A control method for avoiding automatic spray gun spray joint sag

Abstract

The application relates to an automatic spray gun and a control method for avoiding spray joint flow, which comprises a wall-climbing robot body, the wall-climbing robot body is composed of a gas collecting hood 1, a control module, a mounting bracket, a waste gas treatment unit, a spraying unit, a detection unit and a control unit, the spraying unit comprises a reciprocating screw rod, a driving unit, a connecting pipeline and a nozzle, a displacement sleeve is arranged on the reciprocating screw rod, the nozzle is arranged on the displacement sleeve through a mounting plate, an angle controller is arranged on the mounting plate, the nozzle is hingedly arranged on the mounting plate, and a control rod of the angle controller is hingedly fixed with the nozzle. Through the above technical scheme, the angle controller can control the direction of the nozzle, so that when the nozzle reaches the stroke limit, the direction of the nozzle is controlled to quickly deviate, the nozzle can be prevented from stopping at the stroke limit of the spraying, and the phenomenon that the nozzle causes paint to hang on the wall at the spraying boundary is solved.

Description

Technical Field

[0001] This invention relates to the field of ship repair technology, and in particular to a control method for preventing dripping at seams of automatic spray guns. Background Technology

[0002] Spraying robots are an essential device in ship surface processing. They can perform spraying and painting work on ship surfaces under the operation of workers. Before spraying and painting, the surface to be painted must be clean and tidy. Ship surfaces have positions such as inclined angles and vertical surfaces. However, traditional devices do not have a structure that can climb on their own, which makes it more difficult to process ship surfaces with inclined angles or vertical surfaces. A spraying robot with a self-climbing structure for ship surface processing can provide convenience for workers.

[0003] Currently, patent document CN216396834U discloses a rail-mounted spraying robot for ships. "A track is arranged around the perimeter of the ship, with a lifting platform placed on the track. A power unit is located on one side of the lifting platform, pushing it along the track. A material supply box and a spray recovery device are fixedly installed at the bottom of the lifting platform, moving along the track together with it. The spraying robot is mounted on the lifting platform and can not only move along the track with the lifting platform but also move vertically along the ship under the drive of the lifting platform, thus achieving comprehensive spraying of the ship's surface. This rail-mounted spraying robot for ships has advantages such as simple structure, reasonable design, ease of use, and flexible movement. It can achieve intelligent integration of spraying and power, effectively solving the problem of equipment hindering spraying operations." Traditional devices lack facilities for rust removal from ship surfaces, resulting in limited functionality and requiring workers to manually remove rust before spraying, which is cumbersome.

[0004] The existing technical solutions have the following drawbacks: existing spraying robots all have the problem of dripping at the nozzle seams, which requires post-processing. Therefore, there is an urgent need for a fully functional automated robot that does not require post-processing of the sprayed surface. Summary of the Invention

[0005] The purpose of this invention is to provide a control method to avoid dripping at the seams of automatic spray guns, thereby solving the problems existing in the prior art.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0007] A control method for avoiding dripping at seams in automatic spray gun painting includes a wall-climbing robot body. The wall-climbing robot body consists of a gas collection hood, a control module, a mounting bracket, an exhaust gas treatment unit, a spraying unit, a detection unit, and a control unit. The spraying unit includes a reciprocating screw, a drive unit, connecting pipes, and a nozzle. A displacement sleeve is provided on the reciprocating screw. The drive unit is drivenly connected to the reciprocating screw. The nozzle is mounted on the displacement sleeve via a mounting plate. The gas collection hood is equipped with a vision recognition unit, a data processing unit, a positioning unit, and a gas composition detection unit. The vision recognition unit is used to identify the interior of the gas collection hood. The data processing unit is connected to the vision recognition unit, the positioning unit, and the gas composition detection unit via electrical signals. An angle controller is provided on the mounting plate. The nozzle is hinged to the mounting plate, and the control rod of the angle controller is hinged and fixed to the nozzle.

[0008] By adopting the above technical solution, the angle controller can adjust the direction of the nozzle. In this way, when the nozzle reaches the stroke limit, the nozzle direction can be controlled to make the nozzle quickly deflect, thus avoiding the nozzle from stopping at the spraying limit and solving the problem of paint sticking to the wall at the spraying boundary.

[0009] In a further embodiment, the visual recognition unit includes a wide-angle camera, a supplementary lighting device, and a first position sensor. The wide-angle camera is disposed inside the gas collection hood via a displacement guide rail, the supplementary lighting device is disposed on the outer shell of the wide-angle camera, and the first position sensor is disposed at the connection between the wide-angle camera and the displacement guide rail.

