Five-axis dual-camera point glue machine

Abstract

This invention discloses a five-axis dual-camera dispensing machine, relating to the field of dispensing equipment technology. It includes a dispensing machine, a dispensing nozzle, and a clamping device. It also includes an automatic obstacle avoidance dispensing mechanism, with multiple equally spaced components disposed on the outer wall of the clamping device. This mechanism swings to avoid obstruction of the dispensing nozzle during dispensing by preventing components of the clamping device from blocking the nozzle. A pressure-applying mechanism is located at the bottom of the dispensing nozzle, which pre-triggers the automatic obstacle avoidance dispensing mechanism with pressure during dispensing. By combining the automatic obstacle avoidance dispensing mechanism and the pressure-applying mechanism, the obstacle avoidance grippers can be automatically triggered to rotate and avoid obstacles during the rotation of the cylindrical workpiece during dispensing, achieving a dynamic obstacle avoidance effect in the dispensing area. Furthermore, the obstacle avoidance grippers only provide auxiliary support; the main clamping force is still provided by the clamping end of the clamping device. This completely eliminates interference from the grippers without changing the original workpiece clamping state.

Description

Technical Field

[0001] This invention relates to the field of dispensing equipment technology, specifically a five-axis dual-camera dispensing machine. Background Technology

[0002] The five-axis dual-camera dispensing machine is a precision automated dispensing device that integrates multi-axis linkage motion and dual-vision alignment recognition. Compared with traditional three-axis single-camera dispensing devices, it has X, Y, and Z linear displacement and dual-axis rotation linkage compensation capabilities. With the independent vision correction function of dual cameras, it can achieve high-precision continuous dispensing operations on three-dimensional curved surfaces and annular outer walls, effectively solving the defects of traditional equipment such as poor trajectory tracking, large positioning deviation, and weak product consistency. This type of equipment is widely used in precision electronics, automotive parts, medical devices and other fields, and is especially suitable for sealing, bonding and waterproofing coating processes of various cylindrical workpieces with smooth outer walls, such as hollow copper tubes, solid plastic columns, and metal cylindrical shells.

[0003] When dispensing adhesive onto hollow cylindrical workpieces, an internal support clamping method can be used. This method involves clamping and rotating the workpiece to completely avoid the entire dispensing area on its outer wall, eliminating obstruction and interference. This allows for continuous and uniform dispensing across the entire outer wall. However, in actual production, cylindrical workpieces fall into two main categories: hollow and solid. Solid cylinders cannot be positioned using internal support and can only be clamped and fixed from the outer wall of the workpiece by grippers. If the dispensing area is located in the center of the outer wall of the cylinder without a clamping area, the external clamping method will not affect the dispensing operation. However, if the dispensing area covers the clamping side of the outer wall, the grippers will directly block the working path of the dispensing nozzle, causing problems such as inability to apply adhesive in certain areas, broken adhesive lines, and adhesive leakage.

[0004] To avoid interference from the grippers, it is necessary to frequently adjust the gripping position manually, repeatedly correct the dispensing trajectory, and recalibrate the visual coordinates. This significantly increases the time required for product changeovers and machine adjustments, resulting in intermittent production cycles and reduced production efficiency. At the same time, frequent manual adjustments can easily lead to calibration errors, causing uneven thickness of the glue line on the outer wall of the cylinder and trajectory deviation. This significantly reduces the dispensing accuracy and consistency of mass production, failing to meet the demand for high-precision and high-efficiency automated dispensing mass production of cylindrical workpieces.

[0005] To address the aforementioned issues, there is an urgent need for innovative design based on the existing five-axis dual-camera dispensing machine. Summary of the Invention

