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CN105618631A - Bending device for orthodontic archwire bending robot - Google Patents

Bending device for orthodontic archwire bending robot Download PDF

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Publication number
CN105618631A
CN105618631A CN 201610000976 CN201610000976A CN105618631A CN 105618631 A CN105618631 A CN 105618631A CN 201610000976 CN201610000976 CN 201610000976 CN 201610000976 A CN201610000976 A CN 201610000976A CN 105618631 A CN105618631 A CN 105618631A
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CN
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Prior art keywords
bending
clamping
archwire
device
orthodontic
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CN 201610000976
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Chinese (zh)
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CN105618631B (en )
Inventor
张永德
左思浩
姜金刚
王钊
韩英帅
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哈尔滨理工大学
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61CDENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A61C7/02Tools for manipulating or working with an orthodontic appliance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21FWORKING OR PROCESSING OF METAL WIRE
    • B21F1/00Bending wire other than coiling; Straightening wire

Abstract

The invention discloses a bending device for an orthodontic archwire bending robot. The bending device is used for, in an automatic orthodontic archwire bending process, clamping an archwire, and separating a clamping end when the archwire is fed. According to the bending device, by means of forward rotation of a central elliptical hole of a clamping element, and guidance of a positioning plate, the clamping end is enabled to clamp the archwire; due to limitation of geometric shapes of the central elliptical hole of the clamping element, and the clamping end, the clamping element does not rotate any more during clamping, and wire bending is started after clamping; after bending by an angle is finished, and in the process when the bending device returns to a zero position, the clamping end is separated by means of reverse rotation of the clamping element under the driving of frictional force, and by means of a separation rod between clamping cylinders, and therefore, separation of the clamping end is realized when the archwire is fed. The bending device for the orthodontic archwire bending robot is capable of improving the accuracy of archwire bending by clamping an archwire bending point. According to the bending device for an orthodontic archwire bending robot, the clamping and separation states of the clamping end are realized by means of control of one motor, leading to simplification of the structure of the orthodontic archwire bending robot.

Description

一种用于正畸弓丝弯制机器人的弯制装置 Bending device for bending the orthodontic archwire for robots

技术领域 FIELD

[0001] 本发明涉及一种牙齿正畸矫治器所用的弓丝弯制工具,特别是一种用于正畸弓丝弯制机器人的弯制装置。 [0001] The present invention relates to a tool for bending of the arch wire orthodontic appliance used, in particular a device for bending the bending orthodontic archwire for the robot.

背景技术 Background technique

[0002]随着我国社会的发展和人民生活水平的不断提高,人们越来越注重口腔健康的问题,牙齿的美观越来越受关注。 [0002] With the development of society and the improvement of people's living standards, more and more people pay attention to oral health problems, dental aesthetics more and more attention. 通常,正畸治疗矫正牙齿时,矫正弓丝的弯制是根据医生的经验手工操作的,效率低,劳动强度大。 Typically, corrective orthodontic treatment of teeth, the archwire bending correction is based on the experience of the manual operation of a doctor, inefficient, labor-intensive. 随着机器人领域的发展,开发正畸弓丝弯制机器人来实现矫正弓丝的弯制是很好的方法。 With the development of the field of robotics, the development of orthodontic arch wire bending robot to achieve the correction of the arch wire bending is a good method. 采用机器人进行弓丝弯制加工,利用机器人的位姿精确控制能力克服手工弯制弓丝的缺点,提尚正畸弓丝的弯制精度和效率。 Using the robot archwire bending process, precise control using position and orientation of the robot hand to overcome the shortcomings of the archwire bending, yet provide orthodontic archwire bending accuracy and efficiency.

发明内容 SUMMARY

[0003]本发明的目的,是为了提高正畸弓丝机器人自动弯制过程中的弯制精度的弓丝弯制装置。 [0003] The object of the present invention is to raise the arch wire bending means bending accuracy Robotic orthodontic archwire bending process.

[0004]本发明解决其技术问题的解决方案是: [0004] The present invention to solve the technical solution to the problem is:

一种用于正畸弓丝弯制机器人的弯制装置,由驱动机构、支撑固定机构、弯制机构,三部分组成;驱动机构和支撑固定机构用螺栓连接,弯制机构和驱动机构用螺栓连接。 One kind of orthodontic archwire bending apparatus for the bending of the robot, by a drive mechanism, a support fixing means, bending means, composed of three parts; a drive mechanism and a support mechanism fixing bolting, bending mechanism and the drive mechanism by bolts connection.