[0010] In a further embodiment, the positioning unit includes a second position sensor located on the nozzle, a relative position sensor located on the gas collection hood, a movement position sensor, and a position data confirmation unit. The second position sensor, the relative position sensor, and the movement position sensor are all radioly connected to the position data confirmation unit, and the movement position sensor is spaced apart on the outside of the gas collection hood.

[0011] In a further embodiment, the inside of the gas collection hood is provided with a closed air curtain, which is evenly arranged around the periphery of the gas collection hood inlet. The closed air curtain includes a main air pipe, a plurality of branch air pipes evenly arranged at equal intervals on the main air pipe, and a jet nozzle at the end of each branch air pipe. One end of the main air pipe is provided with a sealing plug, and the other end of the main air pipe is connected to the waste gas treatment device. A solenoid valve is provided on the main air pipe, and the solenoid valve is electrically connected to the control module through an electric wire.

[0012] By adopting the above technical solution, the air curtain can isolate the gas flow between the inside and outside of the gas collection hood, preventing paint mist from escaping into the air and causing air pollution, thus indirectly protecting the environment and preventing respiratory diseases of operators.

[0013] In a further embodiment, the gas collection hood is provided with multiple negative pressure pipes inside, and all of the multiple negative pressure pipes are connected to the waste gas treatment unit through waste gas recovery pipes.

[0014] In a further embodiment, the exhaust gas treatment unit includes a gas collection box, a first treatment device and a second treatment device disposed inside the gas collection box. The first treatment device and the second treatment device have completely identical structures and are symmetrically arranged inside the gas collection box. The first treatment device includes an activated carbon filter layer, a fiber filter layer, a catalyst degradation layer, an adsorption layer and an exhaust unit. The activated carbon filter layer, the fiber filter layer, the catalyst degradation layer and the adsorption layer are sequentially attached. Each of the activated carbon filter layer, the fiber filter layer, the catalyst degradation layer and the adsorption layer is provided with a detection device, which is used to detect the adsorption state of the activated carbon filter layer, the fiber filter layer, the catalyst degradation layer and the adsorption layer.

[0015] In a further embodiment, a partition plate is provided in the middle of the gas collection box. The partition plate is used to divide the interior of the gas collection box into two non-communicating chambers. The surface of the partition plate is provided with a hydrophobic coating.

[0016] By adopting the above technical solution, the interior of the air collection box is divided into two symmetrical spaces by means of a partition plate. This allows the other space to be closed for maintenance or replacement of internal filter components while one space is working. Since the surface of ships is very large, this method can avoid the need to stop work and replace components during the operation of the robot.

[0017] It also includes the following steps:

[0018] S1. Determine the ship's positioning origin and establish a coordinate system for the fixed positioning origin, the relative position of the spray gun nozzle to the positioning origin, and the relative position of the spray gun mounting bracket to the positioning origin. The nozzle and mounting bracket are both calculated relative to the positioning origin.

[0019] S2. Control the angle adjuster according to the set nozzle stroke. The angle adjuster is used to control the nozzle to deflect rapidly when the nozzle reaches the limit position of the stroke.

[0020] By adopting the above technical solution, a coordinate system is established nearby to provide feedback on the positional relationship between the associated nozzle and the mounting bracket. This avoids data transmission delays, and because the coordinate system's position does not exceed a boundary dimension of 1000 meters, the coordinate position accuracy of this method is higher than that obtained by using the BeiDou satellite positioning system. This allows for better control of the nozzle's position and avoids the problem of flow sludge at the joints.

[0021] In summary, the present invention has the following beneficial effects:

[0022] 1. By setting the nozzle on the angle controller, the direction of the nozzle can be adjusted. This way, when the nozzle reaches the limit of its stroke, the nozzle direction can be controlled to quickly deflect the nozzle, thus avoiding the nozzle from stopping at the spray limit and solving the problem of paint sticking to the wall at the spray boundary.

[0023] 2. The interior of the air collection box is divided into two symmetrical spaces by means of a partition plate. This allows the other space to be closed for maintenance or replacement of internal filter components while one space is working. Since the surface of ships is very large, this method can avoid the need to stop work and replace components during the operation of the robot.

