CN109009499A - A kind of manpower bends orthodontic wire motion model method for building up - Google Patents
A kind of manpower bends orthodontic wire motion model method for building up Download PDFInfo
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- CN109009499A CN109009499A CN201810624692.5A CN201810624692A CN109009499A CN 109009499 A CN109009499 A CN 109009499A CN 201810624692 A CN201810624692 A CN 201810624692A CN 109009499 A CN109009499 A CN 109009499A
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- orthodontic wire
- manpower
- bends
- bent
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/02—Tools for manipulating or working with an orthodontic appliance
- A61C7/026—Tools for manipulating or working with an orthodontic appliance for twisting orthodontic ligature wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/02—Tools for manipulating or working with an orthodontic appliance
- A61C7/04—Tools for manipulating or working with an orthodontic appliance plier-type, e.g. pincers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
A kind of manpower bends orthodontic wire motion model method for building up, it is related to orthodontic wire and bends technical field.The present invention is according to orthodontist during bending orthodontic wire, the changing rule of orthodontist hand, analysis manpower bends the parameters of orthodontic wire, manpower is bent into the movement that orthodontic wire movement is reduced to orthodontic pliers, convenient for bend movement carry out Parameter Expression, the foundation that a kind of manpower bends orthodontic wire motion model is completed, the movement mapping model bent between the design and manpower and wire bending machine device people of robot for apery hand orthodontic wire is provided fundamental basis.
Description
Technical field:
The invention patent relates to a kind of manpowers to bend orthodontic wire motion model method for building up, belongs to orthodontic wire and bends skill
Art field.
Background technique:
In terms of Orthodontic Treatment, wearing orthodontic wire is the current method for comparing mainstream, and current orthodontic wire
It bends based on mainly being bent by hand with orthodontist, because the flexibility of manpower is good, doctor can be smooth by the cooperation of two hands
That completes various complexity bends movement.
It is curved for orthodontic wire with the fast development of robot technology and computer technology and the application in correction field
The robot of system successively occurs, in the majority with articulated type wire bending machine device people and Cartesian coordinate type wire bending machine device people currently on the market, but
It is all limited by its mechanical structure, causes the specific function Qu Wufa of numerous species to bend, manpower can flexibly bend various types
Specific function it is bent, therefore it is particularly important to design a kind of robot that apery hand bends orthodontic wire movement, imitative in order to design
The orthodontic wire that manpower bends orthodontic wire movement bends robot, it is necessary first to and it analyzes manpower and bends orthodontic wire movement, and
And it establishes manpower and bends orthodontic wire motion model.
Patent of invention content
In view of the above-mentioned problems, the present invention proposes that a kind of manpower bends orthodontic wire motion model method for building up, manpower is curved
Orthodontic wire movement processed is reduced to the movement of orthodontic pliers, and the orthodontic wire for bending orthodontic wire movement for apery hand bends robot
Design provide reference, and then realize orthodontic wire robot bend, the scheme that the present invention is taken in order to solve the above problem are as follows:
A kind of manpower bends orthodontic wire motion model method for building up, the specific implementation process of the method are as follows:
Step 1:
Simplify manpower structure functional character model, determine bent on orthodontic wire a little with the coordinate position of clamping point, into
