CN109009500A - It is a kind of based on the bending of arch edgewise robot bent by hand and its to bend planing method - Google Patents
It is a kind of based on the bending of arch edgewise robot bent by hand and its to bend planing method Download PDFInfo
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- CN109009500A CN109009500A CN201810624693.XA CN201810624693A CN109009500A CN 109009500 A CN109009500 A CN 109009500A CN 201810624693 A CN201810624693 A CN 201810624693A CN 109009500 A CN109009500 A CN 109009500A
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- pincers
- robot
- bent
- bend
- bends
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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
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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
- A61C7/02—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
Abstract
It is a kind of based on the bending of arch edgewise robot bent by hand and its to bend planing method, it is related to orthodontic wire and bends technical field, it is a kind of that pincers I, pincers II, cylindrical coordinate turntable, four part of robot body's shell are included based on the bending of arch edgewise robot bent by hand, it bends planing method and bends information according to orthodontic wire, orthodontic wire strategy is bent based on manual, movement characteristic when orthodontic wire is bent in conjunction with robot, obtains and planing method is bent based on the orthodontic wire for bending strategy by hand.Technical essential are as follows: establish orthodontic wire bend a rectangular coordinate system, establish by hand curved silk unit motion model, establish robot and bend the curved silk motion information collection of a polar coordinate system, robot and obtain.
Description
Technical field:
The invention patent relates to a kind of based on the bending of arch edgewise robot bent by hand and its bends planing method, belongs to just
Abnormal bending of arch edgewise technical field.
Background technique:
Malocclusion has become one of big mouth disease in the world three, NITI Ω arch wire wear orthodontic wire be it is a kind of common and
Effective orthodontic treatment means, bending for orthodontic wire is the key that fixed orthodontics, correction specialist generally require compared with
Prolonged bending of arch edgewise training, it is horizontal to can be only achieved high standard orthodontic treatment, and with the influence of Digitized Manufacturing Technology,
Revolutionary variation just occurs for traditional oral cavity manufacturing processing technic, and orthodontic field also benefits from digitizing technique, and correction is rectified
The processing of arch wire in device is controlled to automation development, it is necessary to design a kind of robot bent for orthodontic wire.
Using orthodontic wire robot bend orthodontic wire be one automation bend process, need bending of arch edgewise machine
People automatically generates personalized orthodontic wire and bends program.Therefore, the robot of personalized orthodontic wire form bends movement
Project study is to realize that personalized orthodontic wire form digital model automatically generated bending of arch edgewise robot bends movement journey
The key of sequence, however bending for orthodontic wire is a complicated process, any step goes wrong in the process, can all cause
Failure is bent, it is highly difficult for realizing that the robot of personalized orthodontic wire form bends motion planning.But orthodontist utilizes
Bending strategy by hand but can successfully realize bending for personalized orthodontic wire, and it is by correction that current craft, which bends strategy,
Doctors, which continue to optimize, improve it bends what efficiency obtained, and therefore, research doctor bends orthodontic wire strategy by hand and melted
It is to realize that orthodontic wire automates the basis bent in motion planning that the robot for entering personalized orthodontic wire form, which is bent,.
Patent of invention content:
In view of the above-mentioned problems, the present invention proposes a kind of bending of arch edgewise robot and its bends planning side based on what is bent by hand
Method, with solve at present due to lacking bending of arch edgewise robot, orthodontic wire bends and a little bends planing method and cannot achieve correction
The problem of arch wire automation is bent.
It is a kind of based on the bending of arch edgewise planing method bent by hand, this method is applied to a kind of based on the arch wire bent by hand
Bend robot；
The scheme that the present invention is taken in order to solve the above problem are as follows: a kind of based on the bending of arch edgewise planning side bent by hand
Method, the specific implementation process of the method are as follows:
Step 1: establishing orthodontic wire bends a rectangular coordinate system:
During orthodontic wire is bent, bent a little with i-th of arch wire as former heart Oi, bent a little with i-th to i+1
The arch wire straightway bent a little is X-axis, using i-th point of bending of arch edgewise surface as XiOiYiFace, according to (i-1)-th bend point,
It bends point, i+1 for i-th and bends and a little establish the orthodontic wire of the right-hand rule and bend a rectangular coordinate system OiXiYiZi(i >=1),
It is respectively (x that (i-1)-th, which bends point, bends the coordinate that point, i+1 are bent a little for i-th,i-1, yi-1, zi-1)、(xi, yi, zi)、
(xi+1, yi+1, zi+1)。
Step 2: establishing curved silk unit motion model by hand:
According to the motion profile feature for bending orthodontic wire by hand, bending the movement that bends on a little at each with manpower is
One unit establishes curved silk unit motion model PointA by handi=[l(i-1,i),αi,ri,λi], it is bent in orthodontic wire a little straight
Angular coordinate system OiXiYiZiUnder, PointAiExpression bends point AiCoordinate (xi, yi, zi), riRepresent the curvature half that need to bend circular arc
DiameterαiExpression bends point AiThe angle that place need to be bentl(i,i+1)Indicate i-th it is curved
System point bends the length a little on orthodontic wire to i+1, and it is straight that i-th, which is bent, and a little bends a centre to i+1
The orthodontic wire of line segmentI-th is bent and a little bends a centre to i+1 as circle
The orthodontic wire of segmental arcλiIndicate that the surface that bends of orthodontic wire selects to be bent on which surface, when
zi+1=ziWhen=0, PointAiThe surface that bends at place is XOY, works as yi+1=yiWhen=0, PointAiThe surface that bends at place is XOZ,
Work as xi+1=xiWhen=0, PointAiThe surface that bends at place is YOZ.
Step 3: establishing robot bends a polar coordinate system:
Orthodontic wire bends and bends point (x under a rectangular coordinate systemi-1, yi-1, zi-1)、(xi, yi, zi)、(xi+1, yi+1,
zi+1) robot need to be converted into bend coordinate under a cylindrical-coordinate system, by being realized based on the bending of arch edgewise robot bent by hand
Orthodontic wire is bent, i.e., bends a building with (i-1)-th, i, i+1 and bend the correction that the robot that i-th bends a little bends process
The robot of arch wire 3 d pose bends a cylindrical-coordinate system Oi-ρiθiZi, bent a little with i-th as origin O, arrived with i-th point
I+1 bends the position that rectilinear direction a little is θ=0, and being bent using (i-1)-th, i, i+1 is a little to determine that bend plane sits as pole
Mark system OiρiθiThe plane at place；Derive that orthodontic wire bends a rectangular coordinate system OiXiYiZiUnder coordinate to change into robot curved
System point cylindrical-coordinate system Oi-ρiθiZiUnder coordinate transform formula realize as shown in Equation 1 and identical bend a coordinate under Two coordinate system
Conversion.
