CN102715956B - Micro tooth body preparation automatic cutting device in laser-type oral cavity - Google Patents
Micro tooth body preparation automatic cutting device in laser-type oral cavity Download PDFInfo
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- CN102715956B CN102715956B CN201210193871.0A CN201210193871A CN102715956B CN 102715956 B CN102715956 B CN 102715956B CN 201210193871 A CN201210193871 A CN 201210193871A CN 102715956 B CN102715956 B CN 102715956B
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- 238000002360 preparation method Methods 0.000 title claims abstract description 29
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- 230000007246 mechanism Effects 0.000 claims abstract description 17
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- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention discloses a micro tooth body preparation automatic cutting device in a laser-type oral cavity. The device comprises a motor driving component (1), an optical path component (2) and a shell component (3), wherein the optical path component (2) implements the optical path conversion by adopting a vibrating mirror (24), a convex lens (25) and a reflection mirror (26); through controlling the rotation of two degree-of-freedoms of the vibrating mirror (24) and the movement of one degree-of-freedom of the convex lens (25), the movement of three degree-of-freedoms of a laser focus light spot relative to a cut tooth can be realized, the optical structure principle is simple, optical elements are in space linear distribution, and occupy a small space, which is beneficial to the miniaturization of the whole device; the motor driving component (1) adopts the matching of a linear motor and a guide rod, on one hand, a spherical surface decoupling mechanism (21) is driven, thus the vibrating mirror (24) completes the rotation of two degree-of-freedoms, on the other hand, a convex lens frame (23) is driven, thus the convex lens (25) completes the rotation of one degree-of-freedom. The device has no noise in cutting process, and has little damage to the tooth near tissue, the tooth surface is smooth after cutting, and the microscopic feature is good.
Description
Technical field
The present invention relates to a kind of tooth topping machanism, more particularly, refer to a kind of by miniature tooth preparation automatic cutting device in the oral cavity of laser ablation tooth diseased region.
Background technology
In dental treatment, sometimes will to be formed on dental surface and root pipe in half hard formation such as dentine cut, in order to cut such layer, use rotary actuation cutting instrument-dental handpiece.
There is the multiple mobile phone for throw.Turbo-driven mobile phone is widely used in dentist's office and the medical laboratory in global range.Most of mobile phones comprise handle portion, at the adapter of handle portion one end and at the instrument that carries driving head of the other end.Adapter provides being connected of mobile phone and various air, water, light and electric supply line, and these pipelines are combined in so-called umbilic cord (umbilical cord) conventionally.Driving head holds instrument rotary part, and this instrument rotary part is made up of tool base or chuck and motor or turbine conventionally, and this motor or turbine are rotatably installed in head for drive chuck.
In the 3rd the 2nd phase of volume " oral cavity material apparatus magazine " in 1994, " high-speed air turbine dental drill " disclosed.This air turbine dental drill is mainly made up of parts such as air supply system, water system, vacuum filter, control system, the gentle turbine hand machines of foot control, is the main equipment on modernization dental unit.Also can design independently portable air turbine dental drill, on machine, provide mini air compressor and storage barrel for oneself, just can use as long as switch on power, very convenient.
Be in CN 200380107011.X, to disclose " dental handpiece " at application number.In the claim 1 of the claims in this patent application document, pointed out " a kind of medical science or dental turbo mobile phone, comprise handle portion that user holds with a firm grip, be connected with handle portion and form the driving head of turbine case, for rotate and have turbine and a pair of axially spaced-apart bearing for rotary support turbine case turbine of the turbine case of the axial tooling hole of the axle for holding the throw that can inject mobile phone around rotation axis; It is characterized in that: described mobile phone also comprises that the moment of torsion for turbine is produced passes to the torque transmitter of the instrument with non-circular cross sections shaft portion, this torque transmitter comprises locking socket, this locking socket is used for holding described shaft portion and has complementary cross section so that shaft portion is resisted rotary locking at socket, allow shaft portion axially to inject in locking socket, this locking socket is connected to turbine so that therewith rotation simultaneously ".
Above-mentioned open source literature has all adopted driving head to contact cutwork with tooth to the cutting of tooth.Due to the shake of staff, and working place narrow and small in oral cavity, tooth preparation (dental preparation:United States Patent Office, NO.3004897 translation: " tooth preparation " derives from " prosthetic dentistry " sixth version of publishing house of People's Health Publisher, chief editor Zhao iridium people, associate editor Chen Jihua, 2008) after the form accuracy of tooth depend on doctor's clinical experience and technical merit, cause tooth preparation result uneven.When work, it is large that operating theater instruments produces noise, and patient is caused and do not accommodate intense strain.After each operation, apparatus will carry out entirety cleaning and disinfect.
At present, tradition adopts system that laser cuts bad tooth body as shown in Figure 1, and it includes scan model 200 after scan model 100 before imaging of medical scanner, laser generator, motor drive module, tooth preparation, tooth preparation, Cutting trajectory plan model 300; Wherein, after the front scan model 100 of tooth preparation, tooth preparation, scan model 200 and Cutting trajectory plan model 300 adopt software programming to realize, and are arranged in known computer.
Summary of the invention
The object of this invention is to provide miniature tooth preparation automatic cutting device in a kind of oral cavity, this topping machanism is realized the excision of odontopathy body by laser; The light path of laser adopts three mirrors under the driving of linear electric motors, has realized the variation of Cutting trajectory.In order to meet the variation of Cutting trajectory, the present invention adopts the cooperation of linear electric motors, guide rod, linear bearing, sphere decoupling mechanism, thereby has realized touchless digitized tooth femtosecond laser cutting at the Cutting trajectory that coordinates host computer.
Miniature tooth preparation automatic cutting device in a kind of laser type of the present invention oral cavity, this device includes motor drive component (1), optical path component (2) and housing unit (3);
It is upper that the first linear electric motors (1A) in motor drive component (1) are arranged on the first motor cabinet (1D), and the first motor cabinet (1D) is fixed on location-plate (12F); One end of the first linear electric motors (1A), the first guide rod (15A), one end of the second guide rod (15B) are arranged on respectively on the first connecting plate (11A); On the first guide rod (15A), be socketed with the first linear bearing (151A), the second linear bearing (151B), the first linear bearing (151A) is arranged in the 3rd linear axis bearing (12C), it is upper that the second linear bearing (151B) is arranged on the first linear axis bearing (12A), and the 3rd linear axis bearing (12C) is fixed on location-plate (12F) with the first linear axis bearing (12A); On the second guide rod (15B), be socketed with the 3rd linear bearing (151C), the 4th linear bearing (151D), the 3rd linear bearing (151C) is arranged in the 4th linear axis bearing (12D), it is upper that the 4th linear bearing (151D) is arranged on the second linear axis bearing (12B), and the 4th linear axis bearing (12D) is fixed on location-plate (12F) with the second linear axis bearing (12B); Guide rod can move glossily with making guide rod coordinating of linear bearing in linear bearing; The first grating scale frame (14A) is vertically fixed on the first connecting plate (11A), on the first grating scale frame (14A), post the grating scale of the first linear grating sensor (13A), it is upper that the first linear grating sensor (13A) is fixed on location-plate (12F) by the first L shaped seat (141A), and with described grating scale keeping parallelism;
It is upper that the second linear electric motors (1B) in motor drive component (1) are arranged on the second motor cabinet (1E), and the second motor cabinet (1E) is fixed on location-plate (12F); The second linear electric motors (1B) are arranged on the second connecting plate (11B), the second connecting plate (11B) is installed together with the 3rd connecting plate (11C), and one end of the 4th guide rod (15D) is arranged on the 3rd connecting plate (11C); On the 4th guide rod (15D), be socketed with the 7th linear bearing (151G), the 8th linear bearing (151H), it is upper that the 7th linear bearing (151G), the 8th linear bearing (151H) are arranged on the 5th bearing block (12E), and the 5th bearing block (12E) is fixed on location-plate (12F); Guide rod can move glossily with making guide rod coordinating of linear bearing in linear bearing; The other end of the 4th guide rod (15D) is connected with the second grating frame (14B), on the second grating frame (14B), post the grating scale of the second linear grating sensor (13C), it is upper that the second linear grating sensor (13C) is fixed on location-plate (12F) by the second L shaped seat (141B), and with described grating scale keeping parallelism;
It is upper that the 3rd linear electric motors (1C) in motor drive component (1) are arranged on the second motor cabinet (1E), and the second motor cabinet (1E) is fixed on location-plate (12F); The 3rd linear electric motors (1C) are arranged on the 4th connecting plate (11D), the 4th connecting plate (11D) is installed together with the 5th connecting plate (11E), and one end of the 3rd guide rod (15C) is being arranged on the 5th connecting plate (11E); On the 3rd guide rod (15C), be socketed with the 5th linear bearing (151E), the 6th linear bearing (151F), it is upper that the 5th linear bearing (151E), the 6th linear bearing (151F) are arranged on the 5th bearing block (12E), and the 5th bearing block (12E) is fixed on location-plate (12F); Guide rod can move glossily with making guide rod coordinating of linear bearing in linear bearing; The other end of the 3rd linear electric motors (1C) is connected with the 3rd grating frame (14C), on the 3rd grating frame (14C), post the grating scale of the 3rd linear grating sensor (13B), it is upper that the 3rd linear grating sensor (13B) is fixed on location-plate (12F) by the 3rd L shaped seat (141C), and with described grating scale keeping parallelism;
