Device for attaching sprayer to robot arm

Abstract

To provide an attachment device (1) for attaching a product sprayer for coating to a workpiece, to a robot arm.SOLUTION: An attachment device (1) includes: a cover (2) which is rigidly attached to the robotic arm and which has a substantially cylindrical shape extending along a longitudinal axis (X); a nut (3) with a substantially cylindrical shape mounted on the cover (2) and including a first helical portion (30); a substantially annular flange (4) mounted rigidly attached to the sprayer, including a second helical portion (41) arranged for mating with the first helical portion (30) of the nut (3); and a deformable ring (5) mounted on the nut (3) and including an annular portion (50) providing an axial stop of the ring (5) with respect to the nut (3), and a deformable portion (51) configured for being deformed by interacting with the flange (4) so as to provide a connection between the flange (4) and the ring (5).SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to the general technical field of spraying devices for coating products, typically robots for painting, coating, or lacquering products.

Background Art

[0002] Conventionally, in large-scale production lines, coating or painting operations have been performed by spraying devices attached to robotic arms. The sprayer is attached to the tip of a robotic arm configured to move the sprayer during the process of coating the workpiece and to cover the surface of the workpiece to be coated.

[0003] Conventionally, such sprayers have been attached to robotic arms in a removable manner so that maintenance work and replacement of the sprayer can be performed. Thus, well-known attachment devices for sprayers provide threaded assemblies or assemblies using tapping screws that can be used to obtain a removable assembly with a simple design.

[0004] During maintenance work and sprayer replacement work, it is necessary to stop the robot. It is advantageous to reduce the disassembly time of the sprayer as much as possible, and thus to reduce the number of threaded assemblies used to attach the sprayer to the robotic arm. Furthermore, in a paint spraying environment, suspended paint particles can accumulate on surfaces exposed to the external environment and can dirty the exposed elements. Therefore, particular attention has been paid to exposing only smooth surfaces to the outside and covering the attachment elements for attaching the sprayer to the robotic arm as much as possible. A spraying device incorporating one nut has been proposed, which provides a strong assembly with a high tightening torque and ease of use that reduces disassembly time, and at the same time allows easy cleaning of the external surface by encapsulating the functional surfaces to block them from the outside.

[0005] U.S. Patent No. 7,056,387 discloses an electrostatic sprayer that can be attached to a robot arm and includes a cover and a nut that is screwed into an external thread of the robot arm.

[0006] However, during the work cycle, vibrations caused by the functions of the robot and sprayer can be transmitted to the tapping screw assembly, which can loosen the tapping screw assembly and cause the sprayer and robot arm to separate.

[0007] EP-A-0670448 discloses a rotary coupling device that can be used within a frame supplying a robotic arm equipped with a sprayer. EP-A-3222360 discloses a bayonet mounting system used for attaching an air skirt to an air turbine stator, but not for attaching a sprayer to a robotic arm. This method does not solve the above problem.

[0008] Therefore, the system for securing the sprayer to the robotic arm needs to be improved so that it can be used easily and quickly, and the risk of disassembly due to vibration can be prevented. [Overview of the project]

[0009] For the assembly of a spraying device on a robot arm, the present invention proposes a mounting device configured to attach a sprayer for a product for coating a workpiece to a robot arm, said mounting device - A cover configured to be attached to either a sprayer or a robot arm, having a substantially cylindrical shape extending along its longitudinal axis. - A movable and rotatable nut, which is attached to the cover and includes a first helical portion and a stopper on the cover configured to axially secure the nut relative to the cover. - A flange configured to be attached to the other of the sprayer and the robot arm, including a second helical portion positioned to engage with a first helical portion of the nut. Includes, The device further includes a deformable ring attached to a nut, the ring having a deformable portion and an annular portion, the annular portion having at least one retaining member configured to interact with a ring retaining portion formed on the nut so as to axially stop the ring with respect to the nut, and The flange is characterized by including an interface portion arranged to interact with a deformable ring in such a manner that the deformable portion deforms to interact with the interface portion of the flange, so as to provide a connection between the flange and the ring when a nut is tightened to secure the flange to the cover.

[0010] Such a configuration can be used to maintain the mechanical connection between the cover and the flange by means of a ring when the helical connection between the nut and the flange loosens due to vibration. Such a device is still very quick and easy to use while preventing the risk of disassembly due to vibration.