[0006] This invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Specifically, the purpose of this invention is to provide a five-axis dual-camera dispensing machine to solve the problems mentioned in the background: existing dispensing equipment for cylindrical workpieces cannot simultaneously handle the internal clamping of hollow workpieces and the external clamping of solid workpieces. This often results in issues such as the grippers obstructing the dispensing area, requiring frequent adjustments to the clamping position and dispensing trajectory, leading to low production efficiency, poor dispensing accuracy, and inconsistent product quality.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a five-axis dual-camera dispensing machine, comprising a dispensing machine, a dispensing nozzle, and a clamping device, and further comprising: Automatic obstacle avoidance dispensing mechanism, multiple equidistantly arranged on the outer wall of the clamping device, is used to avoid the dispensing nozzle by swinging during dispensing, so as to prevent the parts of the clamping device from blocking the dispensing nozzle from dispensing. The pressure mechanism is located at the bottom of the dispensing nozzle and is used to trigger the automatic avoidance dispensing mechanism in advance by applying pressure when the dispensing nozzle is dispensing glue, so as to start the automatic avoidance dispensing mechanism. The automatic avoidance dispensing mechanism includes multiple force blocks that are equidistantly and movably arranged on the outer wall of the clamping device. The upper end of the force block has an arc surface structure. The clamping end of the clamping device is rotatably connected to the avoidance gripper through a torsion spring. One end of the avoidance gripper is open; The pressure-applying mechanism includes glue wheels symmetrically arranged at the bottom of the outer wall of the dispensing nozzle.

[0008] Preferably, a pressure-bearing rotating block is coaxially and movably provided at one end of the avoidance gripper; The other end of the avoidance gripper is inclined.

[0009] Preferably, the outer wall of the pressure-bearing rotating block is provided with protrusions; The protrusions of the pressure-bearing rotating block are plate-shaped.

[0010] Preferably, a pressure plate is provided on the outer wall of the lower end of the force-bearing block; One end of the pressure plate is aligned with the plate-shaped protrusion of the pressure block.

[0011] Preferably, a telescopic rod is movably provided at the bottom of the outer wall of the force-bearing block; The outer wall of the telescopic rod is surrounded by a spring.

[0012] Preferably, the pressure-bearing rotating block, the avoidance gripper, and the gripping end of the clamping device are coaxially rotatably connected by a torsion spring.

[0013] Preferably, the force-bearing block is movably connected to the outer wall of the clamping device via a telescopic rod and a spring.

[0014] Preferably, the clamping end of the clamping device is open; The pressure plate is positioned at the center of the opening at the clamping end of the clamping device.

[0015] Preferably, the diameter of the pressure-bearing rotating block is smaller than the diameter of the end of the avoidance gripper.

[0016] Preferably, the length of the glue wheel is equal to the length of the glue dispensing nozzle.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up an automatic obstacle avoidance dispensing mechanism and a pressure application mechanism, the obstacle avoidance grippers can be automatically triggered to flip and avoid obstacles during the dispensing process of a cylindrical workpiece by rolling and applying pressure with the glue wheel. This achieves a dynamic obstacle avoidance effect in the dispensing area. The obstacle avoidance grippers only provide auxiliary support force, while the main clamping force is still provided by the clamping end of the clamping device. While completely eliminating the interference of the grippers, the original workpiece clamping state is not changed. This balances automatic obstacle avoidance function and stable clamping performance, effectively solving the problem of the outer wall of a solid cylinder obstructing the dispensing area.

[0018] 2. The automatic avoidance dispensing mechanism and pressure mechanism can adaptively adapt to two working conditions: dispensing inside hollow cylindrical workpieces and dispensing outside solid cylindrical workpieces. This eliminates the need for frequent manual adjustments to the clamping position of the clamping equipment, repeated calibration of the dispensing trajectory, and calibration of the dual-camera vision parameters. It reduces equipment setup time and manual intervention steps, ensuring continuous and complete glue lines on the outer wall of the cylinder without breaks or leaks. This improves dispensing accuracy, consistency, and mass production efficiency, enhancing the adaptability of the five-axis dual-camera dispensing machine to different types of cylindrical workpieces, and reducing production debugging costs and product defect rates. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the dispensing machine, dispensing nozzle, clamping device, automatic obstacle avoidance dispensing mechanism, and pressure application mechanism of the present invention.

[0021] Figure 3 This is a schematic diagram of the clamping device, force-bearing block, and rubber wheel of the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of the rubber wheel of the present invention.

[0023] Figure 5 This is a schematic diagram showing the installation positions of the force-bearing block, the avoidance gripper, and the pressure-bearing rotating block of the present invention. Figure 6 This is a schematic diagram of the structure of the force-bearing block, the avoidance gripper, and the pressure-bearing rotating block of the present invention; Figure 7This is a schematic diagram of the automatic obstacle avoidance dispensing mechanism of the present invention; Figure 8 This is a schematic diagram of the force-bearing block and pressure plate of the present invention; Figure 9 This is a cross-sectional view of the internal structure of the automatic obstacle avoidance dispensing mechanism of the present invention; Figure 10 This is a schematic diagram of the structure of the avoidance gripper and the pressure-bearing rotating block of the present invention; Figure 11 For the present invention Figure 3 A magnified view of the area marked A; Figure 12 For the present invention Figure 4 A magnified view of the area marked B.

