CN111503083B

CN111503083B - Piston actuating mechanism and caulking robot

Info

Publication number: CN111503083B
Application number: CN202010283072.7A
Authority: CN
Inventors: 魏愷含; 刘丹; 李洋
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2021-12-17
Anticipated expiration: 2040-04-10
Also published as: CN111503083A

Abstract

The application provides a piston actuating mechanism and robot of caulking relates to fitment equipment technical field. The piston actuator comprises a base body, a cylinder barrel and a piston assembly. The base body is provided with a locking assembly. The cylinder has an open end connected to the base, and the locking assembly is used to lock the cylinder with the base. The piston assembly comprises a piston and a piston rod, the piston rod is movably arranged on the base body, the piston is arranged in the cylinder barrel and connected with the piston rod, and the piston assembly moves towards the open end to trigger the locking assembly to act so as to unlock the cylinder barrel and the base body. Can realize cylinder and base member locking through the locking subassembly, be convenient for install the cylinder on the base member, piston assembly's motion can make the locking subassembly with cylinder and base member unblock, can realize through the motion of piston rod that cylinder and base member unblock are convenient for pull down the cylinder from the base member, do not need other power equipment to realize dismantling and installing of cylinder promptly for piston actuating mechanism's overall structure is simple, and weight is less.

Description

Piston actuating mechanism and caulking robot

Technical Field

The application relates to the technical field of decoration equipment, in particular to a piston actuating mechanism and a caulking robot.

Background

At present, when no material exists in a cylinder barrel in the working process of a wall and floor tile caulking robot, a discharge nozzle of the cylinder barrel is immersed in a material storage barrel to adopt an automatic material suction mode, and if the aperture of the discharge nozzle is small, the material suction speed is influenced, and air suction and other conditions are caused; the aperture of the discharging nozzle is increased, the joint filling effect of the wall and floor tiles is influenced, and the joint filling agent is easy to overflow. And the whole material suction process is long in time, and a cleaning device is added independently, so that the complexity of the whole machine is increased, and the efficiency of the wall and floor tile joint filling robot in the working process is directly reduced. Adopt other schemes that increase power to carry out quick replacement cylinder, can make overall structure complicated again, increase end actuating mechanism's weight.

Disclosure of Invention

The embodiment of the application provides a piston actuating mechanism and a caulking robot, so as to solve the problem that a cylinder barrel of the existing caulking robot is difficult to replace.

In a first aspect, an embodiment of the present application provides a piston actuator, which includes a base, a cylinder, and a piston assembly. The base body is provided with a locking assembly. The cylinder has an open end connected to the base, and the locking assembly is used to lock the cylinder with the base. The piston assembly comprises a piston and a piston rod, the piston rod is movably arranged on the base body, the piston is arranged in the cylinder barrel and connected with the piston rod, and the piston assembly moves towards the open end to trigger the locking assembly to act so as to unlock the cylinder barrel and the base body.

Among the above-mentioned technical scheme, can realize cylinder and base member locking through the locking subassembly, be convenient for install the cylinder on the base member, piston assembly's motion can make the locking subassembly with cylinder and base member unblock, can realize through the motion of piston rod that cylinder and base member unblock are convenient for pull down the cylinder from the base member, do not need other power equipment to realize dismantling and installing of cylinder promptly for piston actuating mechanism's overall structure is simple, and weight is less.

In addition, the piston actuator of the embodiment of the first aspect of the present application has the following additional technical features:

in some embodiments of the first aspect of the present application, the locking assembly includes a locking member and a stop member for locking the locking member, the locking member locking the cylinder to the base when the stop member locks the locking member; when the stop piece releases the locking of the locking piece, the locking piece unlocks the cylinder barrel and the base body; the piston assembly moves towards the open end to trigger the action of the stop piece, so that the stop piece is unlocked from the locking piece.