Step 4: the curved silk motion information collection of robot obtains:
Due to it is a kind of based on the bending of arch edgewise robot bent by hand gather around there are two end bend actuator clamp I and clamp
II, folding can be realized respectively and clamp two kinds of functions by clamping I during the bending process and clamping II, therefore two ends bend execution
Device difference clamps and the combination of folding condition, is different to the mode of operation of arch wire, therefore, bends movement with the every step of robot
As a unit, includes two end effectors, 4 kinds of assembled states in the curved silk moving cell parameter model of robot, that is, clamp I
It clamps and pincers II clamps, realization bends operation；Pincers I clamp and II folding of pincers, and I folding of pincers and pincers II clamp, realize and clamp point
Set adjustment；II folding of I folding of pincers and pincers, realizes robot motion to initial position.
The curved silk moving cell parameter model of a robot is bent at i-th, as shown in Equation 2:
In formula, the meaning of Bend Δ Ai are as follows: the movement that bends a little, the movement of each freedom degree of robot are bent at i-th
Distance or the angle of rotation, and realize to bend and act rotated angle.1Openi/1CloseiIndicate that pincers I are bent at i-th
The folding of point or clamped condition, Δ1βiIt indicates to bend the angle that a pincers I rotate about the z axis, Δ i-th1LiIt indicates to bend a little for i-th
Pincers I are along cylindrical-coordinate system Oi-ρiθiZiThe distance of lower polar axis ρ translation, Δ1λiIt indicates to bend an angle for silk rotation i-th,2Open/2Close indicates to bend the folding of pincers II or a clamped condition, Δ i-th2βiIt indicates to bend a pincers II about the z axis i-th
The angle of rotation, Δ2LiIndicate pincers II along the distance of Z axis translation.
A cylindrical-coordinate system O is bent according to roboti-ρiθiZiLower orthodontic wire bends the derivation of curved silk motion information a little
The curved silk motion information of robot, derivation formula are as shown in Equation 3 out.
In formula, g (αi+1) indicate that bending angle is αi+1When springback angle angle value, g (αi+1) can be obtained by empirical value, h is pincers
II distance moved along Z-direction can be derived from i-th by formula 3 and bend the curved silk moving cell parameter mould of Dian Chu robot
Type Bend Δ Ai, record respectively bend at the curved silk moving cell parameter model Bend Δ Ai (i >=1) of robot, obtain machine
Curved silk moving cell model information collection Robot Δ A, Robot Δ A=(the Bend Δ A of people0,BendΔA1,...,BendΔAi),
Robot Δ A is bending sequentially for robot bending method.
The invention has the benefit that
1, the present invention with by hand bend orthodontic wire bend strategy for foundation, realize orthodontic wire bend a little bend rule
It draws, is that for many years verifying, optimization are formed repeatedly by orthodontists due to bending strategy by hand, to bend plan by hand
Slightly foundation planing method generate bend sequence more rationally, bend it is more efficient.
2, the present invention be extracted including bend circular arc radius of curvature, bend angle, bend a little between on orthodontic wire
Length, orthodontic wire four for bending surface bend orthodontic wire important parameter, fully considered that influence orthodontic wire is bent
The factor of precision can guarantee the forming quality according to the bent orthodontic wire of this method.
3, the present invention bends the unit for a little needing to plan for one with each, and complicated orthodontic wire is divided into several
Unit simplifies and bends planning process, improves the planning efficiency for bending planing method.
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 a kind of based on the bending of arch edgewise planing method flow chart bent by hand；
Fig. 2 is correction bending of arch edgewise point rectangular coordinate system schematic diagram；
Fig. 3 is correction bending of arch edgewise point polar coordinate system schematic diagram；
Fig. 4 is a kind of based on the bending of arch edgewise robot architecture's general illustration bent by hand；
Fig. 5 is I structure shaft side figure of pincers；
Fig. 6 is I collet decomposition diagram of pincers；
Fig. 7 is II structure shaft side figure of pincers；
Fig. 8 is II schematic diagram of internal structure of pincers；
Fig. 9 is II decomposition diagram of pincers；
Figure 10 is cylindrical coordinate turntable schematic diagram of internal structure；
Figure 11 is a kind of based on the bending of arch edgewise robot body's shell schematic diagram bent by hand；
Figure 12 establishes schematic diagram based on the bending of arch edgewise robot cylindrical-coordinate system bent by hand to be a kind of.
In figure: 1, clamping I；2, II is clamped；3, cylindrical coordinate turntable；4, robot body's shell；5, arch wire；1-1, I lead screw of pincers
Guide rail slide unit；1-2, I lead screw of pincers；1-3, I rotation driving gear of pincers；1-4, I conical chuck of pincers；1-4-1, collet shell；1-4-
2, collet sandwich；1-4-3, collet main shaft；1-5, pincers I clamp driven gear；1-6, pincers I clamp driving gear；1-7, retaining ring；1-
8, spring；1-9, shift fork；1-10, push rod；1-11, I linear motor push rod of pincers；1-12, sliding retaining ring；1-13, pincers I clamp electricity
Machine；1-14, I rotation driven gear of pincers；1-15, I bracket of pincers；1-16, I rotating electric machine of pincers；1-17, I spindle motor of pincers；1-18,
Clamp I feed screw nut；1-19, I live spindle of pincers；1-20, I clamping spindle of pincers；1-21, wire feed entrance；2-1, II moveable jaws of pincers；
2-1-1, movable wedge block；2-2, II regular jaw of pincers；2-3, grip slide；2-3-1, wedge block is clamped；2-4, pincers II
Linear motor push rod；2-5, linear motor；2-6, II rotation driven gear of pincers；2-7, II shell of pincers；2-8, II lead screw of pincers；2-9,
Clamp II spindle motor；2-10, II feed screw nut of pincers；2-11, II rotation driving gear of pincers；2-12, II rotating electric machine of pincers；2-13,
Reset spring；3-1, turntable motor；3-2, turntable driving gear；3-3, turntable；3-4, turntable driven gear；4-1, pedestal；4-
2, annular sliding door；4-3, annular outer cover；4-4, body supports；4-5, shell pillar；4-6, connecting base plate；4-7, cover top portion；
5, orthodontic wire.