[0024] In the diagram: 1. Dispensing machine; 2. Dispensing nozzle; 3. Clamping device; 4. Automatic avoidance dispensing mechanism; 401. Force block; 402. Avoidance gripper; 403. Pressure rotating block; 404. Pressure plate; 405. Telescopic rod; 406. Spring; 5. Pressure application mechanism; 501. Glue wheel. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1 to 12 This invention provides a technical solution: a five-axis dual-camera dispensing machine, comprising a dispensing machine 1, a dispensing nozzle 2, and a clamping device 3, and further comprising: Automatic avoidance dispensing mechanism 4 is provided in multiple equidistant locations on the outer wall of clamping device 3. It is used to avoid the dispensing nozzle 2 by swinging when dispensing, so as to prevent the parts of clamping device 3 from blocking the dispensing nozzle 2 from dispensing. The pressure mechanism 5 is located at the bottom of the dispensing nozzle 2. It is used to trigger the automatic avoidance dispensing mechanism 4 in advance by applying pressure when the dispensing nozzle 2 is dispensing glue, so as to start the automatic avoidance dispensing mechanism 4. The automatic avoidance dispensing mechanism 4 includes multiple force blocks 401 that are equidistantly and movably arranged on the outer wall of the clamping device 3. The upper end of the force block 401 has an arc surface structure, and the clamping end of the clamping device 3 is rotatably connected to the avoidance gripper 402 through a torsion spring. One end of the avoidance gripper 402 is open; The pressure application mechanism 5 includes adhesive rollers 501 symmetrically arranged at the bottom of the outer wall of the dispensing nozzle 2.

[0027] In this embodiment, the automatic obstacle avoidance dispensing mechanism 4 and the pressure application mechanism 5 can automatically trigger the obstacle avoidance gripper 402 to flip and avoid obstacles by rolling and applying pressure during the rotation of the cylindrical workpiece during dispensing. This achieves a dynamic obstacle avoidance effect in the dispensing area. Moreover, the obstacle avoidance gripper 402 only provides auxiliary support force, and the main clamping force is still provided by the clamping end of the clamping device 3. While completely eliminating the interference of the gripper, the original workpiece clamping state is not changed. This balances the automatic obstacle avoidance function and stable clamping performance, effectively solving the problem of the outer wall of the solid cylinder clamping and blocking the dispensing area.

[0028] One end of the avoidance gripper 402 is coaxially and movably equipped with a pressure-bearing rotating block 403; The other end of the avoidance gripper 402 is inclined.

[0029] In this embodiment, the automatic avoidance dispensing mechanism 4 and the pressure application mechanism 5 can adaptively adapt to two working conditions: dispensing inside hollow cylindrical workpieces and dispensing outside solid cylindrical workpieces. This eliminates the need for frequent manual adjustments to the clamping position of the clamping device 3, repeated calibration of the dispensing trajectory, and calibration of the dual-camera vision parameters. It reduces equipment setup time and manual intervention steps, ensuring continuous and complete glue lines on the outer wall of the cylinder without breaks or leaks. This improves dispensing accuracy, consistency, and mass production efficiency, enhances the adaptability of the five-axis dual-camera dispensing machine to different types of cylindrical workpieces, and reduces production debugging costs and product defect rates.

[0030] The outer wall of the pressure-bearing rotating block 403 is provided with protrusions; The protrusions of the pressure-bearing rotating block 403 are plate-shaped.

[0031] In this embodiment, when dispensing adhesive onto a cylindrical workpiece, if a hollow workpiece is encountered, the user can utilize the expanding and contracting clamping characteristics of the clamping device 3 to insert the clamping end of the clamping device 3 into the inner wall of the hollow workpiece. Then, the expanding characteristic of the clamping device 3 provides internal support, thereby clamping and fixing the workpiece. After the workpiece is clamped, the dispensing nozzle 2 is driven to move to the position of the clamping device 3, and then the clamping device 3 is driven to rotate, using rotation to dispense adhesive onto the outer wall of the workpiece. When clamping a solid cylindrical workpiece, the user typically needs to drive the clamping device 3... Figure 5 When the clamping device 3 expands, the clamping end of the clamping device 3 will drive the avoidance claw 402 to expand synchronously. After the avoidance claw 402 expands, the pressure rotating block 403 at one end of the avoidance claw 402 will also expand and move synchronously. After the pressure rotating block 403 is displaced, the protrusion on the outer wall of the pressure rotating block 403 will press against the bottom of one end of the pressure plate 404. Then the user drives the clamping device 3 to rotate, and the glue dispensing nozzle 2 dispenses glue.

