CN113600365B - Equipment and method for protecting and cleaning surface of hollow titanium alloy wing rudder - Google Patents

Abstract

The invention relates to equipment and a method for protecting and cleaning a superplastic diffusion surface of a hollow titanium alloy wing rudder.

Description

Equipment and method for protecting and cleaning surface of hollow titanium alloy wing rudder

Technical Field

The invention belongs to the field of mechanical engineering, and relates to equipment and a method for protecting and cleaning a superplastic diffusion surface of a hollow titanium alloy wing rudder.

Background

In the high-temperature forming process of the titanium alloy product, oxygen is preferentially adsorbed on the surface to form a pollution layer, and the pollution layer can reduce the forming performance of the titanium alloy and shorten the service life of the titanium alloy. In the aspect of surface protection, the glass protection lubricating material of borosilicate glass is mainly sprayed by hands, and the method has low efficiency and is difficult to control the quality of the coating. In the aspect of removing a surface pollution layer, the preparation of the conventional alkali-disintegrating acid-washing process is lack of effective data support actually, the method for removing the pollution layer cannot meet the requirement of mass production, meanwhile, waste water and waste gas generated by the process can cause certain harm to operators and the environment, and the production is easy to cause the problems of production stop and production limitation due to the requirement of environmental protection control; meanwhile, the outer surface of the titanium alloy wing rudder is complex, and the front and back surfaces of the titanium alloy wing rudder are cleaned by the same laser parameters without corresponding tools, so that the effects of the titanium alloy wing rudder are different.

Therefore, an equipment is urgently needed to be designed, the spraying efficiency of the protective coating before superplastic diffusion forming and the removal efficiency of the pollution layer after forming of the hollow titanium alloy wing rudder are improved, and at present, a patent related to the equipment is not provided temporarily.

Disclosure of Invention

The invention aims to overcome the defects and provides equipment and a method for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder.

In order to achieve the above purpose, the invention provides the following technical scheme:

a device for protecting and cleaning the surface of a hollow titanium alloy wing rudder comprises an installation base, a centering and clamping device, a working head clamping device and a moving platform;

the centering and clamping device comprises a screw rod sliding block, a first support frame, a second support frame, a first clamping jaw, a second clamping jaw, a screw rod motor and a clamping jaw motor;

the lead screw sliding block is fixedly arranged on the mounting base; the lower ends of the first support frame and the second support frame are fixedly connected with a screw rod sliding block, and a screw rod motor drives the screw rod sliding block to drive the first support frame and the second support frame to perform linear displacement;

the first clamping jaw and the second clamping jaw are respectively arranged at the upper ends of the first support frame and the second support frame, the clamping jaw motor drives the first clamping jaw to rotate, and the second clamping jaw freely rotates; the rotating shafts of the first clamping jaw and the second clamping jaw are parallel to the linear displacement direction of the first supporting frame and the second supporting frame;

the working head clamping device and the moving platform are supported on the working table and located above the centering and clamping device, and the working head clamping device and the moving platform are arranged on the working table.

Furthermore, the first clamping jaw and the second clamping jaw are of a three-section rod structure connected by a rolling shaft and used for clamping the outer contour of the hollow titanium alloy wing rudder product to be processed; the centering fixtures are fixedly arranged on the first clamping jaw and the second clamping jaw and used for clamping the hollow titanium alloy wing rudder product to be processed, and the number of the centering fixtures arranged on the first clamping jaw or the second clamping jaw is more than or equal to 1; the first clamping jaw and the second clamping jaw are used for preliminarily clamping products, and the clamping direction of the centering clamp is perpendicular to the clamping direction of the first clamping jaw and the second clamping jaw and used for further fixing the hollow titanium alloy wing rudder products to be processed.

Further, the centering fixture is a toggle centering fixture; the toggle centering fixture comprises a rotating wheel, sliding blocks, crank rocker assemblies and clamping end heads, wherein the rotating wheel is connected with the sliding blocks, the rear ends of the 2 crank rocker assemblies are respectively fixed on the upper surface and the lower surface of the sliding blocks, the front ends of the 2 crank rocker assemblies are respectively provided with the clamping end heads, and the rotating wheel drives the sliding blocks to move back and forth so as to drive the crank rocker assemblies to move, so that the clamping end heads move up and down; the crank and rocker assembly comprises a crank, a rocker and a connecting rod, the crank is fixedly connected with the sliding block, the connecting rod is provided with a clamping end, and the crank is hinged with the connecting rod; the contact position of the clamping end head and the hollow titanium alloy wing rudder product to be processed is positioned at the dead point position of the movement of the crank rocker assembly.