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, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, this specific embodiment party
Formula uses following technical scheme:
Described is a kind of based on the bending of arch edgewise robot bent by hand, by pincers I 1, pincers II 2, cylindrical coordinate turntable 3, machine
4 four part of device human agent shell composition, it is characterised in that: the I lead screw guide rails slide unit 1-1 of pincers in the pincers I 1 passes through bolt and column
3 intermediate station 3-3's of coordinate system turntable is connected, and the turntable 3-3 of cylindrical coordinate turntable 3 passes through bolt and robot body's shell 4
Internal connecting base plate 4-6 is connected, and the cover top portion being fixed on outside robot body's shell 4 is bolted in pincers II 2
4-7；The pincers I 1, it includes: I lead screw guide rails slide unit 1-1 of pincers, I lead screw 1-2 of pincers, I rotation driving gear 1-3 of pincers, I cone of pincers
Clevis head 1-4, collet shell 1-4-1, collet sandwich 1-4-2, collet main shaft 1-4-3, pincers I clamp driven gear 1-5, I folder of pincers
Tight driving gear 1-6, retaining ring 1-7, spring 1-8, shift fork 1-9, push rod 1-10, I linear motor push rod 1-11 of pincers, sliding retaining ring 1-
12, I clamping motor 1-13, I rotation driven gear 1-14 of pincers, I bracket 1-15 of pincers, I rotating electric machine 1-16 of pincers, pincers I lead screw electricity are clamped
Machine 1-17, I feed screw nut 1-18 of pincers, I live spindle 1-19 of pincers, pincers I clamping spindle 1-20, wire feed entrance 1-21, clamp I lead screw 1-
2 are mounted in I lead screw guide rails slide unit 1-1 of pincers by peg-in-hole assembly, and I feed screw nut 1-18 of pincers passes through screw thread phase with I lead screw 1-2 of pincers
Connection, the end that I spindle motor 1-17 of pincers is mounted on I lead screw 1-2 of pincers by clamping I lead screw guide rails slide unit 1-1, with I, driving pincers
The motor shaft rotation around I spindle motor 1-17 of pincers of thick stick 1-2, so that I feed screw nut 1-18 of pincers realizes the axis along I lead screw 1-2 of pincers
It moves left and right, the bottom surface for clamping I bracket 1-15 is connected by bolt with I feed screw nut 1-18 of pincers, and I rotating electric machine 1-16 is clamped
It completes to assemble by I bracket 1-15 of pincers and I rotation driving gear 1-3 of pincers, be rotated with I rotation driving gear 1-3 of driving pincers around pincers I
The motor shaft of motor 1-16 rotates, and I rotation driven gear 1-14 of pincers, pincers I clamp driven gear 1-5 and I conical chuck 1-4 of pincers is equal
It is mounted on I live spindle 1-19 of pincers, I live spindle 1-19 of pincers is hollow shaft, wherein I rotation driven gear 1-14 of pincers is mounted on
It clamps inside I bracket 1-15, rotates driving gear 1-3 with pincers I and be meshed, form a pair of engaged gears, pincers I clamp driven gear 1-
5 and I conical chuck 1-4 of pincers is mounted on outside I bracket 1-15 of pincers, and wire feed entrance 1-21 is located at the left side of I live spindle 1-18 of pincers,
Orthodontic wire 5 passes through the inside of I live spindle 1-19 of pincers by wire feed entrance 1-21, orthodontic wire 5 to be bending can be sent
To the I conical chuck 1-4 of pincers for being located at I end live spindle 1-19 of pincers, the wire feed link of robot is completed, wherein clamping I tapered clamp
Head 1-4 be made of collet shell 1-4-1, collet sandwich 1-4-2, collet main shaft 1-4-3, collet shell 1-4-1 by screw thread with
Collet main shaft 1-4-3 is connected, and collet sandwich 1-4-2 is located at the centre of rotary chuck shell 1-4-1 and collet main shaft 1-4-3,
When rotating clockwise collet shell 1-4-1, reduced space between collet shell 1-4-1 and collet main shaft 1-4-3 presss from both sides at this time
Extruding of the head sandwich 1-4-2 by collet shell 1-4-1, so that collet sandwich 1-4-2 keeps clamped condition, to realize to correction
The clamping of arch wire 5, conversely, rotary chuck sandwich 1-4-2 realizes the release to orthodontic wire 5 counterclockwise；Pincers I clamp passive tooth
Wheel 1-5 is meshed with I clamping driving gear 1-6 of pincers, forms a pair of engaged gears, and I clamping motor 1-13 of pincers is connected through a screw thread
It is mounted on the upper top surface of I bracket 1-15 of pincers, the main shaft for clamping I clamping motor 1-13 is connected with I clamping spindle 1-20 of pincers, with driving
I clamping spindle 1-20 is clamped around axial-rotation, shift fork 1-9, sliding retaining ring 1-12, spring 1-8, retaining ring 1-7 and pincers I clamp driving tooth
Wheel 1-6 by peg-in-hole assembly from left to right successively be installed in pincers I clamping spindle 1-20 on, shift fork 1-9 pass through bolt and cunning
Dynamic retaining ring 1-12 is connected, and spring 1-8 is embedded in sliding retaining ring 1-12 and retaining ring 1-7, and retaining ring 1-7 passes through bolt and pincers I
It clamps driving gear 1-6 to be connected, I clamping spindle 1-20 of pincers is equipped with the shaft shoulder far from the end in electric machine main shaft direction, for limiting
The position of Assembly part is clamped on I clamping spindle 1-20, the end push rod 1-10 is equipped with I linear motor push rod 1-11 of pincers, push rod
1-10 is connected with the shift fork 1-9 of push rod 1-10 vertical lower, and I linear motor push rod 1-11 of pincers is placed in I clamping motor 1- of pincers
On 13, when clamping I linear motor push rod 1-11 promotion or retracting push rod 1-10, the shift fork 1-9 being connected with push rod 1-10 can band
Dynamic sliding retaining ring 1-12, spring 1-8, retaining ring 1-7 and pincers I clamp driving gear 1-6 and axially move left and right along I clamping spindle 1-20 of pincers
It is dynamic, and then control I clamping driving gear 1-6 of pincers and I clamping driven gear 1-5 of pincers engages situation, in addition, clamping I clamping motor
1-13 can drive pincers I to clamp driven gear 1-5 around pincers I clamping spindle 1-20 rotation, clamp driven gear with pincers I to control
The up time rotation or inverse time rotation of 1-5 connected I conical chuck 1-4 of pincers, finally realizes the clamping to orthodontic wire 5 and pine
It opens.
