Device for quickly replacing wax injection nozzle for robot

Abstract

The invention relates to the technical field of wax injection nozzle replacing devices, and discloses a device for rapidly replacing a wax injection nozzle for a robot, which comprises a robot connecting module, a tool connecting module, a signal transmission module, a locking rotating module, an adapter flange, a wax liquid atomizing module, a three-order structure, a switching rotating module, a first limiting block and a second limiting block, the three-step structure is formed by sequentially splicing a first step block, a second step block and a third step block, the locking rotating module is installed in the three-step structure, a swing arm is driven by a rotating air cylinder to swing, positioning is conducted through a proximity sensor, a spray head locking head and a jacking valve element are coaxial, then a locking rotating air cylinder drives a locking mechanism to conduct locking, and the spray head locking head and the jacking valve element are locked. The jacking valve core is in sealed butt joint with the spray head locking head; during wax injection, compressed air and wax liquid are mixed and atomized through the wax liquid atomization module and are sprayed out through the wax injection nozzle; after operation is completed, all the components are reset, the swing arm returns, automatic production is adapted, and efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of wax nozzle replacement device technology, specifically a device for quickly replacing wax nozzles in robots. Background Technology

[0002] In automated production processes, industrial robots often need to perform various wax injection tasks. Different tasks require different wax nozzles, thus necessitating a quick-change robot device to enable rapid tool switching. Existing quick-change robot devices mainly suffer from the following problems: 1. Most quick-change devices only support single-tool switching. If multiple tools need to be switched, the quick-change tool end needs to be changed frequently, which is cumbersome and has low switching efficiency. 2. Insufficient positioning accuracy; after switching, the coaxiality deviation of the tool is large, affecting the quality of work. 3. The locking mechanism has poor reliability and is prone to loosening or jamming, posing a safety hazard; 4. Unstable signal transmission, signal interruption or poor contact may occur when switching between multiple tools, causing the tools to malfunction. Therefore, we propose a device for quick-change wax nozzles for robots to solve the above problems. Summary of the Invention

[0003] To address the technical problems of existing quick-change tool ends requiring frequent replacement, cumbersome operation, low switching efficiency, insufficient positioning accuracy, and poor reliability of locking mechanisms, this invention provides a device for quick-change wax nozzles for robots.

[0004] This invention is achieved using the following technical solution: a device for quickly changing wax nozzles for a robot, comprising a robot connection module, a tool connection module, a signal transmission module, a locking rotation module, an adapter flange, a wax atomization module, a three-tier structure, a switching rotation module, a first limiting block, and a second limiting block. The tool connection module is fixedly connected to the bottom of the robot connection module. The tool connection module is fixedly connected to the three-tier structure via the adapter flange. The three-tier structure is composed of a first-tier block, a second-tier block, and a third-tier block assembled sequentially. The locking rotation module is installed inside the three-tier structure. The switching rotation module is fixedly connected to the bottom of the third-tier block via an L-shaped connecting plate. The top of the wax atomization module is fixedly connected to one side of the robot connection module. The bottom of the wax atomization module is fixedly connected to one side of the first-tier block, and the bottom output end of the wax atomization module is sealed and connected to the locking rotation module. The signal transmission module is fixedly connected to the side of the adapter flange and the first step block. Multiple first limit blocks are fixedly connected to the outside of the third step block. Multiple second limit blocks are respectively fixed around the third step block. The first limit blocks and second limit blocks are used to limit the swing stroke of the switching rotation module. The locking rotation module includes a locking mechanism, a clamping valve core, a locking rotation cylinder, a valve core sealing mechanism, and a locking position sensor. Secondly, the switching rotation module includes a swing arm, a rotary cylinder, a sensor sealing chamber, a sealing gasket, a sealing cover, a nozzle seat, a nozzle positioning seat, a nozzle locking head, a cleaning positioning seat, a proximity sensor, a sensor sealing block, a cylinder sealing gasket, a sealing O-ring, a cylinder shaft, and a sensor contact block. The wax atomization module includes a connecting valve body, an external spray needle spring nut, a nozzle, a combined rod seal, a spray needle return spring, a sealing gasket, a sealing ring clamping screw, a first spray needle spring nut, a second spray needle spring nut, a connecting spray needle tail rod, a spray needle, a wax interface, and a compressed air interface.

