CN109093616A - Shelly-shaped dental appliance diced system and cutting method - Google Patents
Shelly-shaped dental appliance diced system and cutting method Download PDFInfo
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- CN109093616A CN109093616A CN201710476137.8A CN201710476137A CN109093616A CN 109093616 A CN109093616 A CN 109093616A CN 201710476137 A CN201710476137 A CN 201710476137A CN 109093616 A CN109093616 A CN 109093616A
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- Prior art keywords
- shelly
- dental appliance
- shaped dental
- cut
- degree
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
Abstract
The one side of the application provides a kind of shelly-shaped dental appliance diced system, it include: computer, mechanical severing device and multi-degree-of-freemechanical mechanical arm, wherein, the computer is configured to: being controlled the multi-degree-of-freemechanical mechanical arm to first position and is grabbed shelly-shaped dental appliance to be cut；At least one the mechanical severing device and multi-degree-of-freemechanical mechanical arm are controlled according to cutting instruction, so that the cutter of the mechanical severing device and the relative motion being maintained between the shelly-shaped dental appliance to be cut in the multi-degree-of-freemechanical mechanical arm are in this way, with along shelly-shaped dental appliance to be cut described in scheduled cutting wire cutting；And the control multi-degree-of-freemechanical mechanical arm send the shelly-shaped dental appliance for completing cutting to the second position.
Description
Technical field
Present invention relates generally to shelly-shaped dental appliance diced system and cutting methods.
Background technique
Now, due to it is beautiful, convenient and be conducive to cleaning the advantages that, based on high molecular material shelly-shaped dental appliance (ratio
Such as invisible orthotic device and retainer) it is becoming increasingly popular.In general, this kind of shelly-shaped dental appliance is based on hot pressing film forming process
Production obtains.Need the part that it is extra that the former that hot pressing film is formed acquisition carries out cutting cutting removal that could obtain finished product shelly-shaped
Dental appliance.Hand-make time-consuming and laborious, and cut quality cannot ensure.Therefore it needs to provide a kind of new shelly-shaped dentistry device
The diced system and cutting method of tool.
Summary of the invention
The one side of the application provides a kind of shelly-shaped dental appliance diced system, comprising: computer, mechanical severing device
And multi-degree-of-freemechanical mechanical arm, wherein the computer is configured to: it controls the multi-degree-of-freemechanical mechanical arm to first position and grabs
Take shelly-shaped dental appliance to be cut；According to cutting instruction control the mechanical severing device and multi-degree-of-freemechanical mechanical arm at least it
One, so that the cutter of the mechanical severing device and the shelly-shaped dentistry to be cut being maintained in the multi-degree-of-freemechanical mechanical arm
Relative motion between instrument is in this way, with along shelly-shaped dental appliance to be cut described in scheduled cutting wire cutting；And control institute
Multi-degree-of-freemechanical mechanical arm is stated to send the shelly-shaped dental appliance for completing cutting to the second position.
In some embodiments, the mechanical severing device is milling cutter cutter device.
In some embodiments, the cutting tool of the mechanical severing device is rose cutter.
In some embodiments, the free end of the multi-degree-of-freemechanical mechanical arm be equipped with adsorbent equipment so that it is described mostly from
The shelly-shaped dental appliance to be cut can be grabbed by absorption by degree mechanical arm.
In some embodiments, the free end of the multi-degree-of-freemechanical mechanical arm is additionally provided with the first location structure, for and
The second location structure on the shelly-shaped dental appliance to be cut matches, to be accurately positioned the shelly-shaped dentistry device to be cut
Tool.
In some embodiments, it is corresponding with tooth mould to be located at the shelly-shaped dental appliance to be cut for second location structure
Region except part.
In some embodiments, first location structure is location hole, and second location structure is positioning column,
In, the lateral dimension of the location hole is inwardly gradually reduced from opening, to guide the positioning column to enter the location hole.
In some embodiments, the position of first location structure is true based on the envelope statistics to multiple tooth moulds
It is fixed.
In some embodiments, the adsorbent equipment includes multiple sucker holes, the position in the sucker hole be based on pair
The envelope of multiple tooth moulds is counted and is determined.