Among the above-mentioned technical scheme, can make the stop part relieve the locking to the locking piece through the piston assembly motion, the cylinder of being convenient for is pulled down from the base member, and piston assembly controls the locking piece through the stop part is indirect simultaneously, has improved the flexibility of piston assembly motion, and reduces the interference of carrying out other functions to piston assembly.

In some embodiments of the first aspect of the present application, the position of the stop member has a first position that locks the latch member and a second position that unlocks the latch member; the locking assembly further comprises an elastic member acting on the stop member, the piston can drive the stop member to move from the first position to the second position against the elastic force of the elastic member, and the elastic member can drive the stop member to return from the second position to the first position.

Among the above-mentioned technical scheme, the locking subassembly is including the elastic component that acts on the stopper, piston assembly moves and to make piston drive stopper overcome the elastic force of elastic component and move from the primary importance to the secondary importance, so that the stopper unlocks the locking piece, cancel the back when the effect of piston to stopper, the stopper can move to the primary importance from the secondary importance under the effect of elastic component, in order to realize locking the locking piece, the unblock or the locking of stopper to the locking piece are driven by different parts respectively, the flexibility of piston assembly motion has been improved, and reduce the interference of carrying out other functions to piston assembly.

In some embodiments of the first aspect of the present application, the base body is a cylindrical structure, the stopper is an annular structure, the piston rod passes through a central hole of the stopper, the open end is sleeved on the base body, the base body is sleeved on the stopper, and the stopper can move axially relative to the base body; the open end is provided with a clamping groove, the side wall of the base body is provided with a through hole, and one end of the locking piece can extend out of the through hole and is clamped with the clamping groove; the outer peripheral surface of the stop piece is provided with a groove, when the stop piece is positioned at the first position, the groove is staggered with the through hole, and the stop piece prevents the extending end of the locking piece from retracting; when the stop member is in the second position, the groove is aligned with the through hole and the stop member allows the protruding end of the locking member to retract.

Among the above-mentioned technical scheme, the base member is the tubular structure, and the stop part is the loop configuration, and the open end, base member and the stop part of cylinder cup joint in proper order for the motion route of stop part and piston assembly is more stable, and piston actuating mechanism's structure is compacter. When the groove on the stop piece is aligned with or staggered with the through hole on the base body, the locking piece can be unlocked or locked, the structure is simple, and the realization is convenient.

In some embodiments of the first aspect of the present application, the base body is provided with a plurality of through holes, and the plurality of through holes are distributed at intervals along a circumferential direction of the base body; the locking assembly comprises a plurality of locking pieces, the locking pieces correspond to the through holes one to one, and the groove is an annular groove extending along the circumferential direction of the stop piece.

Among the above-mentioned technical scheme, locking piece and through-hole all set up a plurality ofly, can follow a plurality of directions and lock base member and cylinder for the locking of base member and cylinder is more reliable and more stable.

In some embodiments of the first aspect of the present application, the base body is provided with a limiting portion for preventing the stopper from coming off, and when the stopper is located at the first position, the stopper abuts against the limiting portion.

Among the above-mentioned technical scheme, when the stop member was located the first position, stop member supported with spacing portion and held, and spacing portion can prevent the further direction of keeping away from the open end of stop member and remove, and spacing portion can keep the stop member at the first position, avoids the stop member to leave first position and makes the locking piece by the unblock.

In some embodiments of the first aspect of the present application, the piston actuator further includes a motor and a hollow rotating shaft, the hollow rotating shaft is rotatably connected to the base, an internal thread is formed on the hollow rotating shaft, an external thread matched with the internal thread is formed on the piston rod, and the motor is configured to drive the hollow rotating shaft to rotate; the hollow rotating shaft rotates to drive the piston rod to move relative to the base body.

Among the above-mentioned technical scheme, piston rod and hollow pivot spiro union, motor drive hollow pivot rotate can drive piston rod linear motion, be about to the linear motion that the rotation of motor turned into the piston rod, and the drive mode is simple, still is favorable to the rational arrangement of each part of piston actuating mechanism.