[0005] Preferably, the first, second, and third blocks are sequentially locked together by through bolts, and the interior of the three-stage structure has an installation cavity and a connecting channel adapted to the wax atomization module and the locking rotation module.

[0006] Preferably, the locking rotary cylinder is embedded inside the first and second blocks, the output end of the locking rotary cylinder is connected to the locking mechanism key via gears, the tightening valve core slides through the central through hole of the locking rotary module, the valve core sealing mechanism is fitted on the outer side of the middle of the tightening valve core, the locking position sensor is fixed to the side of the second block, and the detection end of the locking position sensor faces the end face of the locking mechanism.

[0007] Preferably, the rotary cylinder is fixed to the side of the L-shaped connecting plate by a cylinder sealing gasket. The output end of the rotary cylinder is fixedly connected to the cylinder shaft. The cylinder shaft is fixedly connected to one end of the swing arm. The other end of the swing arm is fixedly connected to the nozzle locking head. One end of the nozzle seat is sleeved inside one end of the nozzle locking head. The nozzle positioning seat is fixedly connected to the outside of one end of the nozzle seat. The cleaning positioning seat is fixedly connected to one end of the L-shaped connecting plate. One end of the nozzle locking head is located inside the nozzle positioning seat.

[0008] Preferably, the sensor sealing chamber is fixed to one side of the rotary cylinder, the proximity sensor is fixed to the top of the sensor sealing chamber by a sensor sealing block, the sealing cover is closed to one side of the sensor sealing chamber by a sealing gasket, the sensor contact block is fixed to the side of the swing arm, and the signal transmission module is electrically connected to the locking position sensor, the proximity sensor, the rotary cylinder and the locking rotary cylinder by wires respectively.

[0009] Preferably, the sealing O-ring is fitted on the outside of the rotary cylinder, one end of the L-shaped connecting plate is bolted to the third step block, when the swing arm swings to contact the first limit block, the nozzle locking head is coaxially aligned with the tightening valve core, and when the nozzle positioning seat swings to contact the second limit block, the nozzle locking head is located on one side of the cleaning positioning seat.

[0010] Preferably, the connecting valve body is embedded in the first-stage mounting cavity, the spray needle slides horizontally through the inside of the connecting valve body, the rear end of the spray needle is coaxially inserted with the connecting spray needle tail rod, the combined rod seal is fitted on the outer side of the middle part of the connecting spray needle tail rod, the sealing gasket is fitted against the rear end face of the connecting spray needle tail rod, the first spray needle spring nut and the second spray needle spring nut are sequentially threaded to the outer side of the rear end of the connecting valve body, the sealing ring clamping screw passes through the second spray needle spring nut and abuts against the sealing gasket, the spray needle return spring is fitted on the outside of the connecting spray needle tail rod, and one end of the spray needle return spring abuts against the first spray needle spring nut, and the other end abuts against the sealing gasket, the external spray needle spring nut is threaded to the outer side of the front end of the connecting valve body, and the nozzle is embedded in the front end of the connecting valve body, and the nozzle is adapted to correspond with the front end of the spray needle.

[0011] Preferably, the wax liquid interface and the compressed air interface are fixed on the bottom sides of the connecting valve body, and the connecting valve body has a first flow channel and a second flow channel inside. One end of the first flow channel is connected to the wax liquid interface and the other end extends to the side of the nozzle. One end of the second flow channel is connected to the compressed air interface and the other end extends to the inside of the nozzle.

[0012] Preferably, the valve core sealing mechanism is composed of multiple layers of sealing gaskets, and the inner side of the valve core sealing mechanism is tightly fitted with the outer wall of the tightening valve core. The front end of the tightening valve core is sealed and connected to the bottom of the nozzle locking head, and the internal flow channel of the tightening valve core is connected to the first flow channel and the second flow channel of the valve body.