The chassis (21K) of sphere decoupling mechanism (21) below in optical path component (2) is fixed on location-plate (12F) by screw thread, in second shoulder hole (21A-31) of U-shaped frame (21C), pack the 11 deep groove ball bearing (211), the 12 deep groove ball bearing (212) into, chassis (21K) is through the endoporus of these two bearings, and by the 7th locking nut (261) locking, U-shaped frame (21C) rotates around the central shaft of the second shoulder hole (21A-31) with respect to chassis (21K) like this, on the A support arm (21C-1) of U-shaped frame (21C) and B support arm (21C-2), be respectively equipped with the 11 through hole (21C-11) and the 12 through hole (21C-21), in through hole, cover has the tenth deep groove ball bearing (210) and the 9th deep groove ball bearing (209) respectively, the A joint pin (21A-2) of cross frame (21A) and B joint pin (21A-3) penetrate respectively in the endoporus of the tenth deep groove ball bearing (210) and the 9th deep groove ball bearing (209), like this cross frame (21A) with respect to U-shaped frame (21C) around A joint pin (21A-2), the central shaft of B joint pin (21A-3) rotates, the C support arm (21C-4) of U-shaped frame is provided with the 3rd shoulder hole (21A-41), wherein cover has the 4th deep groove ball bearing (204), the 6th threaded post (21J-2) of second connecting rod (21J) is by the endoporus of the 4th deep groove ball bearing (204), and by the 4th locking nut (254) locking, second connecting rod (21J) rotates around the central shaft of the 3rd shoulder hole (21A-41) with respect to U-shaped frame (21C) like this, the 5th threaded post (21J-1) of second connecting rod (21J) is by the endoporus of the 3rd deep groove ball bearing (203), and by the 3rd locking nut (253) locking, the 3rd deep groove ball bearing (203) is mounted in the 8th through hole (14C-2) of the 3rd grating scale frame (14C), and second connecting rod (21J) rotates around the central shaft of its 8th through hole (14C-2) with respect to the 3rd grating scale frame (14C) like this, the galvanometer (24) that control light path changes is arranged in first shoulder hole (21A-4) of cross frame (21A), and is pressed abd fixed in the first shoulder hole (21A-4) by galvanometer lid (21B), first threaded post (21A-1) of cross frame (21A) is by the endoporus of the 6th deep groove ball bearing (206), and by the 6th locking nut (256) locking, the 6th deep groove ball bearing (206) is mounted in the four-step hole (21D-1) of L shaped connecting rod (21D), and cross frame (21A) rotates around the central shaft of four-step hole (21D-1) with respect to L shaped connecting rod (21D) like this, in the 5th shoulder hole (21D-2) of L shaped connecting rod (21D), the 5th deep groove ball bearing (205) is housed, second threaded post (21E-11) of switching connecting rod (21E) is by the bearing inner race of the 5th deep groove ball bearing (205), and by the 5th locking nut (255) locking, the connecting rod (21E) of transferring like this rotates around the central shaft of the 5th shoulder hole (21D-2) with respect to L shaped connecting rod (21D), switching connecting rod (21E) is connected mutually by screw thread and pitch arm (21G), and T shape connecting rod (21F) is also connected with pitch arm (21G) mutually by screw thread, and these three parts connect as a whole, the riser (21F-2) of T shape connecting rod (21F) is provided with the 6th shoulder hole (21F-21), and the second deep groove ball bearing (202) is arranged in the 6th shoulder hole (21F-21), the 4th threaded post (21H-2) of first connecting rod (21H) is by the bearing inner race of the second deep groove ball bearing (202), and by the second locking nut (252) locking, first connecting rod (21H) rotates around the central shaft of the 6th shoulder hole (21F-21) with respect to T shape connecting rod (21F) like this, the 3rd threaded post (21H-1) of first connecting rod (21H) is by the bearing inner race of the first deep groove ball bearing (201), and by the first locking nut (251) locking, the first deep groove ball bearing (201) is arranged in the 7th through hole (14B-2) of the second grating scale frame (14B), and first connecting rod (21H) rotates around the central shaft of the 7th through hole (14B-2) with respect to the second grating scale frame (14B) like this, on the A support arm (21G-1) of pitch arm (21G) and B support arm (21G-2), be respectively equipped with the tenth five-way hole (21G-11) and the tenth clematis stem hole (21G-21), the 8th deep groove ball bearing (208) and the 7th deep groove ball bearing (207) have been installed respectively in through hole, the joint pin (12A-2) of linear axis bearing (12A) and the joint pin (12B-2) of linear axis bearing (12B) are respectively by the inner ring of these two bearings, and the first linear axis bearing (12A) and the second linear axis bearing (12B) are separately fixed on location-plate (12F), pitch arm (21G) is with respect to the first linear axis bearing (12A) like this, the second linear axis bearing (12B) is around joint pin (12A-2, central shaft 12B-2) rotates, coordinate by above installation, galvanometer (24) has just had the swing of two degree of freedom,
Support (34) in housing unit (3) is arranged on the front end of base plate (33), and the 4th L shaped plate (22A) that is arranged in optical path component (2) afterwards; The second housing (32) is arranged on the reflector mount (22) of optical path component (2), and the bottom of the second housing (32) is provided with baffle plate (35); The 4th L shaped plate (22A) is installed on the convex board (33F) of base plate (33), motor drive component (1) and optical path component (2) are installed in the groove (33D) of base plate (33); The first housing (31) is installed together with base plate (33).
The laser penetrating from femtosecond laser generator is called incident laser (2A); This incident laser (2A) is called reflection laser (2B) after galvanometer (24); After this reflection laser (2B) planoconvex lens (25), be called laser focusing (2C); This laser focusing (2C) is called shoot laser (2D) after reflecting mirror (26), and this shoot laser (2D) acts on tooth, realizes Teeth-cutting.
In laser type of the present invention oral cavity, the advantage of miniature tooth preparation automatic cutting device is:
1. optical path component has adopted galvanometer, convex lens and reflecting mirror to realize the conversion to light path.By controlling that two degree of freedom of galvanometer rotate and the movement of convex lens one degree of freedom just can realize laser focusing hot spot and has the movement of three degree of freedom with respect to being cut tooth, its optical texture principle is simple, optical element space linear distribution, take up room little, be conducive to the miniaturization of whole device.In optical path component, for carrying two freedom-degree spherical surface decoupling mechanisms of galvanometer, its advantage is to realize the decoupling motion of two degree of freedom of galvanometer, ensures that drive motors can fixedly mount, and MECHANISM PRECISION is high, good rigidly.Therefore, whole optical path component has that compact conformation, optical glass mobile decoupling, structural rigidity are good, precision advantages of higher.
2. motor drive component adopts small linear voice coil motor drive leader, and utilizes small-sized high-precision linear grating sensor to make position feedback.Little, the compact conformation of driven unit size of design, positional precision is high, fast response time.
3. the components and parts of whole device are installed on same base plate, then adopt thinner layer of metal material to be encapsulated, and do not need to carry out complicated Design of Dies, simple in structure, are easy to ensure assembly precision, and processing cost is low.
4. in the optical path component of the present invention's design, drive optical path component motion by driven unit, thereby make galvanometer and convex lens motion, changed the propagation path of laser.Optical path component and driven unit be by the same base plate of being fixed on of screw and threaded engagement top, the relative position by screw between can adjusting part part.
5. with respect to traditional tooth preparation operating theater instruments, this device adopts femtosecond laser cutting dental hard tissue, and advantage mainly comprises: noiseless in working angles, and little to the injury of tooth adjacent tissue, after cutting, dental surface is smooth, microscopic feature good; Adopt the digitized cutting of automatization, make the precision of tooth preparation higher, and doctor's technical ability is required to reduce, reduce working doctor intensity, being convenient to the spread of tooth preparation operation, alleviating the too low present situation of doctor's Proportion of patients, is more patients chances that obtain medical treatment.
Brief description of the drawings
Fig. 1 is the system construction drawing that conventional laser is cut bad tooth body.
Figure 1A is the structure chart of tooth positioner.
Fig. 2 is the external structure of miniature tooth preparation automatic cutting device in laser type of the present invention oral cavity.
Fig. 2 A is another visual angle external structure of miniature tooth preparation automatic cutting device in laser type of the present invention oral cavity.
Fig. 2 B is the interior view that miniature tooth preparation automatic cutting device in the laser type oral cavity of the first housing is not installed.
Fig. 2 C is the exploded view of miniature tooth preparation automatic cutting device in laser type of the present invention oral cavity.
Fig. 3 is the exploded view of housing unit of the present invention.
Fig. 3 A is the structure chart of the present invention's the first housing.
Fig. 3 B is the structure chart of the present invention's the second housing and baffle plate.
Fig. 4 is the structure chart of optical path component of the present invention.
Fig. 4 A is the structure chart of the reflector mount in optical path component of the present invention.
Fig. 4 B is the structure chart of sphere decoupling mechanism in optical path component of the present invention.
Fig. 4 C is the exploded view of sphere decoupling mechanism in optical path component of the present invention.
Fig. 4 D is the structure chart of cross frame in optical path component of the present invention.
Fig. 4 E is the structure chart of optical path component transfer connective pole of the present invention.
Fig. 4 F is the optic path schematic diagram of optical path component of the present invention.
Fig. 5 is the structure chart of motor drive component of the present invention.
Fig. 5 A is the matching chart of guide rod and linear bearing in motor drive component of the present invention.
Fig. 5 B is the matching chart of support section in motor drive component of the present invention.
