidably sleeved on the outer peripheral wall of the corresponding mounting seat 5. A first connecting frame 811 is connected between the pushing ring 81 and the opening and closing plate 7 in the corresponding mounting seat 5. The pushing ring 81 is fixedly installed on the opening and closing plate 7 through the first connecting frame 811. When the docking tube 62 is lifted and covered on the mounting seat 5 of the cooling zone 42, the docking tube 62 pushes the pushing ring 81 and forces the corresponding opening and closing plate 7 to move toward the rotating roller 4 to force the opening and closing column 72 to disengage from the first vent 53.

[0054] Reference Figure 7 , Figure 8 , each end surface of the rotating rod 54 away from the mounting seat 5 is provided with a through hole 543 connected to the ventilation cavity 52, and a connecting rod 75 is installed on the plate surface of each opening and closing plate 7. The connecting rod 75 and the rotating rod 54 are coaxially arranged, and one end of the connecting rod 75 is rotatably connected to the opening and closing plate 7. The end of the connecting rod 75 away from the opening and closing plate 7 passes through the through hole 543 and extends to the mounting cavity 44. A second connecting frame 441 is fixedly installed on the inner wall of the mounting cavity 44, and the connecting rod 75 is slidably connected to the second connecting frame 441; a linkage member is arranged between the opening and closing plates 7 of the two mounting seats 5 to drive the two opening and closing plates 7 to move synchronously and in opposite directions.

[0055] In this embodiment, the linkage part includes a linkage gear 82 and a linkage rack 83. The linkage gear 82 is rotatably installed on the inner wall of the installation cavity 44. Two linkage racks 83 are provided and correspond to the connecting rods 75 of the two opening and closing plates 7. One end of the linkage rack 83 is fixedly connected to the corresponding connecting rod 75. The linkage rack 83 is slidably installed on the inner wall of the installation cavity 44 through the corresponding connecting rod 75. The linkage gear 82 and the two linkage racks 83 are meshed and transmitted. When the opening and closing plate 7 located in the cooling area 42 moves upward, the opening and closing plate 7 located in the spraying area 41 moves downward.

[0056] The implementation principle of the embodiment 4 of the present application is as follows: under normal conditions, the opening and closing plates 7 are acted upon by the corresponding return springs 73, and the opening and closing columns 72 of the opening and closing plates 7 are inserted into the first vent hole 53, thereby closing the first vent hole 53 and reducing the possibility that the spraying material falls into the ventilation cavity 52 through the first vent hole 53 during the spraying operation. When it is necessary to preheat the workpiece in the spraying area 41 and cool the workpiece in the cooling area 42, the docking tube 62 is driven to cover the mounting seat 5 in the cooling area 42. During the displacement of the docking tube 62, the corresponding opening and closing plate 7 is pushed by the push ring 81, forcing the opening and closing plate 7 to move toward the rotating roller 4, so that the opening and closing columns 72 can be separated from the first vent hole 53 to open the first vent hole 53; the linkage member enables the two opening and closing plates 7 to slide synchronously, so as to synchronously open the ventilation cavities 52 of the two mounting seats 5, so that the gas blown into the docking tube 62 can flow, thereby preheating or cooling the workpiece, and improving the convenience of operation of the overall structure.

[0057] Example 5 The embodiment of the present application discloses a thermal spraying device.

[0058] Reference Fig. 9 , Fig.10 The difference between the thermal spraying equipment disclosed in the embodiment of the present application and the embodiment 4 is that: In this embodiment, an insertion groove 5121 is provided on the end surface of the second mounting portion 512 away from the workpiece, and the insertion groove 5121 is used for matching and plugging with the first mounting portion 511; a limiting block 5122 is fixedly installed on the inner peripheral wall of the insertion groove 5121, and a limiting arc groove 5111 is provided on the outer peripheral wall of the first mounting portion 511. The limiting arc groove 5111 is arranged in an arc shape around the central axis of the first mounting portion 511, and a connecting groove 5112 is provided at one end of the limiting arc groove 5111. The end of the connecting groove 5112 away from the limiting arc groove 5111 passes through the end surface of the first mounting portion 511 away from the mounting seat 5 to allow the limiting block 5122 to enter and exit.