Further, the pincers II 2, it includes: to clamp II moveable jaws 2-1, movable wedge block 2-1-1, pincers II to consolidate
Determine jaw 2-2, grip slide 2-3, clamp wedge block 2-3-1, II linear motor push rod 2-4 of pincers, linear motor 2-5, pincers II
Rotate driven gear 2-6, II shell 2-7 of pincers, II lead screw 2-8 of pincers, II spindle motor 2-9 of pincers, II feed screw nut 2-10 of pincers, pincers II
Driving gear 2-11, pincers II rotating electric machine 2-12, reset spring 2-13 are rotated, is vertically downward ginseng to clamp II moveable jaws 2-1
Direction is examined, II spindle motor 2-9 of pincers is mounted on the top of II shell 2-7 of pincers, II lead screw 2-8 is clamped with driving, wherein clamping II lead screw
2-8 and II feed screw nut 2-10 of pincers are connected through a screw thread cooperation, and clamping II lead screw 2-8 by pincers II spindle motor 2-9 driving can be with
Realize that II feed screw nut 2-10 of pincers is moved up and down along II lead screw 2-8 axis direction of pincers；Linear motor 2-5, II rotation passive tooth of pincers
Wheel 2-6, pincers II rotation driving gear 2-11 and II rotating electric machine 2-12 of pincers are installed in II feed screw nut 2-10 of pincers, wherein
It clamps II rotating electric machine 2-12 and is connected with II rotation driving gear 2-11 of pincers by shaft hole matching, II rotation driving gear 2-11 of pincers
Driven gear 2-6 is rotated with pincers II to be meshed, and forms a pair of engaged gears, to realize the rotation of II rotation driven gear 2-6 of pincers,
In addition, linear motor 2-5 is installed in II rotation driven gear 2-6 of pincers by shaft hole matching, II linear motor push rod 2-4 is clamped
It is mounted in linear motor 2-5, under the action of II rotation driven gear 2-6 of linear motor 2-5 and pincers, II linear motor of pincers is pushed away
Bar 2-4 can be realized to be rotated around the axis that pincers II rotate driven gear 2-6, and can rotate driven gear 2-6's along pincers II
Axis is translated；Grip slide 2-3, which is bolted, to be fixed on II linear motor push rod 2-4 of pincers, on grip slide 2-3
It equipped with clamping wedge block 2-3-1, and clamps and movable wedge block 2-1-1 is housed on II moveable jaws 2-1, when clamping II linear motor
When push rod 2-4 is released by linear motor 2-5, clamps wedge block 2-3-1 and movable wedge block 2-1-1 and squeeze, push
It is mobile to II direction regular jaw 2-2 of pincers to clamp II moveable jaws 2-1, the clamping of II 2 pairs of orthodontic wires 5 of pincers is realized, when pincers II
When linear motor push rod 2-4 is retracted by linear motor 2-5, clamps wedge block 2-3-1 and movable wedge block 2-1-1 and occur to divide
From reset spring 2-13 will clamp II moveable jaws 2-1 and push away II regular jaw 2-2 of pincers, realize II 2 pairs of orthodontic wires 5 of pincers
It unclamps.
Further, the cylindrical coordinate turntable 3 include: turntable motor 3-1, turntable driving gear 3-2, turntable 3-3,
Turntable driven gear 3-4, turntable motor 3-1 are connected by peg-in-hole assembly with turntable driving gear 3-2, to drive turntable actively
Gear 3-2 is rotated around the motor shaft of turntable motor 3-1, and turntable driving gear 3-2 is meshed with turntable driven gear 3-4, is formed
A pair of engaged gears, turntable 3-3 are bolted with turntable driven gear 3-4 and are fixed to each other, to realize turntable driven gear
3-4 drives turntable 3-3 to rotate around the center turntable 3-3.
Further, robot body's shell 4 includes: pedestal 4-1, annular sliding door 4-2, annular outer cover 4-3, master
Body supports 4-4, shell pillar 4-5, connecting base plate 4-6, cover top portion 4-7, and the machine of being mounted on is bolted in connecting base plate 4-6
The inside of device human agent shell 4, cover top portion 4-7 are bolted the outside for being mounted on robot body's shell 4, pass through ring
Shape sliding door 4-2 can realize the folding of robot body's shell 4, to protect operator and based on the bending of arch edgewise machine bent by hand
Device people；Body supports 4-4 and shell pillar 4-5 are used to support robot body's shell 4.
Further, it when automatic feeding task is completed, needs to complete bow based on the bending of arch edgewise robot bent by hand
Silk bends the specific embodiment of task are as follows: firstly, it is different according to the type for bending arch wire, therefore, orthodontic wire machine
The specific implementation sequence of people may difference, present embodiment have been carried out mainly for the function that bends of the orthodontic wire robot
Additional information；After the completion of automatic feeding task execution, start to execute bending of arch edgewise task, at this point, orthodontic wire 5 is placed in pincers
It in I live spindle 1-19 and has sent to the working region of orthodontic wire robot, the I conical chuck 1-4 of pincers of pincers I 1 is for just
Abnormal arch wire 5 is in releasing orientation, and pincers II 2 are in clamped condition for orthodontic wire 5, during bending arch wire, need by
The I conical chuck 1-4 of pincers for clamping I 1 is adjusted to the state for clamping and rotating, and therefore, I linear motor push rod 1-11 of control pincers will first
Push rod 1-10 is released, and is transmitted by the power between shift fork 1-9, sliding retaining ring 1-12, spring 1-8 and retaining ring 1-7, so that I folder of pincers
Tight driving gear 1-6 and I clamping driven gear 1-5 of pincers are in meshing state, at this point, I clamping motor 1-13 of starting pincers makes pincers I
It clamps driving gear 1-6 to rotate counterclockwise, the pincers I for clamping driving gear 1-6 external toothing with pincers I clamp driven gear 1-5 up time
Needle rotation, so that clamping the I conical chuck 1-4 of pincers that driven gear 1-5 phase is fixed with pincers I is similarly in the state of rotating clockwise,
And then the reduced space between collet shell 1-4-1 and collet main shaft 1-4-3, collet sandwich 1-4-2 is by collet shell at this time
The extruding of 1-4-1 so that collet sandwich 1-4-2 keeps clamped condition, to realize clamping to orthodontic wire 5, be robot around
Winding arch wire processed is prepared, at this point, starting clamps I rotating electric machine 1-16 and rotates counterclockwise, I rotation driving tooth of driving pincers
It takes turns 1-3 and the pincers I of phase external toothing rotates driven gear 1-14, so that I live spindle 1-19 of pincers is rotated clockwise, realize just
Abnormal arch wire 5 can rotate during the bending process around itself, therefore, I clamping motor 1-13 of pincers and the starting for clamping I rotating electric machine 1-16,
So that pincers I 1 realize rotation and clamping to orthodontic wire 5, at this point, demand is bent according to difference, it is suitable for the control of pincers I 1
Sequence there may be difference, during orthodontic wire occurs and bends when interference phenomenon, by starting cylindrical coordinate turntable 3
Turntable motor 3-1 to drive the turntable driven gear 3-4 of turntable driving gear 3-2 and phase external toothing, and then revolving-turret 3-3,
I 1 overall mechanisms of pincers can be achieved and be rotated about the center of rotation 0 ° to 360 °, flexibly bending to orthodontic wire 5 is completed, in addition, such as
When needing along the translation in 5 wire feed direction of orthodontic wire, I spindle motor 1-17 of pincers can be started, I lead screw 1-2 is clamped with driving, completes pincers
Therefore translation of I 1 overall mechanisms along 5 direction of orthodontic wire is appointed being bent based on the bending of arch edgewise robot completion bent by hand
When business, pincers I 1 can realize rotation and clamping to orthodontic wire 5, and in addition pincers I 1, which can also be realized, is rotated about the center of rotation and along just
The translation in abnormal 5 wire feed direction of arch wire, improves the flexibility bent, in the case where clamping the effect of I 1 overall mechanisms, it can be achieved that orthodontic wire 5
Feeding and pose adjustment；During the bending process, pincers II 2 are in addition to that can complete the clamping to orthodontic wire 5, moreover it is possible to by opening
II rotating electric machine 2-12 of dynamic pincers, II rotation driving gear 2-11 of driving pincers and the pincers II of phase external toothing rotate driven gear 2-6, with
Realize that II moveable jaws 2-1 of pincers and II regular jaw 2-2 of pincers are rotated integrally, the interference phenomenon during orthodontic wire occurs and bends
When, the rotation angle of II regular jaw 2-2 overall mechanism of setting II moveable jaws 2-1 of pincers and pincers avoids II 2 hair of pincers I 1 and pincers
Raw collision, completion bend the point that bends a certain on orthodontic wire 5；Therefore, in conjunction in wire feed task pincers II 2 executive mode,
Clamp II 2 can realize along 5 vertical direction of orthodontic wire move and clamping and release for orthodontic wire 5, pass through setting rotation
Gyration can avoid the interference phenomenon during bending of arch edgewise；
To sum up, the pincers I 1 based in the bending of arch edgewise robot bent by hand can realize the feeding of orthodontic wire 5
With the adjustment of pose, pincers II 2 therein can realize the clamping of orthodontic wire 5, while for during avoiding orthodontic wire from bending
Interference phenomenon, in the case where pincers I 1 and pincers II 2 cooperate, pincers II 2 pass through II moveable jaws 2-1 of pincers and 2-2 pairs of II regular jaw of pincers
The clamping of orthodontic wire 5, then by the adjustment of I 1 pairs of 5 poses of orthodontic wire of pincers, may make orthodontic wire 5 around clamping II moveable jaws
2-1 and pincers II regular jaw 2-2 completion are bent, and then shape arch wire.