Fig. 5 C drives and the matching chart of guide rod in motor drive component of the present invention.
Fig. 5 D is the structure chart of the first grating scale frame in motor drive component of the present invention.
Fig. 5 E is the structure chart of the second grating scale frame in motor drive component of the present invention.
Fig. 5 F is the structure chart of the 3rd grating scale frame in motor drive component of the present invention.
| 1. motor drive component | 1A. the first linear electric motors | 1B. the second linear electric motors | 1C. the 3rd linear electric motors |
| 1D. the first motor cabinet | 1E. the second motor cabinet | 11A. the first connecting plate | 11B. the second connecting plate |
| 11C. the 3rd connecting plate | 11D. the 4th connecting plate | 11E. the 5th connecting plate | 12A. the first linear axis bearing |
| 12B. the second linear axis bearing | 12C. the 3rd linear axis bearing | 12D. the 4th linear axis bearing | 12E. the 5th linear axis bearing |
| 12F. location-plate | 12-1. the first through hole | 12-2. the second through hole | 12-3. third through-hole |
| 12-4. fourth hole | 12-5. fifth hole | 12-6. clematis stem hole | 13A. the first linear grating sensor |
| 13B. the second linear grating sensor | 13C. the 3rd linear grating sensor | 131A. the first grating scale | 131B. the second grating scale |
| 131C. the 3rd grating scale | 132A. the first grating scale read head | 132B. the second grating scale read head | 132C. the 3rd grating scale read head |
| 14A. the first grating frame | 14A-1. transverse slat | 14A-2. riser | 14A-3. the first deep gouge chamber |
| 14B. the second grating frame | 14B-1. the second deep gouge chamber | 14B-2. the 7th through hole | The 14B-3. post that is threaded |
| 14C. the 3rd grating frame | 14C-1. the 3rd deep gouge chamber | 14C-2. the 8th through hole | The 14C-3. post that is threaded |
| 141A. the first L shaped plate | 141B. the second L shaped plate | 141C. the 3rd L shaped plate | 15A. the first guide rod |
| 15A-1. the first countersunk head screwed hole | 15A-2. the second countersunk head screwed hole | 15B. the second guide rod | 15B-1. the 3rd countersunk head screwed hole |
| 15B-2. the 4th countersunk head screwed hole | 15C. the 3rd guide rod | 15C-1. the 5th countersunk head screwed hole | 15C-2. the 6th countersunk head screwed hole |
| 15D. the 4th guide rod | 15D-1. the 7th countersunk head screwed hole | 15D-2. the 8th countersunk head screwed hole | 151A. the first linear bearing |
| 151B. the second linear bearing | 151C. the 3rd linear bearing | 151D. the 4th linear bearing | 151E. the 5th linear bearing |
| 151F. the 6th linear bearing | 151G. the 7th linear bearing | 151H. the 8th linear bearing | 2. optical path component |
| 21. sphere decoupling mechanisms | 21A. cross frame | 21A-1. the first threaded post | 21A-2.A joint pin |
| 21A-3.B joint pin | 21A-4. the first shoulder hole | 21B. galvanometer lid | 21C.U shape frame |
| 21C-1.A support arm | 21C-11. the 11 through hole | 21C-2.B support arm | 21C-21. the 12 through hole |
| 21C-3. transverse slat | 21C-31. the second shoulder hole | 21C-4.C support arm | 21C-41. the 3rd shoulder hole |
| 21D.L shape connecting rod | 21D-1. four-step hole | 21D-2. the 5th shoulder hole | The 21E. connecting rod of transferring |
| 21E-1. fixing head | 21E-11. the 13 through hole | 21E-2. hang plate | 21E-21. the second threaded post |
| 21F.T shape connecting rod | 21F-1. transverse slat | 21F-11. the tenth four-way hole | 21F-2. riser |
| 21F-21. the 6th shoulder hole | 21G. pitch arm | 21G-1.A support arm | 21G-11. the tenth five-way hole |
| 21G-2.B support arm | 21G-21. the tenth clematis stem hole | 21G-3. linking arm | 21G-31. the 17 through hole |
| 21H. first connecting rod | 21H-1. the 3rd threaded post | 21H-2. the 4th threaded post | 21J. second connecting rod |
| 21J-1. the 5th threaded post | 21J-2. the 6th threaded post | 21K. chassis | 21K-1. the 7th threaded post |
| 21K-2. the 18 through hole | 201. first deep groove ball bearings | 202. second deep groove ball bearings | 203. the 3rd deep groove ball bearings |
| 204. the 4th deep groove ball bearings | 205. the 5th deep groove ball bearings | 206. the 6th deep groove ball bearings | 207. the 7th deep groove ball bearings |
| 208. the 8th deep groove ball bearings | 209. the 9th deep groove ball bearings | 210. the tenth deep groove ball bearings | 211. the 11 deep groove ball bearings |
| 212. the 12 deep groove ball bearings | 251. first locking nuts | 252. second locking nuts | 253. the 3rd locking nuts |
| 254. the 4th locking nuts | 255. the 5th locking nuts | 256. the 6th locking nuts | 261. the 7th locking nuts |
| 22. reflector mounts | 22A. the 4th L shaped plate | 22A-1. transverse slat | 22A-2. riser |
| 22A-3. the 9th through hole | 22B. the 5th L shaped plate | 22B-1. transverse slat | 22B-2. riser |
| 22C. the 6th L shaped plate | 22C-1. transverse slat | 22C-2. riser | 22D. bright dipping limiting plate |
| 22D-1. the tenth through hole | 22E. gripper shoe | 22E-1. circular cavity | 23. convex lens mirror holders |
| 24. galvanometers | 25. convex lenss | 25A. collar | 26. reflecting mirrors |
| 3. housing unit | 31. first housings | 31A.A lateral plates | 31B.B lateral plates |
| 31C. top board face | 31D. the first opening | 31E. front face | 31F. the second opening |
| Plate face after 31G. | 31H. the 3rd opening | 311. cavity | 32. second housings |
| 32A. cavity | 33. base plates | 33D. groove | 33F. convex board |
| 34. supports | 34D. crosses unthreaded hole | ||
| 10. tooth positioner | 10A. sleeve | 10B. double-vane baffle |
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
In order to realize laser cutting, and the bad tooth body of contactless cutting, utilization of the present invention conventional laser cutting system as shown in Figure 1, and the Novel cutting device that coordinates the present invention to design.In Novel cutting device of the present invention, adopt galvanometer 24, convex lens 25 and reflecting mirror 26 to realize the conversion to light path.By controlling that two degree of freedom of galvanometer 24 rotate and the movement of convex lens 25 ones degree of freedom just can realize laser focusing hot spot and has the movement of three degree of freedom with respect to being cut tooth, its optical texture principle is simple, optical element space linear distribution, take up room little, be conducive to the miniaturization of whole device.Adopt linear electric motors and guide rod coordinate drive sphere decoupling mechanism 21, make sphere decoupling mechanism 21 drive galvanometer 24 to realize two degree of freedom rotations.
Shown in Fig. 2, Fig. 2 A, Fig. 2 B, the present invention is miniature tooth preparation automatic cutting device in a kind of laser type oral cavity, and this device includes motor drive component 1, optical path component 2 and housing unit 3.
(1) motor drive component 1
Shown in Fig. 5, Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, Fig. 5 E, Fig. 5 F, motor drive component 1 includes motor part, Sensor section, support section, guide rod and bearing portions;
Described motor part includes three linear electric motors and two motor cabinets;
Described Sensor section includes three linear grating sensors, three grating scale framves (belonging to a part for linear grating sensor) and three L shaped plates, this grating scale frame is for grating scale in linear grating sensor is installed, under the driving of linear electric motors, guide rod drives the motion of grating scale frame, thereby makes the read head in linear grating sensor keep the displacement that guide rod moves in mind.
Shown in Fig. 5 A, guide rod and bearing portions are on four guide rods, to be socketed eight linear bearings, and by linear bearing being installed in the through hole on bearing block, linear bearing coordinates with guide rod, realize the effect that bearing block supports guide rod, and then realize under the driving of linear electric motors the slip of guide rod in linear bearing.That is:
On the first guide rod 15A, be socketed with the first linear bearing 151A, the second linear bearing 151B.The first described linear bearing 151A is arranged in the third through-hole 12-3 of the 3rd linear axis bearing 12C.The second described linear bearing 151B is arranged in the first through hole 12-1 of the first linear axis bearing 12A.The first linear axis bearing 12A and the 3rd linear axis bearing 12C play the effect that supports the first guide rod 15A.It is upper that one end of the first guide rod 15A is connected to the first connecting plate 11A, and the other end of the first guide rod 15A is connected to (shown in Fig. 3 B) on convex lens mirror holder 23 through after the first linear bearing 151A, the second linear bearing 151B in turn.The end, one end of the first guide rod 15A is provided with the first countersunk head screwed hole 15A-1 (shown in Fig. 5 A), and the other end end of the first guide rod 15A is provided with the second countersunk head screwed hole 15A-2 (shown in Fig. 3 B).Realized with being connected by place screw in the first countersunk head screwed hole 15A-1 of the first connecting plate 11A one end of the first guide rod 15A.The other end of the first guide rod 15A was realized with being connected by place screw in the second countersunk head screwed hole of convex lens mirror holder 23.
