CN107745413B - Intelligent personalized invisible orthodontic model cutting flexible production line and control method thereof - Google Patents
Intelligent personalized invisible orthodontic model cutting flexible production line and control method thereof Download PDFInfo
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- CN107745413B CN107745413B CN201711119030.4A CN201711119030A CN107745413B CN 107745413 B CN107745413 B CN 107745413B CN 201711119030 A CN201711119030 A CN 201711119030A CN 107745413 B CN107745413 B CN 107745413B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 50
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 15
- 230000000875 corresponding effect Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 10
- 239000000284 extract Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007731 hot pressing Methods 0.000 description 1
- 229920005597 polymer membrane Polymers 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D11/00—Combinations of several similar cutting apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
- B26D5/26—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed wherein control means on the work feed means renders the cutting member operative
- B26D5/28—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed wherein control means on the work feed means renders the cutting member operative the control means being responsive to presence or absence of work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0608—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0625—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F2210/00—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of invisible orthodontic product production equipment, in particular to an intelligent personalized invisible orthodontic model cutting flexible production line, which comprises an intelligent conveyor belt, a cutting robot group, an electric push rod and a control system. The invention further provides a control method of the intelligent personalized invisible orthodontic model cutting flexible production line. The intelligent personalized invisible orthodontic model cutting flexible production line and the control method thereof solve various problems and risks caused by a large amount of manual operations in invisible appliance production, improve the automation, intellectualization and personalized production level, ensure the product quality and the production efficiency and ensure the normal use of patients.
Description
Technical Field
The invention relates to the technical field of invisible orthodontic product production equipment, in particular to an intelligent personalized invisible orthodontic model cutting flexible production line and a control method thereof.
Background
The current bracket-free invisible orthodontic technology is actively developed, and based on the application of technologies such as three-dimensional modeling, 3D forming, high polymer membrane hot pressing and the like on orthodontic, the invisible orthodontic has great improvements in the aspects of tooth movement prediction, long-time uniform application of correction force, sensory experience of patients and the like, but the physical form of an invisible orthodontic product, namely the production aspect of an invisible appliance, has to rely on a great number of manual operations, so that the problems of difficult control of product quality, difficult improvement of efficiency and the like are brought.
Disclosure of Invention
The invention provides an intelligent personalized invisible orthodontic model cutting flexible production line, which aims to solve the problems of uncontrollable quality and low efficiency caused by large amount of dependence on manual operation in the production process of an invisible appliance in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme: an intelligent personalized invisible orthodontic model cutting flexible production line comprises an intelligent conveyor belt, a cutting robot group, an electric push rod and a control system;
the intelligent conveyor belt comprises a chain plate assembly, a bracket assembly and a driving motor, wherein driving chain wheels and tensioning chain wheels are respectively arranged at two ends of the bracket assembly, the chain plate assembly is wound on the driving chain wheels and the tensioning chain wheels, and the driving motor is connected with the driving chain wheels through a transmission device; the chain plate assembly comprises a plurality of chain plates and a plurality of model trays, and the model trays are arranged on the chain plates;
a plurality of groups of cutting robot groups are arranged on one side of the intelligent conveyor belt, each cutting robot group comprises a robot and a workbench, the robot is arranged on one side of the workbench, a cutting tool is arranged at the tail end of the robot, and a processing area is arranged on the other side of the workbench; an electric push rod is arranged on the other side of the intelligent conveyor belt, and the electric push rod is arranged opposite to a processing area on the workbench;
the control system comprises a main control computer, a PLC (programmable logic controller), a camera, a photosensitive sensor and a first pressure sensor, wherein a first photosensitive sensor and a second photosensitive sensor and a third photosensitive sensor are arranged corresponding to each cutting robot group, the first photosensitive sensor and the second photosensitive sensor are arranged on a bracket assembly, when a model tray moves along with a chain plate, the model tray can just shield the photosensitive sensor, and the third photosensitive sensor is arranged in a processing area on a workbench; a camera is arranged above the chain plate assembly, and the camera is arranged opposite to the chain plate; the first pressure sensor is arranged on the chain plate assembly; the photosensitive sensor, the first pressure sensor, the driving motor, the electric push rod and the robot are respectively and electrically connected with the PLC, and the camera and the PLC are electrically connected with the master control machine.