It is a kind of based on the bending of arch edgewise planing method bent by hand, this method is applied to a kind of based on the arch wire bent by hand
Bend robot；
It is a kind of based on the bending of arch edgewise planing method bent by hand, the specific implementation process of the method are as follows:
Step 1: establishing orthodontic wire bends a rectangular coordinate system:
During orthodontic wire is bent, bent a little with i-th of arch wire as former heart Oi, bent a little with i-th to i+1
The arch wire straightway bent a little is X-axis, using i-th point of bending of arch edgewise surface as XiOiYiFace, according to (i-1)-th bend point,
It bends point, i+1 for i-th and bends and a little establish the orthodontic wire of the right-hand rule and bend a rectangular coordinate system OiXiYiZi(i >=1),
It is respectively (x that (i-1)-th, which bends point, bends the coordinate that point, i+1 are bent a little for i-th,i-1, yi-1, zi-1)、(xi, yi, zi)、
(xi+1, yi+1, zi+1), the foundation of a rectangular coordinate system is bent by orthodontic wire, it can be to step 2 curved silk unit motion by hand
Each parameter in model carries out Parameter Expression.
Step 2: establishing curved silk unit motion model by hand:
According to the motion profile feature for bending orthodontic wire by hand, bending the movement that bends on a little at each with manpower is
One unit establishes curved silk unit motion model PointA by handi=[l(i-1,i),αi,ri,λi], it is bent in orthodontic wire a little straight
Angular coordinate system OiXiYiZiUnder, PointAiExpression bends point AiCoordinate (xi, yi, zi), riRepresent the curvature half that need to bend circular arc
DiameterαiExpression bends point AiThe angle that place need to be bentl(i,i+1)It indicates i-th
It bends and a little bends length a little on orthodontic wire to i+1, a little bend a centre to i+1 is a for bending for i-th and be
The orthodontic wire of straightwayFor bending for i-th a centre a little is bent to i+1 be
The orthodontic wire of arc sectionλiIndicate that the surface that bends of orthodontic wire selects to be bent on which surface,
Work as zi+1=ziWhen=0, PointAiThe surface that bends at place is XOY, works as yi+1=yiWhen=0, PointAiThe surface that bends at place is
XOZ works as xi+1=xiWhen=0, PointAiThe surface that bends at place is YOZ, can determine orthodontic arch by curved silk unit motion model
Silk respectively bend a little bend parameter: the radius of curvature that need to bend circular arc, the angle that need to be bent bend that a little to arrive i+1 a curved for i-th
Length of the system point on orthodontic wire, selection are bent on which surface, and to it is a bend a little bend parameter in correction
Bending of arch edgewise point rectangular coordinate system OiXiYiZiLower carry out Parameter Expression, is Step 3: orthodontic wire is bent parameter by step 4
It is converted into robot and bends action parameter and be prepared.
Step 3: establishing robot bends a polar coordinate system:
Orthodontic wire bends and bends point (x under a rectangular coordinate systemi-1, yi-1, zi-1)、(xi, yi, zi)、(xi+1, yi+1,
zi+1) robot need to be converted into bend coordinate under a cylindrical-coordinate system, by being realized based on the bending of arch edgewise robot bent by hand
Orthodontic wire is bent, i.e., bends a building with (i-1)-th, i, i+1 and bend the correction that the robot that i-th bends a little bends process
The robot of arch wire 3 d pose bends a cylindrical-coordinate system Oi-ρiθiZi, bent a little with i-th as origin O, arrived with i-th point
I+1 bends the position that rectilinear direction a little is θ=0, and with (i-1)-th, i, it is a little to determine that bending plane is that pole is sat that i+1, which bend,
Mark system OiρiθiThe plane at place；Derive that orthodontic wire bends a rectangular coordinate system OiXiYiZiUnder coordinate to change into robot curved
System point cylindrical-coordinate system Oi-ρiθiZiUnder coordinate transform formula realize as shown in Equation 1 and identical bend a coordinate under Two coordinate system
Conversion.
A cylindrical-coordinate system O is bent by roboti-ρiθiZiFoundation, can be realized orthodontic wire and bend a position and exist
Robot bends the expression under a cylindrical-coordinate system, and using Formula of Coordinate System Transformation, orthodontic wire can be bent to a rectangular coordinate system
OiXiYiZiUnder coordinate change into robot and bend a cylindrical-coordinate system Oi-ρiθiZiUnder coordinate, bend fortune for step 4 robot
The acquisition and solution of dynamic information are prepared.
Step 4: the curved silk motion information collection of robot obtains:
Due to gathered around based on the bending of arch edgewise robot bent by hand there are two end bend actuator clamp I with clamp II,
Pincers I and pincers II can realize folding respectively and clamp two kinds of functions during bending, therefore two ends bend actuator not
With clamp and folding condition combination, the mode of operation of arch wire is different, therefore, using the every step of robot bend movement as
One unit, includes two end effectors, 4 kinds of assembled states in the curved silk moving cell parameter model of robot, that is, clamps I and clamp
It is clamped with pincers II, realization bends operation；Pincers I clamp and II folding of pincers, and I folding of pincers and pincers II clamp, and realize clamping point position tune
It is whole；II folding of I folding of pincers and pincers, realizes robot motion to initial position.