[0011] Optionally but advantageously, the present invention has the following features, which may be adopted individually or in combination: - The cover has a coupling portion, and the nut includes a second coupling portion that coincides with the coupling portion of the cover, so as to selectively rotatably coupling the cover and the nut along the longitudinal axis, in this way the nut can be loosened by applying a rotational force to the cover. - The cover has at least one recess on its outer surface that is suitable for engaging with a tool, and in this way, high torque can be applied to the cover, thus improving tightening. - The cover has a third helical portion positioned to interact with the mating portion of the robot arm for mounting the device to the robot arm, the third helical portion having a pitch opposite to that of the first helical portion, in this way preventing the connection between the sprayer and the cover from loosening when the nut is tightened. - The cover is positioned to interact with the deformable portion of the deformable ring so as to release the connection between the ring and the flange when the flange is removed, and in this way the flange can be removed by manipulating the cover, and the device can be easily removed. - The deformable portion of the deformable ring has an annular distribution of claws that extends substantially longitudinally away from or toward the longitudinal axis from the annular portion of the deformable ring, such that the ends of the claws define a circle having a first diameter, and the flange interface portion defines a circle having a second diameter different from the first diameter, and the first and second diameters and the claws are configured such that the claws remain within their elastic deformation range during operation of the device, and thus the deformable element that exerts a restoring force to maintain the assembly makes the assembly of the device easy and does not require the use of tools. - The first diameter is smaller than the second diameter. - The cover has a first end and a second end, as well as a disassembly portion located at the second end, the disassembly portion having a third diameter portion configured to interact with the claws of the ring so as the cover is moved axially toward the flange, the claws move away from their position to release the interface portion of the flange. - The joint and the disassembly part are separated by a first axial distance, and the second joint and the claw are separated by a second axial distance, and the first axial distance is equal to the second axial distance, so that during disassembly, the cover can be used to spread the claw to remove the flange and rotate the nut to loosen the flange at the same time, thereby making the disassembly of the device very easy.

[0012] In a second embodiment, the present invention relates to a spray robot including a mounting device according to the present invention. Other features and advantages of the present invention will become apparent from the enclosed figures and the following description, which are examples of such features and advantages, but are not limited to those described below. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 shows partial cross-sections of different components for using the apparatus according to the present invention, and thus shows cross-sectional views of the cover, nut, deformable ring, flange for mounting to a robot, sprayer frame, and inner shaft. [Figure 2] Figure 2 shows a side view of an element including the mounting device according to the present invention, and shows a cross-sectional view of the nut, cover, ring, and flange. [Figure 3] Figure 3 shows a side view of the elements forming the mounting device according to the present invention, and shows a cross-sectional view of the nut, cover, ring, flange, and internal shaft. [Figure 4] Figure 4 shows a side view of the mounting device according to the present invention, and illustrates cross-sectional views of the nut, cover, ring, and flange, and describes a first embodiment of the ring. [Figure 5a] Figures 5a and 5b show a second embodiment of the ring, where Figure 5a shows a partial cross-section of the ring showing details of the side surface of the ring, and Figure 5b shows the entire ring. [Figure 5b] Figures 5a and 5b show a second embodiment of the ring, where Figure 5a shows a partial cross-section of the ring showing details of the side surface of the ring, and Figure 5b shows the entire ring. [Modes for carrying out the invention]

[0014] For clarity, identical or similar elements are identified by the same reference numeral in all figures.

[0015] The present invention relates to a mounting device 1 configured for attaching a product sprayer to a robot arm for coating a workpiece with, for example, paint, lacquer, coat, adhesive, or other sprayable product.

[0016] Referring to FIG. 1, in one embodiment of the present invention, the mounting device 1 includes a cover 2 attached to the sprayer P, a nut 3 for firmly attaching the cover 2, an annular flange 4 provided for attachment on the robotic arm, and a deformable ring 5. The support S extends inside the cover 2 and is connected to the sprayer P and the flange 4.

[0017] It is clear that embodiments not shown in this specification are the reverse attachment, including a cover attached to the robotic arm and a flange attached to the sprayer.

[0018] When the sprayer P is attached to the robotic arm, the annular flange 4 is connected to the cover 2 by the nut 3. The deformable ring 5 is arranged to interact with the nut 3 and the flange 4 to prevent the flange 4 from detaching from the cover 2 when the nut 3 loosens. The cover 2 is attached to the sprayer P by tightening a screw-in connection portion, and then the support S is compressed between the spraying device P and the flange 4.

