Automatic spraying device and control method thereof

Abstract

The invention relates to an automatic spraying device and a control method thereof, and relates to the technical field of spraying robots, the automatic spraying device comprises a supporting mechanism, a controller, a plurality of automatic spraying stations installed inside the supporting mechanism and a teaching spraying station installed outside the supporting mechanism; the automatic spraying station comprises a spraying mechanism used for spraying and a rotary fixing mechanism used for fixing a sprayed object, and a spraying gun is installed at the front end of the spraying mechanism. The rotary fixing mechanism comprises a first rotating assembly and two fixing assemblies, the two fixing assemblies are installed at the top of the supporting mechanism through the first rotating assembly, and the first rotating assembly is used for driving the two fixing assemblies to rotate to the direction, close to or away from the spraying gun, of the spraying mechanism; the teaching detection mechanism is used for detecting teaching data and uploading the teaching data to the controller, and the controller is used for controlling the spraying mechanism and the rotary fixing mechanism according to the teaching data. The automatic spraying device has the effect of improving the automatic spraying efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of spraying robots, and in particular to an automatic spraying device and a control method thereof. Background Art

[0002] In the process of manufacturing jeans and other clothing, in order to achieve local bleaching effects, the jeans usually need to be sprayed. Since the spraying treatment is local spraying, the spraying force and spraying position during the spraying process will affect the spraying effect, thereby affecting the aesthetics of the finished clothing.

[0003] In the actual production process of clothing spraying, most of them are still done by manual spraying, but manual spraying has the problem of low efficiency, and one person can only spray one piece of clothing at the same time. If multiple pieces of clothing need to be sprayed at the same time, multiple people are required to work at the same time, and the labor cost is high. In order to solve the problem of low spraying efficiency, there is currently a method of automatic spraying through spraying robots. However, the existing spraying robots still need manual operation or setting during the spraying process, and are highly dependent on manual labor, resulting in the spraying efficiency cannot be effectively improved. Summary of the invention

[0004] The purpose of this application is to provide an automatic spraying device and a control method thereof to improve the efficiency of automatic spraying.

[0005] In the first aspect, the present application provides an automatic spraying device adopting the following technical solution: An automatic spraying device comprises a supporting mechanism, a controller, a plurality of automatic spraying stations installed inside the supporting mechanism, and a teaching spraying station installed outside the supporting mechanism; The automatic spraying station comprises a spraying mechanism for spraying and a rotating fixing mechanism for fixing the sprayed object, the spraying mechanism is installed at the bottom of the supporting mechanism, and a spraying gun is installed at the front end of the spraying mechanism; The rotating and fixing mechanism comprises a first rotating assembly and two fixing assemblies, the two fixing assemblies are respectively located at two ends of the spraying mechanism, the two fixing assemblies are installed on the top of the supporting mechanism through the first rotating assembly, and the first rotating assembly is used to drive the two fixing assemblies to rotate to the direction in which the spraying mechanism is close to or away from the spraying gun; The teaching station includes a teaching detection mechanism and a teaching fixing mechanism. The teaching detection mechanism, the spraying mechanism and the rotating fixing mechanism are respectively connected to the controller for communication. The teaching detection mechanism is used to detect the teaching data and upload the teaching data to the controller. The controller is used to control the spraying mechanism and the rotating fixing mechanism according to the teaching data.

[0006] By adopting the above-mentioned technical solution, the present application detects the teaching data of the teaching spraying process through the teaching detection mechanism, so that the controller can automatically control the spraying mechanism and the rotating fixing mechanism according to the teaching data, thereby realizing automatic spraying. Except for the teaching process, no human participation is required, and the different fixed components are moved to the front of the spray gun for spraying by rotating the rotating fixing mechanism. Multiple objects to be sprayed can be sprayed continuously, effectively improving the efficiency of automatic spraying.

[0007] Furthermore, the first rotating component includes a rotating module and a supporting frame, the rotating module is installed on the top of the supporting mechanism, the top of the supporting frame is connected to the bottom of the rotating module, the fixed component is installed on the bottom of the supporting frame, and the rotating module is used to drive the supporting frame to rotate.

[0008] By adopting the above technical solution, the present application drives the support frame to rotate through the rotating module, thereby driving the fixed component installed at the bottom of the support frame to rotate. After the spraying is completed, the other fixed component is moved to the front of the spray gun by rotation, and the next spraying can be carried out immediately, effectively improving the efficiency of automated spraying.

