CN113550538B

CN113550538B - Tail end discharging execution mechanism and caulking robot

Info

Publication number: CN113550538B
Application number: CN202010328036.8A
Authority: CN
Inventors: 刘丹; 李洋; 魏愷含; 莫爱珠; 邢万庆; 胡鹏程; 申永康
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-04-23
Filing date: 2020-04-23
Publication date: 2022-08-12
Anticipated expiration: 2040-04-23
Also published as: CN113550538A

Abstract

The invention relates to a tail end discharging actuating mechanism and a caulking robot, comprising: a mounting base; the extruding component is movably arranged on the mounting seat and is used for extruding and discharging materials in the quick-change charging barrel; and the locking assembly is arranged on the mounting seat, and the extruding assembly can drive the locking assembly to lock the quick-change charging barrel or release the quick-change charging barrel. The tail end discharging executing mechanism is applied to a caulking robot and is used for being assembled and connected with a quick-change charging barrel, so that caulking agents in the quick-change charging barrel are extruded and discharged, and the filling operation of facing brick gaps is completed. The mechanical locking structure formed by matching the material extruding component and the locking component of the tail end discharging actuating mechanism can greatly shorten the time consumed by replacing the material cylinder, reduce the material supplementing difficulty, ensure the continuity of the caulking operation of the caulking robot and improve the efficiency of the caulking operation.

Description

Tail end discharging execution mechanism and caulking robot

Technical Field

The invention relates to the technical field of construction robots, in particular to a tail end discharging execution mechanism and a gap filling robot.

Background

In the construction industry, when finishing tile installation such as wall tiles and floor tiles, it is necessary to perform a gap filling process in the gap between adjacent tiles, that is, to fill the gap with a gap filler, in order to ensure the appearance and quality of the tile. Because the traditional caulking operation is completely completed manually by manpower, the quality is poor and the efficiency is low, some caulking robots specially used for caulking operation appear in the market.

In the working process of the caulking robots, if the caulking agent in the material cylinder is used up, the empty material cylinder is extended into the material storage barrel to be supplemented by adopting a self-suction mode. However, if the caliber of the discharge nozzle of the charging barrel is too large, the discharge flow is difficult to control, and the gap filling quality is affected, so the caliber of the discharge nozzle of the charging barrel on the market is generally made smaller, but the small caliber of the discharge nozzle causes slow material suction speed during material filling, and the overall operation efficiency of the gap filling robot is directly reduced.

Disclosure of Invention

Based on this, it is necessary to provide a tail end discharging execution mechanism and a caulking robot, and the problem that the caulking quality and efficiency cannot be considered in the material supplementing mode in the prior art is solved.

In one aspect, the present application provides an end discharge actuator comprising:

a mounting base;

the extruding component is movably arranged on the mounting seat and is used for extruding and discharging materials in the quick-change charging barrel; and

the locking assembly is arranged on the mounting seat, and the extruding assembly can drive the locking assembly to lock the quick-change material barrel or release the quick-change material barrel.

The tail end discharging executing mechanism is applied to a caulking robot and is used for being assembled and connected with a quick-change charging barrel, so that caulking agents in the quick-change charging barrel are extruded and discharged, and the filling operation of facing brick gaps is completed. Particularly, the during operation needs to be connected crowded material subassembly and power supply in order to obtain extrusion power, will crowded material subassembly installation simultaneously on the mount pad to make the mount pad guarantee crowded material subassembly steady motion. When the joint filling operation is carried out, the extruding component moves towards the direction of the quick-change charging barrel, the extruding component can drive the locking component to lock the quick-change charging barrel, namely, the tail end discharging actuating mechanism is assembled and connected with the quick-change charging barrel, and the extruding component further moves to extrude and discharge the joint mixture into the facing brick joints. When the quick-change charging barrel runs out after working for a period of time, the material extruding assembly moves towards the direction far away from the current quick-change charging barrel, so that the material extruding assembly can drive the locking assembly to unlock and release the current quick-change charging barrel, and the empty quick-change charging barrel automatically drops under the action of self gravity. And then, the tail end discharging actuating mechanism moves to the material preparing platform and aligns to a new quick-change charging barrel filled with the caulking agent, the material extruding component moves towards the direction of the new quick-change charging barrel again, at the moment, the material extruding component can drive the locking component to be locked and fixed with the new quick-change charging barrel, the quick-change charging barrel can be quickly replaced, and then the caulking operation is continued until the caulking operation is finished. The mechanical locking structure formed by matching the material squeezing component and the locking component of the tail end discharging actuating mechanism can greatly shorten the time consumed by replacing the material cylinder, reduce the material supplementing difficulty, ensure the continuity of the caulking operation of the caulking robot and improve the efficiency of the caulking operation.