[0024] 3. By determining the ship's positioning origin, a coordinate system is established that includes the fixed positioning origin, the relative positions of the spray gun nozzle and the positioning origin, and the relative positions of the spray gun mounting bracket and the positioning origin. The setting of calculating the coordinate positions of both the nozzle and the mounting bracket relative to the positioning origin allows for the establishment of a nearby coordinate system to provide feedback on the positional relationship between the associated nozzle and the mounting bracket. This avoids data transmission delays, and because the coordinate system's position does not exceed a boundary dimension of 1000 meters, this method offers higher coordinate accuracy compared to coordinates obtained using the BeiDou satellite positioning system. This results in better control of the nozzle position and avoids the problem of spray dripping at seams. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of an automatic spray gun according to the present invention;

[0026] Figure 2 This is a structural schematic diagram of the connection position of the nozzle of an automatic spray gun according to the present invention;

[0027] Figure 3 This is a schematic diagram of the internal structure of the air collection box of an automatic spray gun according to the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of an automatic spray gun gas collection hood according to the present invention;

[0029] Figure 5 This is a schematic diagram of the coordinate system establishment method for a control method of avoiding dripping at the seams of automatic spray guns according to the present invention;

[0030] Figure 6 This is a flowchart of a control method for avoiding dripping at seams in automatic spray gun coating according to the present invention.

[0031] In the diagram, 1. Gas collection hood; 2. Control module; 3. Mounting bracket; 4. Exhaust gas treatment unit; 41. Gas collection box; 42. First treatment device; 43. Second treatment device; 5. Spraying unit; 51. Reciprocating lead screw; 52. Drive unit; 53. Connecting pipeline; 54. Nozzle; 6. Detection unit; 7. Control unit; 8. Visual recognition unit; 81. Wide-angle camera; 82. Supplemental lighting device; 83. First position sensor; 84. Displacement guide rail; 9. Data processing unit; 10. Positioning unit; 11. Gas composition monitoring unit; 12. Angle controller; 13. Second position sensor; 14. Relative position sensor; 15. Movement position sensor; 16. Position data confirmation unit; 17. Enclosed air curtain; 18. Negative pressure pipe. Detailed Implementation

[0032] The present invention will be further described in detail below with reference to the accompanying drawings.

[0033] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1 In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0034] Example 1:

[0035] like Figure 1-6As shown, a control method for avoiding dripping at seams during automatic spray gun painting includes a wall-climbing robot. The wall-climbing robot body consists of a gas collection hood 1, a control module 2, a mounting bracket 3, an exhaust gas treatment unit 4, a spraying unit 5, a detection unit 6, and a control unit 7. The spraying unit 5 includes a reciprocating screw 51, a drive unit 52, a connecting pipe 53, and a nozzle 54. A displacement sleeve is provided on the reciprocating screw 51. The drive unit 52 is drively connected to the reciprocating screw 51. The nozzle 54 is mounted on the displacement sleeve via a mounting plate. The gas collection hood 1... The internal components of the gas collection hood 1 include a visual recognition unit 8, a data processing unit 9, a positioning unit 10, and a gas composition monitoring unit 11. The visual recognition unit 8 is used to identify the interior of the gas collection hood 1. The data processing unit 9 is connected to the visual recognition unit 8, the positioning unit 10, and the gas composition monitoring unit 11 via electrical signals. An angle controller 12 is provided on the mounting plate, and the nozzle 54 is hinged to the mounting plate. The control rod of the angle controller 12 is hinged and fixed to the nozzle 54. The control method of the robot includes the following steps:

[0036] S1. Determine the positioning origin of the ship and establish a coordinate system for the fixed positioning origin, the relative position of the spray gun nozzle to the positioning origin, and the relative position of the spray gun mounting bracket 3 to the positioning origin. The nozzle and the mounting bracket 3 are both calculated relative to the positioning origin.

[0037] S2. The angle controller 12 is controlled according to the set nozzle 54 stroke. The angle controller 12 is used to control the nozzle 54 to deflect rapidly when the nozzle 54 reaches the limit position of the stroke.