[0032] A pressure plate 404 is provided on the outer wall of the lower end of the force-bearing block 401; One end of the pressure plate 404 is aligned with the plate-shaped protrusion of the pressure-bearing rotating block 403.

[0033] In this embodiment, when the clamping device 3 expands, the clamping end of the clamping device 3 will drive the avoidance gripper 402 to expand synchronously. After the avoidance gripper 402 expands, the pressure-bearing rotating block 403 at one end of the avoidance gripper 402 will also expand and move synchronously. After the pressure-bearing rotating block 403 is displaced, the protrusion on the outer wall of the pressure-bearing rotating block 403 will abut against the bottom of one end of the pressure plate 404. Then, the user drives the clamping device 3 to rotate, and the glue dispensing nozzle 2 dispenses glue. When the clamping device 3 rotates, the glue is dispensed. The rubber wheel 501 set at the bottom of the outer wall of the nozzle 2 will roll to the outer wall of the force block 401 and apply pressure to the force block 401. After being pressed, the force block 401 will cause the telescopic rod 405 and the spring 406 to retract. At the same time, the force block 401 will also drive the pressure plate 404 to press vertically downward. When the pressure plate 404 presses downward, it will apply pressure to the protrusion on the outer wall of the pressure rotating block 403. After the protrusion on the outer wall of the pressure rotating block 403 is pressed, it will drive the pressure rotating block 403 to rotate.

[0034] A telescopic rod 405 is movably installed at the bottom of the outer wall of the force-bearing block 401; A spring 406 is arranged around the outer wall of the telescopic rod 405.

[0035] In this embodiment, when the pressure plate 404 presses down, it applies pressure to the protrusion on the outer wall of the pressure-receiving rotating block 403. After the protrusion on the outer wall of the pressure-receiving rotating block 403 is pressed, it will drive the pressure-receiving rotating block 403 to rotate. At this time, the pressure-receiving rotating block 403, the avoidance gripper 402, and the torsion spring at the clamping end of the clamping device 3 will be compressed. When the pressure-receiving rotating block 403 rotates, it will drive the avoidance gripper 402 to rotate. At this time, the avoidance gripper 402 will reverse at a maximum angle of 90 degrees, so that the dispensing nozzle 2 can dispense glue. The rolling of the rubber wheel 501 causes the avoidance gripper 402 to rotate, so that the avoidance gripper 402 will not block the dispensing of glue from the dispensing nozzle 2. When clamping the workpiece, the main clamping force is applied by the clamping end of the clamping device 3, while the avoidance gripper 402 only provides auxiliary support and provides a force point for the workpiece. After the clamping device 3 rotates to a certain angle, the rubber wheel 501 disengages from the position of the force block 401, and the telescopic rod 405 and the spring 406 will drive the force block 401 to reset.

[0036] The pressure-bearing rotating block 403, the clearance gripper 402, and the clamping end of the clamping device 3 are coaxially rotatably connected by a torsion spring.

[0037] In this embodiment, the avoidance gripper 402 will reverse by up to 90 degrees, so that when the dispensing nozzle 2 is dispensing glue, the avoidance gripper 402 can be rotated by the rolling of the glue wheel 501, so that the avoidance gripper 402 will not block the glue dispensing of the dispensing nozzle 2. When clamping the workpiece, the main clamping force is clamped by the clamping end of the clamping device 3, while the avoidance gripper 402 only provides auxiliary support and provides a force point for the workpiece. After the clamping device 3 rotates to a certain angle, the glue wheel 501 disengages from the position of the force block 401, and the telescopic rod 405 and the spring 406 will drive the force block 401 to reset. The avoidance gripper 402, the pressure rotating block 403 and the torsion spring of the clamping end of the clamping device 3 will drive the pressure rotating block 403 and the avoidance gripper 402 to reset, and through the rotation of the clamping device 3.

[0038] The force-bearing block 401 is movably connected to the outer wall of the clamping device 3 via the telescopic rod 405 and the spring 406.

