CN109330718A - Automatic operation device in a kind of oral cavity for tooth medical treatment - Google Patents
Automatic operation device in a kind of oral cavity for tooth medical treatment Download PDFInfo
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- CN109330718A CN109330718A CN201811141659.3A CN201811141659A CN109330718A CN 109330718 A CN109330718 A CN 109330718A CN 201811141659 A CN201811141659 A CN 201811141659A CN 109330718 A CN109330718 A CN 109330718A
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- shell
- screw
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- board
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- 210000000214 mouth Anatomy 0.000 title claims abstract description 52
- 238000011282 treatment Methods 0.000 title claims abstract description 41
- 238000000227 grinding Methods 0.000 claims abstract description 50
- 230000009467 reduction Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000005096 rolling process Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 11
- 238000003780 insertion Methods 0.000 claims abstract description 5
- 230000037431 insertion Effects 0.000 claims abstract description 5
- 239000000758 substrate Substances 0.000 claims description 25
- 210000001364 upper extremity Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 8
- 238000002360 preparation method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 210000003128 head Anatomy 0.000 description 4
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 3
- 230000003416 augmentation Effects 0.000 description 3
- 210000002455 dental arch Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 229920002379 silicone rubber Polymers 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000004945 silicone rubber Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011284 combination treatment Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/007—Dental splints; teeth or jaw immobilisation devices; stabilizing retainers bonded to teeth after orthodontic treatments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
- A61C5/42—Files for root canals; Handgrips or guiding means therefor
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Dentistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Epidemiology (AREA)
- Biomedical Technology (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Neurosurgery (AREA)
- Neurology (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
Automatic operation device in a kind of oral cavity for tooth medical treatment, by positioning unit, operation unit and control unit composition, positioning unit includes facing, rack gear and facing plate, operation unit includes shell, cover board, X in shell is to driving motor, Y-direction driving motor, Z-direction driving motor, X is to right-angle reduction device, Y-direction right-angle reduction device, Z-direction right-angle reduction device, plane gear transmission mechanism, X is to screw, X is to lead screw, Z-direction screw, Z-direction lead screw, movable pulley, spring, grinding motor connector and grinding motor, rolling bearing except shell, needle roller, card grinding and clamping sliding block, operation unit is mounted on the facing of positioning unit, it will be in the groove of the first U-board lateral surface setting of the two needle rollers insertion facing of operation unit when installation, the rolling bearing of operation unit is engaged with the rack gear of positioning unit , control unit is for controlling operation of the X to driving motor, Y-direction driving motor, Z-direction driving motor in operation unit.
Description
Technical field
The invention belongs to the field of medical instrument technology, in particular to one kind accurately can suffer from tooth to target in patient oral cavity
Carry out the automatic operation device that pulp cavity is opened and tooth preparation operates.
Background technique
In dental treatment, tooth preparation is the steps necessary suffered from tooth to target and carry out repairing and treating, and pulp cavity opening is root
The steps necessary that governance is treated.But now on dental clinic, tooth preparation and pulp cavity are opened bows sight for a long time there is still a need for doctor
Manual operations is examined and carried out, seriously affects oral medical efficiency, and doctor works long hours and easily generates fatigue, reduces diagnosis and treatment matter
Amount.Furthermore because there are greatest differences for the difference of operator's experience, qualification, degree of fatigue etc., this causes tooth treatment quality
Tooth quality of medical care is irregular.Therefore, the automation equipment replacement for needing a kind of stabilization, accurate tooth treatment is grasped by hand
Make, realizes standardization precisely treatment.
Current published oral cavity and tooth treatment automation equipment or surgical robot system, operation unit main body are set
In outside oral cavity, dental handpiece is protruded into patient oral cavity and is operated by industry mechanical arm or similar robot manipulator structure.Due to
Operation unit main body and human oral cavity outside mouthful need to be under unified coordinate systems, therefore to the fixed pole of patients head in therapeutic process
To be stringent, the light exercise in head or oral cavity all may generate significant negative impact to treatment precision, or even there are security risks.