[0009] Further, the rotating module includes a first rotating motor, a motor mounting frame, a first gear and a rotating wheel; The first rotating motor is mounted on the motor mounting frame, the output shaft of the first rotating motor is meshed with the rotating wheel through a first gear, the rotating wheel is fixedly connected to the supporting frame, and the first rotating motor is used to drive the rotating wheel to rotate.

[0010] By adopting the above technical solution, the present application enables the rotating fixing mechanism to rotate by connecting the output shaft of the rotating motor to the gear, which can decelerate the motor and ensure the stability of the moving process of the fixing component.

[0011] Furthermore, a first limit block is provided on the outside of the rotating wheel, and a second limit block is provided on the top of the supporting frame, and the first limit block is used to contact the second limit block when the fixing component rotates to the front end of the spraying mechanism.

[0012] By adopting the above technical solution, the present application limits the rotation angle of the rotating fixing mechanism by setting a first limit block and a second limit block to ensure that it does not exceed 360 degrees during the rotation process, thereby causing problems such as internal line entanglement, thereby ensuring the stability of the moving process of the fixing component.

[0013] Furthermore, the fixed component is installed on the bottom of the support frame through a second rotating component, and the second rotating component is used to drive the fixed component to rotate around itself.

[0014] By adopting the above technical solution, the fixed component of the present application can not only move under the drive of the first rotating component, but also rotate under the drive of the second rotating component, so that during the spraying process, it can cooperate with the spraying mechanism to spray from multiple angles and directions to ensure the spraying effect.

[0015] Further, the second rotating assembly includes a second rotating motor, a second gear, a synchronous belt and a driven gear; The second rotating motor is installed at the bottom of the support frame, the output shaft of the second rotating motor is connected to one end of the synchronous belt through the second gear, the other end of the synchronous belt is connected to the driven gear, and the driven gear is installed on the top of the fixed component.

[0016] By adopting the above technical solution, the present application connects the rotating motor and the fixed component through a synchronous belt, gears and driven gears. When there are multiple fixed components, one group of rotating components can drive multiple fixed components to rotate, thereby effectively saving installation space and equipment costs.

[0017] Furthermore, a jet device is provided on the top of the fixing component, and the jet device is used to spray the sprayed object fixed on the fixing component.

[0018] By adopting the above technical solution, the present application sprays the sprayable items on the fixed component so that soft products such as clothes can be expanded by the gas, thereby facilitating spraying.

[0019] Furthermore, the spraying mechanism also includes a robot arm, a front end of which is connected to a spray gun, and the robot arm is used to drive the spray gun to move.

[0020] By adopting the above technical solution, the present application uses a robot arm to drive the spray gun to move. The robot arm has high sensitivity and can move to more angles and positions, so it can better reproduce the teaching spraying process.

[0021] Furthermore, the robot arm is connected with a base, a two-axis seat, a main arm, a three-axis seat, a rotating arm, a forearm and an additional axis in sequence from bottom to top. The base is installed at the bottom of the supporting mechanism, and the end of the additional axis is connected to a spray gun.

[0022] By adopting the above technical solution, the present application controls the spray gun through a multi-axis robot arm to ensure that the teaching spraying process can be fully reproduced and the accuracy of the spraying process is improved.

[0023] In the second aspect, the present application provides an automatic spraying device control method using the following technical solutions: A control method for an automatic spraying device, applied to the automatic spraying device described in the first aspect, comprises: The teaching detection mechanism obtains the teaching data during the teaching spraying process and sends the teaching data to the controller; The controller generates a spray control program based on the teaching data; The controller controls the spraying mechanism to drive the spraying gun to spray the spraying object on the fixed component located in front of the spraying gun according to the spraying control program; After the spraying operation is completed, the controller controls the first rotating component to drive the fixed component to move, so that the fixed component located behind the spray gun moves to the front of the spray gun; The controller controls the spraying mechanism to drive the spraying gun to spray the spraying object on the fixed component currently located in front of the spraying gun according to the spraying control program.

