An installation device (300) for coupling a tip (160) to a body (110) of an applicator (102). The applicator (102) comprises a coupler (154), releasably engageable with the tip (160) to interlock the tip (160) with the body (110). The installation device (300) comprises a tip holder (362) that comprises two resilient pawls (361), configured to releasably retain the tip (160). A removal device (400) for decoupling a tip (160) from a body (110) of an applicator (102). The removal device (400) comprising a wall (430), a through channel (460) in the wall (430), a pawl (404) coupled to the wall (430), and a wedge extending from the wall (430).

An applicator (102) for delivering a glutinous substance (168) to a workpiece (170) from an end-effector (101). The applicator (102) comprises a body (110), comprising a first channel (115), and comprises a tip (160), configured to be releasably attached to the body (110). The tip (160) comprises a through cavity (162), communicatively coupled with an outlet portion (182) of the first channel (115) when the tip (160) is coupled with the body (110). The applicator (102) also comprises a coupler (154), configured to releasably attach the tip (160) to the body (110) by interlocking with the tip (160) and with the body (110) such that the coupler (154) has no more than three degrees of freedom relative to the tip (160) and the body (110). The applicator (102) further comprises a retainer (156), configured to maintain the coupler (154) interlocked with the body (110) and with the tip (160).

An apparatus (102) for delivering a glutinous substance (168) from a cartridge (166) to an applicator (154) is disclosed. The apparatus (102) comprises a sleeve (106) and a pressure-cap assembly (104) coupled to the sleeve (106). The pressure-cap assembly (104) comprises a pressure cap (110) proximate an inlet (124) of the sleeve (106). The pressure cap (110) is movable between, inclusively, a closed position, in which the pressure cap (110) is in sealed engagement with a trailing end (169) of the cartridge (166), and an open position, in which the pressure cap (110) provides clearance sufficient for insertion of the cartridge (166) inside the sleeve (106) through the inlet (124) of the sleeve (106). The pressure cap (110) comprises a pressure input (118), through which pressure is selectively applied to the glutinous substance (168) in the cartridge (166). The apparatus (102) also comprises an applicator interface (108) proximate the outlet (128) of the sleeve (106).

An apparatus (102) for delivering a glutinous substance (168) from a cartridge (166) to an applicator (254) comprises a sleeve (106) and a pressure-cap assembly (104). The pressure-cap assembly (104) comprises a pressure cap (110), proximate an inlet (124) of the sleeve (106). The pressure-cap assembly (104) also comprises an actuator (114), coupled to the pressure cap (110) and to the sleeve (106). The apparatus (102) further comprises an automated coupler (223), configured to automatically reversibly sealingly couple the applicator (254) with the leading end (167) of the cartridge (166).

An apparatus (812) for loading and unloading a brush (822) to and from a brush-arm assembly (802) of an end-effector (102) is disclosed. The apparatus (812) comprises a base (814) and a carriage (818), which is movable along an axis (A) at least to a first position, a second position, or a third position relative to the base (814). The carriage (818) comprises a brush receptacle (820), configured to prevent movement of the brush (822) in a first direction, but not in a second direction, opposite to the first direction, when the brush (822) is placed in the brush receptacle (820). The apparatus (812) also comprises a stationary component (832), fixed relative to the base (814) and configured to prevent movement of the brush-arm assembly (802) in the second direction. Additionally, the apparatus (812) comprises a linear actuator (816), configured to move the carriage (818).