Further, a slide way is arranged on the upper surface of the chain plate, the slide way penetrates through the side edge of one side of the chain plate, close to the workbench, and a bulge is arranged on the lower surface of the corresponding model tray and can horizontally slide along the slide way.
Further, 3 positioning columns are arranged on the model tray, and the 3 positioning columns are arranged in a triangular mode.
Further, the processing area on the workbench comprises a turnover working plate, and a model tray collecting and transporting frame is arranged right below the working plate.
Further, the rotating motor is arranged below the working plate, the rotating wheel is arranged on the outer side of the rotating shaft of the rotating motor, the working plate is fixed on the surface of the rotating wheel, and the rotating motor is electrically connected with the PLC.
Further, the model tray collection and transportation frame comprises a separable collection basket and a chassis, the separable collection basket is arranged on the chassis, a wheel set is arranged on the lower side of the chassis, a second pressure sensor is further arranged on the upper surface of the chassis and on the lower side of the separable collection basket, and the second pressure sensor is electrically connected with the PLC.
Further, the top of electric putter is provided with fixed pushing frame, fixed pushing frame matches with the shape of model tray one end.
The invention also aims at providing a control method of the intelligent personalized invisible orthodontic model cutting flexible production line, which comprises the following steps:
s1, fixing a printing model on a model tray, then placing the model tray on a chain plate, detecting pressure by a first pressure sensor, and running an intelligent conveyor belt;
s2, when the model tray reaches the position of the first photosensitive sensor, the PLC controller sends a signal that the model is about to be in place to the main control computer, the camera shoots, and the first photosensitive sensor stops working;
s3, the main control computer analyzes the photo shot by the camera, extracts a digital code in the photo, determines a corresponding action program of the robot generated by a gum line point set in the digital model according to the digital code, and sends the action program and a program in-place signal to the robot;
s4, when the model tray reaches the position of the second photosensitive sensor, the intelligent conveyor belt stops running, the second photosensitive sensor stops working, the electric push rod pushes the model tray to the workbench, and the PLC controller sends a model in-place signal to the robot;
s5, when the robot receives the program in-place signal and the model in-place signal, executing an action program, completing cutting, turning over a working plate, enabling a model tray to fall into a model tray collecting and transporting frame, resetting the working plate, enabling the robot to complete the cutting signal, enabling the first photosensitive sensor and the second photosensitive sensor to start working, and enabling the subsequent models to be processed by the current robot; when all robots are in a working state, the conveyor belt is suspended to run, the model tray is suspended to be placed, and the conveyor belt is resumed to run when the robots are idle;
s6, when all robots are in a working state, the intelligent conveyor belt pauses to operate, a model tray is paused to be placed, and when the robots are idle, the conveyor belt resumes operation;
s7, repeating the steps S1-S6 until all the works are completed.
The intelligent personalized invisible orthodontic model cutting flexible production line and the control method thereof solve various problems and risks caused by a large amount of manual operations in invisible appliance production, improve the automation, intellectualization and personalized production level, ensure the product quality and the production efficiency and ensure the normal use of patients.
Drawings
FIG. 1 is a schematic diagram of a flexible production line structure of the present invention;
FIG. 2 is a schematic view of a cutting robot assembly and a model pallet collection transport frame assembly;
FIG. 3 is a schematic view of a structure of a model tray;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a schematic view of a link plate structure;
FIG. 6 is a schematic view of the position structure of the cutting robot group and the electric push rod;
FIG. 7 is a schematic view of a fixed push frame structure;
FIG. 8 is a schematic view of the structure of the model pallet collecting and transporting frame;
in the above figures: 1-an intelligent conveyor belt; 11-a link plate assembly; 111-driving a sprocket; 112-tensioning the sprocket;
12-a bracket assembly; 121-link plate; 122-a model tray; 13-a drive motor; 2-a cutting robot group; 1.