[0013] Compared with the prior art, the beneficial effects of the present invention are: In use, this invention connects securely to the robot via a robot connection module and other components. Initially, the clamping valve core retracts, the locking mechanism opens, and the swing arm contacts the second limit block. Upon receiving a switching command, a rotary cylinder drives the swing arm to swing, and a proximity sensor positions it so that the nozzle locking head is coaxial with the clamping valve core. Subsequently, a locking rotary cylinder drives the locking mechanism to lock, sealing the clamping valve core and the nozzle locking head. During wax injection, compressed air and molten wax are mixed and atomized by the wax atomization module and sprayed out from the wax injection nozzle. After the operation is completed, all components reset, and the swing arm returns to its original position for cleaning, maintenance, or nozzle replacement. The device enables rapid switching of wax injection nozzles and precise operation, adapting to automated production and improving efficiency and quality. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the position structure of the locking rotation module of the present invention; Figure 3 This is a schematic diagram of the position structure of the switching rotation module of the present invention; Figure 4 This is a schematic diagram of the wax liquid atomization module structure of the present invention; Figure 5 This is a schematic diagram of the specific structure of the third-order structure of the present invention; Figure 6 This is a schematic diagram of the specific structure of the locking rotation module of the present invention; Figure 7 This is a side view of the locking rotation module of the present invention; Figure 8 This is a bottom view of the switching rotation module of the present invention; Figure 9 This is a schematic diagram of the side structure of the switching rotation module of the present invention; Figure 10 This is a cross-sectional view of the switching rotation module of the present invention; Figure 11 This is a side sectional view of the overall structure of the present invention; Figure 12 This is a schematic diagram of the internal structure of the wax liquid atomization module of the present invention.

[0015] In the diagram: 1. Robot connection module; 2. Tool connection module; 3. Signal transmission module; 4. Locking rotation module; 401. Locking mechanism; 402. Tightening valve core; 403. Locking rotation cylinder; 404. Valve core sealing mechanism; 405. Locking position sensor; 5. Adapter flange; 6. Wax atomization module; 601. Connecting valve body; 602. External spray needle spring nut; 603. Nozzle; 604. Combined rod seal; 605. Spray needle return spring; 606. Sealing gasket; 607. Sealing ring clamping screw; 608. First spray needle spring nut; 609. Second spray needle spring nut; 610. Connecting spray needle tail rod; 611. Spray needle; 612. Wax interface; 613. Compressed air interface; 7. Three-order structure; 701. First-order block; 702. Second-order block; 703. Third-order block; 8. Switching Rotary Module; 801. Swing Arm; 802. Rotary Cylinder; 803. Sensor Sealing Chamber; 804. Sealing Gasket; 805. Sealing Cover; 806. L-shaped Connecting Plate; 807. Nozzle Mount; 808. Nozzle Positioning Mount; 809. Nozzle Locking Head; 810. Cleaning Positioning Mount; 811. Proximity Sensor; 812. Sensor Sealing Block; 813. Cylinder Sealing Gasket; 814. Sealing O-ring; 815. Cylinder Shaft; 816. Sensor Contact Block; 9. First limit block; 10. Second limit block. Detailed Implementation