However, human body cannot achieve it is totally stationary motionless.Therefore, to guarantee tooth treatment accuracy, such device must mating high speed
High-precision oral cavity positioning sensing system realizes servo antrol, to compensate the acutely fortune of burst caused by human body natural's fine motion or pain
People-machine relative displacement caused by dynamic；Also, caused by industrial robot is because of electromagnetic interference or program code error in order to prevent
Uncontrolled movements, it is necessary to mating high speed and precision force feedback and exigency stop system, to ensure the life security of patient.Thus, such equipment
Software design and the cost of hardware manufacturing are high, it is difficult in clinical application.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, provides in a kind of miniaturization oral cavity for tooth medical treatment
Automatic operation device is currently used for tooth with solution and opens apparatus for work structure bulky, positioning accuracy outside the oral cavity of marrow, tooth preparation
The problems such as low, cumbersome, manufacturing cost is high, part substitute dentist's manual operation, shorten tooth consultation hours, effectively promotion tooth
Section doctor clinical treatment efficiency and quality.
Automatic operation device in oral cavity of the present invention for tooth medical treatment, by positioning unit, operation unit and control
Unit composition；The positioning unit includes facing, rack gear and facing plate, and facing is by the first U-board, the second U-board and two companies
Narrow bars are composed, and the lateral surface top of the first U-board is provided with the groove combined with operation unit, and the second U-board is located at the
It is on the inside of one U-board and parallel with the first U-board, the spacing entered convenient for patient's denture, two connection straps are remained between them
The end upper limb of the first U-board, the second U-board two-arm is connected respectively, forms the body of the through-hole containing U-shaped, rack gear is and the 2nd U
The matched U-shaped rack gear of shape plate medial surface, is fixed on the medial surface of the second U-board, facing plate using when be covered on U-shaped through-hole upper end
And it is combined with the first U-board, the second U-board；The operation unit includes shell, with shell matching and combined cover board, is located at
X in shell is straight to driving motor, Y-direction driving motor, Z-direction driving motor, X to right-angle reduction device, Y-direction right-angle reduction device, Z-direction
Angle retarder, plane gear transmission mechanism, X are to screw, X to lead screw, Z-direction screw, Z-direction lead screw, movable pulley, spring, grinding electric
Machine connector and grinding motor, rolling bearing, needle roller and card grinding except shell and for install needle roller and with shell group
The clamping sliding block of conjunction, the rolling bearing are matched with the rack gear in positioning unit, and the outer dimension of the shell is can be put into trouble
The oral cavity of person is limited；X is installed on the shell to one end of lead screw, and the other end and installation X on the shell are to right-angle reduction device
Power output end connection, X are connect with X on the shell is installed to driving motor to the power intake of right-angle reduction device, and X is to silk
Mother be mounted on X on lead screw and with the first limit face contact for being arranged on shell；Y-direction driving motor is installed on the shell, and Y-direction is driven
Dynamic motor is connect with the power intake of Y-direction right-angle reduction device, and the power output end and rolling bearing of Y-direction right-angle reduction device connect
It connects；The upper end of Z-direction lead screw is connect with the power output end of Z-direction right-angle reduction device, and the lower end of Z-direction lead screw is connect with movable pulley, Z-direction
The power intake of right-angle reduction device is connect with the power output end of plane gear transmission mechanism, and plane gear transmission mechanism moves
Power input terminal is connect with Z-direction driving motor, and the cabinet and X of plane gear transmission mechanism are connected to screw, and Z-direction screw is mounted on Z
To on lead screw and with the second limit face contact for being arranged on shell, movable pulley is located in the limit sliding chutes being arranged on shell bottom plate；
Grinding motor is connect by grinding motor connector with Z-direction screw, the power output axis connection of card grinding and grinding motor；Clamping is sliding
Block is realized by spring and housing combination, and needle roller is two, is separately mounted to the two sides of clamping sliding block lower part；Operation unit installation
On the facing of positioning unit, by the ditch of the first U-board lateral surface setting of the two needle rollers insertion facing of operation unit when installation
In slot, the rolling bearing of operation unit is engaged with the rack gear of positioning unit；Described control unit is for controlling X in operation unit
Operation to driving motor, Y-direction driving motor, Z-direction driving motor.