In some embodiments of the first aspect of the present application, the piston actuator further comprises a mounting plate to which the base, the motor and the connecting body are fixed, and a connecting body for connecting to an end of the robotic arm.

Among the above-mentioned technical scheme, the setting of connector is convenient for install this piston actuating mechanism in the end of arm for this piston actuating mechanism's application scope is wider.

In some embodiments of the first aspect of the present application, the rodless chamber of the piston actuator is used to store material and the end of the cylinder opposite the open end is provided with a tap.

Among the above-mentioned technical scheme, piston assembly can extrude the material in the no pole intracavity to the one end removal that is close to the ejection of compact mouth and be used for the construction, and piston assembly not only can drive the locking subassembly action promptly, can also provide power for extruding the material, has reduced piston actuating mechanism power equipment's setting, has practiced thrift the cost, has also simplified piston actuating mechanism's structure.

In a second aspect, an embodiment of the present application provides a caulking robot, including the piston actuator provided in the embodiment of the first aspect, a rodless cavity of the piston actuator is used for storing materials, and an end of the cylinder opposite to the open end is provided with a discharging nozzle.

Among the above-mentioned technical scheme, when there is not the material in the cylinder barrel in the robot work process of caulking, can drive the locking subassembly action and change the cylinder barrel, can improve the commonality of cylinder barrel. And the piston assembly can drive the locking assembly to act, can also provide power for extruding materials, does not need to be additionally provided with other power devices for replacing the cylinder barrel, avoids the complex integral structure of the caulking robot, and reduces the weight of the caulking robot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a piston actuator according to an embodiment of the first aspect of the present application;

FIG. 2 is a schematic illustration of a locking member of a piston actuator according to an embodiment of the first aspect of the present application locked;

FIG. 3 is an enlarged view at III of FIG. 2;

FIG. 4 is a schematic illustration of a piston actuator latch release provided in an embodiment of a first aspect of the present application;

FIG. 5 is an enlarged view at V in FIG. 4;

FIG. 6 is a schematic view of the structure of a substrate;

FIG. 7 is a cross-sectional view of the stopper.

Icon: 100-a piston actuator; 10-a substrate; 11-a limiting part; 12-a through hole; 20-a cylinder barrel; 21-open end; 22-a discharge nozzle; 23-an abutment; 24-a card slot; 30-a piston assembly; 31-a piston rod; 32-a piston; 41-a lock; 42-a stop member; 421-groove; 43-an elastic member; 50-a motor; 60-a hollow rotating shaft; 61-a bearing; 62-a bearing seat; 70-mounting a plate; 80-linker.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Examples

As shown in fig. 1 to 3, a piston actuator 100 is provided in an embodiment of the first aspect of the present application, where the piston actuator 100 includes a base 10, a cylinder 20, and a piston assembly 30. The base body 10 is provided with a locking assembly. The cylinder 20 has an open end 21, the open end 21 being connected to the base 10, and a locking assembly for locking the cylinder 20 to the base 10. The piston assembly 30 comprises a piston 32 and a piston rod 31, the piston rod 31 is movably disposed on the base 10, the piston 32 is disposed in the cylinder 20 and connected to the piston rod 31, and the movement of the piston assembly 30 toward the open end 21 triggers the locking assembly to operate, so as to unlock the cylinder 20 and the base 10. Can realize through the locking subassembly that cylinder 20 and base member 10 lock, be convenient for install cylinder 20 on base member 10, piston assembly 30's motion can make the locking subassembly with cylinder 20 and base member 10 unblock, can realize through the motion of piston rod 31 that cylinder 20 and base member 10 unblock are convenient for pull down cylinder 20 from base member 10, do not need other power equipment can realize dismantling and installing of cylinder 20 for piston actuating mechanism 100's overall structure is simple, and weight is less.