The curved silk moving cell parameter model of a robot is bent at i-th, as shown in Equation 2:
In formula, the meaning of Bend Δ Ai are as follows: the movement that bends a little, the movement of each freedom degree of robot are bent at i-th
Distance or the angle of rotation, and realize to bend and act rotated angle.1Openi/1CloseiIndicate that pincers I are bent at i-th
The folding of point or clamped condition, Δ1βiIt indicates to bend the angle that a pincers I rotate about the z axis, Δ i-th1LiIt indicates to bend a little for i-th
Pincers I are along cylindrical-coordinate system Oi-ρiθiZiThe distance of lower polar axis ρ translation, Δ1λiIt indicates to bend an angle for silk rotation i-th,2Open/2Close indicates to bend the folding of pincers II or a clamped condition, Δ i-th2βiIt indicates to bend a pincers II about the z axis i-th
The angle of rotation, Δ2LiIndicate pincers II along the distance of Z axis translation.
A cylindrical-coordinate system O is bent according to roboti-ρiθiZiLower orthodontic wire bends the derivation of curved silk motion information a little
The curved silk motion information of robot, derivation formula are as shown in Equation 3 out.
In formula, g (αi+1) indicate that bending angle is αi+1When springback angle angle value, g (αi+1) can be obtained by empirical value, h is pincers
II distance moved along Z-direction can be derived from i-th by formula 3 and bend the curved silk moving cell parameter mould of Dian Chu robot
Type Bend Δ Ai, record respectively bend at the curved silk moving cell parameter model Bend Δ Ai (i >=1) of robot, obtain machine
Curved silk moving cell model information collection Robot Δ A, Robot Δ A=(the Bend Δ A of people0,BendΔA1,...,BendΔAi),
Robot Δ A is bending sequentially for robot bending method, can be according to robot based on the bending of arch edgewise robot bent by hand
Bending method bends in sequence Robot Δ A and bends movement parameter, carries out automation to orthodontic wire and bends.
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 (4)
1. it is a kind of based on the bending of arch edgewise robot bent by hand, by I (1) of pincers, pincers II (2), cylindrical coordinate turntable (3), machine
(4) four part of human agent's shell composition, it is characterised in that: the I lead screw guide rails slide unit (1-1) of pincers in I (1) of the pincers passes through bolt
It is connected with the turntable (3-3) of cylindrical coordinate turntable (3), the turntable (3-3) of cylindrical coordinate turntable (3) passes through bolt and robot
The internal connecting base plate (4-6) of main body cover (4) is connected, and II (2) of pincers are bolted on robot body's shell (4) outside
The cover top portion (4-7) in portion；The pincers I (1) belong to cylindrical coordinates formula, it includes: I lead screw guide rails slide unit (1-1) of pincers, I, pincers
Thick stick (1-2), I rotation driving gear (1-3) of pincers, pincers I conical chuck (1-4), collet shell (1-4-1), collet sandwich (1-4-
2), collet main shaft (1-4-3), pincers I clamp driven gear (1-5), pincers I clamp driving gear (1-6), retaining ring (1-7), spring
(1-8), shift fork (1-9), push rod (1-10), I linear motor push rod (1-11) of pincers, sliding retaining ring (1-12), I clamping motor of pincers
I rotation driven gear (1-14) of (1-13), pincers, pincers I bracket (1-15), pincers I rotating electric machine (1-16), I spindle motor (1- of pincers
17) I feed screw nut (1-18), pincers I live spindle (1-19), pincers I clamping spindle (1-20), wire feed entrance (1-21), pincers I, are clamped
Lead screw (1-2) is mounted in I lead screw guide rails slide unit (1-1) of pincers by peg-in-hole assembly, I lead screw of pincers I feed screw nut (1-18) and pincers
(1-2) is connected by screw thread, and pincers I spindle motor (1-17) are mounted on I lead screw (1- of pincers by clamping I lead screw guide rails slide unit (1-1)
2) end, to drive motor shaft rotation of the pincers I lead screw (1-2) around pincers I spindle motor (1-17), so that I feed screw nut (1- of pincers
18) realize that the axial direction along pincers I lead screw (1-2) moves left and right, the bottom surface of pincers I bracket (1-15) passes through I lead screw spiral shell of bolt and pincers
Female (1-18) is connected, and pincers I rotating electric machine (1-16) are completed to fill by pincers I bracket (1-15) and I rotation driving gear (1-3) of pincers
Match, to drive I rotation driving gear (1-3) of pincers around the motor shaft rotation of pincers I rotating electric machine (1-16), I rotation driven gear of pincers
(1-14), pincers I clamp driven gear (1-5) and pincers I conical chuck (1-4) are installed on pincers I live spindle (1-19), pincers I
Live spindle (1-19) is hollow shaft, wherein I rotation driven gear (1-14) of pincers is mounted on pincers I bracket (1-15) inside, with pincers I
Rotation driving gear (1-3) is meshed, and forms a pair of engaged gears, and pincers I clamp driven gear (1-5) and I conical chuck (1- of pincers
4) it is mounted on pincers I bracket (1-15) outside, wire feed entrance (1-21) is located at the left side of pincers I live spindle (1-18), orthodontic wire
(5) inside that pincers I live spindle (1-19) are passed through by wire feed entrance (1-21), orthodontic wire (5) to be bending can be sent
To I conical chuck of pincers (1-4) for being located at pincers end I live spindle (1-19), the wire feed of robot is completed, wherein clamping I tapered clamp
Head (1-4) is made of collet shell (1-4-1), collet sandwich (1-4-2), collet main shaft (1-4-3), collet shell (1-4-1)
It is connected by screw thread with collet main shaft (1-4-3), collet sandwich (1-4-2) is located at rotary chuck shell (1-4-1) and collet
The centre of main shaft (1-4-3), when rotating clockwise collet shell (1-4-1), collet shell (1-4-1) and collet main shaft (1-
Reduced space between 4-3), extruding of the collet sandwich (1-4-2) by collet shell (1-4-1) at this time, so that collet sandwich
(1-4-2) keeps clamped condition, to realize the clamping to orthodontic wire (5), conversely, rotary chuck sandwich (1-4-2) counterclockwise
Realize the release to orthodontic wire (5)；Pincers I clamp driven gear (1-5) and are meshed with I clamping driving gear (1-6) of pincers, shape
Meshing gear in a pair, pincers I clamping motor (1-13) are connected through a screw thread the upper top surface for being mounted on pincers I bracket (1-15), I folder of pincers