Automatic operation device in the above-mentioned oral cavity for tooth medical treatment, the first U-board upper end of the facing are provided with court
To the first convex edge of U-shaped through-hole, the second U-board upper end is provided with the second convex edge towards U-shaped through-hole, uses to be more advantageous to
When in the U-shaped through-hole of facing filled silicon rubber moulage, and can make the positioning unit be placed in denture when it is more firm and
It will not teetertotter.
Automatic operation device in the above-mentioned oral cavity for tooth medical treatment, the shell are combined by first shell and second shell
It forms；First shell includes substrate, the first flap plate, the second flap plate and the first bottom plate, the first flap plate, the second flap plate point
Substrate two sides and it Wei Yu not be connected or be integrated with substrate, the first bottom plate is located at substrate lower end, and one side and substrate are consolidated
Even, one end and the first flap plate are connected, and remain with the spacing of installation clamping sliding block between the other end and the second flap plate, and described the
The medial surface top of two flap plates is provided with for installing fulcrum bearing of the X to lead screw, and substrate medial surface top is provided with anti-
Only the first confined planes that X is rotated to screw, first bottom plate are provided with the first spring anchorage bracket by the position of the second flap plate,
The bracket for installing Y-direction driving motor is provided between the first spring anchorage bracket and the first flap plate, in bracket and first
The first through hole passed through for the power output end of Y-direction right-angle reduction device is provided between flap plate, first spring is fixed
Guide pipe is provided on frame；Second shell includes the second bottom plate and the coaming plate around the second bottom plate, the lower end of the coaming plate and the
Two bottom plates are connected or are integrated, and the second confined planes for preventing Z-direction screw from rotating, institute are provided on the inside of the trailing flank of coaming plate
The second through-hole for being provided with the limit sliding chutes for movable pulley oriented sliding on the second bottom plate and passing through for grinding motor is stated, is limited
Position sliding slot is using the second confined planes as one side, and bottom surface is vertical with the second confined planes, and the second through-hole is located at the leading flank of coaming plate
Between inside and limit sliding chutes；The clamping sliding block by support plate, second spring fixed frame that support plate top surface side is set,
The needle roller fixed frame that the support plate bottom surface other side is arranged in and the guide rod being arranged on second spring fixed frame are constituted, support plate
Length and first bottom plate and the second flap plate between pitch match, the width of the width of support plate and first bottom plate
Degree matching；Guide rod on the second spring fixed frame is inserted into the guiding pipe orifice being arranged on first spring anchorage bracket,
Needle roller fixed frame is located at except first shell, and the spring pocket on guide pipe, fix with the first spring respectively by its both ends
Frame is connected with second spring fixed frame, and two needle rollers are separately mounted to the two sides of needle roller fixed frame；The X is installed to one end of lead screw
In the fulcrum bearing that the second flap plate medial surface top is arranged in first shell, the X is to right-angle reduction device, X to driving motor
It is mounted in first shell on the medial surface of substrate with Y-direction right-angle reduction device, the Y-direction driving motor passes through first shell indsole
The bracket being arranged on plate is fixed, and the Z-direction driving motor peace face gear transmission mechanism is located in first shell；The Z-direction is straight
Angle retarder, Z-direction lead screw and grinding motor are located in second shell, and the movable pulley connecting with Z-direction lead screw lower end is located at second shell
In the limit sliding chutes being arranged on second bottom plate of body.
Automatic operation device in the above-mentioned oral cavity for tooth medical treatment, described control unit is mainly by being equipped with control program
CNC digital control system and the X that is connect with the digital control system to motor driver, Y-direction motor driver and Z-direction motor driver group
At.
