CN100571652C - Dentognathic model measurer with parallel laser mechanism - Google Patents
Dentognathic model measurer with parallel laser mechanism Download PDFInfo
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- CN100571652C CN100571652C CNB2006100206936A CN200610020693A CN100571652C CN 100571652 C CN100571652 C CN 100571652C CN B2006100206936 A CNB2006100206936 A CN B2006100206936A CN 200610020693 A CN200610020693 A CN 200610020693A CN 100571652 C CN100571652 C CN 100571652C
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Abstract
The present invention proposes a kind of dentognathic model measurer with parallel laser mechanism, be used for dentognathic model non-contact digital scanning survey, its structure mainly comprises frame, laser scanner, the rotary-tray of parallel institution and placement dentognathic model, described parallel institution is by fixed platform, the moving platform and the platform that is connected and fixed constitute with the lower limb that connects of moving platform, parallel institution is placed on the frame by its fixed platform, the dentognathic model pallet is installed on the parallel institution moving platform, under the combined effect of parallel institution and rotary-tray motion, make the relative laser scanner motion of dentognathic model, the digital scanning of implementation model.That this device has is simple in structure, good rigidly, precision height, can eliminate advantages such as scanning blind area and shade effectively.
Description
One, technical field
The invention belongs to the dentognathic model field of measuring technique, more particularly relate to a kind of laser dentognathic model measurer, be specially adapted to dentognathic model laser three-D digital scanning.
Two, background technology
In dentistry clinical medicine, the outline data of dentognathic model and characteristic are the important evidence of diagnosing and repairing.Traditional hand dipping all is being restricted aspect content and the ability measuring, be difficult to the complicated three-dimensional geometry form in dentognathic model surface make comprehensively, quantitative description and analysis accurately.At present, the measurement and the digitized image that adopt computer to carry out dentognathic model are treated as the research focus, promptly begin inquire into to use measuring methods such as close shot stereophotography, More's moire and special mirror image that dentognathic model is measured abroad from the sixties, but be limited to the problem of aspects such as certainty of measurement and equipment cost and be restricted.Scholars also begin the applied research that adopts laser without contact three-dimensional measurement technology that dentognathic model is measured in recent years, and wherein typical technology is the measuring system of moving as separate straight lines along three mutually perpendicular directions.The shortcoming of this system is very obvious: one, because the stack of the error of this serial mechanism, so its certainty of measurement is low; Its two, for the certainty of measurement that meets the demands, system measure for up to a few hours, data volume is very big, redundant data is many; Its three because dentognathic model is the complex-curved of non-rule, adopt this system that dentognathic model is carried out laser scanning measurement, can't eliminate shade when carrying out laser scanning.For these reasons, this measuring system is difficult to the competent work that dentognathic model is measured.
Three, summary of the invention
At the deficiency that the laser scanning dentognathic model measurer of prior art exists, dentognathic model measurer with parallel laser mechanism provided by the invention is intended to solve following technical problem:
1, increases system stiffness, the stack of elimination error, make the The measuring precision height;
2, dentognathic model is being carried out eliminate shade in the laser scanning measurement process effectively;
3, simple in structure, compactness, the optimization system structure realizes desktop digitalized laser scanning survey.
In order to solve the above-mentioned technical problem that the present invention proposes, basic thought of the present invention is by designing a kind of three-dimensional digital laser scanning device based on parallel institution, realize the required motion of dentognathic model measurement with parallel institution, shade when eliminating laser scanning effectively exists, and surveying work can be finished smoothly.Adopt parallel institution, the system that guaranteed to have that rigidity is big, the not synergetic characteristic of error, to improve The measuring precision.System structure is simply compact, has optimized system structure, to the measurement realization desktop digitalized laser scanning survey of dentognathic model, is convenient to apply in dental practice.