[0039] In this embodiment, the avoidance gripper 402 only provides auxiliary support and a force-bearing point for the workpiece. After the clamping device 3 rotates to a certain angle, the rubber wheel 501 disengages from the force-bearing block 401. The telescopic rod 405 and the spring 406 will drive the force-bearing block 401 to reset. Meanwhile, the avoidance gripper 402, the pressure-bearing rotating block 403, and the torsion spring at the clamping end of the clamping device 3 will drive the pressure-bearing rotating block 403 and the avoidance gripper 402 to reset. Furthermore, through the rotation of the clamping device 3, multiple avoidance grippers... The flipping and resetting of the claw 402 are alternating, which allows for continuous dispensing when clamping and dispensing onto the outer wall of a cylinder. When clamping a hollow workpiece, the automatic avoidance dispensing mechanism 4 and the pressure mechanism 5 will not be triggered because the clamping device 3 needs to contract and then expand after extending into the inner wall of the workpiece. At this time, the position of the avoidance claw 402 is driven inward by the clamping end of the clamping device 3, which causes the position of the pressure block 403 to deviate from that of the pressure plate 404.

[0040] The clamping end of the clamping device 3 is open; The pressure plate 404 is located at the center of the opening at the clamping end of the clamping device 3.

[0041] In this embodiment, the torsion springs at the clamping ends of the avoidance gripper 402, the pressure rotating block 403, and the clamping device 3 will drive the pressure rotating block 403 and the avoidance gripper 402 to reset. Furthermore, through the rotation of the clamping device 3, the flipping and resetting of multiple avoidance grippers 402 are alternating. This allows for continuous dispensing when clamping and dispensing adhesive onto the outer wall of a cylinder. When clamping a hollow workpiece, the automatic avoidance dispensing mechanism 4 and the pressure mechanism 5 will not be triggered because the clamping device 3 needs to contract and then expand after extending into the inner wall of the workpiece. The position of the gripper 402 is caused by the gripping end of the clamping device 3 to retract inward. This causes a positional deviation between the pressure-bearing rotating block 403 and the pressure plate 404. Therefore, when the pressure plate 404 presses down, the pressure-bearing rotating block 403 has a horizontal height deviation from the pressure plate 404. As a result, when the pressure plate 404 falls to its maximum range, it can only just touch or not touch the protrusion on the outer wall of the pressure-bearing rotating block 403. This prevents the pressure-bearing rotating block 403 from being driven to rotate by the pressure plate 404. Even if the rubber wheel 501 applies pressure to the force block 401, it will not be affected.

[0042] The diameter of the pressure block 403 is smaller than the diameter of one end of the clearance gripper 402.

[0043] In this embodiment, the glue roller 501 located at the bottom of the outer wall of the dispensing nozzle 2 rolls to the outer wall of the force-bearing block 401 and applies pressure to the force-bearing block 401. After being pressed, the force-bearing block 401 causes the telescopic rod 405 and the spring 406 to retract. At the same time, the force-bearing block 401 also drives the pressure plate 404 to press vertically downward. When the pressure plate 404 presses downward, it applies pressure to the protrusion on the outer wall of the pressure-bearing rotating block 403. After the protrusion on the outer wall of the pressure-bearing rotating block 403 is pressed, it drives the pressure-bearing rotating block 403 to rotate. At this time, the pressure-bearing rotating block 403 and the avoidance gripper 402... The torsion spring at the clamping end of the clamping device 3 will be compressed. When the compressed rotating block 403 rotates, it will drive the avoidance gripper 402 to rotate. At this time, the avoidance gripper 402 will reverse at a maximum angle of 90 degrees, so that when the dispensing nozzle 2 is dispensing glue, the avoidance gripper 402 can be rotated by the rolling of the glue wheel 501, so that the avoidance gripper 402 will not block the glue dispensing of the dispensing nozzle 2. When clamping the workpiece, the main clamping force is clamped by the clamping end of the clamping device 3, while the avoidance gripper 402 only provides auxiliary support and provides a force point for the workpiece.

[0044] The length of the glue roller 501 is equal to the length of the glue dispensing nozzle 2.