[0005]进一步的,所述的驱动机构其组成包括:行星减速步进电机、固定板、联轴器,行星减速步进电机、固定板用螺栓连接在一起,联轴器与行星减速步进电机的轴用紧定螺栓连接夹紧。 [0005] Further, the drive mechanism which consists of: a planetary reduction stepper motor fixing plate, couplings, planetary reduction stepper motor fixing plate bolted together, coupling and planetary reduction step shaft of the motor is connected with the clamping bolt tightened.

[0006]进一步的,所述的支撑固定机构其组成包括:支撑杆、定位板,其特征在于:支撑杆与固定板用螺栓连接,定位板与支撑杆用螺栓连接。 [0006] Further, the fixing means a support composition comprising: a support bar, positioning plate, characterized in that: support bar bolted to the fixed plate, the positioning plate and the support bar bolted.

[0007]进一步的,弯制机构(3)其组成包括:推力轴承a、摩擦圆筒)、夹紧元件、分离杆、摩擦圆柱,弹簧顶杆,推力轴承b、弯制圆盘、夹紧圆柱a、夹紧圆柱b,其特征在于:推力轴承a安装到摩擦圆筒一端,摩擦圆筒靠近推力轴承a的一端与联轴器用螺栓连接;分离杆焊接到夹紧元件凹槽内,夹紧元件的中心有一个椭圆孔,夹紧元件有两个L型台阶,两个L型台阶上面各有一个盲孔,弹簧顶杆安装在夹紧元件的盲孔内,摩擦圆柱的柱面顶住弹簧顶杆,装入摩擦圆筒内;推力轴承b安装到摩擦圆筒远离推力轴承a的一端,摩擦圆筒靠近推力轴承b的一端与弯制圆盘用螺栓连接;夹紧圆柱a与夹紧圆柱b穿过定位板U形槽和弯制圆盘中心圆孔,安装到夹紧元件中心椭圆内。 [0007] Further, bending means (3) a composition comprising: a thrust bearing a, the friction cylinder), the clamping member, the separator bar, the friction cylinder, the spring jack, the thrust bearing B, a disk bending, clamping a cylinder, the clamping cylinder B, wherein: a thrust bearing mounted to one end of the cylinder friction, the friction of the cylindrical thrust bearing near one end of a bolted joint; isolated lever member welded to the inner clamping groove, clamp the center has a tight oval aperture element, the clamping element has two L-shaped step, two steps above have a L-shaped blind bore, the spring jack is mounted within the blind bore of the clamping element, the top of the cylindrical friction cylinder live jack spring, loaded into a cylindrical friction; b mounted to one end of a thrust bearing thrust bearing away from a cylindrical friction, the friction cylinder is close to one end of the thrust bearing b bolted bending disk; and a clamping cylinder clamping cylinder b through the U-shaped groove and the positioning plate bending center of the disk hole, the clamping element is mounted to the center of the ellipse.

[0008]本发明的有益效果是: [0008] Advantageous effects of the present invention are:

1.本发明的弯制装置,在自动化弯制过程中,电机正转可以实现对弓丝弯制时的夹紧圆柱a和夹紧圆柱b的夹紧,提高弯丝的精度; 1. The bending apparatus according to the present invention, in the automatic bending process, the motor is transferred to the clamping cylinder can be achieved when a archwire bending b clamping and the clamping cylinder, to improve the accuracy of the bending wire;

2.本发明的完治装置,在自动化弯制过程中,电机反转可以实现夹紧圆柱a和夹紧圆柱b的分离,以便于弓丝进给。 2. The completed treatment apparatus of the present invention, in the automatic bending process, motor reversal may be achieved clamping cylinder and a clamping cylinder b separated so as to feed the archwire.