21-a robot; 22-a workbench; 221-working plate; 3-an electric push rod; 31-fixing the pushing frame; 4-collecting and transporting
Basket conveying; 41-a detachable collection basket; 42-chassis.
Description of the embodiments
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples
The invention discloses an intelligent personalized invisible orthodontic model cutting flexible production line which comprises an intelligent conveyor belt 1, a cutting robot group 2, an electric push rod 3 and a control system.
The intelligent conveyor belt 1 comprises a chain plate assembly 11, a bracket assembly 12 and a driving motor 13, wherein driving chain wheels 111 and tensioning chain wheels 112 are respectively arranged at two ends of the bracket assembly 11, the chain plate assembly 12 comprises a plurality of chain plates 121 and a plurality of model trays 122, the chain plates 121 are connected end to form an annular conveyor belt, the annular conveyor belt is wound on the driving chain wheels 111 and the tensioning chain wheels 112, and the driving motor 13 is connected with the driving chain wheels 111 through a transmission belt; the mold tray 122 is disposed on the link plate 121. The upper surface of the chain plate 121 is provided with a slideway, the slideway penetrates through the side edge of the chain plate 121, which is close to one side of the workbench 22, and the lower surface of the corresponding model tray 122 is provided with a fusiform bulge which can horizontally slide along the slideway. The design of the bulge and the slideway can conveniently fix the tray model on the chain plate, and the electric push rod can conveniently and accurately push the model pushing disc to the processing area of the workbench 22. The model tray is provided with 3 positioning columns, and the 3 positioning columns are arranged in a triangular mode. In order to facilitate the subsequent photographing by the camera and the automatic cutting by the robot, the printing model is required to be placed according to a fixed orientation, the jaw faces upwards, and the gum part is contacted with the model tray. When the gum part is generated, a round blind hole is reserved at a fixed position, a positioning column on the tray is aligned when the printing model is placed on the model tray, the positioning column and the blind hole are in transition fit, all the printing models are arranged according to a preset direction, and no movement is generated between the printing model and the model tray 122 due to the action of friction force.
One side of the intelligent conveyor belt 1 is provided with a plurality of groups of cutting robot groups 2, each cutting robot group 2 comprises a robot 21 and a workbench 22, the robot 21 is arranged on one side of the workbench 22, the tail end of the robot is provided with a cutting tool, the cutting tool is detachably arranged at the tail end of the robot 21, and the cutting tool in a corresponding procedure can be replaced according to actual conditions. The other side of the workbench 22 is a processing area; the processing area comprises a reversible working plate 221, and the electric push rod 3 pushes the model tray 122 fixed with the printing model onto the working plate 221. A rotating motor is arranged below the working plate 221, a rotating wheel is arranged on the outer side of a rotating shaft of the rotating motor, and the working plate 221 is fixed on the surface of the rotating wheel. The transportation frame 4 is collected to the model tray is provided with under the work board 221, the transportation frame 4 is collected to the model tray includes separable collection basket 41 and chassis 42, separable collection basket 41 sets up on chassis 42, the downside of chassis 42 is provided with the wheelset, the upper surface of chassis, the downside of separable collection basket 41 still is provided with second pressure sensor. After the cutting is completed, the rotating motor drives the working plate 221 to rotate once, and the model tray 122 is recovered into the model tray collecting and transporting frame 4.
An electric push rod 3 is arranged on the other side of the intelligent conveyor belt, and the electric push rod 3 is arranged opposite to a processing area on the workbench 22; the top of the electric push rod 3 is provided with a fixed push frame 31, and the fixed push frame 31 is matched with one end of the model tray 122 in shape, so that the model tray 122 can be accurately pushed into a processing area on the workbench 22.