[0016] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0017] Example 1: Please refer to Figure 1 - Figure 12 This embodiment provides a device for quickly changing wax nozzles for a robot, comprising a robot connection module 1, a tool connection module 2, an adapter flange 5, and a three-tier structure 7. The tool connection module 2 is fixedly connected to the bottom of the robot connection module 1, and the tool connection module 2 is fixedly connected to the three-tier structure 7 via the adapter flange 5. The three-tier structure 7 is composed of a first tier block 701, a second tier block 702, and a third tier block 703 sequentially assembled, and has an internal mounting cavity and a connecting channel adapted to the wax atomization module 6 and the locking rotation module 4. Among them, the robot connection module 1 adopts a standardized pneumatic quick-change interface, which can quickly dock with the robot body, receive the pneumatic power and control signals output by the robot, and provide power and command support for the whole device; the tool connection module 2 serves as a transitional connection component, realizing a modular design, which facilitates the disassembly and maintenance of the entire device. The internal mounting cavity of the three-stage structure 7 is precisely matched with the external dimensions of each functional module, and the connecting channel is seamlessly connected with the flow channels of the wax atomization module 6 and the locking rotation module 4 to ensure smooth flow of wax and compressed air without leakage or stagnation. Furthermore, the locking rotation module 4 is installed inside the three-stage structure 7, including a locking mechanism 401, a clamping valve core 402, a locking rotation cylinder 403, a valve core sealing mechanism 404, and a locking position sensor 405; the locking rotation cylinder 403 is embedded inside the first stage block 701 and the second stage block 702, and its output end is connected to a large gear through a pinion gear meshing, with the locking mechanism 401 located inside the large gear; the clamping valve core 402 slides through the central through hole of the locking rotation module 4, and the valve core sealing mechanism 404 is fitted on the outer side of the middle part of the clamping valve core 402; the locking position sensor 405 is fixed to the side of the second stage block 702, with its detection end facing the end face of the locking mechanism 401; Among them, the locking rotary cylinder 403 generates rotational power after being connected to compressed air. Through the meshing transmission of the small gear and the large gear, it achieves speed reduction and torque increase, driving the locking mechanism 401 to rotate and lock, ensuring that the top valve core 402 is firmly connected to the nozzle locking head 809, and preventing it from falling off due to pressure fluctuations during wax injection. The tightening valve core 402 has a hollow structure, and its internal flow channel is connected to the first flow channel and the second flow channel of the wax atomization module 6 to realize the delivery of wax and compressed air. The valve core sealing mechanism 404 is composed of multiple layers of sealing gaskets, which are tightly fitted to the outer wall of the tightening valve core 402 to form multiple seals and prevent wax leakage from contaminating the equipment. The locking position sensor 405 detects the locking status of the locking mechanism 401 in real time. When the locking mechanism 401 is fully locked, the sensor sends a signal to the signal transmission module 3 to ensure that the subsequent wax injection operation is only started after the locking is completed, thereby improving the safety of operation. Furthermore, the switching rotation module 8 is fixedly connected to the bottom of the third step block 703 via an L-shaped connecting plate 806, and includes components such as a swing arm 801, a rotary cylinder 802, a nozzle seat 807, a nozzle positioning seat 808, a nozzle locking head 809, and a cleaning positioning seat 810. The rotary cylinder 802 is fixed to the side of the L-shaped connecting plate 806 via a cylinder sealing gasket 813, and its output end is fixedly connected to a cylinder shaft 815. The cylinder shaft 815 is fixedly connected to one end of the swing arm 801, and the other end of the swing arm 801 is fixedly connected to the nozzle locking head 809. A first limiting block 9 is fixed to the outside of the third step block 703, and second limiting blocks 10 are fixed around it. When the swing arm 801 swings to contact the first limiting block 9, the nozzle locking head 809 is coaxially aligned with the tightening valve core 402. When it contacts the second limiting block 10, the nozzle locking head 809 is located on one side of the cleaning positioning seat 810. Among them, the rotary cylinder 802 serves as the switching power source, driving the swing arm 801 to swing through the cylinder shaft 815, thereby realizing the rapid switching between the wax injection position and the cleaning position. The cylinder sealing gasket 813 and the sealing O-ring 814 respectively seal the mounting surface and the outside of the rotary cylinder 802 to prevent compressed air leakage and wax intrusion. The nozzle locking head 809 is used to fix the nozzle seat 807, and the nozzle positioning seat 808 assists in positioning the nozzle seat 807 to ensure that the coaxiality error between the nozzle and the tightening valve core 402 is ≤0.02mm, thus ensuring smooth wax delivery. The first limit block 9 and the second limit block 10 are made of wear-resistant rubber, which not only limits the swing stroke of the swing arm 801, but also buffers the impact force and avoids wear of the parts. Through the precise positioning of the limit blocks, the position of the nozzle locking head 809 is ensured to be consistent after each switch, thus improving the operation accuracy. Furthermore, the signal transmission module 3 is fixedly connected to the side of the adapter flange 5 and the first step block 701; the sensor sealing chamber 803 of the switching rotation module 8 is fixed to one side of the rotary cylinder 802, the proximity sensor 811 is fixed to the top of the sensor sealing chamber 803 through the sensor sealing block 812, the sealing cover 805 is covered to one side of the sensor sealing chamber 803 through the sealing gasket 804, and the sensor contact block 816 is fixed to the side of the swing arm 801; the signal transmission module 3 is electrically connected to the locking position sensor 405, the proximity sensor 811, the rotary cylinder 802 and the locking rotary cylinder 403 respectively through wires; Among them, the proximity sensor 811 is used to detect the swing position of the swing arm 801. When the swing arm 801 swings to the target position, the sensor contact block 816 approaches the proximity sensor 811, and the sensor sends a position signal to the signal transmission module 3. The sensor sealing chamber 803, the sealing gasket 804 and the sealing cover 805 form a sealed protection to prevent wax liquid and dust from contaminating the sensor and to ensure the stability of the detection signal. The signal transmission module 3 serves as the core for signal aggregation and relay, transmitting the detection signals from each sensor to the robot control system. Simultaneously, it receives the robot's control commands and distributes them to the rotary cylinder 802 and locking rotary cylinder 403 of each actuator, thereby achieving automated control of the device. The wires are made of heat-resistant and oil-resistant materials to ensure that signal transmission is not affected by the working environment. Furthermore, the top of the wax atomizing module 6 is fixedly connected to one side of the robot connecting module 1, and the bottom is fixedly connected to one side of the first step block 701. The bottom output end is sealed and connected to the locking rotation module 4. It includes components such as a connecting valve body 601, a spray needle 611, a wax interface 612, and a compressed air interface 613. The connecting valve body 601 is embedded in the mounting cavity of the first step block 701. The spray needle 611 slides horizontally through the inside of the connecting valve body 601, and its rear end is coaxially inserted with the connecting spray needle tail rod 610. The connecting valve body 601 has a first flow channel and a second flow channel. The first flow channel is connected to the wax interface 612, and the second flow channel is connected to the compressed air interface 613. The spray needle return spring 605 is fitted on the outside of the connecting spray needle tail rod 610, and the combined rod seal 604 is fitted on the outer side of the middle part of the connecting spray needle tail rod 610. The wax liquid interface 612 is connected to an external wax liquid supply system, and the compressed air interface 613 is connected to a compressed air source. Through the first and second flow channels inside the valve body 601, the wax liquid and compressed air are respectively delivered to the inside of the nozzle 603. The compressed air forms a high-speed airflow at the nozzle 603, atomizing the wax liquid into fine droplets, ensuring uniform waxing and improving the quality of operation. The nozzle 611 is used to control the flow of wax. When compressed air is introduced, it pushes the nozzle 611 backward, opening the wax flow channel. When the air supply stops, the nozzle return spring 605 returns to its original position, pushing the nozzle 611 forward to close the flow channel, thus achieving rapid start and stop of the wax flow. The combined rod seal 604 and sealing gasket 606 ensure the sealing performance at the connection point of the nozzle tail rod 610, preventing wax leakage. The external nozzle spring nut 602, the first nozzle spring nut 608, and the second nozzle spring nut 609 are used to adjust the preload of the nozzle reset spring 605, and can adjust the switching sensitivity and sealing pressure of the nozzle 611 according to actual operation requirements.