附图说明 BRIEF DESCRIPTION

[0009]附图1为本发明的结构示意图; [0009] FIG. 1 is a schematic structural diagram of the present invention;

附图2为本发明的弯制机构俯视图; BRIEF bending mechanism 2 is a plan view of the present invention;

附图3为本发明的弯制机构仰视图; BRIEF bending means 3 of the present invention, a bottom view;

附图中,1-1行星减速步进电机、1-2固定板、1-3联轴器、2-1支撑杆、2-2定位板、3-1推力轴承a、3-2摩擦圆筒、3-3夹紧元件、3-4分离杆、3-5摩擦圆柱,3-6弹簧顶杆,3-7推力轴承b、3-8弯制圆盘、3-9夹紧圆柱a、3-10夹紧圆柱b。 In the drawings, the stepping motor planetary reducer 1-1, 1-2 fixing plate, couplings 1-3, 2-1 supporting rod, the positioning plate 2-2, the thrust bearing 3-1 a, 3-2 a friction circle cartridge, the clamping elements 3-3, 3-4 bar separation, friction cylinder 3-5, 3-6 jack springs, thrust bearing 3-7 b, 3-8 bending disk, a cylindrical clamping 3-9 3-10 clamping cylinder b.

具体实施方式 detailed description

[0010]以下结合附图进一步说明本发明的具体结构及实施方式。 [0010] further described below with reference to the specific structure of the present invention and the embodiment of FIG.

[0011]本发明的结构组成如附图1、附图2、附图3所示。 [0011] The structure of the present invention is a composition as Figure 1, Figure 2, shown in Figure 3. 用于正畸弓丝弯制机器人的弯制装置,由驱动机构1、支撑固定机构2、弯制机构3三部分组成,驱动机构I和支撑固定机构2用螺栓连接,弯制机构3和驱动机构I用螺栓连接。 Bending means for bending the orthodontic archwire robot, by the drive mechanism 1, a support 2, three parts of the bending means 3 fixed bodies, the support and drive mechanism I bolted fixing means 2, and the bending drive means 3 I bolted mechanism. 驱动机构I包括:行星减速步进电机1-1、固定板1-2、联轴器1-3,行星减速步进电机1-1、固定板1-2用螺栓连接在一起,联轴器1-3与行星减速步进电机1-1轴用紧定螺栓连接夹紧。 I drive mechanism comprising: a planetary reduction stepper motor 1-1, 1-2 fixing plate, couplings 1-3, 1-1 planetary reduction stepper motor fixing plate 12 are bolted together, the coupling 1-3 and 1-1 planetary reduction stepper motor shaft adapter with the clamping bolts. 所述的支撑固定机构2包括:支撑杆2-1、定位板2-2,支撑杆2-1与固定板1-3用螺栓连接,定位板2-2与支撑杆2-1用螺栓连接,定位板实现对夹紧圆柱a 3-9和夹紧圆柱b 3-10导向作用。 Fixing said support means 2 comprising: a support bar 2-1, the positioning plates 2-2, 2-1 support bar bolted to the fixed plate 13, the positioning plate 2-2 and the support bar bolted 2-1 positioning plate and a clamping cylinder to achieve a 3-9 b 3-10 guiding action clamping cylinder. 弯制机构3包括:推力轴承a 3_1、摩擦圆筒3-2、夹紧元件3-3、分离杆3-4、摩擦圆柱3-5,弹簧顶杆3_6,推力轴承b 3-7、弯制圆盘3- 3 bending mechanism comprising: a thrust bearing a 3_1, friction cylinder 3-2, the clamping element 3-3, 3-4 bar separation, friction cylinder 3-5, 3_6 jack springs, thrust bearing b 3-7, curved 3- disk system