[0045] In this embodiment, after being compressed, the force-bearing block 401 causes the telescopic rod 405 and the spring 406 to retract. Simultaneously, the force-bearing block 401 also drives the pressure plate 404 to press vertically downwards. When the pressure plate 404 presses downwards, it applies pressure to the protrusions on the outer wall of the pressure-bearing rotating block 403. After the protrusions on the outer wall of the pressure-bearing rotating block 403 are compressed, the pressure-bearing rotating block 403 rotates. At this time, the pressure-bearing rotating block 403, the clearance gripper 402, and the torsion spring at the clamping end of the clamping device 3 are compressed. When the pressure-bearing rotating block 403 rotates, it drives the clearance gripper 402 to rotate. The clearance gripper 402 will reverse at a maximum angle of 90 degrees, allowing the dispensing nozzle 2 to pass through the glue roller 50 during dispensing. The rolling motion of 1 causes the avoidance gripper 402 to rotate, thus preventing the avoidance gripper 402 from blocking the dispensing of glue from the dispensing nozzle 2. When clamping the workpiece, the main clamping force is applied through the clamping end of the clamping device 3, while the avoidance gripper 402 only provides auxiliary support and a force point for the workpiece. After the clamping device 3 rotates to a certain angle, the glue wheel 501 disengages from the position of the force block 401, and the telescopic rod 405 and spring 406 drive the force block 401 to reset. The avoidance gripper 402, the pressure rotating block 403, and the torsion spring at the clamping end of the clamping device 3 drive the pressure rotating block 403 and the avoidance gripper 402 to reset, and through the rotation of the clamping device 3.

[0046] Working principle: When using this five-axis dual-camera dispensing machine, such as... Figure 1 , Figure 3 , Figure 4 , Figure 7 , Figure 10 and Figure 9 As shown, when dispensing adhesive to a cylindrical workpiece, if a hollow workpiece is encountered, the user can utilize the expanding and contracting clamping characteristics of the clamping device 3 to insert the clamping end of the clamping device 3 into the inner wall of the hollow workpiece. Then, the expanding characteristics of the clamping device 3 provide internal support, thereby clamping and fixing the workpiece. After the workpiece is clamped, the dispensing nozzle 2 is driven to move to the position of the clamping device 3, and then the clamping device 3 is driven to rotate, using the rotation to dispense adhesive onto the outer wall of the workpiece.

[0047] When clamping solid cylindrical workpieces, users typically need to drive the clamping device 3, such as... Figure 5In this expansion process, when the clamping device 3 expands, the clamping end of the clamping device 3 will drive the avoidance gripper 402 to expand synchronously. After the avoidance gripper 402 expands, the pressure-bearing rotating block 403 at one end of the avoidance gripper 402 will also expand and move synchronously. After the pressure-bearing rotating block 403 is displaced, the protrusion on the outer wall of the pressure-bearing rotating block 403 will abut against the bottom of one end of the pressure plate 404. Then, the user drives the clamping device 3 to rotate, and the dispensing nozzle 2 dispenses glue. When the clamping device 3 rotates, the glue wheel 50 set at the bottom of the outer wall of the dispensing nozzle 2... 1 will roll to the outer wall of the force-bearing block 401 and apply pressure to the force-bearing block 401. After being pressed, the force-bearing block 401 will cause the telescopic rod 405 and the spring 406 to retract. At the same time, the force-bearing block 401 will also drive the pressure plate 404 to press vertically downward. When the pressure plate 404 presses downward, it will apply pressure to the protrusion on the outer wall of the pressure-bearing rotating block 403. After the protrusion on the outer wall of the pressure-bearing rotating block 403 is pressed, it will drive the pressure-bearing rotating block 403 to rotate. At this time, the pressure-bearing rotating block 403, the avoidance gripper 402 and the torsion spring at the clamping end of the clamping device 3 will rotate. Under pressure, the rotating block 403 will cause the relief gripper 402 to rotate when it rotates. At this time, the relief gripper 402 will reverse at a maximum angle of 90 degrees, so that when the dispensing nozzle 2 is dispensing glue, the rolling of the glue wheel 501 will cause the relief gripper 402 to rotate, thus ensuring that the relief gripper 402 will not obstruct the glue dispensing from the dispensing nozzle 2. When clamping the workpiece, the main clamping force is applied through the clamping end of the clamping device 3, while the relief gripper 402 only provides auxiliary support and a force point for the workpiece. After the clamping device 3 rotates to a certain angle, the rubber wheel 501 disengages from the position of the force block 401. The telescopic rod 405 and the spring 406 will drive the force block 401 to reset. Meanwhile, the avoidance gripper 402, the pressure rotating block 403, and the torsion spring at the clamping end of the clamping device 3 will drive the pressure rotating block 403 and the avoidance gripper 402 to reset. Furthermore, through the rotation of the clamping device 3, the flipping and resetting of multiple avoidance grippers 402 are alternating. This allows for continuous dispensing when clamping and dispensing adhesive onto the outer wall of a cylinder.