[0059] Reference Fig.10 , Fig.11 , a limiting hole 5123 is provided on the inner wall of the plug-in groove 5121, and the opening and closing plate 7 is provided with a limiting rod 74, one end of the limiting rod 74 is connected to the opening and closing plate 7, and the other end passes through the first mounting portion 511 and is used to insert the limiting hole 5123. In this embodiment, a plurality of limiting rods 74 are provided, and the number of limiting holes 5123 is corresponding to the number of limiting rods 74; when the limiting block 5122 enters the limiting arc groove 5111 and rotates to the end of the limiting arc groove 5111 away from the connecting groove 5112, the limiting rod 74 is inserted in the corresponding limiting hole 5123, and when the docking sleeve 62 is covered on the mounting seat 5 of the cooling zone 42 and the first ventilation hole 53 of the mounting seat 5 is opened, the limiting rod 74 is disengaged from the limiting hole 5123.

[0060] Reference Fig. 9, Fig.11 An unlocking piece 9 is arranged between the second mounting portion 512 and the docking tube 62, and the unlocking piece 9 is used to rotate the limit block 5122 to one end of the limit arc groove 5111 close to the connecting groove 5112; the unlocking piece 9 includes an unlocking sleeve 91 and an unlocking rod 92, the unlocking sleeve 91 is annular and is rotatably mounted on the top wall of the docking tube 62, and the unlocking sleeve 91 and the docking tube 62 are coaxially arranged. When the docking tube 62 moves up, the unlocking sleeve 91 is used to push the pushing ring 81 to move up; a pushing groove 911 is provided on the inner peripheral wall of the unlocking sleeve 91, and the unlocking rod 92 is fixedly mounted on the peripheral wall of the second mounting portion 512 at one end, and extends to the pushing groove 911 at the other end; a force rod 912 is fixedly mounted on the outer peripheral wall of the unlocking sleeve 91, and a buffer pad 621 is installed in the docking tube 62.

[0061] The implementation principle of Example 5 of the present application is: when installing the workpiece, align the insertion slot 5121 of the second mounting part 512 with the first mounting part 511 and push it, so that the limit block 5122 enters the limit arc slot 5111 from the connecting slot 5112, and then rotate the second mounting part 512 to transfer the limit block 5122 to the end of the limit arc slot 5111 away from the connecting slot 5112. At this time, the opening and closing plate 7, under the action of the reset spring 73, drives the limit rod 74 to be inserted into the limit hole 5123, thereby fixing the limit block 5122 so that it remains located at the end of the limit arc slot 5111 away from the connecting slot 5112. After the workpiece is sprayed and rotated to the cooling zone 42 and cooled, the unlocking sleeve 91 is driven to rotate. The unlocking sleeve 91 drives the second mounting part 512 to rotate through the unlocking rod 92, forcing the limit block 5122 to rotate to the end of the limit arc groove 5111 close to the connecting groove 5112. The second mounting part 512 can fall into the docking tube 62 under the action of its own gravity, which greatly improves the convenience of disassembly and assembly of the workpiece.

[0062] Example 6 The embodiment of the present application also discloses a thermal spraying method.

[0063] A thermal spraying method comprises the following steps: S1. Installation of workpiece: The workpiece to be sprayed is installed on the installation seat 5 through the installation rod 51 .

[0064] S2. Spraying: The mechanical arm 2 is used to drive the spray gun 3 to move, and the rotating roller 4 and the rotating rod 54 are rotated to spray the surface of the workpiece.

[0065] S3. Removal of workpiece: After the temperature of the sprayed workpiece drops to an appropriate range, the sprayed workpiece is removed.