[0018] Working principle: 1. Initial state The device docks with the robot body through the robot connection module 1, and the tool connection module 2 and the adapter flange 5 ensure a stable connection. In the initial state, compressed air is not introduced into the locking rotary cylinder 403 and the rotary cylinder 802, the tightening valve core 402 is in the retracted state, and the locking mechanism 401 is in the open state. The swing arm 801 is in contact with the second limit block 10, the nozzle locking head 809 is located on one side of the cleaning positioning seat 810, and the nozzle seat 807 is in the ready-to-work or cleaning state. 2. Wax nozzle switching and positioning The robot control system sends a switching command, and the signal transmission module 3 receives it and controls the rotary cylinder 802 to introduce compressed air. The rotary cylinder 802 drives the swing arm 801 to swing through the cylinder shaft 815, and the nozzle locking head 809 moves synchronously with the swing arm 801. When the swing arm 801 contacts the first limit block 9, the proximity sensor 811 detects the sensor contact block 816 and sends a position signal to the signal transmission module 3. The rotary cylinder 802 stops moving, and at this time the nozzle locking head 809 is precisely coaxially aligned with the tightening valve core 402. 3. Locking and sealing After receiving the position signal, the signal transmission module 3 controls the locking rotary cylinder 403 to introduce compressed air; the locking rotary cylinder 403 drives the locking mechanism 401 to rotate through gear meshing, while simultaneously pressing the valve core 402 to extend forward and seal with the bottom of the nozzle locking head 809; the valve core sealing mechanism 404 forms a multiple seal to prevent wax leakage; when the locking mechanism 401 is fully locked, the locking position sensor 405 sends a locking completion signal, and the device enters the wax injection ready state; 4. Atomized wax injection operation The robot control system sends a wax injection command. Compressed air is connected to the wax atomization module 6 through the compressed air interface 613, pushing the nozzle 611 backward to open the wax flow channel. At the same time, the wax is connected through the wax interface 612 and transported to the nozzle 603 through the first flow channel. It is mixed and atomized with the compressed air transported through the second flow channel inside the nozzle 603. The atomized wax enters the nozzle seat 807 through the internal flow channel of the tightening valve core 402 and is finally sprayed out from the wax injection nozzle to complete the wax injection operation. 5. Switching and Cleaning After wax injection is completed, the robot control system sends a stop command, the compressed air supply stops, and the nozzle return spring 605 pushes the nozzle 611 to close the wax flow channel; then, the locking rotary cylinder 403 is vented in reverse, which drives the locking mechanism 401 to unlock and the valve core 402 to retract; the rotary cylinder 802 is vented in reverse, the swing arm 801 swings to contact the second limit block 10, and the nozzle locking head 809 returns to the side of the cleaning positioning seat 810, so that the nozzle seat 807 can be cleaned and maintained, or the nozzle seat 807 of different specifications can be replaced to adapt to different operation requirements; The entire device achieves rapid switching, precise positioning, reliable locking, and atomized wax injection through the coordinated operation of its various modules. It boasts a high degree of automation and high operational precision, making it compatible with the automated production needs of industrial robots and significantly improving the efficiency and quality of wax injection operations.