The concrete technical scheme of laser provided by the invention dentognathic model measurer in parallel is as follows:
Dentognathic model measurer with parallel laser mechanism, mainly comprise frame, laser scanner, parallel institution, the dentognathic model rotary-tray, said parallel institution is by fixed platform, moving platform and two ends are connecting the parallel institution that lower limb constitutes that connects of fixed platform and moving platform respectively, connect the lower limb design moving sets and moving sets driving device are arranged, parallel institution is installed on the frame, the dentognathic model rotary-tray is installed on the moving platform of parallel institution, rotate by servo drive system driving, parallel institution and rotary-tray are formed a kind of series-parallel measurement motion, drive the sweep object dentognathic model with respect to moving with the laser scanner of the corresponding setting of dentognathic model rotary-tray.
Described parallel institution is three branch road parallel institutions, is connecting fixed platform and moving platform three respectively by fixed platform, moving platform and two ends and is connecting lower limb and constitute.
Three at be connected and fixed platform and moving platform connect in the lower limb, and its one leg and fixed platform are that rigidity connects firmly, and link by Hooke's hinge with moving platform, link by ball pivot between two legs and the moving platform in addition, and link by Hooke's hinge between the fixed platform.
Described moving sets driving device can be the hydraulic servo oil cylinder driving device, also can be the driving device that servo drive motor and drive lead screw nut constitute.
Three at be connected and fixed platform and moving platform connect in the lower limb, one of connecting firmly of one end and fixed platform connects lower limb, and its moving sets is interior moving sets, and the moving sets that two other connects lower limb can be interior moving sets, also can be outer moving sets, a kind of in promptly can be in moving sets and the outer moving sets.
Three in be connected and fixed platform and traverser connect in the lower limb, one end and fixed platform rigidity connect firmly, the stretching structure bar of moving sets in the one leg that the other end and moving platform link by Hooke's hinge is designed to, the moving sets driving device can be servomotor, the two other lower limb can be designed to the length-fixed structure bar with outer moving sets, one end links by Hooke's hinge and slide block, link by slide block guide rail and fixed platform again, slide block is driven by the drive lead screw nut that servomotor drives, and the other end links by ball pivot and moving platform.
Described parallel institution also can be two branch road parallel institutions, is connecting fixed platform and moving platform two respectively by fixed platform, moving platform and two ends and is connecting lower limb and constitute.
Two at two branch road parallel institutions connect in the lower limb, and the one bar connects lower limb and the fixed platform rigidity connects firmly, and links by rotary pair with moving platform, and one leg connects by ball pivot with moving platform in addition, and links by Hooke's hinge between the fixed platform.
Two of two branch road parallel institutions connect in the lower limb, one of connecting firmly of one end and fixed platform connect lower limb be designed in the stretching structure bar of moving sets, the moving sets driving device is a servomotor, and one leg can be the stretching structure bar of interior moving sets in addition, also can be the length-fixed structure bar of outer moving sets.
Two of described two branch road parallel institutions connect in the lower limb, one of connecting firmly of one end and fixed platform connects lower limb, its moving sets moving direction intersects with the rotary pair axis that connects moving platform, moving direction and rotary pair axis off plumb constitute space parallel mechanism, a kind of in vertical formation plane parallel mechanism of moving direction and rotary pair axis or the space parallel mechanism.Described plane parallel mechanism, an end and the fixed platform rigidity of its one leg connect firmly, and the other end and moving platform link by rotary pair, all link by rotary pair between one leg and moving platform and the fixed platform in addition.
Two of described two branch road space parallel mechanisms connect in the lower limb, one end and fixed platform rigidity connect firmly, the stretching structure bar of moving sets in the one leg that the other end and moving platform link by Hooke's hinge is designed to, the moving sets driving device can be servomotor, one leg can be designed to the length-fixed structure bar with outer moving sets in addition, one end links by Hooke's hinge and slide block, link by slide block guide rail and fixed platform again, slide block is driven by the drive lead screw nut that servomotor drives, and the other end links by ball pivot and moving platform.
The present invention has also taked some other technical measures.
The present invention compares with the laser dentognathic model measurer of prior art, because measuring device of the present invention is a kind of three-dimensional digital laser scanner based on parallel institution, realize the required motion of dentognathic model measurement with the series-parallel measurement motion that parallel institution and rotary-tray are formed, eliminated the blind area and the shade that exist in the laser scanning effectively, surveying work can be finished smoothly.Again because motion adopts parallel institution, the system that guaranteed has big, the not synergetic characteristic of error of rigidity, improved The measuring precision greatly, and system structure is simple, compact, optimized system structure, measurement to dentognathic model has realized the measurement of non-contact digital laser scanning desktop, is convenient to apply in dental practice.