8、夹紧圆柱a 3-9、夹紧圆柱b 3-10,其特征在于:推力轴承a(3-l)安装到摩擦圆筒(3-2) —端,摩擦圆筒(3-2)靠近推力轴承a 3-1的一端与联轴器1-4用螺栓连接;分离杆3-4焊接到夹紧元件3-3凹槽内,夹紧元件3-3的中心有一个椭圆孔,夹紧元件3-3有两个L型台阶,两个L型台阶上面各有一个盲孔,弹簧顶杆3-6安装在夹紧元件3-3的盲孔内,摩擦圆柱3-5的柱面顶住弹簧顶杆3-6,装入摩擦圆筒3-2内;推力轴承b 3-7安装到摩擦圆筒3-2远离推力轴承a 3-1的一端,摩擦圆筒3-2靠近推力轴承b 3-7的一端与弯制圆盘3-8用螺栓连接;夹紧圆柱a 3-9与夹紧圆柱b 3-10穿过定位板2-2U形槽和弯制圆盘3-8中心圆孔,安装到夹紧元件3-3中心椭圆内。 8, the clamping cylinder a 3-9, a clamping cylinder b 3-10, characterized in that: the thrust bearing a (3-l) is mounted to a friction cylinder (3-2) - end friction cylinder (3-2 ) near the end of the thrust bearing and coupling a 3-1 bolted 1-4; 3-4 separator bar welded to the inner groove 3-3 of the clamping element, the clamping member 3-3 has a central elliptical aperture the clamping element has two L-shaped steps 3-3, L-shaped two steps above have a blind bore, the spring is mounted in the blind bore plunger 3-6 the clamping elements 3-3, 3-5 cylindrical friction against the jack spring cylinder 3-6, 3-2 loaded into a cylindrical friction; b 3-7 thrust bearing mounted to the cylindrical friction thrust bearing away from a 3-2 end 3-1, the friction cylinder 3 -2 thrust bearing near one end b 3-7 3-8 bending disk bolted; a clamping cylinder and a clamping cylinder a 3-9 through b 3-10 and groove-shaped positioning plate bending 2-2U central circular disk 3-8, 3-3 is mounted into the center of the elliptical clamping element.

[0012]其工作原理:行星减速步进电机1-1带动摩擦圆筒3-2正向旋转和反向旋转。 [0012] The working principle: planetary reducer stepper motor driven friction cylinder 1-1 3-2 normal rotation and reverse rotation. 摩擦圆筒3-2正向旋转时,通过摩擦圆柱3-5与摩擦圆筒3-2之间的摩擦力带动夹紧元件3-3正向旋转,夹紧元件3-3的椭圆孔使夹紧圆柱a 3-9和夹紧圆柱b 3-10在定位板2-2U形槽的导向作用下夹紧,由夹紧元件3-3的椭圆孔、夹紧圆柱a 3-9和夹紧圆柱b 3-10的几何形状的限制,夹紧元件3-3无法继续转动,摩擦圆筒3-2克服摩擦力带动弯制圆盘继续转动,实现弓丝弯制。 Forward rotation friction cylinder 3-2, 3-5 by friction cylinder driven by friction with the friction between the cylindrical clamping element 3-2 3-3 forward rotation, the clamping element is elliptical hole so that 3-3 clamping cylinder and a clamping cylinder a 3-9 b 3-10 2-2U clamping action at the guide-groove positioning plate, an elliptical hole 3-3 of the clamping element, the clamping cylinder and a 3-9 folders b tight cylindrical geometry limits 3-10, the clamping member 3-3 can not continue to rotate, the friction cylinder driven bending 3-2 overcome friction disk continues to rotate, to achieve the archwire bending. 摩擦圆筒3-2反向旋转时,通过摩擦圆柱3-5与摩擦圆筒3-2之间的摩擦力带动夹紧元件3-3反向旋转,分离杆3-4在定位板2-2U形槽作用下使夹紧圆柱a 3_9和夹紧圆柱b 3-10分离,实现弯丝时弓丝进给。 3-2 the friction reverse rotation of the cylinder, the cylinder 3-5 by friction and the friction between the friction cylinder driven clamping element 3-2 3-3 reverse rotation, the separation plate positioning lever 3-4 2- 2U shaped groove of the clamping action of the clamping cylinder and a 3_9 b 3-10 cylinder separation, the feed to achieve the archwire when bent wire.

Claims (4)