Further, the centering fixture further comprises a crank connecting rod bottom plate, the rotating wheel is connected with the screw rod, the screw rod penetrates through the sliding block and is fixed on the crank connecting rod bottom plate, one end of the crank is fixedly connected with the sliding block, the other end of the crank is hinged with the middle of the rocking rod, one end of the rocking rod is connected with the crank connecting rod bottom plate, the other end of the rocking rod is hinged with the connecting rod, one end of the connecting rod is connected with the crank connecting rod bottom plate, and the other end of the connecting rod is provided with a clamping end.

In the above description, one end of the holding end is taken as the front, and the direction in which the first support frame and the second support frame move in opposite directions is taken as the front.

Further, the mounting base comprises a bottom plate and a mounting mechanism, and the bottom plate is mounted on the workbench through the mounting mechanism;

the installation mechanism comprises a slide rail fixedly installed on the workbench and a guide wheel installed on the lower surface of the bottom plate, and the guide wheel drives the bottom plate to move along the slide rail so as to realize the pulling-out of the bottom plate from the workbench.

Furthermore, a support rod is arranged on the lower surface of the bottom plate, so that the support of the pulled bottom plate is realized; the supporting rod is connected with the bottom plate through universal wheels.

Furthermore, the working head clamping device and a moving platform in the moving platform comprise a first lead screw slider module, a second lead screw slider module and a hydraulic support rod;

the working head clamping device and the moving platform are supported on the mounting base through the hydraulic support rod;

the first lead screw sliding block module and the second lead screw sliding block module are perpendicular to each other and parallel to the workbench.

Furthermore, the first lead screw slider module is arranged above the second lead screw slider module and is fixedly connected with the second lead screw slider module;

the working head clamping device is fixedly connected with the second lead screw sliding block module and drives the working head to axially move along the second lead screw sliding block module; the first lead screw sliding block module drives the second lead screw sliding block module to integrally move along the axial direction of the first lead screw sliding block module.

A method for protecting and cleaning the surface of a hollow titanium alloy wing rudder is realized by adopting the equipment for protecting and cleaning the surface of the hollow titanium alloy wing rudder, and comprises the following steps:

s1, adjusting the distance between a first support frame and a second support frame;

s2, driving a first clamping jaw to fix the angle of the product by using a clamping jaw motor;

s3, adjusting the working head in the three-dimensional direction by using the mobile platform, so that after the requirements of spraying a protective coating or removing a pollution layer of a product are met, spraying the protective coating or removing the pollution layer of the product;

s4, after the spraying of the protective coating on one surface of the product or the removal of the pollution layer is finished, driving the product to turn over by using a jaw motor;

and S5, repeating the step S3, and spraying a protective coating or removing a pollution layer on the other surface of the product.

Further, in step S3, the working head used in the protective coating spraying process is a spray gun, and the working head used in the contamination layer removing process is a laser.

Further, in step S3, the process of removing the contamination layer includes:

s31, adjusting the three-dimensional direction of the working head by using the mobile platform, and removing all oxide skins of the product by adjusting the parameters of the laser;

s32, adjusting the three-dimensional direction of the working head by using the mobile platform, and removing more than four fifths of the oxygen-enriched layer of the product by adjusting the parameters of the laser according to the thickness of the generated oxygen-enriched layer;

s33, the working head is adjusted in the three-dimensional direction by using the movable platform, and the residual oxygen-enriched layer of the product is removed by adjusting the parameters of the laser under the condition of not damaging the base material.