In addition, the control system comprises a main control computer, a PLC controller, a camera, a photosensitive sensor and a pressure sensor, wherein a first photosensitive sensor, a second photosensitive sensor and a third pressure sensor are arranged corresponding to each cutting robot group, the first photosensitive sensor and the second photosensitive sensor are arranged on the bracket assembly 12, a distance is reserved between the first photosensitive sensor and the second photosensitive sensor, when the model tray 122 moves along with the chain plate, the model tray 122 just can shield the photosensitive sensor, and the first photosensitive sensor and the second photosensitive sensor are used for detecting whether a printing model reaches a set position; the third photosensor is disposed in the processing area 1 on the table 22, and may be disposed on the work plate 221, and the third photosensor is used to detect whether the printing model reaches the processing area on the table 22. The camera is arranged above the chain plate assembly 11 and is opposite to the chain plate and used for collecting photos of the printing model. The pressure sensor comprises a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is arranged on the chain plate assembly 11 and is used for detecting whether a printing model is placed on the intelligent conveyor belt or not; the second pressure sensor is disposed on the upper surface of the chassis of the collecting transport frame of the model pallet 122, and is disposed on the lower side of the detachable collecting basket for detecting whether the model pallet collecting basket is full or not, and is not to be replaced. The photosensitive sensor, the camera, the pressure sensor, the driving motor, the electric push rod and the robot are respectively and electrically connected with the PLC, and the PLC is electrically connected with the main control computer.
According to the intelligent personalized invisible orthodontic model cutting flexible production line, a printing model placed on an intelligent conveying belt can be automatically cut according to a gum line, manual interference is not needed, various problems and risks caused by a large amount of manual operation in invisible appliance production are solved, automation and intelligence are improved, personalized production level is achieved, product quality and production efficiency are guaranteed, and normal use of patients is guaranteed.
Examples
Embodiment 2 provides a control method of the above production line corresponding to the apparatus in embodiment 1, including the following steps:
s1, fixing a printing model on a model tray, then placing the model tray on a chain plate, detecting pressure by a first pressure sensor, and running an intelligent conveyor belt; the positioning column on the model tray passes through the blind hole on the printing model, the printing model is fixed on the model tray, then the fusiform bulge on the lower side surface of the model tray is placed in the slideway on the chain plate, at the moment, the first pressure sensor detects a pressure signal and transmits the signal to the PLC, and the PLC controls the intelligent conveyor belt to operate after receiving the signal.
S2, when the model tray reaches the position of the first photosensitive sensor, the PLC controller sends a signal that the model is about to be in place to the main control computer, the camera shoots, and the first photosensitive sensor stops working; when the model tray reaches the position of the first photosensitive sensor, the PLC controller detects that the resistance value of the first photosensitive sensor changes, a signal that the model is about to be in place is sent to the main control computer, the main control computer controls the camera to take a picture after receiving the signal, and the picture is transmitted to the main control computer after the camera takes a picture; at this time, the first photosensor is stopped for energy saving.
S3, the main control computer analyzes the photo shot by the camera, extracts a digital code in the photo, determines a corresponding action program of the robot generated by a gum line point set in the digital model according to the digital code, and sends the action program and a program in-place signal to the robot;
the master control computer analyzes the photo, extracts a digital code in the photo, determines patient information according to the digital code, including a patient case number, an correction step number, upper and lower jaw information and the like, so as to obtain an action program of the robot, which corresponds to the printing model and is generated by a gum line point set in the digital model, and sends the action program and a program in-place signal to the robot.
S4, when the model tray reaches the position of the second photosensitive sensor, the intelligent conveyor belt stops running, the second photosensitive sensor stops working, the electric push rod pushes the model tray to the workbench, and the PLC controller sends a model in-place signal to the robot;
when the model tray reaches the position of the second photosensitive sensor, the PLC controller detects that the resistance value of the second photosensitive sensor changes, the intelligent conveyor belt is controlled to stop running, meanwhile, the second photosensitive sensor also stops working, the electric push rod is controlled to act, the model tray is pushed onto the workbench, and when the PLC controller detects that the resistance of the third photosensitive sensor changes, a model in-place signal is sent to the robot.