[0019] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A device for quick-change wax nozzles for robots, characterized in that, The system includes a robot connection module (1), a tool connection module (2), a signal transmission module (3), a locking rotation module (4), a transition flange (5), a wax atomization module (6), a three-stage structure (7), a switching rotation module (8), a first limiting block (9), and a second limiting block (10). The tool connection module (2) is fixedly connected to the bottom of the robot connection module (1). The tool connection module (2) is fixedly connected to the three-stage structure (7) through the transition flange (5). The three-stage structure (7) consists of a first-stage block (701), a second-stage block (702), a third-stage block (703), a fourth-stage block (704), a fifth-stage block (705), a sixth-stage block (706), a seventh-stage block (707), a seventh-stage block (708), a ninth-stage block (709), and a stern-shaped block (700). Block (702) and third-stage block (703) are assembled in sequence. The locking rotation module (4) is installed inside the three-stage structure (7). The switching rotation module (8) is fixedly connected to the bottom of the third-stage block (703) through an L-shaped connecting plate (806). The top of the wax atomizing module (6) is fixedly connected to one side of the robot connecting module (1). The bottom of the wax atomizing module (6) is fixedly connected to one side of the first-stage block (701). The bottom output end of the wax atomizing module (6) is sealed and connected to the locking rotation module (4). The signal transmission module (3) is fixedly connected to the side of the adapter flange (5) and the first step block (701), a plurality of first limit blocks (9) are fixedly connected to the outside of the third step block (703), and a plurality of second limit blocks (10) are fixed around the third step block (703). The first limit blocks (9) and the second limit blocks (10) are used to limit the swing stroke of the switching rotation module (8). The locking rotation module (4) includes a locking mechanism (401), a clamping valve core (402), a locking rotation cylinder (403), a valve core sealing mechanism (404), and a locking position sensor (405). Secondly, the switching rotation module (8) includes a swing arm (801), a rotary cylinder (802), a sensor sealing chamber (803), a sealing gasket (804), a sealing cover (805), a nozzle seat (807), a nozzle positioning seat (808), a nozzle locking head (809), a cleaning positioning seat (810), a proximity sensor (811), a sensor sealing block (812), a cylinder sealing gasket (813), a sealing O-ring (814), a cylinder shaft (815), and a sensor contact block (806). 816), the wax atomizing module (6) includes a connecting valve body (601), an external spray needle spring nut (602), a nozzle (603), a combined rod seal (604), a spray needle return spring (605), a sealing gasket (606), a sealing ring clamping screw (607), a first spray needle spring nut (608), a second spray needle spring nut (609), a connecting spray needle tail rod (610), a spray needle (611), a wax interface (612), and a compressed air interface (613).

2. The device for quick-change wax nozzles for robots according to claim 1, characterized in that, The first block (701), the second block (702) and the third block (703) are locked in sequence by through bolts, and the interior of the three-stage structure (7) is provided with an installation cavity and a connecting channel that are compatible with the wax atomization module (6) and the locking rotation module (4).

3. The device for quick-change wax nozzles for robots according to claim 1, characterized in that, The locking rotary cylinder (403) is embedded inside the first step block (701) and the second step block (702). The output end of the locking rotary cylinder (403) is connected to the locking mechanism (401) via gears. The tightening valve core (402) slides through the central through hole of the locking rotary module (4). The valve core sealing mechanism (404) is fitted on the outer side of the middle part of the tightening valve core (402). The locking position sensor (405) is fixed on the side of the second step block (702), and the detection end of the locking position sensor (405) faces the end face of the locking mechanism (401).