Compared with the prior art, the invention has the following beneficial effects:

(1) The equipment for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder is provided with the specific structure of the centering and clamping device, meets the requirements of clamping and overturning of a product, can flexibly adjust the position and the rotation angle of the product, and ensures that the hollow titanium alloy wing rudder is more accurately and conveniently matched with a working head;

(2) According to the equipment for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder, the mounting base is designed into a structure which can be pulled out of the workbench and can be stably supported, so that the product can be conveniently mounted and clamped;

(3) According to the equipment for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder, the working head can be driven by the working platform to realize three-degree-of-freedom linkage, so that the working area is increased, and the protection and cleaning processes of a product are more accurate and delicate;

(4) The invention relates to equipment for protecting and cleaning the superplastic diffusion surface of a hollow titanium alloy wing rudder, which designs the specific structure of a centering clamp, so that the contact position of a clamping end head and a hollow titanium alloy wing rudder product to be treated is positioned at the dead point of the motion of a crank rocker assembly, and the centering clamp can realize the positioning of a workpiece with a complex shape surface by matching with a clamping jaw;

(4) The equipment for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder can be used for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder, can effectively remove a pollution layer on the surface of the titanium alloy wing rudder, can remove most of the pollution layer under the condition of ensuring that a base material is not damaged, and avoids the influences of production limitation, production halt and the like caused by alkali-breakdown acid washing;

(5) Compared with the conventional processing method, the tool adopted by the invention can realize double-sided spraying and film forming simultaneously, obviously shortens the processing period, reduces the cost, greatly improves the production efficiency, can avoid the influence of repeated positioning in the laser cleaning process on the removal effect, improves the surface quality of titanium alloy wing rudder products, and is beneficial to the batch production of the titanium alloy wing rudders.

Drawings

FIG. 1 is a schematic structural diagram of the equipment for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder, provided by the invention;

FIG. 2 is a schematic view of a hollow titanium alloy wing rudder product according to example 1;

FIG. 3 is a bottom view of the mounting base of the present invention;

FIG. 4 is a top view of the centering and clamping device of the present invention;

FIG. 5 is a schematic view of a work head clamping device and a movable platform according to the present invention;

fig. 6 is a schematic structural view of a centering fixture of the present invention.

Detailed Description

The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The invention provides a total protection and cleaning device for a hollow titanium alloy wing rudder superplastic diffusion surface, which has a structure shown in figure 1 and consists of the following three parts: the device comprises a mounting base 1, a centering and clamping device 2, a working head clamping device and a moving platform 3. The mounting base 1 mainly comprises a bottom plate 11, a slide rail, a guide wheel 12 and a support rod 13, wherein the support rod 13 is connected with the bottom plate 11 through a universal wheel. The bottom plate 11 mainly serves as a mounting platform of the centering and clamping device 2, in order to facilitate clamping of a product, the bottom plate 11 is designed to be in a pull-out structure, the bottom plate 11 is pulled out of a workbench through cooperation of a sliding rail and a guide wheel 12, and meanwhile, in order to prevent the bottom plate 11 from turning over, the bottom plate is connected with a retractable supporting rod 13, and the bottom surface of the bottom plate 11 serves as a supporting point. The centering and clamping device 2 mainly includes a screw slider 21, a screw motor, a first support frame 221, a second support frame 222, a first jaw 231, a second jaw 232, and a jaw motor. The claw motor is a brake motor. The centering and clamping device 2 is mainly used for clamping and overturning products, a screw rod motor is used for driving a screw rod sliding block, a supporting frame can be adjusted to a position convenient for clamping, a clamping jaw capable of swinging is convenient to adapt to the complex outer contour of the products so as to facilitate clamping, a toggle centering fixture arranged on the clamping jaw can ensure that a central layer of the products is kept unchanged during overturning, and the products can be driven to overturn by the clamping jaw motor during working. The work head clamping device and the moving platform 3 mainly include two sets of lead screw slider modules perpendicular to each other, which are a first lead screw slider module 31, a second lead screw slider module 32, a hydraulic support rod 33 (coordinate system is shown in fig. 1) for moving in the Z direction, a work head clamping device 34 and a motor for driving. The working head clamping device and the moving platform 3 are main working positions, different operations on a workpiece can be realized by clamping a paint spray gun or a laser emitter, the working heads can move on a plane parallel to the working platform through two mutually perpendicular lead screw sliding block modules, the working area can be enlarged, the moving platform can move in the Z direction through the hydraulic support rod 33, working parameters can be conveniently adjusted, and three-degree-of-freedom linkage is realized.