Automatic operation device in the above-mentioned oral cavity for tooth medical treatment, the X is to driving motor, Y-direction driving motor, Z-direction
Micro-step motor or servo motor can be selected in driving motor, and the grinding motor selects DC micro-motor.
Automatic operation device in the above-mentioned oral cavity for tooth medical treatment, the X to screw and Z-direction screw be square slider formula
Screw, in order to preferably with the first confined planes, the second limit face contact, prevent the generation of rotation, keep movement transmitting more accurate.
The motion principle of automatic operation device is as follows in miniaturization oral cavity of the present invention for tooth medical treatment: card grinding
X drives to movement from X to driving motor, rotates through X to driving X after right-angle reduction device power augmentation to lead screw, thus drive X to
Screw to sliding, realizes the X of card grinding to movement along X；The Y-direction movement of card grinding is driven by Y-direction driving motor, through Y-direction right-angle reduction
It drives rolling bearing to move on rack gear after device power augmentation, realizes the Y-direction movement of card grinding；The Z-direction movement of card grinding is driven by Z-direction
Motor driven drives the rotation of Z-direction lead screw after the transmission of plane gear transmission mechanism and Z-direction right-angle reduction device power augmentation, from
And Z-direction screw is driven to slide along Z-direction, realize the Z-direction movement of card grinding；Above-mentioned motion principle can make card grinding carry out three-dimensional motion with reality
Now to the grinding of tooth, reaches automation oral cavity and open the medical procedures such as marrow and standby tooth.
The application method of automatic operation device is as follows in oral cavity of the present invention for tooth medical treatment:
1,3-D scanning is carried out to the denture of patient, obtains dental arch model data；
2, by the facing plate in positioning unit be covered on facing U-shaped through-hole upper end and with the first U-board, the second U-board
Combination, then will be in the U-shaped through-hole of silicone rubber impression material filling facing；
3, the positioning unit for being filled with silicone rubber impression material is put into patient oral cavity, the dental articulation of patient is allowed to live to position
Unit simultaneously makes its denture completely into the U-shaped through-hole of facing, then removes facing plate；
4, second of 3-D scanning is carried out to patient oral cavity, obtains the model data after facing is combined with denture, then root
The model data after gained facing is combined with denture is scanned with this according to step 1 gained dental arch model data and carries out reverse, is obtained
The motion profile of card grinding is handled and resolves to obtain X to driving motor, Y-direction driving motor, Z-direction by the motion profile of card grinding
The operation driver of driving motor, then the operation driver is inputted into CNC digital control system；
5, operation unit is put into patient oral cavity and is combined with positioning unit, control unit is connect with operation unit, i.e.,
The operation such as marrow or standby tooth can be carried out out under the control of the control unit.
It is above-mentioned " to scan the pattern number after gained facing is combined with denture with this according to step 1 gained dental arch model data
According to carry out reverse, obtain the motion profile of card grinding " can refer to National Defense Industry Press publication " inverse compiling technique is reverse with software
Analysis " books (in November, 2009, author Zhao Rongcai etc.)；It is above-mentioned " motion profile of card grinding is handled and resolve to obtain X to
Driving motor, Y-direction driving motor, Z-direction driving motor operation driver " can refer to Science Press publication " motor drive
Dynamic technology " books (in July, 2008, author Wang Shufang).
Compared with prior art, the invention has the following advantages:
1, since the positioning unit of automatic operation device in oral cavity of the present invention had not only been convenient for combining with patient's denture, but also energy
As the motion guide rail of operation unit, since the enclosure volume of operation unit is small (being not more than 8 cubic centimetres), operation unit work
When be located in oral cavity, determine benchmark by positioning unit, thus carry out using automatic operation device in oral cavity of the present invention
Without strictly fixing patients head when tooth opens marrow, tooth preparation operation, it is ensured that treatment precision, not only simplifies patient
The fixed operation in head, and keep patient more comfortable.