On the second guide rod 15B, be socketed with the 3rd linear bearing 151C, the 4th linear bearing 151D.The 3rd described linear bearing 151C is arranged in the third through-hole 12-4 of the 4th linear axis bearing 12D.The 4th described linear bearing 151D is arranged in the first through hole 12-2 of the second linear axis bearing 12B.The second linear axis bearing 12B and the 4th linear axis bearing 12D play the effect that supports the second guide rod 15B.It is upper that one end of the second guide rod 15B is connected to the first connecting plate 11A, and the other end of the second guide rod 15B is connected to (shown in Fig. 3 B) on convex lens mirror holder 23 through after the 3rd linear bearing 151C, the 4th linear bearing 151D in turn.The end, one end of the second guide rod 15B is provided with the 3rd countersunk head screwed hole 15B-1 (shown in Fig. 5 A), and the other end end of the second guide rod 15B is provided with the 4th countersunk head screwed hole 15B-2 (shown in Fig. 3 B).Realized with being connected by place screw in the 3rd countersunk head screwed hole 15B-1 of the first connecting plate 11A one end of the second guide rod 15B.The other end of the second guide rod 15B was realized with being connected by place screw in the 4th countersunk head screwed hole of convex lens mirror holder 23.In the time of assembling, the first guide rod 15A and the second guide rod 15B keeping parallelism are installed.
On the 3rd guide rod 15C, be socketed with the 5th linear bearing 151E, the 6th linear bearing 151F.The 5th described linear bearing 151E and the 6th described linear bearing 151F are arranged in the fifth hole 12-5 of the 5th bearing block 12E.It is upper that one end of the 3rd guide rod 15C is arranged on the 5th connecting plate 11E, and the other end of the 3rd guide rod 15C is arranged on the 3rd grating frame 14C.The end, one end of the 3rd guide rod 15C is provided with the 5th countersunk head screwed hole 15C-1 (shown in Fig. 5 A), and the other end end of the 3rd guide rod 15C is provided with the 6th countersunk head screwed hole (not shown).In described the 6th countersunk head screwed hole, be connected with the post 14C-3 that is threaded of the 3rd grating scale frame 14C.
On the 4th guide rod 15D, be socketed with the 7th linear bearing 151G, the 8th linear bearing 151H.The 7th described linear bearing 151G and the 8th described linear bearing 151H are arranged in the clematis stem hole 12-6 of the 5th bearing block 12E.It is upper that one end of the 4th guide rod 15D is arranged on the 3rd connecting plate 11C, and the other end of the 4th guide rod 15D is arranged on the second grating frame 14B.The 5th bearing block 12E plays the effect of supporting the 3rd guide rod 15C and the 4th guide rod 15D.In the time of assembling, the 3rd guide rod 15C and the 4th guide rod 15D keeping parallelism are installed.The end, one end of the 4th guide rod 15D is provided with the 7th countersunk head screwed hole 15D-1 (shown in Fig. 5 A), and the other end end of the 4th guide rod 15D is provided with the 8th countersunk head screwed hole (not shown).In described the 8th countersunk head screwed hole, be connected with the post 14B-3 that is threaded of the second grating scale frame 14B.
In the present invention, convex lens 25 is arranged on convex lens mirror holder 23, and convex lens mirror holder 23 is fixedly connected with by screw with the second guide rod 15B with the first guide rod 15A.The first guide rod 15A and the second guide rod 15B be the long guide rod direction moving linearly in edge under the driving of the first linear electric motors 1A.Therefore, convex lens 25 is called three degree of freedom along the motion of long guide rod direction (i.e. the first guide rod 15A and the second guide rod 15B direction).The light path converting of galvanometer 24, convex lens 25 and reflecting mirror 26 is referring to shown in Fig. 4 F.
Shown in Fig. 5 B, support section is that the first motor cabinet 1D, the second motor cabinet 1E, the first linear axis bearing 12A, the second linear axis bearing 12B, the 3rd linear axis bearing 12C, the 4th linear axis bearing 12D, the 5th bearing block 12E, the first L shaped plate 141A, the second L shaped plate 141B, the 3rd L shaped plate 141C are installed on location-plate 12F; Wherein, the first linear axis bearing 12A is identical with the structure of the second linear axis bearing 12B; The 3rd linear axis bearing 12C is identical with the structure of the 4th linear axis bearing 12D; The first L shaped plate 141A, the second L shaped plate 141B are identical with the structure of the 3rd L shaped plate 141C; The first motor cabinet 1D is identical with the structure of the second motor cabinet 1E.
The first linear axis bearing 12A and the second linear axis bearing 12B are taking centre of location line as symmetrical and be installed in parallel on location-plate 12F.The 3rd linear axis bearing 12C and the 4th linear axis bearing 12D are taking centre of location line as symmetrical and be installed in parallel on location-plate 12F.The second L shaped plate 141B and the 3rd L shaped plate 141C are taking centre of location line as symmetrical and be installed in parallel on location-plate 12F.The first linear axis bearing 12A is provided with the first through hole 12-1, in described the first through hole 12-1, the second linear bearing 151B is installed.The second linear axis bearing 12B is provided with the second through hole 12-2, in described the second through hole 12-2, the 4th linear bearing 151D is installed.The 3rd linear axis bearing 12C is provided with third through-hole 12-3, and the first linear bearing 151A is installed in described third through-hole 12-3.The 4th linear axis bearing 12D is provided with fourth hole 12-4, and the 3rd linear bearing 151C is installed in described fourth hole 12-4.The 5th bearing block 12E is provided with fifth hole 12-5 and clematis stem hole 12-6, and the 7th linear bearing 151G and the 8th bearing 151H are installed in described fifth hole 12-5, and the 5th linear bearing 151E and the 6th bearing 151F are installed in described clematis stem hole 12-6.
The first linear electric motors 1A is installed on the first motor cabinet 1D.Upper parallel the second linear electric motors 1B and the 3rd linear electric motors 1C of being provided with of the second motor cabinet 1E.The first linear grating sensor 13A is installed on the first L shaped plate 141A.The second linear grating sensor 13B is installed on the second L shaped plate 141B.The 3rd linear grating sensor 13C is installed on the 3rd L shaped plate 141C.Location-plate 12F is arranged in the groove 33D of base plate 33 of housing unit 3.
Shown in Fig. 5, Fig. 5 C, Fig. 5 D, the first grating scale frame 14A is provided with transverse slat 14A-1 and riser 14A-2, has the first deep gouge chamber 14A-3 on described riser 14A-2.Described the first deep gouge chamber 14A-3 is for being provided with the grating scale of the first linear grating sensor 13A.Described transverse slat 14A-1 is arranged on the first connecting plate 11A.
Shown in Fig. 5, Fig. 5 C, Fig. 5 E, the support body of the second grating scale frame 14B is provided with the second deep gouge chamber 14B-1 and the 7th through hole 14B-2, and one end of the second grating scale frame 14B is provided with the post 14B-3 that is threaded.In described the 7th through hole 14B-2, be placed with deep groove ball bearing.The described post 14B-3 that is threaded is connected in the 8th screwed hole 15D-2 of other end end of the 4th guide rod 15D.Described the second deep gouge chamber 14B-1 is for being provided with the grating scale of the second linear grating sensor 13B.
Shown in Fig. 5, Fig. 5 C, Fig. 5 F, the support body of the 3rd grating scale frame 14C is provided with the 3rd deep gouge chamber 14C-1 and the 8th through hole 14C-2, and one end of the 3rd grating scale frame 14C is provided with the post 14C-3 that is threaded.In described the 8th through hole 14C-2, be placed with deep groove ball bearing.The described post 14C-3 that is threaded is connected in the 6th screwed hole 15C-2 of other end end of the 3rd guide rod 15C.Described the 3rd deep gouge chamber 14C-1 is for being provided with the grating scale of the 3rd linear grating sensor 13C.
Shown in Fig. 5, Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, Fig. 5 E, Fig. 5 F, in the present invention, being assembled into of motor drive component 1:
(A) the first linear electric motors 1A is arranged on the first motor cabinet 1D above, and the first motor cabinet 1D is fixed on location-plate 12F; One end of the first linear electric motors 1A, the first guide rod 15A, one end of the second guide rod 15B are arranged on respectively on the first connecting plate 11A; On the first guide rod 15A, be socketed with the first linear bearing 151A, the second linear bearing 151B, the first linear bearing 151A is arranged on the 3rd linear axis bearing 12C, it is upper that the second linear bearing 151B is arranged on the first linear axis bearing 12A, and the 3rd linear axis bearing 12C and the first linear axis bearing 12A are fixed on location-plate 12F; On the second guide rod 15B, be socketed with the 3rd linear bearing 151C, the 4th linear bearing 151D, the 3rd linear bearing 151C is arranged on the 4th linear axis bearing 12D, it is upper that the 4th linear bearing 151D is arranged on the second linear axis bearing 12B, and the 4th linear axis bearing 12D and the second linear axis bearing 12B are fixed on location-plate 12F; Guide rod can move glossily with making guide rod coordinating of linear bearing in linear bearing; The first grating scale frame 14A is vertically fixed on the first connecting plate 11A, on the first grating scale frame 14A, post the grating scale of the first linear grating sensor 13A, it is upper that the first linear grating sensor 13A is fixed on location-plate 12F by first L shaped 141A, and with described grating scale keeping parallelism.