The equipment for protecting and cleaning the superplastic diffusion surface of the hollow titanium alloy wing rudder is mainly used for two situations, namely spraying of a protective coating before superplastic diffusion forming and laser removal of a formed pollution layer. The operation methods of the two cases are similar, the only difference is that the working heads used are different, and the operation is as follows: the distance of the support frame is adjusted through the motor to be suitable for corresponding products, and then the hollow titanium alloy wing rudder is clamped through the toggle centering clamp, and the angle of the products can be fixed through the brake motor. After one side of the product is processed, the product can be turned over by using the motor, and then the other side is processed.

Example 1

The example provides equipment for protecting and cleaning the superplastic diffusion surface of a hollow titanium alloy wing rudder, wherein the material of the part is TA15 titanium alloy, the external dimension of the part is 300mm multiplied by 200mm, and the maximum thickness of the part is 6mm, as shown in figure 2.

The hollow titanium alloy wing rudder superplastic diffusion surface protection and cleaning equipment is designed and manufactured according to a hollow titanium alloy wing rudder superplastic diffusion surface protection and cleaning equipment three-dimensional model. The structure of the device is shown in figure 1 and comprises the following three parts: the device comprises a mounting base 1, a centering and clamping device 2, a working head clamping device and a moving platform 3. The bottom view of the mounting base 1 is shown in fig. 3, and mainly comprises a bottom plate 11, a slide rail, a guide wheel 12 and a support rod 13, wherein the support rod 13 is connected with the bottom plate 11 through a universal wheel. The bottom plate 11 is mainly used as a mounting platform of the centering and clamping device 2 and is provided with a plurality of mounting holes, and simultaneously, due to the guide wheels 12 and the support rods 13, the bottom plate 11 can be pulled out of the workbench, so that the product can be conveniently clamped. As shown in fig. 4, the centering and clamping device 2 mainly includes a screw slider 21, a screw motor, a first support frame 221, a second support frame 222, a first jaw 231, a second jaw 232, and a jaw motor, wherein the jaw motor is a brake motor. The screw slider 21 is mounted on the base plate 11 by bolts, and the first support bracket 221 and the second support bracket 222 are mounted on the screw slider 21 by bolts, respectively. The first jaw 231 and the second jaw 232 are respectively mounted on the first support frame 221 and the second support frame 222 through shafts, the first jaw 231 on the first support frame 221 is driven by a brake motor to rotate at a fixed angle, and the jaw on the second support frame 222 is a free end and can rotate along with a product. In order to clamp the product shown in fig. 2 firmly, the clamping jaw consists of three sections of rods connected by a rolling shaft, a toggle centering clamp shown in fig. 6 is arranged on the clamping jaw, the clamp can realize the positioning of a workpiece with a complex shape by matching with the clamping jaw, the toggle centering clamp comprises a rotating wheel, a sliding block, a crank rocker assembly and a clamping end head, the rotating wheel is connected with the sliding block, the rear ends of 2 crank rocker assemblies are respectively fixed on the upper surface and the lower surface of the sliding block, the front ends of the 2 crank rocker assemblies are respectively provided with the clamping end head, and the rotating wheel drives the sliding block to move back and forth so as to drive the crank rocker assembly to move, so that the clamping end head moves up and down; the crank and rocker assembly comprises a crank, a rocker and a connecting rod, the crank is fixedly connected with the sliding block, the connecting rod is provided with a clamping end, and the crank is hinged with the connecting rod; the contact position of the clamping end head and the hollow titanium alloy wing rudder product to be processed is positioned at the dead point position of the movement of the crank rocker assembly.

The working head clamping device and the moving platform 3 are shown in fig. 5, and mainly comprise two groups of lead screw slider modules which are perpendicular to each other, namely a first lead screw slider module 31 and a second lead screw slider module 32, a hydraulic support rod 33 for moving in the Z direction, a working head clamping device 34 and a motor for driving. The working head clamping device and the moving platform 3 are main working parts, different operations on workpieces can be realized by clamping a paint spray gun or a laser emitter, the working heads can move on a plane parallel to the working platform through two mutually perpendicular lead screw sliding block modules, the working area is enlarged, the platform can move in the Z direction through the hydraulic support rod 33, working parameters can be conveniently adjusted, and three-degree-of-freedom linkage is realized.