In some embodiments, the shelly-shaped dental appliance diced system further includes ID reading devices, for reading
Mark on the shelly-shaped dental appliance to be cut, the computer are configured to: being read based on the ID reading devices
Mark on the shelly-shaped dental appliance to be cut obtains the cutting instruction.
In some embodiments, the cutting instruction is obtained based on the cutting line computation.
The another aspect of the application provides a kind of shelly-shaped dental appliance cutting method, comprising: control multi freedom degree mechanical
Arm to first position grabs shelly-shaped dental appliance to be cut；Control mechanical severing device and the multi-degree-of-freemechanical mechanical arm at least
One of, so that the cutter of the mechanical severing device and the shell tooth to be cut being maintained in the multi-degree-of-freemechanical mechanical arm
Relative motion between section's instrument is in this way, with along shelly-shaped dental appliance to be cut described in scheduled cutting wire cutting；And control
The multi-degree-of-freemechanical mechanical arm send the shelly-shaped dental appliance cut to the second position.
In some embodiments, the mechanical severing device is milling cutter cutter device.
In some embodiments, the cutting tool of the mechanical severing device is rose cutter.
In some embodiments, the free end of the multi-degree-of-freemechanical mechanical arm is equipped with adsorbent equipment, and control is described mostly certainly
It after being moved to the first position by degree mechanical arm, controls the adsorbent equipment and opens absorption mode, by described in absorption crawl
Shelly-shaped dental appliance to be cut.
In some embodiments, the free end of the multi-degree-of-freemechanical mechanical arm is additionally provided with the first location structure, it is described to
Shelly-shaped dental appliance is cut equipped with the second location structure, the multi-degree-of-freemechanical mechanical arm absorption grabs the shell tooth to be cut
When section's instrument, first location structure and second location structure are matched, to be accurately positioned the shell tooth to be cut
Section's instrument.
In some embodiments, second location structure is to be located at the shelly-shaped dental appliance to be cut and tooth mould pair
Answer the region except part.
In some embodiments, first location structure is location hole, and second location structure is positioning column,
In, the lateral dimension of the location hole is inwardly gradually reduced from opening, to guide the positioning column can smoothly enter into.
In some embodiments, the position of first location structure is true based on the envelope statistics to multiple tooth moulds
It is fixed.
In some embodiments, the adsorbent equipment includes multiple sucker holes, the position in the sucker hole be based on pair
The envelope of multiple tooth moulds is counted and is determined.
In some embodiments, the shelly-shaped dental appliance cutting method further include: ID reading devices read institute
State the mark on shelly-shaped dental appliance to be cut；Corresponding cutting instruction is obtained according to the mark；And described in utilizing
Cutting instruction control at least one of the mechanical severing device and the multi-degree-of-freemechanical mechanical arm, so that the machine cuts fill
Relative motion between the cutter set and the shelly-shaped dental appliance to be cut being maintained in the multi-degree-of-freemechanical mechanical arm is such as
This, along shelly-shaped dental appliance to be cut described in the cutting wire cutting.
In some embodiments, the cutting instruction is obtained based on the cutting line computation.
Detailed description of the invention
The above-mentioned and other feature of the application is described further below with reference to attached drawing and its detailed description.It should manage
Solution, these attached drawings illustrate only several illustrative embodiments according to the application, therefore are not considered as to this
Apply for the limitation of protection scope.Unless otherwise indicated, attached drawing is not necessarily to scale, and wherein similar label indicates similar
Component.
Fig. 1 schematically illustrates the shelly-shaped dental appliance diced system in the application one embodiment；
Fig. 2 schematically illustrates the structure of multi-degree-of-freemechanical mechanical arm free end in the application one embodiment；
Fig. 3 schematically illustrates the hot pressing film forming process in the application one embodiment；
Fig. 4 schematically illustrates the shelly-shaped dental appliance to be cut in the application one embodiment；And
Fig. 5 is the schematic flow chart of the shelly-shaped dental appliance cutting method in the application one embodiment.