[0019] Referring to FIG. 2, the cover 2 has a substantially cylindrical shape extending along the longitudinal axis X between a first end 20a and a second end 20b. In this application, the concepts of radial and transverse directions are defined with respect to the longitudinal axis and the cylindrical shape of the element. Radially inner means close to the longitudinal axis X, and radially outer means far from the longitudinal axis X. The nut 3, the flange 4, and the ring 5 have geometric shapes that rotate along the longitudinal axis X.

[0020] In the illustrated embodiment, the nut 3 is attached to the cover 2 and has a substantially cylindrical shape that surrounds the cover 2 radially and is capable of moving and rotating. The nut includes a first helical portion 30, a ring stop 31 configured to provide an axial stop for a deformable ring 5 with respect to the nut 3, and a cover stop 32 configured to provide an axial stop for the cover 2 with respect to the nut 3. The cover stop 32 is disposed at one end of the nut 3 on the side opposite the helical portion 30. In the illustrated embodiment, the cover stop 32 includes a shoulder that extends radially inwardly of the nut 3.

[0021] Advantageously, the cover 2 has a recess 22 configured to mate with a tool that enables the cover 2 to be loosened or tightened.

[0022] The second end 20b of the cover 2 has a nut stop 23 configured to mate with the cover stop 32 so as to provide an axial stop between the nut 3 and the cover 2. In such an embodiment, the nut stop 23 includes a shoulder that extends radially outwardly of the cover 2.

[0023] Advantageously, the cover 2 has a coupling portion 24 and the nut 3 has a second coupling portion 33 that mates with the coupling portion 24 of the cover 2, and the coupling portions 24, 33 are configured to provide a rotational coupling of the cover 2 and the nut 3 when the cover 2 moves axially until the coupling portion 24 and the second drive portion 33 interact. In this way, the cover 2 can be used to loosen the nut 3 from the flange 4. This is particularly advantageous when a tool is used to drive the cover 2 by means of the recess 22 provided in the cover 2.

[0024] In the illustrated embodiment, each of the coupling portion 24 and the second coupling portion 33 includes polygonal portions formed on the surface of the cover 2 and the surface of the nut 3, respectively, and these are intended to be positioned facing each other. In a modified example, each of the coupling portion 24 and the second coupling portion 33 includes a mechanical stopper that provides tangential force transmission to transmit torque between the cover 2 and the nut 3.

[0025] The helical portion 30 is positioned at one end of the nut 3 to interact with the mating surface formed on the flange 4 so that the flange 4 and the nut 3 can be assembled together. For simplicity, as used herein, the helical portion is understood to be a part of a surface that is tapped or threaded for mating with the mating surface to provide a helical screw-nut connection.

[0026] The ring retaining portion 31 includes an annular pressing surface axially separated by two shoulders. In the illustrated embodiment, the ring retaining portion 31 is positioned on the radially inner surface of the nut 3, and the deformable ring 5 is positioned radially inward of the nut 3. In a modified example, the ring retaining portion 31 includes a pin projecting radially from the nut 3, the pin interacting with a recess made in the deformable ring 5 to provide axial restraint for the deformable ring 5 with respect to the cover 2.

[0027] In a modified example (not shown), the nut 3 is positioned radially inward of the cover 2, the deformable ring 5 is positioned radially outward of the nut 3 and radially inward of the cover 2, and the ring retaining portion 31 is positioned radially outward of the nut 3.

[0028] The flange 4 has a substantially annular shape and includes a centering element 40 configured to rotate and firmly attach the support S and the flange 4. The flange 4 includes a second helical portion 41 positioned to fit with a first helical portion 30 of the nut 1 so that the flange 4 and the nut 3 can be assembled and tightened together.

[0029] The flange 4 is positioned to interact with the deformable ring 5 and further has an interface portion 42 positioned to provide a secure attachment of the flange 4 and the ring 5 even if loosening occurs between the first threaded portion 30 and the second threaded portion 41. In the illustrated embodiment, the interface portion 42 includes a substantially axially extending annular pressing surface 43 and a radially extending axial stopper portion 44.