2, since the clamping sliding block in oral cavity of the present invention in the operation unit of automatic operation device passes through spring and the
One shell combination, and two needle rollers are mounted on clamping sliding block lower part, since the combination of operation unit and positioning unit is by two rollings
Needle is embedded in the groove of the first U-board lateral surface setting of facing, by the rack gear of the rolling bearing of operation unit and positioning unit
Engagement, therefore can both make operation unit is stable to be mounted on positioning unit by clamping sliding block, ensure that the Y of operation unit
It is tangent with the serpentine track of rack gear always to reference axis, while the rolling action of needle roller can reduce the friction of movement during exercise
Power.
3, when automatic operation device prepares patient teeth in oral cavity of the present invention, grinding accuracy is high, can be more quasi-
True preparation goes out ideal abutment, so that tooth treatment effect is more perfect.
4, automatic operation device belongs to automation equipment in oral cavity of the present invention, intelligentized can grasp to tooth
Make, substantially alleviate the working strength of dentist, reduces human cost, and improve working efficiency.
5, automatic operation device operating voltage is low (only 5V) in oral cavity of the present invention, and motion amplitude is accurate, subtle, and
The closed shell of operation unit can prevent card grinding from outranging movement, thus advantageously ensure that the safety of patient.
6, since the operation unit in oral cavity of the present invention in automatic operation device is small in size, component system easy to process
Make, thus compared with existing tooth treatment automation equipment or surgical robot system, manufacturing cost is greatly lowered.
Detailed description of the invention
Fig. 1 is the positioning unit and operation unit of automatic operation device in the oral cavity of the present invention for tooth medical treatment
Combination diagram；
Fig. 2 is that the three-dimensional right angle of operation unit in automatic operation device in the oral cavity of the present invention for tooth medical treatment is sat
Mark system schematic diagram
Fig. 3 is the structural representation of positioning unit in automatic operation device in the oral cavity of the present invention for tooth medical treatment
Figure；
Fig. 4 is the explosive view of positioning unit in automatic operation device in the oral cavity of the present invention for tooth medical treatment；
Fig. 5 is the explosive view of operation unit in automatic operation device in the oral cavity of the present invention for tooth medical treatment；
Fig. 6 be in the oral cavity of the present invention for tooth medical treatment in automatic operation device operation unit removal cover board after
Schematic diagram；
Fig. 7 is the A-A cross-sectional view of Fig. 6；
Fig. 8 is first shell and the distribution schematic diagram positioned at the intracorporal component of first shell in operation unit；
Fig. 9 is the structural schematic diagram of first shell in operation unit；
Figure 10 is the structural schematic diagram of second shell in operation unit；
Figure 11 is the structural schematic diagram of plane gear transmission mechanism in operation unit；
Figure 12 is the structural schematic diagram of clamping sliding block in operation unit；
Figure 13 is a kind of signal of control unit in automatic operation device in the oral cavity of the present invention for tooth medical treatment
Figure.
In figure, 1- facing, the first U-board of 1.1-, 1.1.1- groove, the first convex edge 1.1.2-, the second U-board of 1.2-,
1.2.1- the second convex edge, 1.3- connection strap, 1.4-U shape through-hole, 2- rack gear, 3- facing plate, 4- first shell, 4.1- substrate,
4.2- the first flap plate, 4.3- bracket, the first spring anchorage bracket of 4.4-, 4.5- guide pipe, the first confined planes of 4.6-, 4.7- bearing
Seat, the first bottom plate of 4.8-, 4.9- the second flap plate, 4.10- first through hole, 5- second shell, the second bottom plate of 5.1-, 5.2- second
Confined planes, 5.3- limit sliding chutes, 5.4- coaming plate, the second through-hole of 5.5-, 6- cover board, 7-X to driving motor, 8-Y to driving motor,
9-Z is to driving motor, and 10-X is to right-angle reduction device, and 11-Y is to right-angle reduction device, and 12-Z is to right-angle reduction device, 13- rolling bearing,
14- plane gear transmission mechanism, 14.1- cabinet, 14.2- gear, 15-X is to screw, and 16-X is to lead screw, and 17-Z is to screw, 18-Z
To lead screw, 19- movable pulley, 20- spring, 21- clamping sliding block, 21.1- second spring fixed frame, 21.2- guide rod, 21.3- rolling
Needle fixed frame, 21.4- support plate, 22- needle roller, 23- grinding motor connector, 24- grinding motor, 25- card grinding.