In the present embodiment, the lock assembly includes the lock member 41 and the stopper 42 for locking the lock member 41, and when the stopper 42 locks the lock member 41, the lock member 41 locks the cylinder 20 to the base 10; when the stopper 42 releases the lock of the lock member 41, the lock member 41 unlocks the cylinder 20 from the base 10; movement of the piston assembly 30 towards the open end 21 can trigger actuation of the stop 42 to unlock the stop 42 from the locking member 41. The stop piece 42 can be unlocked by the movement of the piston assembly 30, so that the cylinder 20 can be conveniently detached from the base body 10, and meanwhile, the piston assembly 30 indirectly controls the stop piece 41 through the stop piece 42, so that the movement flexibility of the piston assembly 30 is improved, and the interference on other functions performed by the piston assembly 30 is reduced. The base body 10 is of a cylindrical structure, the stop piece 42 is of an annular structure, the piston rod 31 penetrates through a center hole of the stop piece 42, the open end 21 is sleeved on the base body 10, the base body 10 is sleeved on the stop piece 42, and the stop piece 42 can move axially relative to the base body 10. The open end 21 of the cylinder 20, the base 10 and the stopper 42 are sequentially sleeved, so that the stopper 42 and the movement path of the piston assembly 30 are more stable, and the structure of the piston actuator 100 is more compact. The stopper 42 moves relative to the base 10 to have a first position and a second position, and when the stopper 42 moves to the first position, the stopper 42 locks the lock member 41, and when the stopper 42 moves to the second position, the stopper 42 releases the lock of the lock member 41. The locking assembly also comprises a resilient member 43 acting on the stop member 42. The piston 32 can drive the stopper 42 to move from the first position to the second position against the elastic force of the elastic member 43, so that the stopper 42 unlocks the locking member 41, and after the action of the piston 32 on the stopper 42 is cancelled, the elastic member 43 can drive the stopper 42 to return from the second position to the first position, so that the locking member 41 is locked, namely, the unlocking or locking of the stopper 41 by the stopper 42 is respectively driven by different parts, so that the flexibility of the movement of the piston assembly 30 is improved, and the interference of other functions performed by the piston assembly 30 is reduced. In the present embodiment, the elastic member 43 is a spring, the spring is sleeved outside the piston rod 31, and one end of the elastic member 43 abuts against the stopper 42 for driving the stopper 42 to move from the second position to the first position.

In other embodiments, the locking member 41 may be driven to move in other manners, for example, a protrusion is provided on the piston rod 31, when the piston rod 31 moves to the protrusion to align with the through hole 12 on the base 10, the protruding end of the locking member 41 is clamped into the clamping groove 24 on the cylinder 20, so as to lock the cylinder 20 and the base 10; when the piston rod 31 moves to the convex position and is staggered with the through hole 12 on the base body 10, the protruding end of the locking piece 41 can exit the clamping groove 24 on the cylinder barrel 20, so that the cylinder barrel 20 and the base body 10 are unlocked.

The base body 10 is further provided with a limiting part 11 for preventing the stop piece 42 from coming off, and the limiting part 11 is arranged at one end of the base body 10 in the cylinder 20 and extends towards the direction close to the central axis of the base body 10. When the stop member 42 is located at the first position, under the elastic force of the elastic member 43, the stop member 42 always abuts against the limiting portion 11, the limiting portion 11 can prevent the stop member 42 from further moving in the direction away from the open end 21, the limiting portion 11 can keep the stop member 42 at the first position, and the stop member 42 is prevented from leaving the first position, so that the locking member 41 is unlocked.

In this embodiment, the inner wall of the cylinder 20 is further provided with an abutting portion 23 for axially abutting against the limiting portion 11, when the cylinder 20 is sleeved outside the base 10 and the abutting portion 23 abuts against the limiting portion 11, the clamping groove 24 of the inner wall of the cylinder 20 is aligned with the through hole 12 on the base 10, so that a user can know when to control the movement of the piston assembly 30.