Four, Brief Description Of Drawings
Accompanying drawing 1 is the embodiment of the invention 1 a population structure sketch map.
Accompanying drawing 2 is the motion principle sketch map of the embodiment of the invention 1.
Accompanying drawing 3 is the embodiment of the invention 2 population structure sketch maps.
Accompanying drawing 4 is the embodiment of the invention 3 population structure sketch maps.
Accompanying drawing 5 is the motion principle sketch map of the embodiment of the invention 3.
Below in conjunction with accompanying drawing, introduce structure and the operation principle of the embodiment of two kinds of dentognathic model laser scanning devices of the present invention in detail.
Embodiment 1:
The population structure of embodiment 1 is made up of frame 13, three branch road parallel institutions, revolution pallet 10, dentognathic model pallet 11 and laser instrument 14 as shown in Figure 1.Wherein, three branch road parallel institutions are by installing back dish 10 the moving platform 8 that asks, being used for three branch road parallel institutions are installed in fixed platform 12 on the frame 13, and respectively with moving platform 8 and fixed platform 12 mutually three of chain connect lower limbs and form, article three, connect lower limb and all be designed to the expansion link that constitutes by outer loop bar 2,5 and interior slide bar 3,6, contain interior moving sets, the moving sets driving device is a servomotor.Connect in the lower limb at three, wherein an end and fixed platform 12 rigidity that connect lower limb connect firmly, and the other end and moving platform 8 link by Hooke's hinge 7, and two other connects lower limb, one end links by ball pivot 4 and moving platform, and the other end links by Hooke's hinge and fixed platform.Revolution pallet 10 is installed on the moving platform 8, and dentognathic model pallet 11 is installed on the revolution pallet 10, is driven revolution pallet 10 and is driven model pallet 11 by servomotor 9 and rotate.Laser instrument 14 is installed in frame 13 tops of model pallet 11 tops, and is corresponding with dentognathic model.
Accompanying drawing 2 is the motion principle sketch map of present embodiment.The plane that A1, A2, A3 constitute is the fixed platform of parallel institution, the plane that B1, B2, B3 constitute is the moving platform of parallel institution, parallel institution is by fixed platform A1, A2, A3, and moving platform B1, B2, B3 and connection moving platform constitute with the lower limb that connects of three stretching structures of fixed platform.Wherein the A3 point rigidity of an end of one leg and fixed platform connects firmly, and the other end links by Hooke's hinge B3 and moving platform.Link by ball pivot B1, B2 between two other lower limb and the moving platform, and link by Hooke's hinge A1, A2 between the fixed platform, change the stroke of three lower limbs, can realize that moving platform is around X-axis with around the rotation of Y-axis and along the displacement of Z-direction.
The operation principle of the dentognathic model measurer with parallel laser mechanism of present embodiment: tested model is positioned on the model pallet 11, laser beam is in the center position of model during the scanning beginning, servomotor 9 rotations, rotary-tray 10 drives 11 rotations of model pallet, and after the model pallet rotated a circle, parallel institution was under driven by servomotor, article three, lower limb is made stretching motion, realize moving of Z direction, beginning is scanning for the second time, and so circulation is up to the end of scan.Because the dentognathic model surface is complex-curved, can adopt parallel institution two rotations of moving platform under driven by servomotor to adjust in the scanning process, thereby dead zone-eliminating and shade effectively obtain high-quality scanogram.
Embodiment 2:
Embodiment 2 population structures as shown in Figure 3.Its population structure is roughly identical with embodiment 1, and difference is, the structure among the embodiment 1 is identical, and two of being made of outer loop bar 2 and interior slide bar 3 connect lower limbs, are replaced by length-fixed structure bar 17 in the present embodiment.Wherein an end of length-fixed structure bar 17 links by Hooke's hinge 16 and slide block 15, and the other end links by ball pivot 18 and moving platform 8.Driving lower edge guide rail 19 straight lines of the screw mandrel 21 that slide block 15 can drive at servomotor 20 move, and two secondary guide rails 19 are fixedly mounted on respectively on the diapire and sidewall of frame.