S5, when the robot receives the program in-place signal and the model in-place signal, executing an action program, completing cutting, turning over a working plate, enabling a model tray to fall into a model tray collecting and transporting frame, resetting the working plate, enabling the robot to complete the cutting signal, enabling the first photosensitive sensor and the second photosensitive sensor to start working, and enabling the subsequent models to be processed by the current robot;
when the robot receives the program in-place signal and the model in-place signal, the robot starts to execute an action program, after cutting is completed, the PLC starts a rotating motor, the rotating motor drives a working plate to rotate for one circle, a model tray falls into a model tray collecting and transporting frame, the working plate is reset, the robot sends out a cutting signal, the first photosensitive sensor and the second photosensitive sensor start to work, and a follow-up model is processed by the current robot.
S6, when all robots are in a working state, the intelligent conveyor belt pauses to operate, a model tray is paused to be placed, and when the robots are idle, the conveyor belt resumes operation;
s7, repeating the steps S1-S6 until all the works are completed.
Through above-mentioned circulation, the robot can finish the cutting with all printing models of placing on the conveyer belt, does not need to pass through the manual interference, and the quality is controllable, and is efficient.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (6)
1. The intelligent personalized invisible orthodontic model cutting flexible production line is characterized by comprising an intelligent conveyor belt, a cutting robot group, an electric push rod and a control system;
the intelligent conveyor belt comprises a chain plate assembly, a bracket assembly and a driving motor, wherein driving chain wheels and tensioning chain wheels are respectively arranged at two ends of the bracket assembly, the chain plate assembly is wound on the driving chain wheels and the tensioning chain wheels, and the driving motor is connected with the driving chain wheels through a transmission device; the chain plate assembly comprises a plurality of chain plates and a plurality of model trays, and the model trays are arranged on the chain plates;
a plurality of groups of cutting robot groups are arranged on one side of the intelligent conveyor belt, each cutting robot group comprises a robot and a workbench, the robot is arranged on one side of the workbench, a cutting tool is arranged at the tail end of the robot, and a processing area is arranged on the other side of the workbench; an electric push rod is arranged on the other side of the intelligent conveyor belt, and the electric push rod is arranged opposite to a processing area on the workbench;
the control system comprises a main control computer, a PLC (programmable logic controller), a camera, a photosensitive sensor and a first pressure sensor, wherein the first photosensitive sensor, the second photosensitive sensor and a third photosensitive sensor are arranged corresponding to each cutting robot group, the first photosensitive sensor and the second photosensitive sensor are arranged on a bracket assembly, when a model tray moves along with a chain plate, the model tray just can shade the photosensitive sensor, and the third photosensitive sensor is arranged in a processing area on a workbench; a camera is arranged above the chain plate assembly, and the camera is arranged opposite to the chain plate; the first pressure sensor is arranged on the chain plate assembly; the photosensitive sensor, the first pressure sensor, the driving motor, the electric push rod and the robot are respectively and electrically connected with the PLC, and the camera and the PLC are electrically connected with the master control computer;
the upper surface of the chain plate is provided with a slideway, the slideway penetrates through the side edge of one side of the chain plate, close to the workbench, and the lower surface of the corresponding model tray is provided with a bulge which can horizontally slide along the slideway;
the model tray is provided with 3 positioning columns, and the 3 positioning columns are arranged in a triangular mode.
2. The intelligent personalized stealth orthodontic model cutting flexible production line of claim 1, wherein: the processing area on the workbench comprises a turnover working plate, and a model tray collecting and transporting frame is arranged right below the working plate.
3. The intelligent personalized stealth orthodontic model cutting flexible production line of claim 2, wherein: the rotating motor is arranged below the working plate, the rotating wheel is arranged on the outer side of the rotating shaft of the rotating motor, the working plate is fixed on the surface of the rotating wheel, and the rotating motor is electrically connected with the PLC.
4. The intelligent personalized stealth orthodontic model cutting flexible production line of claim 2, wherein: the model tray collection and transportation frame comprises a separable collection basket and a chassis, the separable collection basket is arranged on the chassis, a wheel set is arranged on the lower side of the chassis, a second pressure sensor is further arranged on the upper surface of the chassis and the lower side of the separable collection basket, and the second pressure sensor is electrically connected with the PLC.