[0024] By adopting the above-mentioned technical solution, the present application firstly performs a teaching spraying process by the staff, and the teaching detection mechanism obtains the teaching data in the teaching spraying process. The controller then performs automatic control according to the teaching data, so that the spraying mechanism and the rotating fixing mechanism cooperate with each other to perform automatic spraying operations. Except for the teaching process, no human participation is required, which effectively improves the efficiency of automatic spraying.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. The present application detects the teaching data of the teaching spraying process through the teaching detection mechanism, so that the controller can automatically control the spraying mechanism and the rotating fixing mechanism according to the teaching data, thereby realizing automatic spraying. No manual participation is required except for the teaching process, and the rotating fixing mechanism is rotated to move different fixing components to the front of the spray gun for spraying, so that multiple objects to be sprayed can be sprayed continuously, effectively improving the efficiency of automatic spraying; 2. The present application drives the support frame to rotate by means of a rotating module, thereby driving the fixed component installed at the bottom of the support frame to rotate. After the spraying is completed, another fixed component is moved to the front of the spray gun by rotation, and the next spraying can be carried out immediately, effectively improving the efficiency of automated spraying; 3. The present application sets a first limit block and a second limit block to limit the rotation angle of the rotating fixing mechanism to ensure that the rotation angle does not exceed 360 degrees during the rotation process, thereby causing problems such as internal line entanglement, and ensure the stability of the movement process of the fixing component; 4. In addition to being able to move under the drive of the first rotating component, the fixed component of the present application can also rotate under the drive of the second rotating component, so that during the spraying process, it can cooperate with the spraying mechanism to spray from multiple angles and directions to ensure the spraying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 is a schematic diagram of controller connection in an embodiment of the present application; Figure 3 is a schematic diagram of the spraying mechanism structure of an embodiment of the present application; Figure 4 is a schematic diagram of the structure of the rotating fixing mechanism of an embodiment of the present application; Figure 5 is a schematic structural diagram of a first rotating assembly according to an embodiment of the present application; Figure 6 is a schematic structural diagram of a second rotating assembly in an embodiment of the present application; Figure 7 is a flow chart of the control method of an embodiment of the present application; In the figure, 1. supporting mechanism; 11. automatic spraying station; 12. teaching spraying station; 2. controller; 3. spraying mechanism; 31. spray gun; 32. robot arm; 321. base; 322. two-axis seat; 323. main arm; 324. three-axis seat; 325. rotating arm; 326. forearm; 327. additional axis; 4. rotating fixing mechanism; 41. first rotating component; 411. rotating module; 4111. first rotating motor; 4112. first gear; 4113. rotating wheel; 4114. first limit block; 412. supporting frame; 4121. second limit block; 42. fixing component; 43. second rotating component; 431. second rotating motor; 432. second gear; 433. synchronous belt; 434. driven gear; 5. teaching detection mechanism; 6. teaching fixing mechanism. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1 -Attached Figure 7 , further details of this application are given.

[0028] In the actual production process of clothing spraying, most of the time it is still done by manual spraying, but manual spraying has the problem of low efficiency, and one person can only spray one piece of clothing at the same time. If multiple pieces of clothing need to be sprayed at the same time, multiple people are required to work at the same time, and the labor cost is high. In order to solve the problem of low spraying efficiency, there is currently a method of automatic spraying through a spraying robot. However, the existing spraying robots still require manual operation or setting during the spraying process, and are highly dependent on manual labor, resulting in the spraying efficiency cannot be effectively improved. Therefore, an embodiment of the present application provides an automatic spraying device, referring to Figure 1 and Figure 2, including a support mechanism 1, a controller 2, two automatic spraying stations 11 installed inside the support mechanism 1, and a teaching spraying station 12 installed outside the support mechanism 1. The teaching spraying station 12 is used for the staff to teach the spraying process, and the automatic spraying station 11 is used to reproduce the teaching spraying process to realize automatic spraying. Each automatic spraying station 11 includes a spraying mechanism 3 for spraying and a rotating fixing mechanism 4 for fixing the sprayed object. The spraying mechanism 3 is installed at the bottom of the support mechanism 1, and a spray gun 31 is installed at the front end of the spraying mechanism 3. The rotating fixing mechanism 4 includes a first rotating component 41 and a fixing component 42. The two fixing components 42 are respectively located at the two ends of the spraying mechanism 3. A total of four fixing components 42 of the two fixing mechanisms are installed on the top of the support mechanism 1 through the first rotating component 41. The first rotating component 41 is used to drive the fixing component 42 to rotate to the direction in which the spraying mechanism 3 is close to or away from the spray gun 31. The teaching station includes a teaching detection mechanism 5 and a teaching fixing mechanism 6. The teaching detection mechanism 5, the spraying mechanism 3 and the rotating fixing mechanism 4 are respectively connected to the controller 2 for communication. The teaching detection mechanism 5 is used to detect the teaching data and upload the teaching data to the controller 2. The controller 2 is used to control the spraying mechanism 3 and the rotating fixing mechanism 4 according to the teaching data, thereby realizing automatic spraying.