The technical solution of the present application is further described below:

in one embodiment, the extruding assembly comprises a driving rod, the driving rod is slidably mounted on the mounting seat, the locking assembly comprises a supporting seat, a locking body and a locking ring, the supporting seat is connected with the mounting seat, the supporting seat is provided with a through hole, the locking ring is connected with the driving rod, the locking ring is provided with a butting portion, the inner wall of the quick-change material barrel is provided with a clamping portion, and the butting portion can push the locking body to be inserted into the through hole and clamped with the clamping portion.

In one embodiment, the driving rod comprises a rod body and a buckle plate connected with the rod body, the locking ring is provided with a jack, the rod body is arranged in the jack in a penetrating mode, and the buckle plate is buckled with the inner wall of the locking ring.

In one embodiment, the locking ring is further provided with an avoiding portion arranged adjacent to the abutting portion, and when the abutting portion and the through hole are arranged in a staggered manner, the locking body can retreat into the avoiding portion to be separated from being in contact with the clamping portion.

In one embodiment, the relief portion is an annular groove formed on an outer wall surface of the lock ring in a circumferential direction.

In one embodiment, the material extruding assembly further comprises an elastic pressing piece, the elastic pressing piece is sleeved on the driving rod, one end of the elastic pressing piece is fixed with the locking ring, and the other end of the elastic pressing piece is fixed with the supporting seat.

In one embodiment, the outer wall surface of the supporting seat is provided with a first guiding inclined surface and/or the inner cylinder wall of the quick-change material cylinder is provided with a second guiding inclined surface.

In one embodiment, the driving rod is a threaded rod, the extruding assembly further comprises a rotating shaft and a bearing, the threaded rod is connected with the rotating shaft, the rotating shaft is connected with the bearing, and the bearing is arranged in the mounting seat.

In addition, this application still provides a robot of caulking, it includes the platform of prepareeing material, set up in two at least quick change feed cylinders on the platform of prepareeing material and as above terminal ejection of compact actuating mechanism, terminal ejection of compact actuating mechanism can pick up or release arbitrary quick change feed cylinder.

In one embodiment, the quick-change barrel comprises a barrel body, a discharge nozzle arranged on the discharge end of the barrel body, a clamping part arranged on the inner wall of the barrel body close to the opening end, and a piston movably arranged in the barrel body and used for abutting against the extrusion assembly.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of an assembly structure of an end discharge actuator according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the exploded structure of FIG. 1;

FIG. 3 is a schematic cross-sectional view taken along line A-A of FIG. 1 (with the lock assembly releasing the quick-change cartridge);

FIG. 4 is a schematic view of a portion of the enlarged structure at B in FIG. 3;

fig. 5 is a schematic sectional view at a-a in fig. 1 (the locking assembly locks the quick-change cartridge);

fig. 6 is a partially enlarged structural view at C in fig. 5.

Description of reference numerals:

10. a mounting seat; 20. a material extruding component; 21. a drive rod; 211. a rod body; 212. buckling the plate; 22. an elastic pressing member; 23. a rotating shaft; 24. a bearing; 30. quickly replacing the charging barrel; 31. a clamping part; 32. a second guide slope; 33. a cartridge body; 34. a discharging nozzle; 35. a piston; 40. a locking assembly; 41. a supporting seat; 411. a through hole; 412. a first guide slope; 42. a locking body; 43. a locking ring; 431. an abutting portion; 432. an avoidance part.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The embodiment of the application provides a joint filling robot, which can replace the traditional manual joint filling operation mode of manpower and realize completely unmanned full-automatic joint filling operation. The caulking robot is an intelligent mechanical device capable of automatically filling a caulking agent into a brick joint of a facing brick. The facing brick can be a wall tile, a floor tile and the like on a building, and can improve the building forming quality and appearance to a certain extent by filling brick joints.