The specific method steps of this example are as follows:

spraying a protective coating before superplastic diffusion forming of the titanium alloy wing rudder. The distance between the first support frame 221 and the second support frame 222 is adjusted by a motor to be suitable for a corresponding product, and then the product is clamped by a toggle centering clamp, and the angle of the product can be fixed by driving the first jaw 231 by a brake motor. Loading a prepared coating turbid liquid into a spray gun, installing the spray gun in a working head clamping device and a working head clamping device in a movable platform 3, uniformly spraying the coating turbid liquid on the surface of a product to be formed at a proper Z-direction distance and a constant speed under the driving of the movable platform, overturning the product by using a jaw motor after one surface of the product is treated, and then treating the other surface.

And removing a pollution layer after the superplastic diffusion forming of the titanium alloy wing rudder. The removal of the pollution layer is carried out by making different laser cleaning strategies according to different forming processes under the condition of not damaging the base material. This first requires a large number of process experiments to obtain the thickness of the contamination layer under different process parameters and the removal amount of the contamination layer under different laser cleaning parameters. In the embodiment, the device is used for cleaning the superplastic diffusion surface of the titanium alloy wing rudder in three steps. The method comprises the following steps of firstly, adjusting the three-dimensional direction of a working head by using a mobile platform, and only removing all oxide skins of a product without affecting the removal of an oxygen-enriched layer by adjusting parameters of a laser and using the principles of vibration and ablation; adjusting the three-dimensional direction of the working head by using the movable platform for the second time, and removing more than four fifths of the oxygen-rich layer of the product in an ablation manner by adjusting the parameters of the laser according to the thickness of the generated oxygen-rich layer; and finally, adjusting the three-dimensional direction of the working head by using the mobile platform, and removing the residual oxygen-enriched layer of the product by adjusting the parameters of the laser under the condition of not damaging the base material.

In the laser cleaning process, the same tool is still adopted to clamp the titanium alloy wing rudder. Because the defocusing amount in the laser parameters can have certain influence on the cleaning effect, the centering clamping mechanism is used, the cleaning effect is ensured, and the cleaning efficiency is improved.

The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (8)

1. A device for protecting and cleaning the surface of a hollow titanium alloy wing rudder is characterized by comprising an installation base (1), a centering and clamping device (2), a working head clamping device and a moving platform (3);

the centering and clamping device (2) comprises a screw rod sliding block (21), a first supporting frame (221), a second supporting frame (222), a first clamping jaw (231), a second clamping jaw (232), a screw rod motor and a clamping jaw motor;

the lead screw sliding block (21) is fixedly arranged on the mounting base (1); the lower ends of the first support frame (221) and the second support frame (222) are fixedly connected with the screw rod sliding block (21), and the screw rod motor drives the screw rod sliding block (21) to drive the first support frame (221) and the second support frame (222) to linearly displace;

the first clamping jaw (231) and the second clamping jaw (232) are respectively arranged at the upper ends of the first support frame (221) and the second support frame (222), the clamping jaw motor drives the first clamping jaw (231) to rotate, and the second clamping jaw (232) freely rotates; the rotating shafts of the first clamping jaw (231) and the second clamping jaw (232) are parallel to the linear displacement direction of the first supporting frame (221) and the second supporting frame (222);

the working head clamping device and the moving platform (3) are supported on the working platform and are positioned above the centering and clamping device (2), the working head clamping device comprises a working head clamping device (34) and a moving platform, and the moving platform drives the working head clamping device (34) to move in a three-dimensional direction;

the device also comprises a centering clamp; the first clamping jaw (231) and the second clamping jaw (232) are of three-section rod structures connected by a rolling shaft, the centering fixture is fixedly arranged on the first clamping jaw (231) and the second clamping jaw (232) and used for clamping a hollow titanium alloy wing rudder product to be processed, and the number of the centering fixtures arranged on the first clamping jaw (231) or the second clamping jaw (232) is more than or equal to 1;