[0029] The implementation principle of the embodiment of the present application is: the teaching data of the teaching spraying process is detected by the teaching detection mechanism 5, so that the controller 2 can automatically control the spraying mechanism 3 and the rotating fixing mechanism 4 according to the teaching data, thereby realizing automatic spraying. No human participation is required except for the teaching process, and the rotating fixing mechanism 4 is rotated to move different fixing components 42 to the front of the spray gun 31 for spraying, so that multiple objects to be sprayed can be sprayed continuously, effectively improving the efficiency of automatic spraying.

[0030] The embodiment of the present application takes a double workstation as an example, so there are two automatic spraying workstations 11, and in the specific implementation process, it is also set to multiple automatic spraying workstations 11.

[0031] like Figure 3 As shown, the spraying mechanism 3 of the embodiment of the present application also includes a robot 32, the front end of which is connected to the spraying gun 31, and the robot 32 is used to drive the spraying gun 31 to move. The robot 32 is sequentially connected with a base 321, a two-axis seat 322, a main arm 323, a three-axis seat 324, a rotating arm 325, a forearm 326 and an additional shaft 327 from bottom to top, the base 321 is installed at the bottom of the support mechanism 1, and the end of the additional shaft 327 is connected to the spraying gun 31. The two-axis seat 322, the main arm 323, the three-axis seat 324, the rotating arm 325, the forearm 326 and the additional shaft 327 cooperate with each other to make the robot 32 more sensitive, with more movable angles and positions, and can better reproduce the teaching spraying process.

[0032] like Figure 4 and Figure 5 As shown, the first rotating assembly 41 of the embodiment of the present application includes a rotating module 411 and a support frame 412. The rotating module 411 is installed on the top of the support mechanism 1, and the top of the support frame 412 is connected to the bottom of the rotating module 411. The four fixed assemblies 42 of the two automatic spraying stations 11 are respectively installed at the bottom of the support frame 412 near the four corners. The rotating module 411 is used to drive the support frame 412 to rotate, thereby driving the fixed assembly 42 installed at the bottom of the support frame 412 to rotate. The rotating module 411 includes a first rotating motor 4111, a motor mounting frame, a first gear 4112 and a rotating wheel 4113. The first rotating motor 4111 is installed on the motor mounting frame, and the output shaft of the first rotating motor 4111 is meshed with the rotating wheel 4113 through the first gear 4112. The rotating wheel 4113 is fixedly connected to the support frame 412, and the first rotating motor 4111 is used to drive the rotating wheel 4113 to rotate. A first limit block 4114 is provided on the outside of the rotating wheel 4113, and a second limit block 4121 is provided on the top of the support frame 412. The first limit block 4114 is used to contact the second limit block 4121 when the fixed component 42 rotates to the front end of the spraying mechanism 3, thereby playing a limiting role to ensure that it will not exceed 360 degrees during the rotation process, thereby causing problems such as internal line entanglement. In the specific implementation process, the spraying mechanism 3 sprays the spraying object on the fixed component 42 located in front of the spraying gun 31. After the spraying of the current spraying object is completed, the rotating module 411 controls the support frame 412 to rotate 180 degrees, so that the fixed component 42 originally located behind the spraying gun 31 moves to the front of the spraying gun 31, so that the spraying gun 31 can spray the spraying object fixed on the fixed component 42.

[0033] like Figure 4 and Figure 6As shown, the fixed component 42 of the embodiment of the present application is installed at the bottom of the support frame 412 through the second rotating component 43, and the second rotating component 43 is used to drive the fixed component 42 to rotate around itself. The second rotating component 43 includes a second rotating motor 431, a second gear 432, a synchronous belt 433 and a driven gear 434. The second rotating motor 431 is installed at the bottom of the support frame 412, and the output shaft of the second rotating motor 431 is connected to one end of the synchronous belt 433 through the second gear 432, and the other end of the synchronous belt 433 is connected to the driven gear 434, and the driven gear 434 is installed on the top of the fixed component 42, so that when the second rotating motor 431 is started, the output shaft rotates to drive the second gear 432 to rotate, and the second gear 432 rotates to drive the synchronous belt 433 to start running, and the synchronous belt 433 drives the driven gear 434 to rotate, thereby driving the fixed component 42 to rotate by itself. During the specific implementation process, the spraying mechanism 3 sprays the front side of the spray object on the fixed component 42 located in front of the spray gun 31. When it is necessary to spray both sides of the spray object, after the spraying operation is completed, the fixed component 42 rotates 180 degrees by itself, so that the back side of the current spray object is rotated to close to the front of the spray gun 31, so that the spray gun 31 can spray the back side of the current spray object.