Specific embodiment
By way of example and in conjunction with the accompanying drawings to automatic operation device in the oral cavity of the present invention for tooth medical treatment
It is described further.
For automatic operation device in the oral cavity of tooth medical treatment described in the present embodiment, by positioning unit, operation unit and control
Unit composition processed.
The structure of positioning unit is as shown in Figure 3, Figure 4, including facing 1, rack gear 2 and facing plate 3；Facing 1 is by the first U-board
1.1, the second U-board 1.2 and two connection straps 1.3 are composed, 1.2 two-arm front waist section of the first U-board 1.1 and the second U-board
Lower end is inclined-plane, and the lateral surface top of the first U-board is provided with the groove 1.1.1 combined with operation unit, and the second U-board is located at
It is on the inside of first U-board and parallel with the first U-board, the spacing entered convenient for patient's denture, two connections are remained between them
Item respectively connects the end upper limb of the first U-board, the second U-board two-arm, the body of formation through-hole containing U-shaped 1.4, and described first
1.1 upper end of U-board is additionally provided with the first convex edge 1.1.2 towards U-shaped through-hole 1.4, and 1.2 upper end of the second U-board is provided with towards U
Second convex edge 1.2.1 of shape through-hole 1.4；Rack gear 2 be with the matched U-shaped rack gear of the second U-board medial surface, by way of bonding
It is fixed on the medial surface of the second U-board 1.2；Facing plate 3 use when be covered on 1.4 upper end of U-shaped through-hole and with the first U-board 1.1,
The combination of second U-board 1.2.
Operation unit as shown in Fig. 2, Fig. 5, Fig. 6, Fig. 7, Fig. 8, including shell, with shell matching and combined cover board 6, X
To driving motor 7, Y-direction driving motor 8, Z-direction driving motor 9, X to right-angle reduction device 10, Y-direction right-angle reduction device 11, Z-direction right angle
Retarder 12, plane gear transmission mechanism 14, X to screw 15, X to lead screw 16, Z-direction screw 17, Z-direction lead screw 18, movable pulley 19,
Spring 20, clamping sliding block 21, grinding motor connector 23, grinding motor 24, rolling bearing 13, needle roller 22 and card grinding 25, it is described
Rolling bearing 13 is matched with the rack gear 2 in positioning unit.