(B) the second linear electric motors 1B is arranged on the second motor cabinet 1E above, and the second motor cabinet 1E is fixed on location-plate 12F; It is upper that the second linear electric motors 1B is arranged on the second connecting plate 11B, and the second connecting plate 11B and the 3rd connecting plate 11C are installed together, and one end of the 4th guide rod 15D is arranged on the 3rd connecting plate 11C; On the 4th guide rod 15D, be socketed with the 7th linear bearing 151G, the 8th linear bearing 151H, it is upper that the 7th linear bearing 151G, the 8th linear bearing 151H are arranged on the 5th bearing block 12E, and the 5th bearing block 12E is fixed on location-plate 12F; Guide rod can move glossily with making guide rod coordinating of linear bearing in linear bearing; The other end of the 4th guide rod 15D is connected with the second grating frame 14B, on the second grating frame 14B, post the grating scale of the second linear grating sensor 13C, it is upper that the second linear grating sensor 13C is fixed on location-plate 12F by second L shaped 141B, and with described grating scale keeping parallelism.
(C) the 3rd linear electric motors 1C is arranged on the second motor cabinet 1E above, and the second motor cabinet 1E is fixed on location-plate 12F; It is upper that the 3rd linear electric motors 1C is arranged on the 4th connecting plate 11D, and the 4th connecting plate 11D and the 5th connecting plate 11E are installed together, and one end of the 3rd guide rod 15C is being arranged on the 5th connecting plate 11E; On the 3rd guide rod 15C, be socketed with the 5th linear bearing 151E, the 6th linear bearing 151F, it is upper that the 5th linear bearing 151E, the 6th linear bearing 151F are arranged on the 5th bearing block 12E, and the 5th bearing block 12E is fixed on location-plate 12F; Guide rod can move glossily with making guide rod coordinating of linear bearing in linear bearing; The other end of the 3rd linear electric motors 1C is connected with the 3rd grating frame 14C, on the 3rd grating frame 14C, post the grating scale of the 3rd linear grating sensor 13B, it is upper that the 3rd linear grating sensor 13B is fixed on location-plate 12F by three L shaped 141C, and with described grating scale keeping parallelism.
Shown in Fig. 5, Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, Fig. 5 E, Fig. 5 F, in the present invention, the driving relationship of motor drive component 1 is:
(AA) the Cutting trajectory planning module 300 in computer is exported Cutting trajectory instruction to motor drive module, selects to drive the first linear electric motors 1A by motor drive module; When the first linear electric motors 1A mover is with respect to stator setting in motion, thereby drive the first connecting plate 11A motion; The first connecting plate 11A sends motion to the first guide rod 15A and the second guide rod 15B; When the first guide rod 15A and the second guide rod 15B motion, the first linear bearing 151A, the second linear bearing 151B, the 3rd linear bearing 151C, the 4th linear bearing 151D play respectively guide effect, ensure that the first guide rod 15A and the second guide rod 15B are by predetermined direction motion; The the first grating scale frame 14A being fixedly connected with the first connecting plate 11A drives the first grating scale motion above, be fixed on the first grating sensor 13A on the first L shaped plate 141A, the motion conditions of the first grating scale detected, detection signal is fed back in Cutting trajectory planning module 300, after processing, Cutting trajectory planning module 300 forms feedback signal, this feedback signal is sent to the first linear electric motors 1A again and drives order, it is moved according to projected path, thereby realized the position feedback of the first linear electric motors 1A.
(BB) the Cutting trajectory planning module 300 in computer is exported Cutting trajectory instruction to motor drive module, selects to drive the second linear electric motors 1B by motor drive module; When the second linear electric motors 1B mover is with respect to stator setting in motion, thereby drive the second connecting plate 11C and the 3rd connecting plate 11B motion; The second connecting plate 11C and the 3rd connecting plate 11B send power to the 4th guide rod 15D; When the 4th guide rod 15D motion, the 7th linear bearing 151G, the 8th linear bearing 151H play the guiding role respectively, ensure that the 4th guide rod 15D guide rod is by predetermined direction motion; The 4th guide rod 15D drives the second grating frame 14B motion; Be fixed on the second grating sensor 13C on the second L shaped plate 141B, the motion conditions of the second grating scale detected, detection signal is fed back in Cutting trajectory planning module 300, after processing, Cutting trajectory planning module 300 forms feedback signal, this feedback signal is sent to the second linear electric motors 1B again and drives order, it is moved according to projected path, thereby realized the position feedback of the second linear electric motors 1B.
(CC) the Cutting trajectory planning module 300 in computer is exported Cutting trajectory instruction to motor drive module, selects to drive the 3rd linear electric motors 1C by motor drive module; When the 3rd linear electric motors 1C mover is with respect to stator setting in motion, thereby drive the 4th connecting plate 11D and the 5th connecting plate 11E motion; The 4th connecting plate 11D and the 5th connecting plate 11E send power to the 3rd guide rod 15C; When the 3rd guide rod 15C motion, the 5th linear bearing 151E, the 6th linear bearing 151F play the guiding role respectively, ensure that the 3rd guide rod 15C guide rod is by predetermined direction motion; The 3rd guide rod 15C drives the 3rd grating frame 14C motion; Be fixed on the 3rd grating sensor 13B on the 3rd L shaped plate 141C, the motion conditions of the 3rd grating scale detected, detection signal is fed back in Cutting trajectory planning module 300, after processing, Cutting trajectory planning module 300 forms feedback signal, this feedback signal is sent to the 3rd linear electric motors 1C again and drives order, it is moved according to projected path, thereby realized the position feedback of the 3rd linear electric motors 1C.
(2) optical path component 2
Shown in Fig. 2 B, Fig. 4, Fig. 4 C, Fig. 4 F, optical path component 2 includes sphere decoupling mechanism 21, convex lens mirror holder 22, reflector mount 23, galvanometer 24, convex lens 25 and reflecting mirror 26.
Shown in Fig. 2 B, Fig. 4, Fig. 4 A, convex lens mirror holder 22 includes the 4th L shaped plate 22A, the 5th L shaped plate 22B, the 6th L shaped plate 22C, bright dipping limiting plate 22D, gripper shoe 22E; Wherein, the 5th L shaped plate 22B is identical with the structure of the 6th L shaped plate 22C;
The 4th L shaped plate 22A is provided with transverse slat 22A-1 and riser 22A-2; The transverse slat 22A-1 of the 4th L shaped plate 22A is arranged on one end of base plate 33 of housing unit 3; The transverse slat 22B-1 of the 5th L shaped plate 22B and the transverse slat 22C-1 of the 6th L shaped plate 22C are installed on the riser 22A-2 of the 4th L shaped plate 22A; The riser 22A-2 of the 4th L shaped plate 22A is provided with the 9th through hole 22A-3; The 9th through hole 22A-3 passes for laser focusing 2C;
The 5th L shaped plate 22B is provided with transverse slat 22B-1 and riser 22B-2; The transverse slat 22B-1 of the 5th L shaped plate 22B is arranged on the riser 22A-2 of the 4th L shaped plate 22A; The riser 22B-2 end of the 5th L shaped plate 22B is provided with gripper shoe 22E;
The 6th L shaped plate 22C is provided with transverse slat 22C-1 and riser 22C-2; The transverse slat 22C-1 of the 6th L shaped plate 22C is arranged on the riser 22A-2 of the 4th L shaped plate 22A; The riser 22C-2 end of the 6th L shaped plate 22C is provided with gripper shoe 22E; The 5th L shaped plate 22B and the 6th L shaped plate 22C opposing parallel are placed, and between the riser 22B-2 of the 5th L shaped plate 22B and the riser 22C-2 of the 6th L shaped plate 22C, form a passage passing for laser focusing 2C;
Bright dipping limiting plate 22D is provided with the tenth through hole 22D-1; The tenth through hole 22D-1 is for placing the sleeve 10A (shown in Figure 1B) of tooth positioner 10, and makes shoot laser 2D (shown in Fig. 4 F) pass and be applied on tooth to cut; In the time carrying out Teeth-cutting, first tooth positioner 10 is placed on and repairs tooth place, and by double-vane baffle 10B, other teeth are protected.
The medial wall of gripper shoe 22E is provided with circular cavity 22E-1; Reflecting mirror 26 (shown in Fig. 2 B, Fig. 4 F) is installed in this circular cavity 22E-1.
Shown in Fig. 4 B, Fig. 4 C, Fig. 4 D, Fig. 4 E, sphere decoupling mechanism 21 includes cross frame 21A, galvanometer lid 21B, U-shaped frame 21C, L shaped connecting rod 21D, switching connecting rod 21E, T shape connecting rod 21F, pitch arm 21G, first connecting rod 21H, second connecting rod 21J and chassis 21K;
Shown in Fig. 4 D, cross Jia21A center is provided with the first shoulder hole 21A-4, in this first shoulder hole 21A-4, galvanometer 24 is installed, and galvanometer 24 is fastening by galvanometer lid 21B, and galvanometer lid 21B is connected on cross frame 21A; The top of cross frame 21A is provided with the first threaded post 21A-1, is socketed with the 6th deep groove ball bearing 206, the six deep groove ball bearings 206 and locks by the 6th locking nut 256 on this first threaded post 21A-1; The both sides of cross frame 21A are provided with A joint pin 21A-2 and B joint pin 21A-3, on this A joint pin 21A-2, are socketed with the tenth deep groove ball bearing 210, on this B joint pin 21A-3, are socketed with the 9th deep groove ball bearing 209.