In this embodiment, the inner wall of the open end 21 of the cylinder 20 is provided with a locking groove 24, the side wall of the base 10 is provided with a through hole 12, the outer peripheral surface of the stopper 42 is provided with a groove 421, the locking member 41 is disposed in the through hole 12 and can move in the through hole 12, and the locking member 41 can move in the through hole 12 so that the locking member 41 can be engaged with the locking groove 24 on the inner wall of the open end 21 of the cylinder 20 or the groove 421 on the outer peripheral surface of the stopper 42. The end of the lock member 41 that can engage with the notch 24 on the inner wall of the open end 21 of the cylinder 20 is defined as the protruding end of the lock member 41. As shown in fig. 2 and 3, when the stopper 42 is at the first position, the groove 421 is offset from the through hole 12, the protruding end of the locking member 41 is engaged with the engaging groove 24 of the cylinder 20, and the stopper 42 prevents the protruding end of the locking member 41 from retracting in a direction approaching the stopper 42. As shown in fig. 4 and 5, when the stop member 42 is in the second position, the groove 421 is aligned with the through hole 12, the groove 421 allows the lock member 41 to have a retraction space, the stop member 42 allows the protruding end of the lock member 41 to retract in a direction approaching the stop member 42, the cylinder 20 can be moved axially, the inner wall of the cylinder 20 can force the lock member 41 to move in a direction approaching the stop member 42, and the lock member 41 can be withdrawn from the engaging groove 24 of the cylinder 20, so that the cylinder 20 can be detached from the base 10. When the groove 421 on the stop member 42 is aligned with or misaligned with the through hole 12 on the base 10, the locking member 41 can be unlocked or locked, and the structure is simple and easy to implement.

In this embodiment, the locking member 41 is a steel ball, and the surface of the steel ball is an arc surface, so that the locking member 41 can conveniently enter or exit the slot 24, and the locking member 41 can conveniently enter or exit the groove 421. In other embodiments, the locking member 41 may also be in other structural forms, for example, the locking member 41 is in a rod structure, the extending direction of the locking member 41 is the same as the axial direction of the through hole 12, and in order to facilitate the locking member 41 to enter or exit the slot 24 and to facilitate the locking member 41 to enter or exit the groove 421, end surfaces of two ends of the locking member 41 in the extending direction may be provided as arc surfaces.

As shown in fig. 6, in the present embodiment, a plurality of through holes 12 are provided on the base 10, and the plurality of through holes 12 are distributed at intervals along the circumferential direction of the base 10; the locking assembly includes a plurality of locking members 41, and the locking members 41 correspond to the through holes 12 one to one. As shown in fig. 7, the groove 421 is an annular groove 421 extending circumferentially along the stopper 42. The locking piece 41 and the through holes 12 are arranged in a plurality of circumferential intervals, so that the locking piece 41 can lock the base body 10 and the cylinder 20 from a plurality of directions, and the base body 10 and the cylinder 20 are locked more stably and reliably.

Further, the piston actuator 100 further includes a motor 50 and a hollow rotating shaft 60, the hollow rotating shaft 60 is rotatably connected to the base 10, an internal thread is formed on the hollow rotating shaft 60, an external thread matched with the internal thread is formed on the piston rod 31, and the motor 50 is used for driving the hollow rotating shaft 60 to rotate; the hollow rotating shaft 60 can drive the piston rod 31 to move relative to the base body 10 through rotation. The piston rod 31 is in threaded connection with the hollow rotating shaft 60, the motor 50 drives the hollow rotating shaft 60 to rotate, the piston rod 31 can be driven to move linearly, namely the rotation of the motor 50 is converted into the linear movement of the piston rod 31, the driving mode is simple, and reasonable arrangement of all parts of the piston actuating mechanism 100 is facilitated. The outer side of the hollow rotating shaft 60 is sequentially sleeved with a bearing 61 and a bearing seat 62, the bearing 61 is arranged between the bearing seat 62 and the hollow rotating shaft 60, and the outer wall of the bearing seat 62 is in threaded connection with the inner wall of the base body 10. One end of the elastic member 43 abuts against the bearing seat 62, and the other end of the elastic member 43 abuts against the stopper 42. Of course, both ends of the elastic member 43 may be connected to the bearing housing 62 and the stopper 42, respectively.