And determine the functional character model of simplified manpower structure and the relative positional relationship of orthodontic wire, specially in orthodontic wire coordinate
It is OiUnder XYZ, manpower bends orthodontic wire motion profile, that is, simplifies the track of the functional character model of manpower structure, in XOiY is flat
Face intrinsic parameterization indicates that the functional character model pincers I for simplifying manpower structure mainly replace crucial finger control orthodontic wire to carry out
Bend movement, bend for i-th a little bend angle [alpha]i, bend circular arc curvature radius ri；Pincers II mainly replace orthodontic pliers to be responsible for bending
The characteristic parameter of the clamping of point, track can be indicated by the two neighboring distance bent a little on orthodontic wire, curved in i+1
System point place, bends orthodontic wire motion profile characteristic parameter by manpower: bending a little to a distance bent a little of i+1 for i-th
l(i, i+1), bend angle [alpha]i+1With bend circular arc curvature radius ri+1The characteristic model of expression is
Step 2:
Movement is bent as a unit with every step that manpower bends orthodontic wire, and orthodontic wire movement rail is bent based on manpower
Mark model determines the angle of bending, obtains the spatial attitude information of orthodontic wire, establish manpower and bend orthodontic wire unit motion
Model PointAi=[l(i-1,i),αi,ri,λi], the O under orthodontic wire coordinate systemiUnder XYZ, αiExpression bends point AiBe bent into
Shape angle, l(i-1, i)Indicate that (i-1)-th bends the length o'clock bent a little on orthodontic wire to i-th, riRepresentative bends circular arc
Radius of curvature, λiIndicate orthodontic wire bends surface i.e. OiX/Y plane or OiYZ plane or OiXZ plane；
Step 3:
The multiple manpowers bent a little for bending orthodontic wire the second sequence song are bent into orthodontic wire moving cell model, benefit
It is indicated with set, it is to bend what dot sequency was arranged according to bend forming by hand that dot sequency is bent in set, is bent a little
Set be represented by HandA=(PointA0, PointA1, PointA2...), A indicates the type of the second sequence song, A0It indicates
Second sequence bent first bends a little；HandA indicates that the manpower of the second sequence song A bends orthodontic wire motion track information collection.
The invention has the benefit that
1, a present invention analysis and the characteristics of summarize when manpower bends orthodontic wire orthodontic wire clamping point and bend, into
And determine the functional character model of simplified manpower structure and the relative positional relationship of orthodontic wire, convenient for manpower is bent orthodontic arch
The movement of silk is expressed under rectangular coordinate system.
2, the crucial finger that manpower bends orthodontic wire movement is reduced to the movement of two orthodontic pliers by the present invention, is simplified
The structure of manpower, and then the structure type that subsequent orthodontic wire bends robot is simplified, it is convenient for simple mechanical structure generation
Movement is bent for complicated manpower.
3, the present invention by the second sequence it is bent bend it is discrete turn to multiple set bent a little, convenient for orthodontic wire progress
Digital expression realizes that orthodontic wire bends robotization convenient for orthodontic wire parameter to be input in robot.
Detailed description of the invention:
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is that manpower bends orthodontic wire motion model method for building up schematic diagram；
Fig. 2 is that i+1 point bends process schematic；
Specific embodiment:
To keep the purposes, technical schemes and advantages of the invention patent more clear, below by shown in the accompanying drawings
Specific embodiment describes the invention patent, it should be appreciated that, these descriptions are merely illustrative, and be not intended to limit this hair
The range of bright patent, in addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessarily mixing
The concept of the invention patent of confusing.