In the present invention, because galvanometer 24 is arranged in the first shoulder hole 21A-4 of cross frame 21A, under the driving of the second linear electric motors 1B and the 3rd linear electric motors 1C, cross frame 21A has the motion of two degree of freedom, rotate as first degree of freedom around the centrage of A joint pin 21A-2 and B joint pin 21A-3, rotating around the centrage of the first threaded post 21A-1 is second degree of freedom.Therefore, galvanometer 24 has been realized the motion of two degree of freedom on cross frame 21A.The light path converting of galvanometer 24, convex lens 25 and reflecting mirror 26 is referring to shown in Fig. 4 F.
Shown in Fig. 4 C, the A support arm 21C-1 of U-shaped frame 21C is provided with the 11 through hole 21C-11, and the tenth deep groove ball bearing 210 is installed in the 11 through hole 21C-11, and the tenth deep groove ball bearing 210 is socketed on the A joint pin 21A-2 of cross frame 21A; The B support arm 21C-2 of U-shaped frame 21C is provided with the 12 through hole 21C-21, and the 9th deep groove ball bearing 209 is installed in the 12 through hole 21C-21, and the 9th deep groove ball bearing 209 is socketed on the B joint pin 21A-3 of cross frame 21A; The transverse slat 21C-3 of U-shaped frame 21C is provided with the second shoulder hole 21C-31, and the 11 deep groove ball bearing the 211, the 12 deep groove ball bearing 212 is installed in this second shoulder hole 21C-31; The C support arm 21C-4 of U-shaped frame 21C is provided with the 3rd shoulder hole 21C-41, the 4th deep groove ball bearing 204, the four deep groove ball bearings 204 is installed in the 3rd shoulder hole 21C-41 and locks by the 4th locking nut 254.
Shown in Fig. 4 C, the two ends of L shaped connecting rod 21D are respectively equipped with four-step hole 21D-1, the 5th shoulder hole 21D-2; In the 21D-1 of this four-step hole, the 6th deep groove ball bearing 206 is installed, and the 6th deep groove ball bearing 206 to be socketed in the first threaded post 21A-1 of cross frame 21A upper, and lock by the 6th locking nut 256; The 5th deep groove ball bearing 205 is installed in the 5th shoulder hole 21D-2, and the 5th deep groove ball bearing 205 to be socketed in the second threaded post 21E-21 of switching connecting rod 21E upper, and lock by the 5th locking nut 255.
Shown in Fig. 4 E, switching connecting rod 21E includes fixing head 21E-1 and hang plate 21E-2; This fixing head 21E-1 is provided with the 13 through hole 21E-11; This hang plate 21E-2 is provided with the second threaded post 21E-21, is socketed with the 5th deep groove ball bearing 205 on the second threaded post 21E-21.
Shown in Fig. 4 C, the transverse slat 21F-1 of T shape connecting rod 21F is provided with the tenth four-way hole 21F-11, and the riser 21F-2 of T shape connecting rod 21F is provided with the 6th shoulder hole 21F-21; The second deep groove ball bearing 202 is installed in the 6th shoulder hole 21F-21, and the second deep groove ball bearing 202 to be socketed in the 4th threaded post 21H-2 of first connecting rod 21H upper, and lock by the second locking nut 252.The transverse slat 21F-1 of T shape connecting rod 21F is connected on the linking arm 21G-3 of pitch arm 21G.
Shown in Fig. 4 C, Fig. 5 B, the A support arm 21G-1 of pitch arm 21G is provided with the tenth five-way hole 21G-11, in the tenth five-way hole 21G-11, the 8th deep groove ball bearing 208 is installed, and the 8th deep groove ball bearing 208 is socketed in the joint pin 12A-2 upper (shown in Fig. 5 B) of the first linear axis bearing 12A; The B support arm 21G-2 of pitch arm 21G is provided with the tenth clematis stem hole 21G-21, in the tenth clematis stem hole 21G-21, the 7th deep groove ball bearing 207 is installed, and the 7th deep groove ball bearing 207 is socketed on the joint pin 12B-2 (shown in Fig. 5 B) of the second linear axis bearing 12B; The linking arm 21G-3 of pitch arm 21G is provided with the 17 through hole 21G-31.After the 17 through hole 21G-31 coordinates with the tenth four-way hole 21F-11, realize being connected of pitch arm 21G and T shape connecting rod 21F by screw.
Shown in Fig. 4 C, one end of first connecting rod 21H is provided with the 3rd threaded post 21H-1, is socketed with the first deep groove ball bearing 201 on the 3rd threaded post 21H-1; The other end of first connecting rod 21H is provided with the 4th threaded post 21H-2, is socketed with the second deep groove ball bearing 202 on the 4th threaded post 21H-2.The first deep groove ball bearing 201 is arranged in the 7th through hole 14B-2 of second grating scale frame 14B one end (shown in Fig. 5 E), and locks by the first locking nut 251.
Shown in Fig. 4 C, one end of second connecting rod 21J is provided with the 5th threaded post 21J-1, is socketed with the 3rd deep groove ball bearing 203 on the 5th threaded post 21J-1; The other end of second connecting rod 21J is provided with the 6th threaded post 21J-2, is socketed with the 4th deep groove ball bearing 204 on the 6th threaded post 21J-2.The 3rd deep groove ball bearing 203 is arranged in the 8th through hole 14C-2 of the 3rd grating scale frame 14C one end (shown in Fig. 5 F), and locks by the 3rd locking nut 253.
Shown in Fig. 4 C, chassis 21K is provided with the 18 through hole 21K-2, the 7th threaded post 21K-1; The 7th threaded post 21K-1 is socketed with the 11 deep groove ball bearing the 211 and the 12 deep groove ball bearing 212 from top to bottom.The 11 deep groove ball bearing the 211 and the 12 deep groove ball bearing 212 be arranged on U-shaped frame 21C the second shoulder hole 21C-31 in, and lock by the 7th locking nut 261.
In the present invention, being assembled into of optical path component 2: optical path component has comprised the optical glass of in whole device, light path being controlled, and is respectively galvanometer 24, convex lens 25 and reflecting mirror 26.Optical path component has comprised: sphere decoupling mechanism 21, convex lens mirror holder 23 and reflector mount 22.Three pieces of eyeglasses are arranged on respectively in the middle of these three structures.
Chassis 21K under sphere decoupling mechanism 21 is fixed on location-plate 12F by screw thread.In the second shoulder hole 21A-31 of U-shaped frame 21C, pack the 11 deep groove ball bearing the 211, the 12 deep groove ball bearing 212 into; Chassis 21K passes the endoporus of these two bearings, and locks by the 7th locking nut 261, and U-shaped frame 21C rotates around the central shaft of the second shoulder hole 21A-31 with respect to chassis 21K like this.On the A support arm 21C-1 of U-shaped frame 21C and B support arm 21C-2, be respectively equipped with the 11 through hole 21C-11 and the 12 through hole 21C-21, in through hole, cover has the tenth deep groove ball bearing 210 and the 9th deep groove ball bearing 209 respectively, the A joint pin 21A-2 of cross frame 21A and B joint pin 21A-3 penetrate respectively in the endoporus of the tenth deep groove ball bearing 210 and the 9th deep groove ball bearing 209, and cross frame 21A rotates around the central shaft of A joint pin 21A-2, B joint pin 21A-3 with respect to U-shaped frame 21C like this.The C support arm 21C-4 of U-shaped frame is provided with the 3rd shoulder hole 21A-41, wherein cover has the 4th deep groove ball bearing 204, the 6th threaded post 21J-2 of second connecting rod 21J is by the endoporus of the 4th deep groove ball bearing 204, and lock by the 4th locking nut 254, second connecting rod 21J rotates around the central shaft of the 3rd shoulder hole 21A-41 with respect to U-shaped frame 21C like this.The 5th threaded post 21J-1 of second connecting rod 21J is by the endoporus of the 3rd deep groove ball bearing 203, and lock by the 3rd locking nut 253, the 3rd deep groove ball bearing 203 is mounted in the 8th through hole 14C-2 of the 3rd grating scale frame 14C, and second connecting rod 21J rotates around the central shaft of its 8th through hole 14C-2 with respect to the 3rd grating scale frame 14C like this.The galvanometer 24 that control light path changes is arranged in the first shoulder hole 21A-4 of cross frame 21A, and is pressed abd fixed in the first shoulder hole 21A-4 by galvanometer lid 21B.The first threaded post 21A-1 of cross frame 21A is by the endoporus of the 6th deep groove ball bearing 206, and lock by the 6th locking nut 256, the 6th deep groove ball bearing 206 is mounted in the four-step hole 21D-1 of L shaped connecting rod 21D, and cross frame 21A rotates around the central shaft of four-step hole 21D-1 with respect to L shaped connecting rod 21D like this.In the 5th shoulder hole 21D-2 of L shaped connecting rod 21D, the 5th deep groove ball bearing 205 is housed, the second threaded post 21E-11 of switching connecting rod 21E is by the bearing inner race of the 5th deep groove ball bearing 205, and lock by the 5th locking nut 255, the connecting rod 21E that transfers like this rotates around the central shaft of the 5th shoulder hole 21D-2 with respect to L shaped connecting rod 21D.Switching connecting rod 21E is connected with pitch arm 21G mutually by screw thread, and T shape connecting rod 21F is also connected with pitch arm 21G mutually by screw thread, and these three parts connect as a whole.The riser 21F-2 of T shape connecting rod 21F is provided with the 6th shoulder hole 21F-21, and the second deep groove ball bearing 202 is arranged in the 6th shoulder hole 21F-21.The 4th threaded post 21H-2 of first connecting rod 21H passes through the bearing inner race of the second deep groove ball bearing 202, and locks by the second locking nut 252, and first connecting rod 21H rotates around the central shaft of the 6th shoulder hole 21F-21 with respect to T shape connecting rod 21F like this.The 3rd threaded post 21H-1 of first connecting rod 21H is by the bearing inner race of the first deep groove ball bearing 201, and lock by the first locking nut 251, the first deep groove ball bearing 201 is arranged in the 7th through hole 14B-2 of the second grating scale frame 14B, and first connecting rod 21H rotates around the central shaft of the 7th through hole 14B-2 with respect to the second grating scale frame 14B like this.On the A support arm 21G-1 of pitch arm 21G and B support arm 21G-2, be respectively equipped with the tenth five-way hole 21G-11 and the tenth clematis stem hole 21G-21, the 8th deep groove ball bearing 208 and the 7th deep groove ball bearing 207 have been installed respectively in through hole, the joint pin 12B-2 of the joint pin 12A-2 of linear axis bearing 12A and linear axis bearing 12B is respectively by the inner ring of these two bearings, and the first linear axis bearing 12A and the second linear axis bearing 12B are separately fixed on location-plate 12F, pitch arm 21G is with respect to the first linear axis bearing 12A like this, the second linear axis bearing 12B is around joint pin 12A-2, the central shaft of 12B-2 rotates.Coordinate by above installation, galvanometer 24 has just had the swing of two degree of freedom.