[0034] In one embodiment, when used for spraying clothes such as jeans, directly fixing the sprayed items on the fixed component 42 may affect the spraying effect due to wrinkles, etc., so a jet device is provided on the top of the fixed component 42 of the embodiment of the present application, and the jet device is used to spray the sprayed items fixed on the fixed component 42. By spraying the sprayed items on the fixed component 42, soft products such as clothes can be stretched open by gas, thereby facilitating spraying. In the specific implementation process, when the sprayed items are sprayed, the jet device maintains the jet state, and when the sprayed items need to be replaced, the jet device stops spraying, so that the sprayed items originally fixed on the fixed component 42 can be removed.

[0035] The present application also provides a method for controlling an automatic spraying device, referring to Figure 7 , applied to an automatic spraying device, comprising: S1. The teaching detection mechanism 5 obtains the teaching data in the teaching spraying process and sends the teaching data to the controller 2.

[0036] Specifically, the staff performs the teaching spraying process at the teaching station, and the teaching detection mechanism 5 obtains the teaching data in the teaching spraying process, and the teaching data includes the spraying position, spraying angle and spraying force. In the specific implementation process, the teaching detection mechanism 5 can use corresponding position sensors, angle sensors and force sensors to detect the spraying position, spraying angle and spraying force and upload them to the controller 2.

[0037] S2. Controller 2 generates a spraying control program according to the teaching data.

[0038] Specifically, the controller 2 obtains a spraying control program according to the teaching data, which is used to control subsequent automatic spraying.

[0039] S3 , the controller 2 controls the spraying mechanism 3 to drive the spraying gun 31 to spray the spraying object on the fixed component 42 located in front of the spraying gun 31 according to the spraying control program.

[0040] Specifically, the controller 2 controls the robot arm 32 to drive the spray gun 31 to spray the spray object according to the spray position, spray angle and spray force in the teaching data, and can reproduce the teaching spray process with high precision.

[0041] S4. After the spraying operation is completed, the controller 2 controls the first rotating assembly 41 to drive the fixing assembly 42 to move, so that the fixing assembly 42 located behind the spraying gun 31 moves to the front of the spraying gun 31.

[0042] Specifically, since there are multiple fixing components 42 on the rotating fixing mechanism 4 to fix multiple spray objects, after the current spray object is sprayed, the controller 2 controls the rotating fixing mechanism 4 to rotate 180 degrees according to a preset process, and moves the fixing component 42 originally located behind the spray gun 31 to the front of the spray gun 31.

[0043] S5. The controller 2 controls the spraying mechanism 3 to drive the spraying gun 31 to spray the spraying object on the fixed component 42 currently located in front of the spraying gun 31 according to the spraying control program.

[0044] Specifically, the controller 2 controls the robot arm 32 again to drive the spray gun 31 to spray the current spray object according to the spray position, spray angle and spray force in the teaching data.

[0045] The implementation principle of the embodiment of the present application is: the staff first performs a teaching spraying process, the teaching detection mechanism 5 obtains the teaching data during the teaching spraying process, and the controller 2 then performs automatic control according to the teaching data, so that the spraying mechanism 3 and the rotating fixing mechanism 4 cooperate with each other to perform automatic spraying operations. Except for the teaching process, no human participation is required, which effectively improves the efficiency of automatic spraying.