The joint filling robot mainly comprises a movable chassis, an identification positioning device, an electric control system, a material preparation platform, a mechanical arm, a tail end discharging execution mechanism and some auxiliary accessories. The electric control system is respectively electrically connected with the mobile chassis, the identification positioning device and the mechanical arm, so that the three functional components can work in cooperation with each other under the automatic instruction control of the electric control system. The electronic control system may be any type of control equipment known in the art, such as a PLC device, a micro-controller computer, etc.

Alternatively, the mobile chassis may be an AGV. The AGV may be of a tracked structure, a sprocket structure, a belt-and-wheel structure, or the like. In a preferred embodiment, the moving chassis is provided with mecanum wheels, steering wheels and a suspension damping mechanism, and the moving chassis has excellent moving and steering functions, so that the caulking robot has extremely high maneuvering capability and meets the passing capability of various terrains.

The recognition positioning device comprises a laser sensor, a visual recognition sensor, an acceleration sensor and other various recognition devices to form a multi-sensor fusion monitoring system, and can provide accurate recognition, planning and positioning for a moving path and a traveling direction of a moving chassis, so that the gap filling robot can accurately fill continuous gaps, turning gaps and other types of gaps.

The stock preparation platform is a device mounted on a mobile chassis for storing replaceable quick-change cartridges 30. The stock preparation platform can be a box body, a frame body and the like similar to an open structure, and can be selected according to actual needs. A plurality of quick-change material cylinders 30 are regularly arranged on the material preparation platform, for example, the quick-change material cylinders 30 are arranged in an array structure, so that the moving path of the tail end discharging actuator is simplified. Each quick-change charging barrel 30 can be connected with the tail end discharging executing mechanism one by one continuously, so that the caulking robot has strong continuous working capacity in a long working period, and the work efficiency is favorably improved.

The manipulator is used for bearing and fixing the tail end discharging actuating mechanism, and the tail end discharging actuating mechanism has the capability of flexibly moving in space, so that the gap filling requirements of various occasions are met.

Fig. 1 is a schematic view illustrating an assembly structure of an end discharge actuator and a quick-change barrel 30 according to an embodiment of the present application. Fig. 2 is a schematic diagram showing an exploded structure of the end discharge actuator and the quick-change barrel 30 according to an embodiment of the present application. Wherein, end ejection of compact actuating mechanism includes: mount 10, extruding assembly 20 and locking assembly 40.

In the present embodiment, the quick-change cartridge 30 includes a cartridge body 33, a discharge nozzle 34 disposed on the discharge end of the cartridge body 33, a clamping portion 31 disposed on the inner wall of the cartridge body 33 near the opening end, and a piston 35 movably disposed in the cartridge body 33 and used for abutting against the material extruding assembly 20.

The material extruding assembly 20 is connected with a power source and can move in a reciprocating linear motion. Alternatively, the power source may be a motor and gearbox combination or other power equipment known in the art.

Specifically, the cartridge body 33 is of a cylindrical structure and the corresponding piston 35 is of a cylindrical pie structure, so that the piston 35 can be fittingly mounted inside the cartridge body 33. Of course, in other embodiments, the cartridge body 33 and the piston 35 may have other shapes, such as a square shape, and the like, and the shapes may be selected according to actual needs.

Preferably, the diameter of the piston 35 is equal to or slightly larger than the inner diameter of the cartridge body 33, so that the piston 35 can be clamped inside the cartridge body 33 in a tight state to ensure sealing capability, prevent the gap-filling agent inside the cartridge body 33 from leaking out from the gap, or allow the outside air to enter into the cartridge body 33 to cause the gap-filling agent to dry out and even deteriorate. In order to achieve both sealing and sliding capabilities, the piston 35 is made of a material having elasticity (deformability) such as plastic or rubber.

Furthermore, a plurality of grooves are formed on the circumferential surface of the piston 35 at intervals along the axial direction, and due to the existence of gas in the grooves, a labyrinth type airtight sealing structure can be formed after the piston 35 is tightly contacted with the inner wall of the charging barrel body 33, so that the sealing capability of the quick-change charging barrel 30 is further improved.

In particular, since the quick-change cartridge 30 is generally a disposable consumable, the cartridge body 33 is generally made of plastic in consideration of reducing manufacturing costs and the like.