In convex lens mirror holder 23, be equipped with convex lens 25, realize convex lens 25 along the first guide rod 15A and the second guide rod 15B moving linearly.As shown in Figure 2 B, convex lens 25 is encased in the centre bore of convex lens mirror holder 23, and by collar, 25A compresses.The first guide rod 15A that convex lens mirror holder 23 is finally threaded connection and the end of the second guide rod 15B, realize rectilinear motion with guide rod.
Shown in Fig. 4 A, the upper reflecting mirror 26 of installing of the gripper shoe 22E of reflector mount 22, is fixedly mounted on floor 33 by the transverse slat 22A-1 of the 4th L shaped plate 22A.The 5th L shaped plate 22B and the 6th L shaped plate 22C be being arranged on the riser 22A-2 by the 4th L shaped plate 22A of symmetry respectively.Gripper shoe 22E is arranged on the 5th L shaped plate 22B and the 6th L shaped plate 22C is direct, is threaded connection, and reflecting mirror 26 is just arranged in the circular cavity 22E-1 of gripper shoe 22E.Bright dipping limiting plate 22D is arranged on the downside of the 5th L shaped plate 22B and the 6th L shaped plate 22C, and bright dipping limiting plate 22D is positioned at the below of gripper shoe 22E, and laser beam, after convex lens 25 focuses on, penetrates from the tenth through hole 22D-1 of bright dipping limiting plate 22D.
It is more than the installation relation of optical path component 2.In installation process, require to ensure the center of rotation of galvanometer 24, convex lens 25 center, on a light path axis, shown in Fig. 4 F.
In the present invention, the light path of laser is (shown in Fig. 1, Fig. 4 F): the laser penetrating from femtosecond laser generator is called incident laser 2A; This incident laser 2A is called reflection laser 2B after galvanometer 24; After this reflection laser 2B planoconvex lens 25, be called laser focusing 2C; This laser focusing 2C is called shoot laser 2D after reflecting mirror 26, and this shoot laser 2D acts on tooth, realizes Teeth-cutting.
In Fig. 4 F, tooth coordinate system is designated as OXYZ, the focal beam spot of shoot laser 2D on tooth has three degree of freedom with respect to tooth coordinate OXYZ, and moving along the X-axis of tooth coordinate OXYZ is four-degree-of-freedom, and moving along the y-axis shift of tooth coordinate OXYZ is five degree of freedom; Moving along the Z axis of tooth coordinate OXYZ is six degree of freedom.Therefore, focal beam spot has three degree of freedom under tooth coordinate OXYZ.
(3) housing unit 3
Shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 4 F, housing unit 3 includes the first housing 31, the second housing 32, base plate 33, baffle plate 35 and support 34; Base plate 33 is integrated machine-shaping part.Base plate 33 is provided with groove 33D, and this groove 33D is for the location-plate 12F of mounted motor driven unit 1.The front end of base plate 33 is provided with convex board 33F, and the 4th L shaped plate 22A in optical path component 2 is installed on this convex board 33F.Baffle plate 35, for being used in conjunction with bright dipping limiting plate 22D, is realized leaking of laser focusing 2C.Baffle plate 35 is arranged on the below of the second housing 32.Support 34 is U-shaped structural member, and the top of support 34 was provided with unthreaded hole 34D, and this is crossed unthreaded hole 34D and passes through for femtosecond laser generator emitting laser.Support 34 is arranged on one end of base plate 33, and after being positioned at the 4th L shaped plate 22A.
Shown in Fig. 3 A, the first housing 31 is integrated the body structure of an opening of machine-shaping.The middle part of the first housing 31 is a cavity 311, and this cavity 311 is for placing optical path component 1 and motor drive component 2; The left plate face that is provided with 31A, right plate face 31B, top board face 31C, front face 31E and the rear plate face 31G of the first housing 31; Wherein, left plate face 31A and right plate face 31B are for being oppositely arranged plate face, and front face 31E and rear plate face 31G are for being oppositely arranged plate face; Left plate face 31A, right plate face 31B are arranged on respectively the both sides of base plate 33; Top board face 31C is provided with the first opening 31D, and this first opening 31D passes for incident laser 2A (shown in Fig. 4 F); Front face 31E is provided with the second opening 31F, and this second opening 31F passes for laser focusing 2C (shown in Fig. 4 F); Rear plate face 31G is provided with the 3rd opening 31H, and the 3rd opening 31H passes for wire.
Shown in Fig. 3 B, the second housing 32 is olecranon structure, and the middle part of the second housing 32 is cavity 32A, and this cavity 32A is used for placing reflector mount 22.The second housing 32 can be realized the position at cavity 32A to reflector mount 22 after coordinating with baffle plate 35 installations.
In the present invention, the assembly relation of housing unit 1 is: support 34 is arranged on the front end of base plate 33, and after being arranged in the 4th L shaped plate 22A of optical path component 2; The second housing 32 is arranged on the reflector mount 22 of optical path component 2, and the bottom of the second housing 32 is provided with baffle plate 35; The 4th L shaped plate 22A is installed on the convex board 33F of base plate 33, motor drive component 1 and optical path component 2 are installed in the groove 33D of base plate 33; The first housing 31 is installed together with base plate 33.
The invention provides a set of miniature laser path planning and automatic control system based on galvanometer-lens for tooth preparation, can realize the tooth preparation process of automatization.Its galvanometer-lens laser system has adopted the light path principle of galvanometer-convex lens-reflecting mirror, and the movement of the rotation of the 2DOF of control system control galvanometer and 1 degree of freedom of convex lens just can be controlled the variation of laser optical path; Use for reference the sphere decoupling mechanism of Gosselin, proposed a set of for the 2DOF mechanism of loading galvanometer as drive system, realize galvanometer 2DOF by the driving of motor and swing; Gone out the drive system of a set of high position precision according to the high-precision requirement Selection and Design of tooth preparation.