[0046] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic spraying device, characterized in that: It comprises a support mechanism (1), a controller (2), a plurality of automatic spraying stations (11) installed inside the support mechanism (1), and a teaching spraying station (12) installed outside the support mechanism (1); The automatic spraying station (11) comprises a spraying mechanism (3) for spraying and a rotating fixing mechanism (4) for fixing the sprayed object, the spraying mechanism (3) is installed at the bottom of the supporting mechanism (1), and a spraying gun (31) is installed at the front end of the spraying mechanism (3); The rotating and fixing mechanism (4) comprises a first rotating component (41) and two fixing components (42), wherein the two fixing components (42) are respectively located at two ends of the spraying mechanism (3), and the two fixing components (42) are installed on the top of the supporting mechanism (1) through the first rotating component (41), and the first rotating component (41) is used to drive the two fixing components (42) to rotate to a direction in which the spraying mechanism (3) is close to or away from the spraying gun (31). The teaching station comprises a teaching detection mechanism (5) and a teaching fixing mechanism (6); the teaching detection mechanism (5), the spraying mechanism (3) and the rotating fixing mechanism (4) are respectively connected to the controller (2) for communication; the teaching detection mechanism (5) is used to detect teaching data and upload the teaching data to the controller (2); and the controller (2) is used to control the spraying mechanism (3) and the rotating fixing mechanism (4) according to the teaching data.

2. An automatic spraying device according to claim 1, characterized in that: The first rotating component (41) comprises a rotating module (411) and a supporting frame (412); the rotating module (411) is mounted on the top of the supporting mechanism (1); the top of the supporting frame (412) is connected to the bottom of the rotating module (411); the fixed component (42) is mounted on the bottom of the supporting frame (412); and the rotating module (411) is used to drive the supporting frame (412) to rotate.

3. An automatic spraying device according to claim 2, characterized in that: The rotating module (411) comprises a first rotating motor (4111), a motor mounting frame, a first gear (4112) and a rotating wheel (4113); The first rotating motor (4111) is mounted on the motor mounting frame, the output shaft of the first rotating motor (4111) is meshed with the rotating wheel (4113) via a first gear (4112), the rotating wheel (4113) is fixedly connected to the supporting frame (412), and the first rotating motor (4111) is used to drive the rotating wheel (4113) to rotate.

4. An automatic spraying device according to claim 3, characterized in that: A first limit block (4114) is provided on the outside of the rotating wheel (4113), and a second limit block (4121) is provided on the top of the support frame (412), and the first limit block (4114) is used to contact the second limit block (4121) when the fixing component (42) rotates to the front end of the spraying mechanism (3).

5. The automatic spraying device according to claim 3, characterized in that: The fixed component (42) is installed at the bottom of the support frame (412) via a second rotating component (43), and the second rotating component (43) is used to drive the fixed component (42) to rotate around itself.

6. An automatic spraying device according to claim 5, characterized in that: The second rotating assembly (43) comprises a second rotating motor (431), a second gear (432), a synchronous belt (433) and a driven gear (434); The second rotating motor (431) is installed at the bottom of the support frame (412), and the output shaft of the second rotating motor (431) is connected to one end of a synchronous belt (433) through a second gear (432), and the other end of the synchronous belt (433) is connected to the driven gear (434), and the driven gear (434) is installed on the top of the fixed component (42).

7. An automatic spraying device according to any one of claims 1 to 6, characterized in that: A jetting device is provided on the top of the fixing component (42), and the jetting device is used to jet the sprayed article fixed on the fixing component (42).

8. An automatic spraying device according to any one of claims 1 to 6, characterized in that: The spraying mechanism (3) further comprises a robot arm (32), the front end of which is connected to the spraying gun (31), and the robot arm (32) is used to drive the spraying gun (31) to move.

9. An automatic spraying device according to claim 8, characterized in that: The robot arm (32) is connected with a base (321), a two-axis base (322), a main arm (323), a three-axis base (324), a rotating arm (325), a forearm (326) and an additional shaft (327) in sequence from bottom to top; the base (321) is installed at the bottom of the support mechanism (1); and the end of the additional shaft (327) is connected to a spray gun (31).

10. A method for controlling an automatic spraying device, characterized in that: An automatic spraying device according to any one of claims 1 to 9, comprising: The teaching detection mechanism (5) obtains the teaching data in the teaching spraying process and sends the teaching data to the controller (2); The controller (2) generates a spraying control program according to the teaching data; The controller (2) controls the spraying mechanism (3) according to the spraying control program to drive the spraying gun (31) to spray the spraying object on the fixed component (42) located in front of the spraying gun (31); After the spraying operation is completed, the controller (2) controls the first rotating component (41) to drive the fixed component (42) to move, so that the fixed component (42) located behind the spraying gun (31) moves to the front of the spraying gun (31); The controller (2) controls the spraying mechanism (3) according to the spraying control program to drive the spraying gun (31) to spray the spraying object on the fixed component (42) currently located in front of the spraying gun (31).

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