Specific embodiment
Refer to constitute the attached drawing of this specification a part in the following detailed description.Show mentioned by the description and the appended drawings
Meaning property embodiment is not intended to the protection scope of limitation the application only merely for being illustrative purpose.In opening for the application
Under showing, it will be appreciated by those skilled in the art that many other embodiments can be used, and can be to described embodiment party
Formula makes various changes, without departing from the purport and protection scope of the application.It should be understood that the sheet for illustrating and illustrating herein
The various aspects of application can be arranged, be replaced, combine, separate and design according to many different configurations, these difference configurations
All within the scope of protection of this application.
It please join Fig. 1, schematically illustrate the shelly-shaped dental appliance diced system 100 in the application one embodiment.
Shelly-shaped dental appliance diced system 100 includes computer 101, feed device 103, visual light source 105, image sensing
Device 107, multi-degree-of-freemechanical mechanical arm 109 and mechanical severing device 111.
Computer 101 at least controls the relative motion of multi-degree-of-freemechanical mechanical arm 109 and mechanical severing device 111, along pre-
Fixed cutting wire cutting shelly-shaped dental appliance to be cut.Wherein, computer 101 can be any applicable computing device, such as
Personal computer (Personal Computer), server (Server), programmable controller (Programmable Logic
Controller, PLC), single-chip microcontroller etc..
In one embodiment, in cutting process, mechanical severing device 111 is fixed, and the control of computer 101 is mostly certainly
It is moved by degree mechanical arm 109, along scheduled cutting wire cutting shelly-shaped dental appliance to be cut.
In another embodiment, in cutting process, multi-degree-of-freemechanical mechanical arm 109 is fixed, and computer 101 controls machine
Tool cutter device 111 moves, along scheduled cutting wire cutting shelly-shaped dental appliance to be cut.
In another embodiment, in cutting process, under the control of computer 101, mechanical severing device 111 and mostly from
It is all moved by degree mechanical arm 109, along scheduled cutting wire cutting shelly-shaped dental appliance to be cut.
Feed device 103 is for conveying shelly-shaped dental appliance 113 to be cut.In one embodiment, feed device 103
It can be controlled by computer 101.
Visual light source 105 can the shelly-shaped dental appliance 113 to be cut on feed device 103 emit visible light so that
Imaging sensor 107 can preferably obtain the image of the mark on shelly-shaped dental appliance 113 to be cut.
In one embodiment, the image that imaging sensor 107 can obtain shooting is sent to computer 101, by counting
Calculation machine 101 handles the image, obtains the identification information of shelly-shaped dental appliance 113 to be cut, and then the mark is believed again
Breath is sent to server (not shown), is referred to obtaining the cutting corresponding with the identification information of storage on that server
It enables, to control at least one multi-degree-of-freemechanical mechanical arm 109 and mechanical severing device 111, along cutting wire cutting shell to be cut
Shape dental appliance 113.
In another embodiment, computer 101 can also choose corresponding cutting line with identification information, be then based on the cutting
Line computation obtains cutting instruction, to control at least one multi-degree-of-freemechanical mechanical arm 109 and mechanical severing device 111, is cut with edge
Secant cuts shelly-shaped dental appliance 113 to be cut.
In another embodiment, the image that imaging sensor 107 can obtain shooting is transmitted directly to server, by taking
Business device the image is handled, obtain the identification information of shelly-shaped dental appliance 113 to be cut, then with the identification information phase
Matched cutting instruction is sent to computer 101.
In one embodiment, the freedom degree of multi-degree-of-freemechanical mechanical arm 109 can be designed according to demand, for example can be adopted
With 3~6DOF mechanical arm.
In one embodiment, 109 free end of multi-degree-of-freemechanical mechanical arm is equipped with adsorbent equipment, with to be cut by absorption crawl
Cut shelly-shaped dental appliance 113.It please join Fig. 2, schematically illustrate multi-degree-of-freemechanical mechanical arm 109 in the application one embodiment
Free end, it is generally planar, and it is equipped with sucker hole 1091a~1091g and location hole 1093a~1093c.Wherein, sucker
Hole 1091a~1091g is connected to air extractor, to provide suction.Location hole 1093a~1093c is to be cut shelly-shaped for accommodating
Positioning column on dental appliance 113 (determines multi-degree-of-freemechanical mechanical arm 109 to be accurately positioned shelly-shaped dental appliance 113 to be cut
Relative positional relationship between shelly-shaped dental appliance 113 to be cut).