[0030] The deformable ring 5 includes an annular portion 50 and a deformable portion 51. The deformable portion 51 is made of an elastic material that exerts a return force when deformed within its elastic deformation range. The annular portion 50 includes a retaining element 52 configured to interact with a ring retaining portion 31 of the nut 3 to provide axial restraint for the deformable ring 5 with respect to the nut 3. In the illustrated embodiment, the retaining element 52 includes a plurality of pins distributed along the ridge of the ring 5, forming a plurality of retaining portions that are arranged to integrate with the annular portion of the ring retaining portion 31 during installation. A first retaining portion of the ring retaining portion 31 interacts with the ring retaining element 52, and a second retaining portion interacts with the axial end of the ring 5 with respect to the nut 3 to hold the ring 5 axially in both directions. In a modified example (not shown), the retaining element includes a groove or recess configured to engage with a pin or obstruction made in the nut 3.

[0031] The deformable portion 51 includes an annular distribution of the claws 53 that extends substantially longitudinally from the annular portion 50 of the deformable ring 5, either away from or toward the longitudinal axis X, such that the ends of the claws 53 define a circle having a first diameter D. The interface portion 42 of the flange 4 defines a circle having a second diameter d, which is different from the first diameter D. Thus, during installation, the claws 53 deform away from their resting position, the flange 4 is axially positioned so that the interface portion 42 and the ends of the claws 53 coincide axially, and the claws 53 are released. The return force exerted by the claws 53 allows the claws 53 to return to their initial position so as to interact with the interface portion 42. The ratio between the first diameter D and the second diameter d is configured such that the claws 53 exert a force that provides retention of the flange 4 even when the first threaded portion 30 and the second threaded portion 41 are loose.

[0032] The length of the claw 53, the ratio between the first diameter D and the second diameter d, and the material of the deformable portion 51 are configured such that the claw 53 remains within its elastic deformation range during operation of the device.

[0033] Advantageously, the claw 53 has a retaining element 54 at its end that is configured to reinforce the axial position of the flange 4 relative to the ring 5. Such retaining portions may include obstacles such as pins, stoppers, claws, or surfaces configured to increase friction between the claw 53 and the interface portion 42, for example, by a particular shape or a set of materials that increase friction.

[0034] In the illustrated embodiment, the claw 53 consists of a portion of a wall that substantially defines the angular fraction of the conical portion, and the retaining element 54 consists of a wall that forms the claw 53 at one end of the claw 53 opposite to the annular portion 50.

[0035] The cover 2 has a disassembly portion 25 at its second end 20b, which has a portion with a third diameter d' configured to interact with the claws 53 of the ring 5 so as the cover 2 moves axially toward the flange 4, thereby disassembling the interface portion 42 from the flange 4. In this way, the flange 4 can be disassembled when the cover 2 is moved toward the flange 4.

[0036] In the illustrated embodiment, the cover 2 is moved radially inward of the annular portion 50 of the ring 5, causing the claw 53 to move away from the longitudinal axis X. Thus, the third diameter D' is configured to be larger than the first diameter D but smaller than the diameter of the annular portion 50 of the ring 5.

[0037] In a modified version in which the cover 2 is moved radially outward of the annular portion 50 of the ring 5, and thus the claw 53 is brought closer to the longitudinal axis X, the third diameter D' is therefore configured to be smaller than the first diameter D but larger than the diameter of the annular portion 50 of the ring 5.

[0038] The length of the claw 53, the ratio of the first diameter D to the third diameter d, and the material of the deformable portion 51 are configured such that the claw 53 remains within its elastic deformation range during operation of the device 1.

[0039] Referring to Figure 3, the retaining element 54 includes a first portion 55 extending radially, a second portion 56 extending substantially axially from the first portion 55, and a third portion 57 extending either away from or toward the longitudinal axis X from the second portion 56.

[0040] The first part 55 is positioned to contact the axial restraint portion 44 of the flange 4 when the flange 4 is assembled with the nut 3, and thus provides an axial restraint portion between the flange 4 and the ring 5.

[0041] The second part 56 is positioned to contact the annular pressing surface 43 when the flange 4 is assembled with the nut 3, and thus provides radial position adjustment between the flange 4 and the ring 5.

[0042] The third portion 57 is configured to facilitate the attachment of the flange 4 to the ring 5. For this purpose, in the illustrated embodiment, the second portion 56 is positioned radially outward with respect to the annular pressing surface 43, and the third portion 57 extends away from the longitudinal axis X. The third portion 57 is configured such that its end is further away from the longitudinal axis X than half the second diameter d. Thus, the assembly of the third portion 57 creates a guide for the interface portion 42, which allows the claws 53 to be moved away by pressing the flange 4 during installation, thereby greatly facilitating installation.