5. The intelligent personalized stealth orthodontic model cutting flexible production line of claim 1, wherein: the top of electric putter is provided with fixed pushing frame, fixed pushing frame matches with the shape of model tray one end.
6. A control method for controlling the intelligent personalized invisible orthodontic model cutting flexible production line according to any one of claims 1 to 5, which is characterized in that: the method comprises the following steps:
s1, fixing a printing model on a model tray, then placing the model tray on a chain plate, detecting pressure by a first pressure sensor, and running an intelligent conveyor belt;
s2, when the model tray reaches the position of the first photosensitive sensor, the PLC controller sends a signal that the model is about to be in place to the main control computer, the camera shoots, and the first photosensitive sensor stops working;
s3, the main control computer analyzes the photo shot by the camera, extracts a digital code in the photo, determines a corresponding action program of the robot generated by a gum line point set in the digital model according to the digital code, and sends the action program and a program in-place signal to the robot;
s4, when the model tray reaches the position of the second photosensitive sensor, the intelligent conveyor belt stops running, the second photosensitive sensor stops working, the electric push rod pushes the model tray to the workbench, and the PLC controller sends a model in-place signal to the robot;
s5, when the robot receives the program in-place signal and the model in-place signal, executing an action program, completing cutting, turning over a working plate, enabling a model tray to fall into a model tray collecting and transporting frame, resetting the working plate, enabling the robot to complete the cutting signal, enabling the first photosensitive sensor and the second photosensitive sensor to start working, and enabling the subsequent models to be processed by the current robot;
s6, when all robots are in a working state, the intelligent conveyor belt pauses to operate, a model tray is paused to be placed, and when the robots are idle, the conveyor belt resumes operation;
s7, repeating the steps S1-S6 until all the works are completed.
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| CN201711119030.4A CN107745413B (en) | 2017-11-14 | 2017-11-14 | Intelligent personalized invisible orthodontic model cutting flexible production line and control method thereof |
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| CN201711119030.4A CN107745413B (en) | 2017-11-14 | 2017-11-14 | Intelligent personalized invisible orthodontic model cutting flexible production line and control method thereof |
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| CN107745413B true CN107745413B (en) | 2024-02-27 |
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| CN109987291A (en) * | 2019-04-04 | 2019-07-09 | 桐昆集团浙江恒通化纤有限公司 | A kind of anticollision control method of automatic packaging line pallet and pallet stopper |
| CN112571613B (en) * | 2020-12-04 | 2022-04-26 | 淄博昊祥模具科技有限公司 | Automatic grouting production line for hand mold manufacturing and hand mold manufacturing method |
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| CN203591338U (en) * | 2013-10-18 | 2014-05-14 | 上海涛创自动化科技有限公司 | Production line for hidden brace |
| CN204890211U (en) * | 2015-07-28 | 2015-12-23 | 浙江隐齿丽医学技术有限公司 | Facing automated processing assembly line |
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| CN207534940U (en) * | 2017-11-14 | 2018-06-26 | 青岛达芬奇科技有限公司 | Intelligent personalized stealth correction model cutting flexible production line |
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| US20060093982A1 (en) * | 2004-11-02 | 2006-05-04 | Huafeng Wen | Method and apparatus for manufacturing and constructing a dental aligner |
| WO2008048903A2 (en) * | 2006-10-16 | 2008-04-24 | Jack Keith Hilliard | System for producing orthodontic aligners by cnc machining |
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|---|---|---|---|---|
| CN203591338U (en) * | 2013-10-18 | 2014-05-14 | 上海涛创自动化科技有限公司 | Production line for hidden brace |
| CN204890211U (en) * | 2015-07-28 | 2015-12-23 | 浙江隐齿丽医学技术有限公司 | Facing automated processing assembly line |
| CN106934811A (en) * | 2017-03-21 | 2017-07-07 | 青岛兰信医学科技有限公司 | Manipulator cuts the space tracking precise positioning method of invisible orthotic device without bracket |
| CN207534940U (en) * | 2017-11-14 | 2018-06-26 | 青岛达芬奇科技有限公司 | Intelligent personalized stealth correction model cutting flexible production line |
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