The main shaft of tight motor (1-13) is connected with pincers I clamping spindle (1-20), with driving pincers I clamping spindle (1-20) around axial rotation
Turn, shift fork (1-9), sliding retaining ring (1-12), spring (1-8), retaining ring (1-7) and pincers I clamp driving gear (1-6) and pass through axis hole
Assembly from left to right successively be installed in pincers I clamping spindle (1-20) on, shift fork (1-9) by bolt and sliding retaining ring (1-
12) it is connected, spring (1-8) is embedded in sliding retaining ring (1-12) and retaining ring (1-7), and retaining ring (1-7) passes through bolt and pincers I
It clamps driving gear (1-6) to be connected, pincers I clamping spindle (1-20) are equipped with the shaft shoulder far from the end in electric machine main shaft direction, are used for
The position of Assembly part, the end push rod (1-10) are equipped with I linear motor push rod of pincers on I clamping spindle of limiting pliers (1-20)
(1-11), push rod (1-10) are connected with the shift fork (1-9) of push rod (1-10) vertical lower, clamp I linear motor push rod (1-11)
It is placed on pincers I clamping motor (1-13), is pushed or when retracting push rod (1-10) when clamping I linear motor push rod (1-11), and pushed away
The shift fork (1-9) that bar (1-10) is connected can drive sliding retaining ring (1-12), spring (1-8), retaining ring (1-7) and pincers I to clamp master
Moving gear (1-6) is axially moved left and right along pincers I clamping spindle (1-20), and then is controlled pincers I and clamped driving gear (1-6) and pincers I
The engagement situation of driven gear (1-5) is clamped, in addition, pincers I clamping motor (1-13) can drive pincers I to clamp driven gear (1-5)
Around pincers I clamping spindle (1-20) rotation, so that control clamps I conical chuck of pincers (1-4) that driven gear (1-5) is connected with pincers I
Up time rotation or the inverse time rotation, finally realize the clamping and release to orthodontic wire (5)；The pincers II (2) belong to directly
Angular coordinate formula, it includes: pincers II moveable jaws (2-1), movable wedge block (2-1-1), pincers II regular jaw (2-2), clamps
Sliding block (2-3) clamps wedge block (2-3-1), II linear motor push rod (2-4) of pincers, linear motor (2-5), II rotation quilt of pincers
Moving gear (2-6), pincers II shell (2-7), pincers II lead screw (2-8), pincers II spindle motor (2-9), pincers II feed screw nut (2-10),
II rotation driving gear (2-11) of pincers, pincers II rotating electric machine (2-12), reset spring (2-13), to clamp II moveable jaws (2-1)
It is vertically downward reference direction, pincers II spindle motor (2-9) are mounted on the top of pincers II shell (2-7), clamp II lead screw with driving
(2-8) is connected through a screw thread cooperation wherein clamping II lead screw (2-8) and clamping II feed screw nut (2-10), by clamping II spindle motor
(2-9) driving pincers II lead screw (2-8) may be implemented pincers II feed screw nut (2-10) and move down along pincers II lead screw (2-8) axis direction
It is dynamic；Linear motor (2-5), II rotation driven gear (2-6) of pincers, II rotation driving gear (2-11) of pincers and II rotating electric machine of pincers
(2-12) is installed in pincers II feed screw nut (2-10), wherein clamping II rotating electric machine (2-12) and II rotation driving gear of pincers
(2-11) is connected by shaft hole matching, and II rotation driving gear (2-11) of pincers is meshed with II rotation driven gear (2-6) of pincers,
A pair of engaged gears is formed, to realize the rotation of II rotation driven gear (2-6) of pincers, in addition, linear motor (2-5) passes through axis hole
Cooperation is installed in II rotation driven gear (2-6) of pincers, and II linear motor push rod (2-4) of pincers is mounted on linear motor (2-5)
In, under the action of II rotation driven gear (2-6) of linear motor (2-5) and pincers, II linear motor push rod (2-4) of pincers both can be real
It is now rotated around the axis that pincers II rotate driven gear (2-6), and the axis that driven gear (2-6) can be rotated along pincers II carries out
Translation；Grip slide (2-3), which is bolted, to be fixed on II linear motor push rod (2-4) of pincers, is filled on grip slide (2-3)
Have clamping wedge block (2-3-1), and clamp and movable wedge block (2-1-1) is housed on II moveable jaws (2-1), when clamping II straight line
When motor push rod (2-4) is released by linear motor (2-5), clamps wedge block (2-3-1) and movable wedge block (2-1-1) and send out
It is raw to squeeze, it pushes pincers II moveable jaws (2-1) mobile to the pincers II regular jaw direction (2-2), realizes pincers II (2) to orthodontic arch
The clamping of silk (5) clamps wedge block (2-3-1) when II linear motor push rod (2-4) of pincers is retracted by linear motor (2-5)
It is separated with movable wedge block (2-1-1), reset spring (2-13) will clamp II moveable jaws (2-1) and push away II grips pincers of pincers
Mouth (2-2), realizes release of the pincers II (2) to orthodontic wire (5).
2. according to claim 1 a kind of based on the bending of arch edgewise robot bent by hand, it is characterised in that: the column
Coordinate system turntable (3) includes: turntable motor (3-1), turntable driving gear (3-2), turntable (3-3), turntable driven gear (3-
4), turntable motor (3-1) is connected by peg-in-hole assembly with turntable driving gear (3-2), to drive turntable driving gear (3-2)
Motor shaft around turntable motor (3-1) rotates, and turntable driving gear (3-2) is meshed with turntable driven gear (3-4), forms one
To meshing gear, turntable (3-3) is bolted with turntable driven gear (3-4) and is fixed to each other, to realize turntable passive tooth
Taking turns (3-4) drives turntable (3-3) to rotate around the turntable center (3-3)；Robot body's shell (4) includes: pedestal (4-
1), annular sliding door (4-2), annular outer cover (4-3), body supports (4-4), shell pillar (4-5), connecting base plate (4-6), shell
The inside for being mounted on robot body's shell (4), cover top portion (4- is bolted in top (4-7), connecting base plate (4-6)
7) outside for being mounted on robot body's shell (4) is bolted, robot body can be achieved by annular sliding door (4-2)
The folding of shell (4), to protect operator and bending of arch edgewise robot；Body supports (4-4) and shell pillar (4-5) are used for
It supports robot body's shell (4).
3. a kind of based on the bending of arch edgewise planing method bent by hand, it is characterised in that: this method is applied to a kind of based on by hand
The bending of arch edgewise robot bent.