the centering fixture is a toggle centering fixture; the toggle centering fixture comprises a rotating wheel, sliding blocks, crank rocker assemblies and clamping end heads, wherein the rotating wheel is connected with the sliding blocks, the rear ends of the 2 crank rocker assemblies are respectively fixed on the upper surface and the lower surface of the sliding blocks, the front ends of the 2 crank rocker assemblies are respectively provided with the clamping end heads, and the rotating wheel drives the sliding blocks to move back and forth so as to drive the crank rocker assemblies to move, so that the clamping end heads move up and down; the crank and rocker assembly comprises a crank, a rocker and a connecting rod, the crank is fixedly connected with the sliding block, the connecting rod is provided with a clamping end, and the crank is hinged with the connecting rod; the contact position of the clamping end head and the hollow titanium alloy wing rudder product to be processed is positioned at the dead point position of the movement of the crank rocker assembly.

2. The equipment for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to the claim 1, wherein the mounting base (1) comprises a bottom plate (11) and a mounting mechanism, and the bottom plate (11) is mounted on a workbench through the mounting mechanism;

the installation mechanism comprises a slide rail fixedly installed on the workbench and a guide wheel (12) installed on the lower surface of the bottom plate (11), and the guide wheel (12) drives the bottom plate (11) to move along the slide rail to realize the pulling-out of the bottom plate (11) from the workbench.

3. The equipment for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to claim 2 is characterized in that a support rod (13) is further arranged on the lower surface of the bottom plate (11) to support the bottom plate (11) after the bottom plate (11) is pulled out; the supporting rod (13) is connected with the bottom plate (11) through universal wheels.

4. The equipment for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to claim 1, wherein the working head clamping device and the moving platform in the moving platform (3) comprise a first lead screw slider module (31), a second lead screw slider module (32) and a hydraulic support rod (33);

the working head clamping device and the moving platform (3) are supported on the mounting base (1) through a hydraulic support rod (33);

the first lead screw sliding block module (31) and the second lead screw sliding block module (32) are perpendicular to each other and parallel to the workbench.

5. The equipment for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to claim 3, wherein the first lead screw slider module (31) is arranged above the second lead screw slider module (32) and is fixedly connected with the second lead screw slider module (32);

the working head clamping device (34) is fixedly connected with the second lead screw sliding block module (32) and drives the working head to axially move along the second lead screw sliding block module (32); the first lead screw sliding block module (31) drives the second lead screw sliding block module (32) to integrally move along the axial direction of the first lead screw sliding block module (31).

6. The method for protecting and cleaning the surface of the hollow titanium alloy wing rudder is characterized by being realized by adopting the equipment for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to any one of claims 1 to 5, and comprising the following steps of:

s1, adjusting the distance between a first support frame (221) and a second support frame (222);

s2, driving a first clamping jaw (231) to fix the angle of the product by using a clamping jaw motor;

s3, adjusting the working head in the three-dimensional direction by using the mobile platform, so that after the requirements of spraying a protective coating or removing a pollution layer of a product are met, spraying the protective coating or removing the pollution layer of the product;

s4, after the spraying of the protective coating on one surface of the product or the removal of the pollution layer is finished, driving the product to turn over by using a jaw motor;

and S5, repeating the step S3, and spraying a protective coating or removing a pollution layer on the other surface of the product.

7. The method for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to claim 6, wherein in the step S3, a working head used in the protective coating spraying process is a spray gun, and a working head used in the pollution layer removing process is a laser.

8. The method for protecting and cleaning the surface of the hollow titanium alloy wing rudder according to claim 6, wherein in the step S3, the removing process of the pollution layer comprises the following steps:

s31, adjusting the three-dimensional direction of the working head by using the mobile platform, and removing all oxide skins of the product by adjusting the parameters of the laser;

s32, adjusting the working head in the three-dimensional direction by using the mobile platform, and removing more than four fifths of the oxygen-rich layer of the product by adjusting the parameters of the laser according to the thickness of the generated oxygen-rich layer;

s33, the working head is adjusted in the three-dimensional direction by using the movable platform, and the residual oxygen-enriched layer of the product is removed by adjusting the parameters of the laser under the condition of not damaging the base material.

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