[0043] The interface portion 42 further includes a guide portion 45 configured to have an inclination substantially equal to that of the third portion 57, so that the claw 57 engages with and disengages from the third portion during installation, thereby reducing the risk of damaging the claw 53 by compressing it instead of moving it radially.

[0044] In a modified version (not shown), the finger 53 is configured such that, during installation, the second portion 56 is positioned radially inward with respect to the annular pressing surface 43, and the third portion 57 extends toward the longitudinal axis X. In such a modified version, the end of the third portion 57 is configured to be closer to the longitudinal axis X than half of the second diameter d.

[0045] Advantageously, one or more recesses 58, such as grooves, drilled holes, or oval holes, are provided through the ring 5. In this way, the rigidity of the ring 5 is reduced and its ability to deform radially is increased, thereby facilitating the attachment of the ring 5 to the nut 3.

[0046] Advantageously, the cover 2 has softened edges 26 on the disassembly portion 25, for example, by filleting or chamfering, to prevent contact between sharp edges and claws 53 during disassembly of the device and thus reduce wear of claws 53.

[0047] Referring to Figure 4, the cover 2 has a third helical portion 21 at its first end 20a that is positioned to interact with the fitting portion of the sprayer P in order to attach the device 1 to the sprayer P. The third helical portion 21 has a pitch opposite to that of the first helical portion 30. In this way, the connection between the sprayer P and the cover 2 is prevented from loosening when the nut 3 is tightened. Furthermore, in this way, disassembly is made easier because the cover 2 needs to be rotated in only one direction in order to disassemble the device 1.

[0048] Advantageously, the corresponding axial positions of the coupling portion 24, the disassembly portion 25, the second coupling portion 33, the ring retaining portion 31, and the claw 53 are all configured such that the cover 2 is positioned with respect to the nut 3 to simultaneously provide interaction between the coupling portion 24 and the second coupling portion 33 on the one hand, and interaction between the disassembly portion 25 and the claw 53 on the other hand.

[0049] In the illustrated embodiment, as a result, there exists a first axial distance A between the coupling portion 24 and the disassembling portion 25 that is equal to a second axial distance B between the second coupling portion 33 and the claw 53. The second axial distance B corresponds to the sum of the distance between the second coupling portion 33 and the ring retaining portion 31, and the distance between the retaining element 52 and the claw 53, more precisely, the cross-section of the claw where the distance between the claw and the longitudinal axis X corresponds to half of the third diameter d'.

[0050] This allows the flange 4 to be loosened with a single operation of the cover 2, making the use of the device 1 very easy. Furthermore, in this way, all surfaces providing the mounting of the sprayer to the robot arm are isolated from the external environment, thereby reducing contamination.

[0051] Referring to Figures 5a and 5b, the ring 5 includes six claws 53, each claw forming an angled portion of a frustoconical section, and the claws 53 are separated from each other by grooves. In such embodiments, the ring can be used to increase the rigidity of each claw in embodiments that include more claws 53, while simultaneously maintaining mobility as the claws 53 move by the disassembly section 25. In this way, the retention of the flange 4 by the claws 53 is improved.

[0052] Use of the device

[0053] When such mounting device 1 is used to attach a sprayer to a robot arm, the user attaches the nut 3 to the cover 2 so that the cover 2 is brought to the stop position by bringing the cover stopper 32 and the nut stopper 23 into contact.

[0054] Subsequently, the ring 5 is combined with the nut 3, and the fitting of the ring retaining portion 31 and the retaining element 51 provides retention of the ring 5 in the position relative to the nut 3.

[0055] Subsequently, the flange 4 is assembled with the nut 3 by the helical portion. When the flange 4 is tightened, the claws 53 of the ring 5 move away from the longitudinal axis X by the interaction of the interface element 42 and the third portion 57, and then re-close when the relative axial positions of the flange 4 and the nut 3 allow closure, i.e., when the first portion 55 axially aligns with the axial stop portion 44 of the flange 4.