[0066] The above are preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A thermal spraying device, characterized in that: The invention comprises a mounting platform (1), a mechanical arm (2) and a spray gun (3), wherein the mechanical arm (2) is arranged on one side of the mounting platform (1), and the spray gun (3) is arranged on the mechanical arm (2); a rotating roller (4) is rotatably mounted on the mounting platform (1), a mounting seat (5) for mounting a workpiece is arranged on the peripheral wall of the rotating roller (4), the mounting seat (5) is rotatably connected to the rotating roller (4), and the rotation center axis of the mounting seat (5) is perpendicular to the rotation center axis of the rotating roller (4); the mounting platform (1) is respectively provided with a first driving member and a second driving member, wherein the first driving member is used to drive the rotating roller (4) to rotate, and the second driving member is used to drive the mounting seat (5) to rotate.

2. A thermal spraying equipment according to claim 1, characterized in that: The outer peripheral side of the rotating roller (4) is respectively provided with a spraying zone (41) and a cooling zone (42), and the spraying zone (41) and the cooling zone (42) are arranged at intervals around the central axis of the rotating roller (4); two mounting seats (5) are provided, and the two mounting seats (5) are both rotatably connected to the rotating roller (4), and when one of the mounting seats (5) rotates around the central axis of the rotating roller (4) to the spraying zone (41), the other mounting seat (5) rotates to the cooling zone (42); the second driving member is used to drive the two mounting seats (5) to rotate synchronously.

3. A thermal spraying equipment according to claim 2, characterized in that: A mounting rod (51) is provided between the mounting seat (5) and the workpiece, and the workpiece is mounted on a side of the mounting seat (5) away from the rotating roller (4) through the mounting rod (51); a ventilation cavity (52) is provided in each of the two mounting seats (5), and a first ventilation hole (53) communicating with the ventilation cavity (52) is provided on a side wall of each mounting seat (5) away from the rotating roller (4); the mounting platform (1) is provided with a temperature control component (6), and the temperature control component (6) is used to preheat the workpiece in the spraying area (41) and cool the workpiece in the cooling area (42).

4. A thermal spraying equipment according to claim 3, characterized in that: The temperature control component (6) comprises a docking ring (61), a docking tube (62), a heating element, an air supply element and a third driving element. The docking ring (61) is arranged on the mounting platform (1) and sleeved on the outer peripheral side of the rotating roller (4). A ventilation flow channel (611) is provided in the docking ring (61), and the ventilation flow channel (611) is respectively connected to the ventilation cavities (52) of the two mounting seats (5); the heating element is arranged in the ventilation flow channel (611) for heating air, the docking tube (62) is slidably mounted on the mounting platform (1) for covering the mounting seat (5) of the cooling zone (42), and the air supply element is arranged on the docking tube (62) for blowing air into the docking tube (62); The third driving member is arranged on the docking sleeve (62), and is used to drive the docking sleeve (62) to slide so as to cover or detach from the mounting seat (5) of the cooling zone (42).

5. A thermal spraying equipment according to claim 4, characterized in that: The mounting seat (5) is connected to a rotating rod (54), the rotating rod (54) is rotatably connected to the rotating roller (4), and the mounting seat (5) is rotatably mounted on the rotating roller (4) through the rotating rod (54); an opening communicating with the air passage (611) is provided on the side wall of the docking ring (61), the opening is arranged in a ring shape around the central axis of the docking ring (61), a connecting ring (612) is rotatably mounted on the inner wall of the docking ring (61) at the opening, the shape of the connecting ring (612) being adapted to the shape of the opening so as to close the opening; a connecting seat is sleeved on the outer peripheral wall of the rotating rod (54) (55), the connecting seat (55) is located between the mounting seat (5) and the rotating roller (4), and the connecting seat (55) is fixedly connected to the connecting ring (612); a first connecting flow channel (551) is provided in the connecting seat (55), and a second connecting flow channel (541) is provided in the rotating rod (54), one end of the second connecting flow channel (541) is connected to the first connecting flow channel (551), and the other end is connected to the ventilation cavity (52), and a connecting hole (613) connected to the first connecting flow channel (551) is provided on the side wall of the connecting ring (612) close to the ventilation flow channel (611).