Claims (3)
1. a miniature tooth preparation automatic cutting device in laser type oral cavity, is characterized in that: this device includes motor drive component (1), optical path component (2) and housing unit (3);
It is upper that the first linear electric motors (1A) in motor drive component (1) are arranged on the first motor cabinet (1D), and the first motor cabinet (1D) is fixed on location-plate (12F); One end of the first linear electric motors (1A), the first guide rod (15A), one end of the second guide rod (15B) are arranged on respectively on the first connecting plate (11A); On the first guide rod (15A), be socketed with the first linear bearing (151A), the second linear bearing (151B), the first linear bearing (151A) is arranged in the 3rd linear axis bearing (12C), it is upper that the second linear bearing (151B) is arranged on the first linear axis bearing (12A), and the 3rd linear axis bearing (12C) is fixed on location-plate (12F) with the first linear axis bearing (12A); On the second guide rod (15B), be socketed with the 3rd linear bearing (151C), the 4th linear bearing (151D), the 3rd linear bearing (151C) is arranged in the 4th linear axis bearing (12D), it is upper that the 4th linear bearing (151D) is arranged on the second linear axis bearing (12B), and the 4th linear axis bearing (12D) is fixed on location-plate (12F) with the second linear axis bearing (12B); The first guide rod (15A) and the second guide rod (15B) move in linear bearing glossily with making the first guide rod (15A) and the second guide rod (15B) coordinating of linear bearing; The first grating scale frame (14A) is vertically fixed on the first connecting plate (11A), on the first grating scale frame (14A), post the grating scale of the first linear grating sensor (13A), it is upper that the first linear grating sensor (13A) is fixed on location-plate (12F) by the first L shaped seat (141A), and with described grating scale keeping parallelism;
It is upper that the second linear electric motors (1B) in motor drive component (1) are arranged on the second motor cabinet (1E), and the second motor cabinet (1E) is fixed on location-plate (12F); The second linear electric motors (1B) are arranged on the second connecting plate (11B), the second connecting plate (11B) is installed together with the 3rd connecting plate (11C), and one end of the 4th guide rod (15D) is arranged on the 3rd connecting plate (11C); On the 4th guide rod (15D), be socketed with the 7th linear bearing (151G), the 8th linear bearing (151H), it is upper that the 7th linear bearing (151G), the 8th linear bearing (151H) are arranged on the 5th bearing block (12E), and the 5th bearing block (12E) is fixed on location-plate (12F); The 4th guide rod (15D) moves in linear bearing glossily with making the 4th guide rod (15D) coordinating of linear bearing; The other end of the 4th guide rod (15D) is connected with the second grating frame (14B), on the second grating frame (14B), post the grating scale of the second linear grating sensor (13C), it is upper that the second linear grating sensor (13C) is fixed on location-plate (12F) by the second L shaped seat (141B), and with described grating scale keeping parallelism;
It is upper that the 3rd linear electric motors (1C) in motor drive component (1) are arranged on the second motor cabinet (1E), and the second motor cabinet (1E) is fixed on location-plate (12F); The 3rd linear electric motors (1C) are arranged on the 4th connecting plate (11D), the 4th connecting plate (11D) is installed together with the 5th connecting plate (11E), and one end of the 3rd guide rod (15C) is arranged on the 5th connecting plate (11E); On the 3rd guide rod (15C), be socketed with the 5th linear bearing (151E), the 6th linear bearing (151F), it is upper that the 5th linear bearing (151E), the 6th linear bearing (151F) are arranged on the 5th bearing block (12E), and the 5th bearing block (12E) is fixed on location-plate (12F); The 3rd guide rod (15C) moves in linear bearing glossily with making the 3rd guide rod (15C) coordinating of linear bearing; The other end of the 3rd guide rod (15C) is connected with the 3rd grating frame (14C), on the 3rd grating frame (14C), post the grating scale of the 3rd linear grating sensor (13B), it is upper that the 3rd linear grating sensor (13B) is fixed on location-plate (12F) by the 3rd L shaped seat (141C), and with described grating scale keeping parallelism;
The chassis (21K) of sphere decoupling mechanism (21) below in optical path component (2) is fixed on location-plate (12F) by screw thread, in second shoulder hole (21A-31) of U-shaped frame (21C), pack the 11 deep groove ball bearing (211), the 12 deep groove ball bearing (212) into, chassis (21K) is through the endoporus of these two bearings, and by the 7th locking nut (261) locking, U-shaped frame (21C) rotates around the central shaft of the second shoulder hole (21A-31) with respect to chassis (21K) like this, on the A support arm (21C-1) of U-shaped frame (21C) and B support arm (21C-2), be respectively equipped with the 11 through hole (21C-11) and the 12 through hole (21C-21), in through hole, cover has the tenth deep groove ball bearing (210) and the 9th deep groove ball bearing (209) respectively, the A joint pin (21A-2) of cross frame (21A) and B joint pin (21A-3) penetrate respectively in the endoporus of the tenth deep groove ball bearing (210) and the 9th deep groove ball bearing (209), like this cross frame (21A) with respect to U-shaped frame (21C) around A joint pin (21A-2), the central shaft of B joint pin (21A-3) rotates, the C support arm (21C-4) of U-shaped frame is provided with the 3rd shoulder hole (21A-41), wherein cover has the 4th deep groove ball bearing (204), the 6th threaded post (21J-2) of second connecting rod (21J) is by the endoporus of the 4th deep groove ball bearing (204), and by the 4th locking nut (254) locking, second connecting rod (21J) rotates around the central shaft of the 3rd shoulder hole (21A-41) with respect to U-shaped frame (21C) like this, the 5th threaded post (21J-1) of second connecting rod (21J) is by the endoporus of the 3rd deep groove ball bearing (203), and by the 3rd locking nut (253) locking, the 3rd deep groove ball bearing (203) is mounted in the 8th through hole (14C-2) of the 3rd grating scale frame (14C), and second connecting rod (21J) rotates around the central shaft of its 8th through hole (14C-2) with respect to the 3rd grating scale frame (14C) like this, the galvanometer (24) that control light path changes is arranged in first shoulder hole (21A-4) of cross frame (21A), and is pressed abd fixed in the first shoulder hole (21A-4) by galvanometer lid (21B), first threaded post (21A-1) of cross frame (21A) is by the endoporus of the 6th deep groove ball bearing (206), and by the 6th locking nut (256) locking, the 6th deep groove ball bearing (206) is mounted in the four-step hole (21D-1) of L shaped connecting rod (21D), and cross frame (21A) rotates around the central shaft of four-step hole (21D-1) with respect to L shaped connecting rod (21D) like this, in the 5th shoulder hole (21D-2) of L shaped connecting rod (21D), the 5th deep groove ball bearing (205) is housed, second threaded post (21E-11) of switching connecting rod (21E) is by the bearing inner race of the 5th deep groove ball bearing (205), and by the 5th locking nut (255) locking, the connecting rod (21E) of transferring like this rotates around the central shaft of the 5th shoulder hole (21D-2) with respect to L shaped connecting rod (21D), switching connecting rod (21E) is connected mutually by screw thread and pitch arm (21G), and T shape connecting rod (21F) is also connected with pitch arm (21G) mutually by screw thread, and these three parts connect as a whole, the riser (21F-2) of T shape connecting rod (21F) is provided with the 6th shoulder hole (21F-21), and the second deep groove ball bearing (202) is arranged in the 6th shoulder hole (21F-21), the 4th threaded post (21H-2) of first connecting rod (21H) is by the bearing inner race of the second deep groove ball bearing (202), and by the second locking nut (252) locking, first connecting rod (21H) rotates around the central shaft of the 6th shoulder hole (21F-21) with respect to T shape connecting rod (21F) like this, the 3rd threaded post (21H-1) of first connecting rod (21H) is by the bearing inner race of the first deep groove ball bearing (201), and by the first locking nut (251) locking, the first deep groove ball bearing (201) is arranged in the 7th through hole (14B-2) of the second grating scale frame (14B), and first connecting rod (21H) rotates around the central shaft of the 7th through hole (14B-2) with respect to the second grating scale frame (14B) like this, on the A support arm (21G-1) of pitch arm (21G) and B support arm (21G-2), be respectively equipped with the tenth five-way hole (21G-11) and the tenth clematis stem hole (21G-21), the 8th deep groove ball bearing (208) and the 7th deep groove ball bearing (207) have been installed respectively in through hole, the joint pin (12B-2) of the joint pin (12A-2) of the first linear axis bearing (12A) and the second linear axis bearing (12B) is respectively by the inner ring of these two bearings, and the first linear axis bearing (12A) and the second linear axis bearing (12B) are separately fixed on location-plate (12F), pitch arm (21G) is with respect to the first linear axis bearing (12A) like this, the second linear axis bearing (12B) is around joint pin (12A-2, central shaft 12B-2) rotates, coordinate by above installation, galvanometer (24) has just had the swing of two degree of freedom,
Support (34) in housing unit (3) is arranged on the front end of base plate (33), and the 4th L shaped plate (22A) that is arranged in optical path component (2) afterwards; The second housing (32) is arranged on the reflector mount (22) of optical path component (2), and the bottom of the second housing (32) is provided with baffle plate (35); The 4th L shaped plate (22A) is installed on the convex board (33F) of base plate (33), motor drive component (1) and optical path component (2) are installed in the groove (33D) of base plate (33); The first housing (31) is installed together with base plate (33).
2. miniature tooth preparation automatic cutting device in laser type according to claim 1 oral cavity, is characterized in that: adopted galvanometer (24), convex lens (25) and reflecting mirror (26) to realize the conversion to light path.
3. miniature tooth preparation automatic cutting device in laser type according to claim 1 oral cavity, is characterized in that: the laser penetrating from femtosecond laser generator is called incident laser (2A); This incident laser (2A) is called reflection laser (2B) after galvanometer (24); After this reflection laser (2B) planoconvex lens (25), be called laser focusing (2C); This laser focusing (2C) is called shoot laser (2D) after reflecting mirror (26), and this shoot laser (2D) acts on tooth, realizes Teeth-cutting.
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| CN201210193871.0A CN102715956B (en) | 2012-06-12 | 2012-06-12 | Micro tooth body preparation automatic cutting device in laser-type oral cavity |
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| CN201210193871.0A CN102715956B (en) | 2012-06-12 | 2012-06-12 | Micro tooth body preparation automatic cutting device in laser-type oral cavity |
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| CN102715956B true CN102715956B (en) | 2014-07-30 |
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Families Citing this family (8)
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| CN103431916A (en) * | 2013-08-01 | 2013-12-11 | 中国科学院苏州生物医学工程技术研究所 | Novel femtosecond laser dental drill |
| CN104546151A (en) * | 2013-10-09 | 2015-04-29 | 北京大学口腔医学院 | Numerical control laser automatic tooth preparation method and equipment thereof |
| WO2015051661A1 (en) | 2013-10-09 | 2015-04-16 | 北京大学口腔医学院 | Numerical control laser automatic tooth preparation method and device therefor, and tooth locator |
| CN103800083B (en) * | 2013-12-11 | 2017-04-19 | 北京航空航天大学 | Miniature automatic dental-preparation cutting device in oral cavity |
| CN108145309A (en) * | 2018-02-09 | 2018-06-12 | 北京大学口腔医学院 | Multiple degrees of freedom laser process equipment |
| CN109820604B (en) * | 2019-04-08 | 2024-02-27 | 北京大学口腔医学院 | Built-in optical element and anti-pollution laser operation or processing equipment |
| CN110974470B (en) * | 2019-12-31 | 2020-08-07 | 山东大学齐鲁医院 | Positioning device for tooth treatment |
| CN114366352A (en) * | 2022-02-22 | 2022-04-19 | 唐河县人民医院 | A piece instrument of cutting for orthodontics |
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