Of course, in other embodiments, an external thread may be formed on the hollow rotating shaft 60, and an internal thread matching the external thread is formed on the piston rod 31, that is, the piston rod 31 is screwed on the outer side of the hollow rotating shaft 60.

In the present embodiment, the piston actuator 100 further includes a mounting plate 70 and a connecting body 80, and the base 10, the motor 50 and the connecting body 80 are all fixed on the mounting plate 70, wherein the base 10 is not only screwed with the bearing seat 62, but also the base 10 is connected to the mounting plate 70 by bolts, screws, etc. The connecting body 80 is used for being connected with the tail end of the mechanical arm, and the piston actuating mechanism 100 is convenient to mount at the tail end of the mechanical arm due to the arrangement of the connecting body 80, so that the application range of the piston actuating mechanism 100 is wider. For example, the piston actuator 100 is connected to the end of a three-axis manipulator through the connecting body 80, and the three-axis manipulator can drive the piston actuator 100 to move to different height positions and different positions on a horizontal plane, so that construction can be performed on different positions, and the application range of the piston actuator 100 can be expanded.

The embodiment of the second aspect of the present application provides a caulking robot, the caulking robot includes the piston actuator 100 provided in the embodiment of the first aspect, the rodless cavity of the piston actuator 100 is used for storing materials, and the end of the cylinder 20 opposite to the open end 21 is provided with a discharging nozzle 22. When no material exists in the cylinder barrel 20 in the working process of the caulking robot, the locking assembly can be driven to act to replace the cylinder barrel 20, and the universality of the cylinder barrel 20 can be improved. And piston assembly 30 not only can drive the locking subassembly action so that cylinder 20 installs fast and dismantles, can also provide power for extruding the material, does not need to add the device of other powers to carry out the change of cylinder 20, avoids the robot that caulks overall structure is complicated, has reduced the weight of robot that caulks.

Generally, the caulking robot supplements materials into the cylinder 20 or extrudes the materials in the cylinder 20 for construction by using the built-in piston assembly 30 as power. If the aperture of the discharge nozzle 22 of the cylinder 20 is small, the progress of sucking materials into the cylinder 20 is affected, the work efficiency is reduced, the construction quality is affected, and the condition of sucking air is caused. If the aperture of the discharging nozzle 22 is large, although the material suction can be accelerated to enable the material to be supplemented in time, the discharging is not easy to control due to the large discharging aperture, and the gap filling quality is affected by the overflow of the gap filling agent.

In this embodiment, the aperture of the tap 22 may be set to a size suitable for caulking and discharging. The supplementary material can be supplemented by detaching the cylinder 20 from the base body 10. In this embodiment, when the cylinder 20 with sufficient material is required to be installed on the base 10, the motor 50 rotates forward to drive the hollow rotating shaft 60 to rotate, so that the piston rod 31 drives the piston 32 to move towards the open end 21, one side of the piston 32 connected with the piston rod 31 contacts one end of the stopper 42 and pushes the stopper 42 to move to the second position where the groove 421 aligns with the through hole 12 along with the movement of the piston 32, the open end 21 of the cylinder 20 is sleeved on the outer side of the base 10, the inner wall of the cylinder 20 forces the locking member 41 to be locked into the groove 421 during the sleeving process, when the cylinder 20 moves axially to the position where the locking groove 24 aligns with the through hole 12, the motor 50 rotates backward to drive the piston rod 31 to move away from the open end 21 through the hollow rotating shaft 60, and when the piston 32 is separated from the stopper 42, the stopper 42 moves from the second position to the first position and abuts against the limiting portion 11 under the elastic force of the elastic member 43, in the process that the stop member 42 moves from the second position to the first position, the stop member 42 gradually exits the groove 421 on the stop member 42 and is clamped into the clamping groove 24 of the cylinder 20, and the peripheral wall of the stop member 42 with the larger outer diameter abuts against one end of the locking member 41, so that the locking member 41 is kept clamped into the clamping groove 24, and the cylinder 20 and the base 10 are locked. When the motor 50 continues to rotate in the reverse direction, the piston rod 31 continues to move away from the open end 21, and the piston 32 can extrude the material in the rodless cavity out of the material nozzle for floor tile sealing. When the materials in the rodless cavity are used up, the cylinder 20 needs to be replaced, the motor 50 rotates in the forward direction, the piston rod 31 moves towards the direction close to the open end 21, the piston 32 pushes the stop piece 42 to the second position, the locking piece 41 is released, the cylinder 20 can be taken down from the base body 10, the materials can be supplemented from the open end 21 of the cylinder 20 with the used materials, the gap filling quality can be guaranteed, and the material supplementing efficiency can be improved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A piston actuator, comprising:

the locking device comprises a base body, a locking component and a locking component, wherein the locking component is arranged on the base body;

a cylinder having an open end, the open end being connected to the base, the locking assembly being configured to lock the cylinder to the base; and

the piston assembly comprises a piston and a piston rod, the piston rod is movably arranged on the base body, the piston is arranged in the cylinder barrel and is connected with the piston rod, and the piston assembly moves towards the opening end and can trigger the locking assembly to act so as to unlock the cylinder barrel and the base body;

the locking assembly comprises a locking piece and a stop piece used for locking the locking piece, and when the stop piece locks the locking piece, the locking piece locks the cylinder barrel on the base body;

when the stop piece unlocks the locking piece, the locking piece unlocks the cylinder barrel and the base body;

the piston assembly moves towards the open end to trigger the stop member to act, so that the stop member unlocks the locking piece.

2. The piston actuator of claim 1, wherein said stop has a position having a first position that locks said lockout member and a second position that unlocks said lockout member;

the locking assembly further comprises an elastic member acting on the stopper, the piston can drive the stopper to move from the first position to the second position against the elastic force of the elastic member, and the elastic member can drive the stopper to return from the second position to the first position.

3. The piston actuator of claim 2, wherein said base is cylindrical and said stop is annular, said piston rod passes through a central bore of said stop, said open end is sleeved on said base, said base is sleeved on said stop, said stop is axially movable relative to said base;

the open end is provided with a clamping groove, the side wall of the base body is provided with a through hole, and one end of the locking piece can extend out of the through hole and is clamped with the clamping groove;

a groove is formed in the outer peripheral surface of the stop piece, when the stop piece is located at the first position, the groove is staggered with the through hole, and the stop piece prevents the extending end of the locking piece from retracting;

when the stop member is in the second position, the groove is aligned with the through hole, and the stop member allows the protruding end of the lock member to retract.

4. The piston actuator of claim 3, wherein said base has a plurality of through holes spaced circumferentially therethrough;

the locking assembly comprises a plurality of locking pieces, the locking pieces correspond to the through holes one to one, and the groove is an annular groove extending along the circumferential direction of the stop piece.

5. The piston actuator according to claim 2, wherein the base body is provided with a limiting portion for preventing the stopper from coming off, and when the stopper is located at the first position, the stopper abuts against the limiting portion.

6. The piston actuator of claim 1, further comprising a motor and a hollow shaft, wherein the hollow shaft is rotatably connected to the base, an internal thread is formed on the hollow shaft, an external thread matched with the internal thread is formed on the piston rod, and the motor is used for driving the hollow shaft to rotate;

the hollow rotating shaft rotates to drive the piston rod to move relative to the base body.

7. The piston actuator of claim 6, further comprising a mounting plate and a connecting body, wherein the base, the motor and the connecting body are secured to the mounting plate, and wherein the connecting body is adapted to be coupled to a distal end of a robotic arm.

8. The piston actuator of claim 1, wherein an end of said cylinder opposite said open end is provided with a tap.

9. A caulking robot comprising a piston actuator according to any of claims 1-8.