With continued reference to fig. 1, the end discharge actuator includes: mount 10, extruding assembly 20 and locking assembly 40. The extruding assembly 20 is movably arranged on the mounting seat 10 and is used for extruding and discharging materials in the quick-change material barrel 30; the locking assembly 40 is arranged on the mounting seat 10, and the extruding assembly 20 can drive the locking assembly 40 to lock the quick-change barrel 30 or release the quick-change barrel 30.

In summary, the implementation of the technical solution of the above embodiment will have the following beneficial effects: the tail end discharging executing mechanism is applied to a caulking robot and is used for being assembled and connected with the quick-change charging barrel 30, so that caulking agents in the quick-change charging barrel 30 are extruded and discharged, and the filling operation of facing brick gaps is completed. Specifically, during operation, the extruding assembly 20 needs to be connected with a power source to obtain extruding power, and the extruding assembly 20 is mounted on the mounting seat 10, so that the mounting seat 10 ensures the stable movement of the extruding assembly 20. When the caulking operation is performed, the material extruding component 20 moves towards the direction of the quick-change material barrel 30, at this time, the material extruding component 20 can drive the locking component 40 to lock the quick-change material barrel 30, that is, the assembly connection of the tail end discharging execution mechanism and the quick-change material barrel 30 is realized, and the material extruding component 20 further moves to extrude and discharge the caulking agent into the facing brick joints. When the operation is performed for a period of time, the quick-change barrel 30 is used up, the material extruding assembly 20 moves in a direction away from the quick-change barrel 30, so that the material extruding assembly 20 can drive the locking assembly 40 to unlock, and the quick-change barrel 30 is released, and the empty quick-change barrel 30 falls down by itself under the action of its own gravity. Then, the end discharging actuator moves to the material preparing platform and aligns to the new quick-change material cylinder 30 filled with the caulking agent, the material extruding assembly 20 moves towards the new quick-change material cylinder 30 again, at this time, the material extruding assembly 20 can drive the locking assembly 40 to be locked and fixed with the new quick-change material cylinder 30, so that the quick-change material cylinder 30 can be quickly replaced, and then the caulking operation is continued until the caulking operation is finished. The mechanical locking structure formed by matching the tail end discharging actuating mechanism material squeezing component 20 and the locking component 40 can greatly shorten the time consumed by replacing the material cylinder, reduce the material supplementing difficulty, ensure the continuity of the caulking operation of the caulking robot and improve the caulking operation efficiency.

Specifically, in some embodiments, the material extruding assembly 20 includes a driving rod 21, preferably, the driving rod 21 is a threaded rod, the threaded rod is sleeved inside a sleeve, and the threaded rod is connected with a gear in a gear box so as to obtain the rotational power output by the motor. When the motor outputs clockwise rotation power, the threaded rod moves upwards in the direction away from the quick-change barrel 30, and when the motor outputs counterclockwise rotation power, the threaded rod moves downwards in the direction close to the quick-change barrel 30. It should be noted that, when the tail end discharging actuating mechanism is in different poses, the threaded rod can also horizontally or obliquely reciprocate along a straight line.

Referring to fig. 2, in order to ensure that the threaded rod moves reliably in the up-and-down direction and rotates stably, the material extruding assembly 20 further includes a rotating shaft 23 and a bearing 24, the threaded rod is connected to the rotating shaft 23, the rotating shaft 23 is connected to the bearing 24, and the bearing 24 is disposed in the mounting base 10. That is, the bearing 24 and the rotating shaft 23 can play a role in supporting and positioning the linear movement of the threaded rod and the composite movement of the rotation along the axis of the threaded rod.

As described above, the driving rod 21 is slidably movable on the mount 10 under the driving of the motor. In some embodiments, the locking assembly 40 includes a support base 41, a locking body 42 and a locking ring 43 connected to the mounting base 10. The supporting seat 41 and the locking ring 43 are preferably cylinders with two ends penetrating through and hollow inside, except that the maximum external dimension of the locking ring 43 is smaller than the internal dimension of the supporting seat 41, and the locking ring 43 is connected with the driving rod 21, so that the locking ring 43 can be partially or completely nested inside the supporting seat 41 under the pulling and driving of the driving rod 21.