Embodiment 3:
The population structure of embodiment 3 as shown in Figure 4.Form by frame 13, two branch road parallel institutions, revolution pallet 10, dentognathic model pallet 11 and laser instrument 14.Wherein, two branch road parallel institutions by moving platform 8, be used for that parallel institution is installed in fixed platform 12 on the frame 13 and two ends and connect moving platform 8 and fixed platform 12 two respectively and connect lower limb and form.Article two, connect lower limb and be designed to the expansion link that constitutes by outer loop bar 2 and interior slide bar 3, wherein an end and fixed platform 12 rigidity that connect lower limb connect firmly, the other end and moving platform 8 link by rotary pair 15, another end and fixed platform 12 that connects lower limb links by Hooke's hinge 1, and the other end and moving platform 8 link by ball pivot 4.Revolution pallet 10 is installed on the moving platform 8, and dentognathic model pallet 11 is installed on the revolution pallet 10, is driven revolution pallet 10 and is driven model pallet 11 by servomotor 9 and rotate.Laser instrument 14 is installed in frame 13 tops of model pallet 11 tops, and is corresponding with dentognathic model.
The operation principle of the dentognathic model measurer with parallel laser mechanism of present embodiment: by the stretching motion of two legs, two branch road parallel institutions realize that a rotation and 1 move.Servomotor 9 rotations, rotary-tray 10 drives 11 rotations of model pallet, rotary freedom when scanning is provided, one-movement-freedom-degree when the moving platform rectilinear motion of two branch road parallel institutions provides scanning, the moving platform of two branch road parallel institutions rotatablely moves around rotary pair 15, be used for adjustment model in the attitude in when scanning, thus dead zone-eliminating and shade effectively.
The specific embodiment of the present invention is not limited to the described form of embodiment, also can be designed to other specific embodiment according to content disclosed by the invention.
Claims (9)
1, a kind of dentognathic model measurer with parallel laser mechanism, mainly comprise frame, laser scanner, parallel institution, the dentognathic model rotary-tray, it is characterized in that described parallel institution is by fixed platform, moving platform and two ends are connecting the parallel institution that lower limb constitutes that connects of fixed platform and moving platform respectively, connect the lower limb design moving sets and moving sets driving device are arranged, parallel institution is installed on the frame, the dentognathic model rotary-tray is installed on the moving platform of parallel institution, rotate by servo drive system driving, parallel institution and rotary-tray are formed a kind of series-parallel measurement motion, drive sweep object tooth chin model with respect to moving with the laser scanner of the corresponding setting of dentognathic model rotary-tray.
2, dentognathic model measurer with parallel laser mechanism according to claim 1 is characterized in that described parallel institution is three branch road parallel institutions, is connecting fixed platform and moving platform three respectively by fixed platform, moving platform and two ends and is connecting lower limb and constitute.
3, dentognathic model measurer with parallel laser mechanism according to claim 2, it is characterized in that three at be connected and fixed platform and the moving platform of three branch road parallel institutions connect in the lower limb, its one leg and fixed platform rigidity connect firmly, link by Hooke's hinge with moving platform, link by ball pivot between two legs and the moving platform in addition, and link by Hooke's hinge between the fixed platform.
4, dentognathic model measurer with parallel laser mechanism according to claim 3, it is characterized in that three of three branch road parallel institutions connect that an end is interior moving sets with the moving sets that connects lower limb that fixed platform connects firmly in the lower limbs, the moving sets of other two legs is a kind of in interior moving sets and the outer moving sets.
5, dentognathic model measurer with parallel laser mechanism according to claim 1 is characterized in that described parallel institution is two branch road parallel institutions, is connecting fixed platform and moving platform two respectively by fixed platform, moving platform and two ends and is connecting lower limb and constitute.