[0056] To tighten the nut 3 to the flange 4 by applying torque to the cover 2, the cover 2 can be positioned axially relative to the nut 3 in such a way that the joint portion 25 and the second joint portion 33 of the cover 2 engage with each other, thereby applying tightening force. A tool can be used in the recess 22 of the cover 2 to apply a high tightening torque.

[0057] Subsequently, the cover 2 is moved axially toward the sprayer P in order to fasten the cover 2 to the sprayer P by the third helical portion 21. The support S maintains the axial distance between the flange 4 and the sprayer, thereby providing fastening of the cover 2 and bringing into contact between the nut fastening portion 23 and the cover fastening portion 32, and thus providing mounting of the sprayer P to the robot arm.

[0058] When disassembling device 1, loosen the screws and remove cover 2 from sprayer P, then move it to an axial position where both claws 53 can be separated, thus removing interface portion 42 from flange 4, and allowing the coupling portion 25 of cover 2 and the second coupling portion 33 to be fitted together. In this way, flange 4 can be removed and nuts 3 can be loosened in a single operation.

Claims

1. A mounting device (1) configured to mount a sprayer for a product for coating a workpiece on a robot arm, said mounting device (1) comprising: a cover (2) configured to be attached to one of the sprayer and the robotic arm, the cover having a substantially cylindrical shape extending along a longitudinal axis (X); - a movable and rotatable nut (3) attached to the cover (2) and having a first helical portion (30) and a cover stop (32) configured to axially stop the nut (3) relative to the cover (2); a flange configured to be attached to the other of the sprayer and the robot arm, and including a second helical portion (41) arranged to mate with the first helical portion (30) of the nut (3); Including, the device (1) further comprises a deformable ring (5) attached to the nut (3), the ring (5) comprising a deformable portion (51) and an annular portion (50), the annular portion (50) having at least one stop member (52) configured to interact with a ring stop (31) formed on the nut (3) to axially stop the ring (5) relative to the nut (3); and the flange (4) includes an interface portion (42) arranged to interact with the deformable ring (5) in such a way that the deformable portion (51) deforms to interact with the interface portion (42) of the flange (4) to provide a connection between the flange (4) and the ring (5) when the nut (3) is tightened to secure the flange (4) to the cover (2).

2. 2. The device of claim 1, wherein the cover (2) has a coupling portion (24) and the nut (3) has a second coupling portion (33) that mates with the coupling portion (24) of the cover (2) to selectively rotatably couple the cover (2) and the nut (3) along the longitudinal axis (X).

3. 3. The device according to claim 1 or 2, wherein the cover (2) has at least one recess (22) on its outer surface suitable for fitting with a tool.

4. 3. The device according to claim 1, wherein the cover (2) has a third helical portion (21) arranged to interact with a mating portion of the robot arm for mounting the device on the robot arm, the third helical portion (21) having an inverse pitch relative to the pitch of the first helical portion (30).

5. 3. The device according to claim 1 or 2, wherein the cover (2) is arranged to interact with the deformable portion (51) of the deformable ring (5) so as to release the connection between the ring (5) and the flange (4) during disassembly of the flange (4).

6. 3. The device according to claim 1 or 2, wherein the deformable portion (51) of the deformable ring (5) has an annular distribution of the pawls (53) extending substantially longitudinally from the annular portion (50) of the deformable ring (5) away from or towards the longitudinal axis (X) such that ends of the pawls (53) define a circle having a first diameter (D), and the interface portion (42) of the flange (4) defines a circle having a second diameter (d) different from the first diameter (D), and the first diameter (D) and the second diameter (d) and the pawls (53) are configured such that the pawls (53) remain in their elastic deformation range during operation of the device (1).

7. 7. The device of claim 6, wherein the first diameter (D) is smaller than the second diameter (d).

8. 7. The device of claim 6, wherein the cover (2) includes a first end (20a) and a second end (20b), and a disassembly portion (25) disposed at the second end (20b), the disassembly portion (25) having a portion with a third diameter (d') configured to interact with the pawl (53) of the ring (5) to move the pawl (53) away from its position to release the interface portion (42) from the flange (4) when the cover (2) moves axially toward the flange (4).

9. 9. The device of claim 8, wherein the coupling portion (24) and the disassembly portion (25) are spaced apart by a first axial distance (A), and the second coupling portion (33) and the claw (53) are spaced apart by a second axial distance (B), and the first axial distance (A) is equal to the second axial distance (B).

10. A sprayer robot comprising a mounting device according to claim 1 or 2.

Images