Referring to fig. 4 and fig. 6, the supporting base 41 is provided with a through hole 411, and the through hole 411 is disposed through the wall thickness direction of the supporting base 41. The locking body 42 is preferably a steel ball, which can ensure that the spherical surface is always in contact with the through hole 411 and the clamping part 31 in the moving process of the locking body 42, so that locking or unlocking can be more easily performed. Of course, the locking body 42 may be another structure body with an arc surface or a spherical surface, as long as the spherical surface or the arc surface is ensured to be inconvenient to pose and always contact with the through hole 411 and the clamping portion 31.

With continued reference to fig. 3 to 6, the diameter of the through hole 411 is slightly smaller than that of the steel ball, so that the steel ball will not drop out of the supporting seat 41 by passing through the through hole, but at the same time, part of the spherical wall of the steel ball protrudes out of the opening of the through hole 411 after the steel ball is inserted into the through hole 411, and can be clamped with the clamping portion 31. The locking ring 43 is provided with an abutting portion 431, the abutting portion 431 is arranged to be tightly attached to the inner wall of the supporting seat 41, and the clamping portion 31 is specifically formed on the inner wall of the charging barrel body 33 and close to the opening of the charging barrel. The abutting portion 431 can push the locking body 42 to be inserted into the through hole 411 and simultaneously clamped with the clamping portion 31. In this way, when the driving rod 21 moves close to the quick-change cartridge 30, the abutting portion 431 can gradually push the locking body 42 to be inserted into the through hole 411, and the spherical wall of the locking body 42 exceeding the opening of the through hole 411 can be clamped into the clamping portion 31, so that the supporting seat 41 and the cartridge body 33 are clamped and fixed by the locking body 42, that is, the assembly connection of the end discharge actuator and the quick-change cartridge 30 is completed. On the basis, when the driving rod 21 further moves, the pushing piston 35 moves to extrude and discharge the caulking agent in the cartridge body 33 from the discharge nozzle 34.

In some embodiments, the driving rod 21 includes a rod body 211 and a buckle plate 212 connected to the rod body 211, the locking ring 43 has a hole, the rod body 211 is inserted into the hole, and the buckle plate 212 is fastened to an inner wall of the locking ring 43. The locking ring 43 is further provided with an escape portion 432 arranged adjacent to the abutting portion 431, and when the abutting portion 431 and the through hole 411 are arranged in a staggered manner, the locking body 42 can retreat into the escape portion 432 and be separated from contact with the clamping portion 31.

When the driving rod 21 moves, the buckle plate 212 is buckled and pressed on the inner wall of the locking ring 43, so that the driving rod 21 can synchronously pull the locking ring 43 to move together, the abutting part 431 and the through hole 411 are arranged in a staggered mode in the axial direction, meanwhile, the avoiding part 432 is opposite to the through hole 411, the avoiding part 432 provides a withdrawing space for the locking body 42 (even if the locking body 42 recovers the degree of freedom), the quick-change material barrel 30 starts to fall off from the supporting seat 41 under the action of self weight, the locking body 42 is pushed by the inner wall of the material barrel body 33 to fall into the avoiding part 432, and finally, the old quick-change material barrel 30 which runs out of the gap filler is completely separated from the tail end discharging execution mechanism under the condition that the locking effect of the locking body 42 is lost, so that the tail end discharging execution mechanism can be assembled and connected with a new quick-change material barrel 30.

It should be noted that, in some embodiments, the relief portion 432 is an annular groove formed on the outer wall surface of the lock ring 43 along the circumferential direction. In this way, even after the lock ring 43 rotates following the drive rod 21, the escape portion 432 always faces the through hole 411 to provide a space for retracting the lock body 42, thereby facilitating the removal of the old quick-change cartridge 30. However, it should be noted that the annular groove may be a continuous or discontinuous structure, and may be specifically set according to actual needs.

Preferably, on the basis of any of the above embodiments, the plurality of clamping portions 31, the locking bodies 42, the through holes 411 and the avoiding portions 432 are assembled in a one-to-one correspondence manner and can be arranged in rows or columns, so as to form a multi-point connection, further limit the freedom degree of the quick-change material barrel 30 after assembly, and avoid the problem that the quick-change material barrel 30 falls off due to insufficient clamping force caused by reaction force when the extrusion caulking agent is discharged.