In one embodiment, the free end of multi-degree-of-freemechanical mechanical arm 109 can be dismountable template, in this way can root
According to size and the position in different Demand Design sucker holes and location hole, to expand answering for shelly-shaped dental appliance diced system 100
Use range.In one embodiment, envelope statistics can be carried out to the bottom of the tooth mould of a batch, counts to obtain based on envelope
The range of tooth mould bottom profile design size and the position in sucker hole and location hole.
In one embodiment, hot pressing film bottom plate can be designed based on following methods.It can be compiled by Matlab software
Cheng Shixian.Forming pedestal is drawn out first.Then the stl file of single dentognathic model is read, and to the stl file of dentognathic model
It carries out processing and obtains tooth mould bottom profile.Then the tooth mould bottom profile that will acquire is according to bounding box center and rectangular forming pedestal
Center centering.The tooth mould bottom profile that will acquire again carries out pixelation processing according to the required accuracy and forms bianry image.Then with
Above-mentioned identical mode handles multiple tooth moulds (such as 5000 with upper tooth mould), and result after processing is overlapped and obtains gray scale
Figure, to obtain the envelope range of batch tooth mould pedestal.It is then possible to based on the envelope range and balance crawl, to design
The quantity of sucker hole and location hole, position and size.
Please join Fig. 1 again, cutter device 111 includes cutter head 1111 and the cutter 1113 being mounted on cutter head 1111, wherein
Cutter head 1111 under the drive of the motor can high speed rotation, thus with 1113 high speed rotation of cutter, to realize cutting.
It please join Fig. 3, schematically illustrate the hot press forming technology of shelly-shaped dental appliance in the application one embodiment.At
The substantially tabular of type pedestal 201, which is provided with shrinkage pool 2011a~2011c.Tooth mould 203 be disposed on forming pedestal 201 it
On, and it is positioned at by location structure the specific location of forming pedestal 201, with the relative positional relationship both determined.Pressure
When film, the diaphragm 205 of heated softening is covered in tooth mould 203 and forming pedestal 201 under pressure, obtains after cooling to be cut
Cut shelly-shaped dental appliance 113.
It please join Fig. 4, schematically illustrate the shelly-shaped dental appliance 113 to be cut in the application one embodiment.It is to be cut
Cutting shelly-shaped dental appliance 113 part formation positioning column 1131a~1131c corresponding with shrinkage pool 2011a~2011c (can think
As positioning column 1131a~1131c is located below).Shelly-shaped dental appliance 113 to be cut on feed device 103 is that overturning is put
Set, positioning column 1131a~1131c upward, in this way, multi-degree-of-freemechanical mechanical arm 109 grabs shelly-shaped dental appliance to be cut in absorption
When 113, positioning column 1131a~1131c can be inserted into location hole 1093a~1093c respectively, to determine multi-degree-of-freemechanical mechanical arm
Relative positional relationship between 109 and shelly-shaped dental appliance 113 to be cut.
It please join Fig. 5, be the schematic flow chart of shelly-shaped dental appliance cutting method 300 in the application one embodiment.
In 301, the mark of shelly-shaped dental appliance to be cut is obtained.
In one embodiment, it under the auxiliary of visual light source 105, is shot using imaging sensor 107 and obtains feeding dress
Set the image of the shelly-shaped dental appliance 113 to be cut on 103.Then the image is handled, to obtain shell tooth to be cut
The mark of section's instrument 113.
For different shelly-shaped dental appliances to be cut, it may be necessary to cutting cutting is carried out along different cutting lines, to obtain
Obtain the shelly-shaped dental appliance of finished product, that is to say, that cutting line is the edge line of the shelly-shaped dental appliance of finished product.In one embodiment,
The cutting line of shelly-shaped dental appliance is to be generated and stored in server in the design phase, and each shelly-shaped dental appliance is corresponding with respectively
From cutting line.