[0038] like Figure 1-6As shown, the visual recognition unit 8 includes a wide-angle camera 81, a supplementary lighting device 82, and a first position sensor 83. The wide-angle camera 81 is mounted inside the gas collection hood 1 via a displacement guide rail 84. The supplementary lighting device 82 is mounted on the outer shell of the wide-angle camera 81. The first position sensor 83 is located at the connection point between the wide-angle camera 81 and the displacement guide rail 84. The positioning unit 10 includes a second position sensor 13 located on the nozzle 54, a relative position sensor 14 located on the gas collection hood 1, a movement position sensor 15 located on the gas collection hood 1, and a position data confirmation unit 16. The second position sensor 13, the relative position sensor 14, and the movement position sensor 15 are all wirelessly connected to the position data confirmation unit 16. The movement position sensors 15 are spaced apart on the outer side of the gas collection hood 1. A closed air curtain 17 is provided inside the gas collection hood 1. The closed air curtain 17 is evenly arranged along the periphery of the air inlet of the gas collection hood 1. The closed air curtain 17 includes a main air pipe, multiple branch air pipes evenly spaced on the main air pipe, and a jet nozzle at the end of each branch air pipe. One end of the main gas pipe is equipped with a sealing plug, and the other end of the main gas pipe is connected to the exhaust gas treatment device. The main gas pipe is equipped with a solenoid valve, which is electrically connected to the control module 2 via an electric wire. The gas collection hood 1 is equipped with multiple negative pressure pipes 18, which are all connected to the exhaust gas treatment unit 4 via exhaust gas recovery pipes. The exhaust gas treatment unit 4 includes a gas collection box 41, a first treatment device 42 and a second treatment device 43 disposed inside the gas collection box 41. The first treatment device 42 and the second treatment device 43 have completely identical structures and are symmetrically arranged inside the gas collection box 41. The first treatment device 42 includes an activated carbon filter layer, a cotton fiber filter layer, a catalyst degradation layer, an adsorption layer and an exhaust unit. The activated carbon filter layer, the cotton fiber filter layer, the catalyst degradation layer and the adsorption layer are sequentially attached. The activated carbon filter layer, the cotton fiber filter layer, the catalyst degradation layer and the adsorption layer are all equipped with detection devices, which are used to detect the adsorption status of the activated carbon filter layer, the cotton fiber filter layer, the catalyst degradation layer and the adsorption layer. An isolation plate is provided in the middle of the gas collection box 41. The isolation plate is used to divide the interior of the gas collection box 41 into two non-communicating chambers. The surface of the isolation plate is provided with a hydrophobic coating.

[0039] Specific implementation process: By setting the nozzle on the angle controller, the nozzle direction can be adjusted. This allows the nozzle to quickly deflect when it reaches its stroke limit, preventing it from stopping at the spray limit and thus solving the problem of paint dripping at the spray boundary. The angle controller quickly adjusts the nozzle's end position when it reaches its single-stroke limit, avoiding paint dripping caused by mechanical jamming and short stops at the stroke limit. Furthermore, because this device has multiple sets of pipelines, the nozzle can be connected not only to paint pipelines for spraying but also to laser nozzles for rust removal. The beneficial effect of this invention is solving the technical problem of paint dripping at spray seams.

[0040] Example 2:

[0041] like Figure 1-6 As shown, a control method for avoiding dripping at the seams of automatic spray guns is presented. In the well-known surface repair of large ships, painting is an essential part. Because the displacement during a single spray is limited, painting is generally performed by controlling a wall-climbing robot to reciprocate along a specific route. Inevitably, dripping and repeated spraying occur at the paint seams due to splicing issues, leading to substandard painting processes and requiring post-processing. Paint seams can be either left-right or top-bottom. In this invention, the nozzle displacement is controlled by a reciprocating screw. The method for controlling the left-right seams is detailed in the embodiments. This paper describes how to control the top-bottom seams, where the entire mounting bracket drives the device to move up and down. During the process, precise positioning is required. Therefore, this invention first establishes a relative coordinate system transmitted wirelessly by cooperating with a local area network and a fixed position. The origin of the relative coordinate system is always the location of the moving position sensor 15. The positional relationship between the moving position sensor 15 and the relative position sensor 14 is established by the principle of laser emission and reflection. Mutual positioning is achieved by angle and distance. Since the ship is fixed in the dock during the painting process, the ship itself will not shake. At this time, the position is reconfirmed by the Beidou positioning system and the gyroscope and other components built into the position sensor to improve the positioning accuracy. In this way, precise position determination in the vertical direction can be achieved.

[0042] The enclosed air curtain 17 around the air collection hood 1 of the present invention can perform secondary treatment at the joint through the speed of the air jet during the up and down displacement with the mounting bracket, thereby further avoiding problems at the joint of the upper and lower positions of the spraying.

[0043] Example 3:

[0044] By dividing the interior of the air collection box into two symmetrical spaces by using a partition plate, one space can be closed off for maintenance or replacement of internal filter components while the other space is in operation. Since the surface of ships is very large, this method can avoid the need to stop work and replace components during the operation of the robot.