As shown in Figure 1 and Figure 2, present embodiment uses following technical scheme: a kind of manpower bends orthodontic wire movement
Method for establishing model, the specific implementation process of the method are as follows:
Step 1:
Simplify manpower structure functional character model, determine bent on orthodontic wire a little with the coordinate position of clamping point, into
And determine the functional character model of simplified manpower structure and the relative positional relationship of orthodontic wire, specially in orthodontic wire coordinate
It is OiUnder XYZ, manpower bends orthodontic wire motion profile, that is, simplifies the track of the functional character model of manpower structure, in XOiY is flat
Face intrinsic parameterization indicates that the functional character model pincers I for simplifying manpower structure mainly replace crucial finger control orthodontic wire to carry out
Bend movement, bend for i-th a little bend angle [alpha]i, bend circular arc curvature radius ri；Pincers II mainly replace orthodontic pliers to be responsible for bending
The characteristic parameter of the clamping of point, track can be indicated by the two neighboring distance bent a little on orthodontic wire, curved in i+1
System point place, bends orthodontic wire motion profile characteristic parameter by manpower: bending a little to a distance bent a little of i+1 for i-th
l(i, i+1), bend angle [alpha]i+1With bend circular arc curvature radius ri+1The characteristic model of expression is
Step 2:
Movement is bent as a unit with every step of the curved silk of manpower, is based on the curved silk motion trajectory model of manpower, is determined bending
Angle, obtain the spatial attitude information of orthodontic wire, establish the curved silk unit motion model PointA of manpoweri=[l(i-1,i),αi,
ri,λi], the O under orthodontic wire coordinate systemiUnder XYZ, αiExpression bends point AiBend shape angles, l(i-1,i)Indicate (i-1)-th
Bend the length o'clock bent a little on orthodontic wire to i-th, riRepresent the radius of curvature for bending circular arc, λiIndicate orthodontic wire
Bend surface i.e. OiX/Y plane or OiYZ plane or OiXZ plane；
Step 3:
The multiple manpowers bent a little for bending orthodontic wire the second sequence song are bent into orthodontic wire moving cell model, benefit
It is indicated with set, it is to bend what dot sequency was arranged according to bend forming by hand that dot sequency is bent in set, is bent a little
Set be represented by HandA=(PointA0, PointA1, PointA2...), A indicates the type of the second sequence song, A0It indicates
Second sequence bent first bends a little；HandA indicates that the manpower of the second sequence song A bends orthodontic wire motion track information collection.
The advantages of basic principles and main features and the invention patent of the invention patent have been shown and described above, current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the invention patent is not restricted to the described embodiments
Only illustrate the principle of the invention patent, under the premise of not departing from the invention patent spirit and scope, the invention patent is also
It will have various changes and improvements, these changes and improvements are both fallen in claimed invention the scope of the patents.The invention patent
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (1)
1. a kind of manpower bends orthodontic wire motion model method for building up, it is characterised in that: the specific implementation process of the method
Are as follows:
Step 1:
The functional character model for simplifying manpower structure determines and bends on orthodontic wire a little and the coordinate position of clamping point, and then true
Surely simplify the functional character model of manpower structure and the relative positional relationship of orthodontic wire, specially in orthodontic wire coordinate system
OiUnder XYZ, manpower bends orthodontic wire motion profile, that is, simplifies the track of the functional character model of manpower structure, in XOiY plane
Intrinsic parameterization indicates that the functional character model for simplifying manpower structure clamps I, mainly replaces crucial finger control orthodontic wire progress curved
Braking is made, bend for i-th a little bend angle [alpha]i, bend circular arc curvature radius ri；Pincers II mainly replace orthodontic pliers to be responsible for bending a little
Clamping, the characteristic parameter of track can be indicated by the two neighboring distance bent a little on orthodontic wire, be bent in i+1
Point place bends orthodontic wire motion profile characteristic parameter by manpower: bending a little to a distance bent a little of i+1 for i-th
l(i, i+1), bend angle [alpha]i+1With bend circular arc curvature radius ri+1The characteristic model of expression is
Step 2:
Movement is bent as a unit with every step that manpower bends orthodontic wire, and orthodontic wire motion profile mould is bent based on manpower