Mark is the identity of shelly-shaped dental appliance 113 to be cut, according to the mark can be obtained from server it is corresponding to
Cut the cutting line of shelly-shaped dental appliance 113.
In 303, the mark based on shelly-shaped dental appliance to be cut obtains cutting instruction.
Computer 101 utilizes at least one cutting instruction control multi-degree-of-freemechanical mechanical arm 109 and mechanical severing device 111
Movement, so that along cutting wire cutting shelly-shaped dental appliance 113 to be cut.
Cutting instruction can the freedom degree based on cutting line and multi-degree-of-freemechanical mechanical arm 109 and mechanical severing device 111
Design, which calculates, to be obtained.
In 305, multi-degree-of-freemechanical mechanical arm grabs shelly-shaped dental appliance to be cut.
Computer 101 controls multi-degree-of-freemechanical mechanical arm 109 and grabs shelly-shaped dental appliance to be cut from feed device 103
113。
In one embodiment, when shelly-shaped dental appliance 113 to be cut, which is fed device 103, is transported to specific position,
Computer 101 can control the pause of feed device 103, and it is to be cut to specific position crawl to control multi-degree-of-freemechanical mechanical arm 109
Cut shelly-shaped dental appliance 113.
In one embodiment, shelly-shaped dental appliance 113 to be cut is placed on feed device 103 by specified angle,
In this way convenient for location hole 1093a~1093c in multi-degree-of-freemechanical mechanical arm 109 respectively and on shelly-shaped dental appliance 113 to be cut
Positioning column 1131a~1131c be aligned.
In one embodiment, when multi-degree-of-freemechanical mechanical arm 109 moves to shelly-shaped 113 top of dental appliance to be cut,
Computer 101 controls air extractor and opens absorption mode, and multi-degree-of-freemechanical mechanical arm 109 is provided by sucker hole 1091a~1091g
Adsorption capacity, to adsorb shelly-shaped dental appliance 113 to be cut.Shelly-shaped dental appliance 113 to be cut is adsorbed to multi freedom degree mechanical
During arm 109, positioning column 1131a~1131c is inserted into location hole 1093a~1093c respectively, so that establishment is to be cut shelly-shaped
Positional relationship between dental appliance 113 and multi-degree-of-freemechanical mechanical arm 109, to realize accurate cutting.
It is appreciated that the location structure between multi-degree-of-freemechanical mechanical arm 109 and shelly-shaped dental appliance 113 to be cut can have
Many different configurations.For example, positioning column can be arranged in multi-degree-of-freemechanical mechanical arm 109, in shelly-shaped dental appliance to be cut
Location hole is set on 113.For another example, other geometries can be can be with the cross section of location hole and positioning column, for example, three
Angle, quadrangle, hexagon, ellipse etc..
In 307, the movement of at least one control multi-degree-of-freemechanical mechanical arm and mechanical severing device is instructed using cutting, it is right
Shelly-shaped dental appliance to be cut is cut.
It in one embodiment, can be with solid mechanical cutter device 111, by mostly freely to simplify system complexity
The control for spending the movement of mechanical arm 109, makes the cut portion of cutter 1113 and the relative motion of shelly-shaped dental appliance 113 to be cut
Match with cutting line, along cutting wire cutting shelly-shaped dental appliance 113 to be cut.The cut portion of cutter 1113 is and is cut
The part for cutting object contact, that is, realize the part of cutting.For example, cut portion is bulb part for rose cutter.
In 309, the shelly-shaped dental appliance for completing cutting is placed into designated position.
In one embodiment, after completing cutting, computer 101, which controls multi-degree-of-freemechanical mechanical arm 109, makes its free end
It moves at shelly-shaped dental appliance collection, then controls air extractor and close extraction pattern, fall shelly-shaped dental appliance freely
To collection.
Although many aspects and embodiment of the application are disclosed, under the inspiration of the application, the application its
His aspect and embodiment are also obvious to those skilled in the art.Various aspects and embodiment disclosed herein
It is for illustration purposes only, rather than limits purpose.The protection scope and purport of the application is only by appended claims come really
It is fixed.