[0045] Example 4:

[0046] like Figure 6 As shown, by determining the ship's positioning origin, a coordinate system is established, comprising the fixed positioning origin, the relative positions of the spray gun nozzle and the positioning origin, and the relative positions of the spray gun mounting bracket and the positioning origin. The setting of calculating the coordinate positions of both the nozzle and the mounting bracket relative to the positioning origin allows for the establishment of a nearby coordinate system to provide feedback on the positional relationship between the nozzle and the mounting bracket. This avoids data transmission delays, and because the coordinate system's position does not exceed a boundary dimension of 1000 meters, this method offers higher coordinate accuracy compared to coordinates obtained using the BeiDou satellite positioning system. This provides better control over the nozzle position and avoids the problem of flow sludge at seams. In the position determination process, satellite positioning inevitably introduces time delays, thus preventing high-precision positioning. Furthermore, since this invention is applied to the body of a wall-climbing robot, there may be slippage issues with the robot body. During the specific movement process, the position of the reciprocating screw is determined, and then the mounting bracket body is moved. To avoid slippage during mounting bracket movement... During the process, the reciprocating lead screw causes problems due to slippage. This invention also provides a device for locking the reciprocating lead screw. The specific movement process is as follows: the electromagnet inside the locking device magnetically fixes the reciprocating lead screw to the surface of the ship during the displacement of the mounting bracket. Then the mounting bracket is moved. During the movement of the mounting bracket, the nozzle on the reciprocating lead screw continues to work and spray. After the mounting bracket is moved, the position is determined by the positioning device to avoid slippage. Then, wait for the nozzle to reach the left or right end and touch the angle adjuster switch. At this time, the electromagnet is de-energized. When the angle adjuster quickly strikes the nozzle, the electromagnet failure causes the reciprocating lead screw and the device above it to slip quickly. Therefore, sliders are also provided at both ends of the reciprocating lead screw, and the inside of the gas collection hood 1 is provided with a sliding groove. Correspondingly, during the upward movement of the mounting bracket, by setting an electromagnet at the top of the mounting bracket, after the mounting bracket moves upward to the position, the limiting structure in the sliding groove opens, and the reciprocating lead screw moves upward quickly under the drive of the electromagnet at the top.

[0047] In summary, vertical grooves are provided at both ends inside the gas collecting hood 1. The reciprocating screw is connected to the gas collecting hood 1 through a bearing seat that is slidably set in the groove. A baffle is provided in the middle of the groove. One end of the baffle is hinged into the groove, and the other end of the baffle is locked by a hook. When the hook is released, the bearing seat moves rapidly upward under the attraction of the electromagnet. The shorter the sliding time during the up and down movement of the nozzle, the less likely the problem of flow can be avoided.

[0048] In the embodiments disclosed in this invention, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this invention according to the specific circumstances.

[0049] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A control method for avoiding dripping at seams in automatic spray gun painting, comprising a wall-climbing robot body, the wall-climbing robot body being composed of a gas collection hood (1), a control module (2), a mounting bracket (3), an exhaust gas treatment unit (4), a spraying unit (5), a detection unit (6), and a control unit (7), characterized in that: The spraying unit (5) includes a reciprocating screw (51), a drive unit (52), a connecting pipe (53), and a nozzle (54). A displacement sleeve is provided on the reciprocating screw (51). The drive unit (52) is connected to the reciprocating screw (51) in a transmission manner. The nozzle (54) is mounted on the displacement sleeve through a mounting plate. A visual recognition unit (8), a data processing unit (9), a positioning unit (10), and a gas composition monitoring unit (11) are provided inside the gas collection hood (1). The visual recognition unit (8) is used to identify the interior of the gas collection hood (1). The data processing unit (9) is connected to the visual recognition unit (8), the positioning unit (10), and the gas composition monitoring unit (11) through electrical signals via wires. An angle controller (12) is provided on the mounting plate. The nozzle (54) is hinged on the mounting plate. The control rod of the angle controller (12) is hinged and fixed to the nozzle (54). It also includes the following steps: S1. Determine the ship's positioning origin, establish a coordinate system for the fixed positioning origin, the relative position of the spray gun nozzle to the positioning origin, and the relative position of the spray gun mounting bracket (3) to the positioning origin, wherein the nozzle and the mounting bracket (3) are both calculated relative to the positioning origin; establish a coordinate system nearby to provide feedback on the positional relationship between the associated nozzle and the mounting bracket (3), and to eliminate the problem of robot body slippage. In the specific movement process, the position of the reciprocating screw is determined, and then the mounting bracket (3) body is moved. It also includes a device for locking the reciprocating screw. The electromagnet inside the locking device magnetically fixes the reciprocating screw to the ship surface during the displacement of the mounting bracket (3), and then the mounting bracket (3) is moved. During the process, the nozzle on the reciprocating screw continues to work and spray. After the mounting bracket (3) moves, the position is determined by the positioning device to avoid the problem of slippage. Then wait for the nozzle to reach the left or right end and touch the angle adjuster switch. At this time, the electromagnet is de-energized. When the angle adjuster hits the nozzle quickly, the reciprocating screw and the device above it will slip quickly because the electromagnet fails. There are also sliders at both ends of the reciprocating screw, and the inside of the gas collection hood (1) is equipped with a sliding groove. Correspondingly, during the process of the mounting bracket (3) moving upward, by setting an electromagnet at the top of the mounting bracket (3), after the mounting bracket (3) moves upward to the position, the limiting structure in the sliding groove opens, and the reciprocating screw moves upward quickly under the drive of the electromagnet at the top. S2. The nozzle (54) stroke control angle regulator (12) is set according to the nozzle (54) stroke. The angle regulator (12) is used to control the nozzle (54) to deflect rapidly when the nozzle (54) reaches the limit position of the stroke.