With continued reference to fig. 2, in some embodiments, the extruding assembly 20 further includes an elastic pressing element 22, the elastic pressing element 22 is sleeved on the driving rod 21, one end of the elastic pressing element 22 is fixed to the locking ring 43, and the other end of the elastic pressing element 22 is fixed to the supporting seat 41. The elastic pressing element 22 may be a spring or other elastic elements in the prior art. When the driving rod 21 moves away from the quick-change barrel 30, the buckle plate 212 pushes the locking ring 43 to force the elastic pressing piece 22 to compress; when the driving rod 21 moves close to the quick-change material barrel 30, the elastic pressing member 22 needs to recover the deformation, and at this time, the elastic force can be applied to push the locking ring 43 to move and disengage the supporting seat 41, and along with the movement of the locking ring 43, the abutting portion 431 can abut against the locking body 42 and be clamped into the clamping portion 31, so that the assembly and fixation of the end discharging actuator and a new quick-change material barrel 30 are completed.

With continuing reference to fig. 4 and fig. 6, further, based on any of the above embodiments, the outer wall surface of the supporting seat 41 is provided with a first guiding inclined surface 412 and/or the inner wall surface of the quick-change barrel 30 is provided with a second guiding inclined surface 32. Preferably, the outer wall surface of the supporting seat 41 is provided with a first guiding inclined surface 412, the inner wall surface of the quick-change cartridge 30 is also provided with a second guiding inclined surface 32, and the first guiding inclined surface 412 is adapted to the inclination direction and inclination of the second guiding inclined surface, so as to form a guiding and sliding function, so that the supporting seat 41 can be more easily nested and plugged with the quick-change cartridge 30.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An end tap actuator, the end tap actuator comprising:

a mounting seat;

the locking assembly is arranged on the mounting seat, and the extruding assembly can drive the locking assembly to lock the quick-change material barrel or release the quick-change material barrel; the locking assembly comprises a supporting seat connected with the mounting seat, and a first guide inclined plane is arranged on the outer wall surface of the supporting seat and/or a second guide inclined plane is arranged on the inner cylinder wall of the quick-change material cylinder; the crowded material subassembly includes the actuating lever, the actuating lever slide install in on the mount pad, the lock connects the subassembly still includes the lock and connects body and lock and connect the ring, the through-hole has been seted up to the supporting seat, the lock connect the ring with the actuating lever is connected, just the lock connects the ring and is equipped with butt portion, the inner wall of quick change feed cylinder is equipped with joint portion, butt portion can support and push the lock connect the body insert arrange in the through-hole and simultaneously with joint portion joint.

2. The tail end discharging execution mechanism of claim 1, wherein the driving rod comprises a rod body and a buckle plate connected with the rod body, the locking ring is provided with a jack, the rod body penetrates through the jack, and the buckle plate is buckled with the inner wall of the locking ring.

3. The tail end discharging execution mechanism according to claim 1, wherein the locking ring is further provided with an avoiding portion, and when the abutting portion and the through hole are arranged in a staggered manner, the locking body can retreat into the avoiding portion and be separated from being in contact with the clamping portion.

4. The end tap actuator of claim 3 wherein the relief is an annular groove formed in the outer wall surface of the lock ring in the circumferential direction.

5. The end discharge actuator of claim 3, wherein the extruding assembly further comprises an elastic pressing member, the elastic pressing member is sleeved on the driving rod, one end of the elastic pressing member is fixed to the locking ring, and the other end of the elastic pressing member is fixed to the supporting seat.

6. The end tap actuator of claim 1 wherein the maximum outer dimension of the lock ring is less than the inner cavity dimension of the support housing.

7. The end tap actuator of claim 1 wherein the lock is a steel ball and the diameter of the through hole is less than the diameter of the steel ball.

8. The end discharge actuator of claim 2, wherein the drive rod is a threaded rod, the extrusion assembly further comprises a shaft and a bearing, the threaded rod is connected to the shaft, the shaft is connected to the bearing, and the bearing is disposed in the mounting block.

9. A caulking robot comprising a stock preparation platform, at least two quick-change cartridges disposed on the stock preparation platform, and the end tap actuator of any of claims 1 to 8 capable of picking up or releasing any of the quick-change cartridges.

10. The caulking robot as recited in claim 9, wherein the quick-change material barrel comprises a material barrel body, a discharging nozzle arranged on the discharging end of the material barrel body, a clamping part arranged on the inner wall of the material barrel body close to the opening end, and a piston movably arranged in the material barrel body and used for abutting against the material extruding assembly.