Shell in operation unit first shell 4 and second shell 5 as shown in fig. 6, be composed of.First shell 4 is such as
Shown in Fig. 9, including substrate 4.1, the first flap plate 4.2, the second flap plate 4.9 and the first bottom plate 4.8, the first flap plate 4.2,
Two flap plates 4.9 are located at substrate two sides and are integrated with substrate, and the first bottom plate is located at substrate lower end, one side with
Substrate is connected by bonding, one end is connected by bonding and the first flap plate, is remained between the other end and the second flap plate
The spacing of clamping sliding block 21 is installed, the medial surface top of the second flap plate 4.9 is provided with for installing bearing of the X to lead screw
Seat 4.7, the 4.1 medial surface top of substrate is provided with the first confined planes 4.6 for preventing X from rotating to screw, first bottom plate
The position of second flap plate 4.9 is provided with the first spring anchorage bracket 4.4, between the first spring anchorage bracket and the first flap plate
It is provided with the bracket 4.3 for installing Y-direction driving motor, is provided between bracket and the first flap plate and subtracts for Y-direction right angle
The first through hole 4.10 that the power output end of fast device 11 passes through is provided with guide pipe 4.5 on first spring anchorage bracket.Second
Shell 5 is as shown in Figure 10, including the second bottom plate 5.1 and around the coaming plate 5.4 of the second bottom plate, the lower end of the coaming plate and the second bottom
Plate is connected, and the second confined planes 5.2 for preventing Z-direction screw from rotating are provided on the inside of the trailing flank of coaming plate, are set on second bottom plate
The second through-hole 5.5 for being equipped with the limit sliding chutes 5.3 for movable pulley oriented sliding and being passed through for grinding motor, limit sliding chutes
5.3 with the second confined planes 5.3 for one side, and bottom surface is vertical with the second confined planes 5.2, and the second through-hole 5.5 is located at coaming plate
On the inside of leading flank between limit sliding chutes 5.3.First shell 4 and second shell 5 pass through bonding combination, after combining, volume
For 20mm × 20mm × 20mm.
As shown in figure 12, by support plate 21.4, support plate top surface side is arranged in clamping sliding block 21 in operation unit
Second spring fixed frame 21.1, the needle roller fixed frame 21.3 that the support plate bottom surface other side is arranged in and setting are fixed in second spring
Guide rod 21.2 on frame is constituted, the spacing between the length of support plate 21.4 and first bottom plate and the second flap plate
Match, the width of support plate 21.4 is matched with the width of first bottom plate.
Plane gear transmission mechanism 14 in operation unit is as shown in figure 11, including cabinet 14.1 and transmission gear 14.2.
X in operation unit is the lead screw of outer diameter 3mm to lead screw 16 and Z-direction lead screw 18, X to screw 15 and Z-direction screw 17 be with X to
Lead screw 16, the matched square slider formula screw of Z-direction lead screw 18, X is to driving motor 7, Y-direction driving motor 8 and Z-direction driving motor 9
Micro servo motor is selected, grinding motor 24 selects DC micro-motor.
The installation combination of component is as shown in Fig. 6, Fig. 7, Fig. 8 in operation unit: X is to right-angle reduction device 10, X to driving
Motor 7 and Y-direction right-angle reduction device 11 are by being bonded and fixed in first shell 4 on the medial surface of substrate 4.1, and X is to lead screw 16
One end is mounted in the fulcrum bearing 4.7 that 4.9 medial surface top of the second flap plate in first shell 4 is arranged, and the other end and X are to right angle
The power output end of retarder 10 connects, and its axis is parallel to the substrate 4.1 of first shell, and X is moved to right-angle reduction device 10
Power input terminal and X are connected to driving motor 7, X to screw 15 be mounted on X on lead screw 16 and with 4.1 inside of first shell substrate
The first confined planes 4.6 contact of face top setting；Y-direction driving motor 8 is solid by the bracket 4.3 being arranged in first shell insole board
Fixed, Y-direction driving motor 8 is connect with the power intake of Y-direction right-angle reduction device 11, the power output end of Y-direction right-angle reduction device 11
It is connect with rolling bearing 13；The upper end of Z-direction lead screw 18 is connect with the power output end of Z-direction right-angle reduction device, under Z-direction lead screw 18
End is connect with movable pulley 19, and the power intake of Z-direction right-angle reduction device and the power output end of plane gear transmission mechanism 14 connect
Connect, the power intake of plane gear transmission mechanism is connect with Z-direction driving motor, the cabinet 14.1 of plane gear transmission mechanism with
X is connected to screw 15, and Z-direction screw 17 is mounted on second on Z-direction lead screw 18 and with setting on the inside of second shell coaming plate trailing flank
Confined planes 5.2 contact, and movable pulley 19 is located in the limit sliding chutes 5.3 being arranged on the second bottom plate of second shell, grinding motor 24
It is connect by grinding motor connector 23 with Z-direction screw 17, the power output axis connection of card grinding 25 and grinding motor 24, the Z
It is located in first shell 4 to the peaceful face gear transmission mechanism 14 of driving motor 9, the Z-direction right-angle reduction device 12, Z-direction lead screw 18
It is located in second shell 5 with grinding motor 24；The insertion of guide rod 21.2 first in clamping sliding block 21 on second spring fixed frame
4.5 inner hole of guide pipe being arranged on spring anchorage bracket, needle roller fixed frame 21.3 are located at except first shell, and spring 20, which is sleeved on, leads
To on pipe 4.5, its both ends are connect with the first spring anchorage bracket and second spring fixed frame respectively, are in tensional state, are applied
Be pulling force to the power of the first spring anchorage bracket and second spring fixed frame, by the active force of spring 20 realize clamping sliding block 21 with
The combination of first shell 4, two needle rollers 22 are separately mounted to the two sides of needle roller fixed frame 21.3.