6, dentognathic model measurer with parallel laser mechanism according to claim 5, two that it is characterized in that described two branch road parallel institutions connect in the lower limb, its one leg and fixed platform rigidity connect firmly, link by rotary pair with moving platform, link by ball pivot between one leg and the moving platform in addition, and link by Hooke's hinge between the fixed platform.
7, dentognathic model measurer with parallel laser mechanism according to claim 6, two that it is characterized in that described two branch road parallel institutions connect in the lower limb, one end is interior moving sets with the moving sets that connects lower limb that fixed platform connects firmly, in addition the moving sets of one leg be interior moving sets with outer moving sets in a kind of.
8, dentognathic model measurer with parallel laser mechanism according to claim 7, it is characterized in that described two branch road parallel institutions, one of connecting firmly of one end and fixed platform connects lower limb, its moving sets moving direction intersects with the rotary pair axis that connects moving platform, moving direction and rotary pair axis off plumb constitute space parallel mechanism, a kind of in vertical formation plane parallel mechanism of moving direction and rotary pair axis or the space parallel mechanism.
9, require 3 or 4 described dentognathic model measurer with parallel laser mechanism according to profit, it is characterized in that described three branch road parallel institutions, one end and fixed platform rigidity connect firmly, one of linking by Hooke's hinge of the other end and moving platform connect lower limb be designed to in the stretching structure bar of moving sets, the moving sets driving device is a servomotor, other two legs is designed to the length-fixed structure bar with outer moving sets, one end links by Hooke's hinge and slide block, link by slide block guide rail and fixed platform again, slide block is driven by the ball screw nut that servomotor drives, and the other end links by ball pivot and moving platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100206936A CN100571652C (en) | 2006-04-12 | 2006-04-12 | Dentognathic model measurer with parallel laser mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100206936A CN100571652C (en) | 2006-04-12 | 2006-04-12 | Dentognathic model measurer with parallel laser mechanism |
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| CN1857180A CN1857180A (en) | 2006-11-08 |
| CN100571652C true CN100571652C (en) | 2009-12-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088387A (en) * | 2017-12-21 | 2018-05-29 | 重庆大学 | Six degree of freedom gear measuring system based on digital raster |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102213584B (en) * | 2011-04-08 | 2013-02-13 | 华中科技大学 | Dental model measuring device |
| CN102853782B (en) * | 2012-08-31 | 2014-10-29 | 华中科技大学 | Gesture regulating device for three-dimensional measurement of dental cast |
| CN105361968B (en) * | 2014-08-29 | 2017-06-23 | 财团法人金属工业研究发展中心 | Tooth mould scanning means |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN107178689A (en) * | 2016-03-10 | 2017-09-19 | 杭州海康威视数字技术股份有限公司 | Adjusting bracket and the video camera with it |
| CN113520642B (en) * | 2021-07-13 | 2022-05-31 | 杭州佳杰齿科有限公司 | Cutting instrument for manufacturing false teeth |
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| CN2201907Y (en) * | 1994-08-11 | 1995-06-28 | 李中科 | Laser three-dimensional scanning device for dentognathic mould |
| US6120287A (en) * | 1999-08-06 | 2000-09-19 | Advanced Research And Technology Institute, Inc. | Apparatus and method for measuring orthodontic force applied by an orthodontic appliance |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| US20050075585A1 (en) * | 2002-08-26 | 2005-04-07 | Mun-Sang Kim | Apparatus and method for measuring jaw motion |
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2006
- 2006-04-12 CN CNB2006100206936A patent/CN100571652C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2201907Y (en) * | 1994-08-11 | 1995-06-28 | 李中科 | Laser three-dimensional scanning device for dentognathic mould |
| US6120287A (en) * | 1999-08-06 | 2000-09-19 | Advanced Research And Technology Institute, Inc. | Apparatus and method for measuring orthodontic force applied by an orthodontic appliance |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| US20050075585A1 (en) * | 2002-08-26 | 2005-04-07 | Mun-Sang Kim | Apparatus and method for measuring jaw motion |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108088387A (en) * | 2017-12-21 | 2018-05-29 | 重庆大学 | Six degree of freedom gear measuring system based on digital raster |
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| CN1857180A (en) | 2006-11-08 |
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