4. a kind of based on the bending of arch edgewise planing method bent by hand, it is characterised in that: the specific implementation process of the method are as follows:
Step 1: establishing orthodontic wire bends a rectangular coordinate system:
During orthodontic wire is bent, bent a little with i-th of arch wire as former heart Oi, bent with i-th and a little bent to i+1
The arch wire straightway of point is X-axis, using i-th point of bending of arch edgewise surface as XiOiYiFace bends point, i-th according to (i-1)-th
It is a bend point, i+1 and bend a little establish the orthodontic wire of the right-hand rule and bend a rectangular coordinate system OiXiYiZi(i >=1), the
It is respectively (x that i-1, which bend point, bend the coordinate that point, i+1 are bent a little for i-th,i-1, yi-1, zi-1)、(xi, yi, zi)、
(xi+1, yi+1, zi+1)；
Step 2: establishing curved silk unit motion model by hand:
According to the motion profile feature for bending orthodontic wire by hand, is bent with manpower at each and bend movement on a little as one
Unit establishes curved silk unit motion model Point A by handi=[l(i-1,i),αi,ri,λi], a right angle, which is bent, in orthodontic wire sits
Mark system OiXiYiZiUnder, PointAiExpression bends point AiCoordinate (xi, yi, zi), riRepresent the radius of curvature that need to bend circular arcαiExpression bends point AiThe angle that place need to be bentl(i,i+1)It indicates to bend for i-th
Point bends the length a little on orthodontic wire to i+1, and it is straight line that i-th, which is bent, and a little bends a centre to i+1
The orthodontic wire of sectionIt is circular arc that i-th, which is bent, and a little bends a centre to i+1
The orthodontic wire of sectionλiIt indicates that the surface that bends of orthodontic wire selects to be bent on which surface, works as zi+1
=ziWhen=0, PointAiThe surface that bends at place is XOY, works as yi+1=yiWhen=0, PointAiThe surface that bends at place is XOZ, when
xi+1=xiWhen=0, PointAiThe surface that bends at place is YOZ；
Step 3: establishing robot bends a polar coordinate system:
Orthodontic wire bends and bends point (x under a rectangular coordinate systemi-1, yi-1, zi-1)、(xi, yi, zi)、(xi+1, yi+1, zi+1) need
It is converted into robot and bends coordinate under a cylindrical-coordinate system, realize that orthodontic wire is bent by bending of arch edgewise robot, i.e., with the
I-1, i, i+1 bend a building and bend the machine that the robot that i-th bends a little bends the orthodontic wire 3 d pose of process
People bends a cylindrical-coordinate system Oi-ρiθiZi, to bend for i-th a little for origin O, a little straight is bent to i+1 is a with i-th point
Line direction is the position of θ=0, and being bent using (i-1)-th, i, i+1 is a little that determination bends plane as polar coordinate system OiρiθiIt puts down at place
Face；Derive that orthodontic wire bends a rectangular coordinate system OiXiYiZiUnder coordinate change into robot and bend a cylindrical-coordinate system Oi-
ρiθiZiUnder coordinate transform formula, as shown in Equation 1, realize Two coordinate system under the identical conversion for bending a coordinate；
Step 4: the curved silk motion information collection of robot obtains:
The curved silk moving cell parameter model of a robot is bent at i-th, as shown in Equation 2:
In formula, the meaning of Bend Δ Ai are as follows: the movement that bends a little, the moving distance of each freedom degree of robot are bent at i-th
Or the angle of rotation, and realize to bend and act rotated angle；1Openi/1CloseiIndicate that pincers I are bent a little at i-th
Folding or clamped condition, Δ1βiIt indicates to bend the angle that a pincers I rotate about the z axis, Δ i-th1LiIt indicates to bend a pincers I i-th
Along cylindrical-coordinate system Oi-ρiθiZiThe distance of lower polar axis ρ translation, Δ1λiIt indicates to bend an angle for silk rotation i-th,2Open/2Close indicates to bend the folding of pincers II or a clamped condition, Δ i-th2βiIt indicates to bend what pincers II rotated about the z axis i-th
Angle, Δ2LiIndicate pincers II along the distance of Z axis translation；A cylindrical-coordinate system O is bent according to roboti-ρiθiZiLower orthodontic wire
The curved silk motion information bent a little derives the curved silk motion information of robot, and derivation formula is as shown in Equation 3:
In formula, g (αi+1) indicate that bending angle is αi+1When springback angle angle value, g (αi+1) can be obtained by empirical value, h is II edge of pincers
The mobile distance of Z-direction, can be derived from i-th by formula 3 and bend the curved silk moving cell parameter model of Dian Chu robot
Bend Δ Ai, record respectively bend at the curved silk moving cell parameter model Bend Δ Ai (i >=1) of robot, obtain robot
Curved silk moving cell model information collection Robot Δ A, Robot Δ A=(Bend Δ A0,BendΔA1,...,BendΔAi),
Robot Δ A is bending sequentially for robot bending method.
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| CN201810624693.XA CN109009500A (en) | 2018-06-16 | 2018-06-16 | It is a kind of based on the bending of arch edgewise robot bent by hand and its to bend planing method |
| CN201910354546.XA CN110090081B (en) | 2018-06-16 | 2019-04-29 | Bending planning method of arch wire bending robot based on manual bending |
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|---|---|---|---|
| CN201810624693.XA CN109009500A (en) | 2018-06-16 | 2018-06-16 | It is a kind of based on the bending of arch edgewise robot bent by hand and its to bend planing method |
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| CN201910354546.XA Active CN110090081B (en) | 2018-06-16 | 2019-04-29 | Bending planning method of arch wire bending robot based on manual bending |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588493A (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-angle distance ratio sum |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588496B (en) * | 2020-06-01 | 2021-07-30 | 哈尔滨理工大学 | Plane variable angle dividing method for orthodontic arch wire bending planning |
| CN111588505B (en) * | 2020-06-01 | 2021-07-09 | 哈尔滨理工大学 | Plane variable-radius circular domain dividing method for orthodontic arch wire bending sequence planning |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060240125A1 (en) * | 2005-04-21 | 2006-10-26 | Astrup Arne V | Composition for affecting weight loss |
| CN102284653B (en) * | 2011-06-23 | 2013-07-17 | 广州瑞通生物科技有限公司 | Individual arch wire bending clamp |
| CN103892929B (en) * | 2014-03-27 | 2016-08-24 | 哈尔滨理工大学 | Orthodontic arch filament bends robot |
| CN204562423U (en) * | 2015-01-29 | 2015-08-19 | 哈尔滨理工大学 | Cartesian co-ordinate type orthodontic bow-wire bends robot |
| CN106803018B (en) * | 2017-01-16 | 2019-03-12 | 哈尔滨理工大学 | A kind of personalization orthodontic wire Parameter Expression method |
| CN108670453A (en) * | 2018-06-16 | 2018-10-19 | 哈尔滨理工大学 | A kind of cylindrical coordinates and rectangular co-ordinate combined type bending of arch edgewise robot and application method |
| CN108742893A (en) * | 2018-06-16 | 2018-11-06 | 哈尔滨理工大学 | A kind of bending of arch edgewise robot and bend arch wire motion model method for building up |
-
2018
- 2018-06-16 CN CN201810624693.XA patent/CN109009500A/en not_active Withdrawn
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2019
- 2019-04-29 CN CN201910354546.XA patent/CN110090081B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588493A (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-angle distance ratio sum |
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| Publication number | Publication date |
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| CN110090081B (en) | 2020-04-14 |
| CN110090081A (en) | 2019-08-06 |
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Application publication date: 20181218 |