Equally, each chart can show the exemplary architecture or other configurations of disclosed method and system, help
It may include the feature and function in disclosed method and system in understanding.Claimed content is shown shown in being not limited to
Example property framework or configuration, and desired feature can be realized with various alternative architectures and configuration.In addition to this, for process
Figure, functional descriptions and claim to a method, box sequence described herein, which should not necessarily be limited by, to be implemented with similarly sequence to hold
The various embodiments of the row function, unless explicitly pointing out within a context.
Unless otherwise expressly stated, term and phrase and its variant used herein are interpreted as open,
Rather than it is restrictive.In some instances, such as " one or more ", " at least ", scalability word as " but being not limited to "
It converges and the appearance of phrase or other similar term should not be construed as to be intended in the example without this scalability term
Or need the case where indicating constriction.
Claims (22)
1. a kind of shelly-shaped dental appliance diced system, comprising: computer, mechanical severing device and multi-degree-of-freemechanical mechanical arm,
In, the computer is configured to:
It controls the multi-degree-of-freemechanical mechanical arm to first position and grabs shelly-shaped dental appliance to be cut；
At least one the mechanical severing device and multi-degree-of-freemechanical mechanical arm are controlled according to cutting instruction, so that the machine cuts
The cutter of device and the relative motion being maintained between the shelly-shaped dental appliance to be cut in the multi-degree-of-freemechanical mechanical arm
In this way, with along shelly-shaped dental appliance to be cut described in scheduled cutting wire cutting；And
The multi-degree-of-freemechanical mechanical arm is controlled to send the shelly-shaped dental appliance for completing cutting to the second position.
2. shelly-shaped dental appliance diced system as described in claim 1, which is characterized in that the mechanical severing device is milling cutter
Cutter device.
3. shelly-shaped dental appliance diced system as claimed in claim 2, which is characterized in that the cutting of the mechanical severing device
Cutter is rose cutter.
4. shelly-shaped dental appliance diced system as described in claim 1, which is characterized in that the multi-degree-of-freemechanical mechanical arm from
Adsorbent equipment is equipped with by end, the multi-degree-of-freemechanical mechanical arm is enabled to grab the shelly-shaped dentistry device to be cut by absorption
Tool.
5. shelly-shaped dental appliance diced system as claimed in claim 4, which is characterized in that the multi-degree-of-freemechanical mechanical arm from
First location structure is additionally provided with by end, for being matched with the second location structure on the shelly-shaped dental appliance to be cut, with
It is accurately positioned the shelly-shaped dental appliance to be cut.
6. shelly-shaped dental appliance diced system as claimed in claim 5, which is characterized in that second location structure is located at institute
State the region except shelly-shaped dental appliance to be cut and tooth mould corresponding part.
7. shelly-shaped dental appliance diced system as claimed in claim 5, which is characterized in that first location structure is positioning
Hole, second location structure is positioning column, wherein the lateral dimension of the location hole is inwardly gradually reduced from opening, with
The positioning column is guided to enter the location hole.
8. shelly-shaped dental appliance diced system as claimed in claim 5, which is characterized in that the position of first location structure
It is to be determined based on the envelope statistics to multiple tooth moulds.
9. shelly-shaped dental appliance diced system as claimed in claim 4, which is characterized in that the adsorbent equipment includes multiple suctions
Disk hole, the position in the sucker hole are determined based on the envelope statistics to multiple tooth moulds.
10. shelly-shaped dental appliance diced system as described in claim 1, which is characterized in that it further includes ID reading devices,
For reading the mark on shelly-shaped dental appliance to be cut, the computer is further configured to: being based on the ID reading devices
The mark on the shelly-shaped dental appliance to be cut read obtains the cutting instruction.
11. shelly-shaped dental appliance diced system as described in claim 1, which is characterized in that the cutting instruction is based on institute
Cutting line computation is stated to obtain.
12. a kind of shelly-shaped dental appliance cutting method, comprising:
It controls multi-degree-of-freemechanical mechanical arm to first position and grabs shelly-shaped dental appliance to be cut；
At least one of mechanical severing device and the multi-degree-of-freemechanical mechanical arm are controlled, so that the cutter of the mechanical severing device
With the relative motion that is maintained between the shelly-shaped dental appliance to be cut in the multi-degree-of-freemechanical mechanical arm in this way, with along pre-
Shelly-shaped dental appliance to be cut described in fixed cutting wire cutting；And
The multi-degree-of-freemechanical mechanical arm is controlled to send the shelly-shaped dental appliance cut to the second position.