[0048] When clamping a hollow workpiece, the automatic avoidance dispensing mechanism 4 and the pressure applying mechanism 5 will not be triggered. This is because after the clamping device 3 extends into the inner wall of the workpiece, it needs to contract and then expand. At this time, the position of the avoidance claw 402 is driven inward by the clamping end of the clamping device 3. This causes a deviation between the position of the pressure-bearing rotating block 403 and the pressure plate 404. Therefore, when the pressure plate 404 presses down, the pressure-bearing rotating block 403 has a horizontal height deviation from the pressure plate 404. So when the pressure plate 404 falls to its maximum range, it can only just touch or not touch the protrusion on the outer wall of the pressure-bearing rotating block 403. This prevents the pressure-bearing rotating block 403 from being driven to rotate by the pressure plate 404. Even if the rubber wheel 501 applies pressure to the force block 401, it will not be affected.

[0049] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A five-axis dual-camera dispensing machine, comprising a dispensing machine (1), a dispensing nozzle (2), and a clamping device (3), characterized in that, Also includes: Automatic avoidance dispensing mechanism (4) is provided at equal intervals on the outer wall of clamping device (3) to avoid the dispensing nozzle (2) by swinging when dispensing, so as to prevent the parts of clamping device (3) from blocking the dispensing nozzle (2) from dispensing. The pressure mechanism (5) is located at the bottom of the dispensing nozzle (2) and is used to trigger the automatic avoidance dispensing mechanism (4) in advance by pressure when the dispensing nozzle (2) dispenses glue, so as to start the automatic avoidance dispensing mechanism (4). The automatic avoidance dispensing mechanism (4) includes multiple force blocks (401) that are equidistantly and movably arranged on the outer wall of the clamping device (3). The upper end of the force block (401) has an arc surface structure, and the clamping end of the clamping device (3) is rotatably connected to the avoidance gripper (402) through a torsion spring. One end of the avoidance gripper (402) is open; The pressure application mechanism (5) includes glue wheels (501) symmetrically arranged at the bottom of the outer wall of the dispensing nozzle (2).

2. The five-axis dual-camera dispensing machine according to claim 1, characterized in that: One end of the avoidance gripper (402) is coaxially and movably provided with a pressure-bearing rotating block (403); The other end of the avoidance gripper (402) is inclined.

3. A five-axis dual-camera dispensing machine according to claim 2, characterized in that: The outer wall of the pressure-bearing rotating block (403) is provided with protrusions; The protrusions of the pressure-bearing rotating block (403) are plate-shaped.

4. A five-axis dual-camera dispensing machine according to claim 2, characterized in that: A pressure plate (404) is provided on the outer wall of the lower end of the force-bearing block (401). One end of the pressure plate (404) is aligned with the plate-shaped protrusion of the pressure block (403).

5. A five-axis dual-camera dispensing machine according to claim 1, characterized in that: A telescopic rod (405) is movably provided at the bottom of the outer wall of the force-bearing block (401). A spring (406) is provided around the outer wall of the telescopic rod (405).

6. A five-axis dual-camera dispensing machine according to claim 1, characterized in that: The clamping ends of the pressure-bearing rotating block (403), the avoidance gripper (402), and the clamping device (3) are coaxially rotatably connected by a torsion spring.

7. A five-axis dual-camera dispensing machine according to claim 5, characterized in that: The force-bearing block (401) is movably connected to the outer wall of the clamping device (3) via a telescopic rod (405) and a spring (406).

8. A five-axis dual-camera dispensing machine according to claim 4, characterized in that: The clamping end of the clamping device (3) is open; The pressure plate (404) is located at the center of the opening at the clamping end of the clamping device (3).

9. A five-axis dual-camera dispensing machine according to claim 2, characterized in that: The diameter of the pressure block (403) is smaller than the diameter of one end of the avoidance gripper (402).

10. A five-axis dual-camera dispensing machine according to claim 1, characterized in that: The length of the glue wheel (501) is equal to the length of the glue nozzle (2).

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