Type determines the angle of bending, obtains the spatial attitude information of orthodontic wire, establish manpower and bend orthodontic wire unit motion model
PointAi=[l(i-1,i),αi,ri,λi], the O under orthodontic wire coordinate systemiUnder XYZ, αiExpression bends point AiBend forming angle
Degree, l(i-1, i)Indicate that (i-1)-th bends the length o'clock bent a little on orthodontic wire to i-th, riRepresent the curvature for bending circular arc
Radius, λiIndicate orthodontic wire bends surface i.e. OiX/Y plane or OiYZ plane or OiXZ plane；
Step 3:
The multiple manpowers bent a little for bending orthodontic wire the second sequence song are bent into orthodontic wire moving cell model, utilize collection
Closing and bending dot sequency to indicate, in set is according to the collection for bending what dot sequency was arranged, bending a little for bending forming by hand
Conjunction is represented by HandA=(PointA0, PointA1, PointA2...), A indicates the type of the second sequence song, A0Indicate second
Sequence bent first bends a little；HandA indicates that the manpower of the second sequence song A bends orthodontic wire motion track information collection.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624692.5A CN109009499A (en) | 2018-06-16 | 2018-06-16 | A kind of manpower bends orthodontic wire motion model method for building up |
| CN201910354545.5A CN109875702B (en) | 2018-06-16 | 2019-04-29 | Method for establishing motion model of arch wire for orthodontics by bending hands |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624692.5A CN109009499A (en) | 2018-06-16 | 2018-06-16 | A kind of manpower bends orthodontic wire motion model method for building up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109009499A true CN109009499A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810624692.5A Withdrawn CN109009499A (en) | 2018-06-16 | 2018-06-16 | A kind of manpower bends orthodontic wire motion model method for building up |
| CN201910354545.5A Active CN109875702B (en) | 2018-06-16 | 2019-04-29 | Method for establishing motion model of arch wire for orthodontics by bending hands |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910354545.5A Active CN109875702B (en) | 2018-06-16 | 2019-04-29 | Method for establishing motion model of arch wire for orthodontics by bending hands |
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| Country | Link |
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| CN (2) | CN109009499A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481308A (en) * | 2020-04-15 | 2020-08-04 | 哈尔滨理工大学 | Method for establishing model for predicting frictional force between orthodontic arch wire and bracket |
| CN111588494A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Orthodontic arch wire variable-angle dividing method based on bending point density |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7013191B2 (en) * | 1999-11-30 | 2006-03-14 | Orametrix, Inc. | Interactive orthodontic care system based on intra-oral scanning of teeth |
| US20040072120A1 (en) * | 2002-06-12 | 2004-04-15 | Lauren Mark D. | Mass-customized wire forming system |
| US20080254403A1 (en) * | 2007-04-10 | 2008-10-16 | Jack Keith Hilliard | System for cnc-machining fixtures to set orthodontic archwires |
| KR101658113B1 (en) * | 2014-12-29 | 2016-09-21 | 한라대학교산학협력단 | Method for calculating bending points and angles of orthodontic archwires using computer and program thereof |
| CN106803276B (en) * | 2017-01-16 | 2020-02-11 | 哈尔滨理工大学 | Personalized orthodontic arch wire curve interactive adjustment method |
| CN106803018B (en) * | 2017-01-16 | 2019-03-12 | 哈尔滨理工大学 | A kind of personalization orthodontic wire Parameter Expression method |
| CN107137152B (en) * | 2017-06-10 | 2020-11-13 | 哈尔滨理工大学 | First-sequence orthodontic arch wire bending parameter generation and bending method |
| CN107714203B (en) * | 2017-11-14 | 2020-03-10 | 哈尔滨理工大学 | Equal-angle-division orthodontic arch wire bending sequence planning method |
| CN107647925B (en) * | 2017-11-14 | 2020-02-21 | 哈尔滨理工大学 | Circular domain dividing method for orthodontic arch wire bending planning |
| CN107822722B (en) * | 2017-11-14 | 2020-03-31 | 哈尔滨理工大学 | Finite point searching and expanding method for orthodontic arch wire bending motion planning |
-
2018
- 2018-06-16 CN CN201810624692.5A patent/CN109009499A/en not_active Withdrawn
-
2019
- 2019-04-29 CN CN201910354545.5A patent/CN109875702B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481308A (en) * | 2020-04-15 | 2020-08-04 | 哈尔滨理工大学 | Method for establishing model for predicting frictional force between orthodontic arch wire and bracket |
| CN111588494A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Orthodontic arch wire variable-angle dividing method based on bending point density |
| CN111588494B (en) * | 2020-06-01 | 2021-07-09 | 哈尔滨理工大学 | Orthodontic arch wire variable-angle dividing method based on bending point density |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109875702A (en) | 2019-06-14 |
| CN109875702B (en) | 2020-08-04 |
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Application publication date: 20181218 |