6. A thermal spraying equipment according to claim 4, characterized in that: An opening and closing plate (7) is slidably mounted in the ventilation cavity (52) of each mounting seat (5), a second ventilation hole (71) is provided on the plate surface of the opening and closing plate (7), the second ventilation hole (71) and the first ventilation hole (53) are staggered, and an opening and closing column (72) for inserting the first ventilation hole (53) is provided on the plate surface of the opening and closing plate (7) away from the rotating roller (4); a spacer (72) is provided between the opening and closing plate (7) and the inner wall of the ventilation cavity (52). A return spring (73) is provided, and the return spring (73) normally causes the opening and closing column (72) to be inserted into the first vent hole (53) to close the first vent hole (53); the opening and closing plate (7) is provided with a linkage component (8), and when the docking tube (62) covers the mounting seat (5) of the cooling zone (42), the linkage component (8) drives the opening and closing plates (7) in the two mounting seats (5) to slide synchronously to open the first vent holes (53) corresponding to each other.

7. A thermal spraying equipment according to claim 6, characterized in that: The linkage assembly (8) comprises a pushing ring (81) and a linkage member. Two pushing rings (81) are provided and are arranged corresponding to two mounting seats (5). Each pushing ring (81) is slidably sleeved on the outer peripheral wall of the corresponding mounting seat (5) and is connected and fixed to the opening and closing plate (7) in the mounting seat (5). When the docking tube (62) is covered on the mounting seat (5) in the cooling zone (42), the docking tube (62) pushes the pushing ring (81) and forces the corresponding opening and closing plate (7) to move toward the rotating roller (4) to force the opening and closing column (72) to disengage from the first vent hole (53). The linkage member is arranged between the opening and closing plates (7) of the two mounting seats (5) to drive the two opening and closing plates (7) to move synchronously and in opposite directions.

8. A thermal spraying equipment according to claim 6, characterized in that: The mounting rod (51) comprises a first mounting portion (511) and a second mounting portion (512), one end of the first mounting portion (511) is connected to the mounting seat (5), and one end of the second mounting portion (512) is connected to the workpiece; an end surface of the second mounting portion (512) away from the workpiece is provided with an insertion groove (5121) for the first mounting portion (511) to be inserted, and an inner wall of the insertion groove (5121) is provided with a limit block (5122); an outer peripheral wall of the first mounting portion (511) is provided with a limit arc groove (5111), and the limit arc groove (5111) is arranged in an arc shape around the central axis of the first mounting portion (511), and one end of the limit arc groove (5111) is provided with a connecting groove (5112 ), one end of the connecting groove (5112) away from the limiting arc groove (5111) passes through the end surface of the first mounting portion (511) away from the mounting seat (5) to allow the limiting block (5122) to enter and exit; the inner wall of the plug-in groove (5121) is provided with a limiting hole (5123), and the opening and closing plate (7) is provided with a limiting rod (74), one end of the limiting rod (74) is connected to the opening and closing plate (7), and the other end passes through the first mounting portion (511) and is used to insert the limiting hole (5123), when the limiting block (5122) enters the limiting arc groove (5111) and rotates to the end of the limiting arc groove (5111) away from the connecting groove (5112), the limiting rod (74) is inserted into the limiting hole (5123).

9. A thermal spraying equipment according to claim 8, characterized in that: When the docking tube (62) is covered on the mounting seat (5) of the cooling zone (42) and the first ventilation hole (53) of the mounting seat (5) is opened, the limiting rod (74) is disengaged from the limiting hole (5123); an unlocking member (9) is provided between the second mounting portion (512) and the docking tube (62), and the unlocking member (9) is used to rotate the limiting block (5122) to one end of the limiting arc groove (5111) close to the connecting groove (5112).

10. A thermal spraying method, based on a thermal spraying device according to any one of claims 1 to 9, comprising the following steps: S1. Workpiece installation: installing the workpiece to be sprayed on the mounting seat (5); S2, spraying: spraying the surface of the workpiece using a spray gun (3); S3. Workpiece removal: remove the workpiece after spraying.

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