1.一种用于正畸弓丝弯制机器人的弯制装置,由驱动机构(I)、支撑固定机构(2)、弯制机构(3)三部分组成,其特征在于:驱动机构(I)和支撑固定机构(2)用螺栓连接,弯制机构(3 )和驱动机构(I)用螺栓连接。 An orthodontic arch wire bending means for bending the robot, by a drive mechanism (I), a support fixing means (2), bending means (3) consists of three parts, comprising: a drive mechanism (I ) and a support fixing means (2) bolted, bending means (3) and a drive mechanism (I) bolted.
2.根据权利要求1所述的一种用于正畸弓丝弯制机器人的弯制装置,其特征在于:所述的驱动机构(I)包括:行星减速步进电机(1-1)、固定板(1-2)、联轴器(1-3),行星减速步进电机(1-1)、固定板(1-2 )用螺栓连接在一起,联轴器(1-3 )与行星减速步进电机(1-1)的轴用紧定螺栓连接夹紧。 2. A method according to claim 1 for bending means orthodontic archwire bending robot, wherein: said driving means (I) comprising: a stepper motor planetary reducer (1-1), fixing plate (1-2), coupling (1-3), planetary reduction stepping motor (1-1), the fixed plate (1-2) bolted together, the coupling (1-3) and stepper motor shaft of the planetary reducer (1-1) connected with the clamping bolt tightened.
3.根据权利要求1所述的一种用于正畸弓丝弯制机器人的弯制装置,其特征在于:所述的支撑固定机构(2 )包括:支撑杆(2-1)、定位板(2-2),支撑杆(2-1)与固定板(1-2 )用螺栓连接,定位板(2-2)有一个U形槽,定位板(2-2)与支撑杆(2-1)用螺栓连接。 The bending apparatus for bending orthodontic archwire for a robot according to claim 1, wherein: said stationary support means (2) comprising: a support bar (2-1), the positioning plate (2-2), support bars (2-1) and the fixed plate (1-2) is connected with a bolt, the positioning plate (2-2) has a U-shaped groove, the positioning plate (2-2) and the support rods (2 -1) bolted.
4.根据权利要求1所述的一种用于正畸弓丝弯制机器人的弯制装置,其特征在于:所述的弯制机构(3)包括:推力轴承a(3-l)、摩擦圆筒(3-2)、夹紧元件(3-3)、分离杆(3-4)、摩擦圆柱(3-5),弹簧顶杆(3-6),推力轴承b(3-7)、弯制圆盘(3-8)、夹紧圆柱a(3-9)、夹紧圆柱b(3-10),推力轴承a(3-l)安装到摩擦圆筒(3-2)—端,摩擦圆筒(3-2)靠近推力轴承a(3-l)的一端与联轴器(1-4)用螺栓连接;分离杆(3-4)焊接到夹紧元件(3-3)凹槽内,夹紧元件(3-3)的中心有一个椭圆孔,夹紧元件(3-3)有两个L型台阶,两个L型台阶上面各有一个盲孔,弹簧顶杆(3-6)安装在夹紧元件(3-3)的盲孔内,摩擦圆柱(3-5)的柱面顶住弹簧顶杆(3-6),装入摩擦圆筒(3-2)内;推力轴承b(3-7)安装到摩擦圆筒(3-2)远离推力轴承a(3-l)的一端,摩擦圆筒(3-2)靠近推力轴承b(3-7)的一端与弯制圆盘(3-8)用螺栓连接;夹紧圆柱a(3-9)与夹紧圆柱b(3-10) The bending apparatus for bending orthodontic archwire for a robot according to claim 1, wherein: said bending means (3) comprising: a thrust bearing a (3-l), friction cylinder (3-2), the clamping elements (3-3), the separator bar (3-4), the friction cylinder (3-5), a spring jack (3-6), the thrust bearing b (3-7) , bending disk (3-8), the clamping cylinder a (3-9), the clamping cylinder b (3-10), the thrust bearing a (3-l) is mounted to a friction cylinder (3-2) - end, the friction cylinder (3-2) close to the thrust bearing a (3-l) coupling one end (1-4) with bolts; release lever (3-4) are welded to the clamping element (3-3 ) within the groove, the center of the clamping element (3-3) has an oblong hole, the clamping element (3-3) has two L-shaped step, two steps above have a L-shaped blind bore, the spring jack (3-6) mounted in a blind bore of the clamping element (3-3), the friction cylinder (3-5) against the spring jack cylinder (3-6), was charged friction cylinder (3-2 ) therein; thrust bearing b (3-7) mounted to the friction cylinder (3-2) away from one end of the thrust bearing a (3-l), the friction cylinder (3-2) near the thrust bearings b (3-7) One end of the bending disk (3-8) are bolted; clamping cylinder a (3-9) of the clamping cylinder b (3-10) 过定位板(2-2)U形槽和弯制圆盘(3-8)中心圆孔,安装到夹紧元件(3-3)中心椭圆内。 Through the positioning plate (2-2) U-shaped groove and bending the disk (3-8) center round hole, the clamping element is mounted to the inner (3-3) center of the ellipse.
CN 201610000976 2016-01-04 2016-01-04 Bending device for bending the orthodontic archwire for robots CN105618631B (en)

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