2. The control method for avoiding dripping at seams in automatic spray gun painting according to claim 1, characterized in that: The visual recognition unit (8) includes a wide-angle camera (81), a supplementary lighting device (82), and a first position sensor (83). The wide-angle camera (81) is installed inside the gas collection hood (1) via a displacement guide rail (84). The supplementary lighting device (82) is installed on the outer shell of the wide-angle camera (81). The first position sensor (83) is installed at the connection between the wide-angle camera (81) and the displacement guide rail (84).

3. The control method for avoiding dripping at seams in automatic spray gun coating according to claim 1, characterized in that: The positioning unit (10) includes a second position sensor (13) located on the nozzle (54), a relative position sensor (14) located on the gas collection hood (1), a movement position sensor (15) and a position data confirmation unit (16). The second position sensor (13), the relative position sensor (14) and the movement position sensor (15) are all radioly connected to the position data confirmation unit (16). The movement position sensors (15) are spaced apart on the outside of the gas collection hood (1).

4. The control method for avoiding dripping at seams in automatic spray gun coating according to claim 1, characterized in that: The inside of the gas collection hood (1) is provided with a closed air curtain (17). The closed air curtain (17) is evenly arranged around the air inlet of the gas collection hood (1). The closed air curtain (17) includes a main air pipe, multiple branch pipes evenly arranged on the main air pipe at equal intervals, and a jet nozzle at the end of each branch pipe. One end of the main air pipe is provided with a sealing plug, and the other end of the main air pipe is connected to the waste gas treatment device. A solenoid valve is provided on the main air pipe, and the solenoid valve is electrically connected to the control module (2) through an electric wire.

5. The control method for avoiding dripping at seams in automatic spray gun painting according to claim 1, characterized in that: The gas collection hood (1) is equipped with multiple negative pressure pipes (18), and the multiple negative pressure pipes (18) are all connected to the waste gas treatment unit (4) through waste gas recovery pipes.

6. The control method for avoiding dripping at seams in automatic spray gun coating according to claim 1, characterized in that: The exhaust gas treatment unit (4) includes a gas collection box (41), a first treatment device (42) and a second treatment device (43) disposed inside the gas collection box (41). The first treatment device (42) and the second treatment device (43) have completely identical structures. The first treatment device (42) and the second treatment device (43) are symmetrically disposed inside the gas collection box (41). The first treatment device (42) includes an activated carbon filter layer, a cotton fiber filter layer, a catalyst degradation layer, an adsorption layer and an exhaust unit. The activated carbon filter layer, the cotton fiber filter layer, the catalyst degradation layer and the adsorption layer are sequentially attached. The activated carbon filter layer, the cotton fiber filter layer, the catalyst degradation layer and the adsorption layer are all provided with detection devices. The detection devices are used to detect the adsorption state of the activated carbon filter layer, the cotton fiber filter layer, the catalyst degradation layer and the adsorption layer.

7. The control method for avoiding dripping at seams in automatic spray gun painting according to claim 6, characterized in that: An isolation plate is provided in the middle of the gas collection box (41). The isolation plate is used to divide the interior of the gas collection box (41) into two non-communicating chambers. The surface of the isolation plate is provided with a hydrophobic coating.

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