4. The device for quick-change wax nozzles for robots according to claim 1, characterized in that, The rotary cylinder (802) is fixed to the side of the L-shaped connecting plate (806) by the cylinder sealing gasket (813). The output end of the rotary cylinder (802) is fixedly connected to the cylinder shaft (815). The cylinder shaft (815) is fixedly connected to one end of the swing arm (801). The other end of the swing arm (801) is fixedly connected to the nozzle locking head (809). One end of the nozzle seat (807) is sleeved inside one end of the nozzle locking head (809). The nozzle positioning seat (808) is fixedly connected to the outside of one end of the nozzle seat (807). The cleaning positioning seat (810) is fixedly connected to one end of the L-shaped connecting plate (806). One end of the nozzle locking head (809) is located inside the nozzle positioning seat (808).

5. The device for quick-change wax nozzles for robots according to claim 1, characterized in that, The sensor sealing chamber (803) is fixed to one side of the rotary cylinder (802). The proximity sensor (811) is fixed to the top of the sensor sealing chamber (803) by the sensor sealing block (812). The sealing cover (805) is covered to one side of the sensor sealing chamber (803) by the sealing gasket (804). The sensor contact block (816) is fixed to the side of the swing arm (801). The signal transmission module (3) is electrically connected to the locking position sensor (405), the proximity sensor (811), the rotary cylinder (802), and the locking rotary cylinder (403) by wires respectively.

6. The device for quick-change wax nozzle for a robot according to claim 1, characterized in that, The sealing O-ring (814) is fitted on the outside of the rotary cylinder (802). One end of the L-shaped connecting plate (806) is bolted to the third step block (703). When the swing arm (801) swings to contact the first limit block (9), the nozzle locking head (809) is coaxially corresponding to the tightening valve core (402). When the nozzle positioning seat (808) swings to contact the second limit block (10), the nozzle locking head (809) is located on one side of the cleaning positioning seat (810).

7. The device for quick-change wax nozzles for robots according to claim 1, characterized in that, The connecting valve body (601) is embedded in the mounting cavity of the first step block (701). The spray needle (611) slides horizontally through the interior of the connecting valve body (601). The rear end of the spray needle (611) is coaxially inserted with the connecting spray needle tail rod (610). The combined rod seal (604) is fitted onto the outer side of the middle part of the connecting spray needle tail rod (610). The sealing gasket (606) is attached to the rear end face of the connecting spray needle tail rod (610). The first spray needle spring nut (608) and the second spray needle spring nut (609) are sequentially threaded onto the outer side of the rear end of the connecting valve body (601). The sealing ring clamping screw (607) passes through the second nozzle spring nut (609) and abuts against the sealing gasket (606). The nozzle return spring (605) is fitted on the outside of the connecting nozzle tail rod (610), and one end of the nozzle return spring (605) presses against the first nozzle spring nut (608), while the other end abuts against the sealing gasket (606). The external nozzle spring nut (602) is threaded to the outside of the front end of the connecting valve body (601). The nozzle (603) is embedded in the front end of the connecting valve body (601), and the nozzle (603) is adapted to correspond with the front end of the nozzle (611).

8. The device for quick-change wax nozzle for a robot according to claim 1, characterized in that, The wax liquid interface (612) and the compressed air interface (613) are respectively fixed on the bottom sides of the connecting valve body (601). The connecting valve body (601) has a first flow channel and a second flow channel inside. One end of the first flow channel is connected to the wax liquid interface (612), and the other end extends to the side of the spray needle (611). One end of the second flow channel is connected to the compressed air interface (613), and the other end extends to the inside of the nozzle (603).

9. The device for quick-change wax nozzle for a robot according to claim 1, characterized in that, The valve core sealing mechanism (404) is composed of multiple layers of sealing gaskets, and the inner side of the valve core sealing mechanism (404) is tightly fitted with the outer wall of the tightening valve core (402). The front end of the tightening valve core (402) is sealed and connected to the bottom of the nozzle locking head (809), and the internal flow channel of the tightening valve core (402) is connected to the first flow channel and the second flow channel of the connecting valve body (601).

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