13. shelly-shaped dental appliance cutting method as claimed in claim 12, which is characterized in that the mechanical severing device is milling
Knife cutter device.
14. shelly-shaped dental appliance cutting method as claimed in claim 13, which is characterized in that the mechanical severing device is cut
Cutter tool is rose cutter.
15. shelly-shaped dental appliance cutting method as claimed in claim 12, which is characterized in that the multi-degree-of-freemechanical mechanical arm
Free end is equipped with adsorbent equipment, controls after the multi-degree-of-freemechanical mechanical arm is moved to the first position, controls the absorption and fill
Unlatching absorption mode is set, the shelly-shaped dental appliance to be cut is grabbed by absorption.
16. shelly-shaped dental appliance cutting method as claimed in claim 15, which is characterized in that the multi-degree-of-freemechanical mechanical arm
Free end is additionally provided with the first location structure, and the shelly-shaped dental appliance to be cut is equipped with the second location structure, described mostly free
When spending the mechanical arm absorption crawl shelly-shaped dental appliance to be cut, first location structure and the second location structure phase
Cooperation, to be accurately positioned the shelly-shaped dental appliance to be cut.
17. shelly-shaped dental appliance cutting method as claimed in claim 16, which is characterized in that second location structure is position
Region except the shelly-shaped dental appliance to be cut and tooth mould corresponding part.
18. shelly-shaped dental appliance cutting method as claimed in claim 16, which is characterized in that first location structure is fixed
Position hole, second location structure is positioning column, wherein the lateral dimension of the location hole is inwardly gradually reduced from opening,
To guide the positioning column can smoothly enter into.
19. shelly-shaped dental appliance cutting method as claimed in claim 16, which is characterized in that the position of first location structure
Set is determined based on the envelope statistics to multiple tooth moulds.
20. shelly-shaped dental appliance cutting method as claimed in claim 15, which is characterized in that the adsorbent equipment includes multiple
Sucker hole, the position in the sucker hole are determined based on the envelope statistics to multiple tooth moulds.
21. shelly-shaped dental appliance cutting method as claimed in claim 12, which is characterized in that it further include:
ID reading devices read the mark on the shelly-shaped dental appliance to be cut；
Corresponding cutting instruction is obtained according to the mark；And
Control at least one of the mechanical severing device and the multi-degree-of-freemechanical mechanical arm are instructed using the cutting, so that institute
It states the cutter of mechanical severing device and is maintained between the shelly-shaped dental appliance to be cut in the multi-degree-of-freemechanical mechanical arm
Relative motion in this way, with along shelly-shaped dental appliance to be cut described in the cutting wire cutting.
22. shelly-shaped dental appliance cutting method as claimed in claim 21, which is characterized in that the cutting instruction is based on institute
Cutting line computation is stated to obtain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710476137.8A CN109093616A (en) | 2017-06-21 | 2017-06-21 | Shelly-shaped dental appliance diced system and cutting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710476137.8A CN109093616A (en) | 2017-06-21 | 2017-06-21 | Shelly-shaped dental appliance diced system and cutting method |
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| CN111823726A (en) * | 2020-06-11 | 2020-10-27 | 广州黑格智造信息科技有限公司 | Marking method and marking system |
| CN112025112A (en) * | 2020-06-29 | 2020-12-04 | 浙江隐齿丽医学技术有限公司 | Cutting system for shell-shaped tooth appliance |
| CN112108898A (en) * | 2020-09-15 | 2020-12-22 | 苏州海伯利安机器人科技有限公司 | Facing cutting control system and facing cutting system |
| CN113894443A (en) * | 2021-11-29 | 2022-01-07 | 杭州美齐科技有限公司 | Laser cutting device and method for tooth socket |
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| CN113894443B (en) * | 2021-11-29 | 2024-01-30 | 杭州美齐科技有限公司 | Laser cutting device and method for tooth socket |
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