The three-dimensional cartesian coordinate system of operation unit as shown in Fig. 2, the Y-axis of the three-dimensional cartesian coordinate system perpendicular to first shell
The substrate 4.1 of body, and serpentine track when operation always with rack gear is tangent, X-axis perpendicular to Y-axis, Z axis perpendicular to X-axis and Y-axis and
The origin of three-dimensional cartesian coordinate system is crossed, the origin of three-dimensional cartesian coordinate system can be located at cover board, bottom plate or the cover board and bottom plate of shell
Between.
Operation unit is mounted on the facing 1 of positioning unit to the combination of operation unit and positioning unit as shown in Figure 1:
On, when installation, engages the rolling bearing 13 of operation unit with the rack gear 2 of positioning unit, and two needle rollers 22 of operation unit are embedded in
In the groove 1.1.1 of the first U-board lateral surface setting of facing, since two needle rollers 22 are mounted on clamping sliding block 21, and clamping
Sliding block is combined with first shell 4 by spring 20, thus pass through clamping sliding block can both make operation unit it is stable be mounted on positioning
On unit, ensure that the Y-direction reference axis of operation unit is tangent with the serpentine track of rack gear always.
Control unit is as shown in figure 13, mainly by being equipped with the CNC digital control system of control program and connecting with the digital control system
The X connect is formed to motor driver, Y-direction motor driver and Z-direction motor driver, and CNC digital control system is Siemens 840D number
Control system, X to motor driver, Y-direction motor driver and Z-direction motor driver be Siemens V90 servo-driver.X is to electricity
Machine driver, Y-direction motor driver and Z-direction motor driver drive with X to driving motor 7, Y-direction driving motor 8, Z-direction respectively
Motor 9 connects, and operation CNC digital control system can be such that X transports as required to driving motor 7, Y-direction driving motor 8, Z-direction driving motor 9
Row carries out tooth to patient by card grinding 25 and opens marrow, tooth preparation operation.
Claims (9)
1. automatic operation device in a kind of oral cavity for tooth medical treatment, it is characterised in that by positioning unit, operation unit and control
Unit composition processed；
The positioning unit includes facing (1), rack gear (2) and facing plate (3), and facing (1) is by the first U-board (1.1), the 2nd U
Shape plate (1.2) and two connection straps (1.3) are composed, and the lateral surface top of the first U-board is provided with combines with operation unit
Groove (1.1.1), the second U-board is located on the inside of the first U-board and parallel with the first U-board, remains between them and is convenient for
The spacing that patient's denture enters, two connection straps respectively connect the end upper limb of the first U-board, the second U-board two-arm, are formed
The body of through-hole containing U-shaped (1.4), rack gear (2) be with the matched U-shaped rack gear of the second U-board medial surface, be fixed on the second U-board
(1.2) medial surface, facing plate (3) use when be covered on U-shaped through-hole (1.4) upper end and with the first U-board (1.1), the second U-shaped
Plate (1.2) combination；
The operation unit includes shell, and with shell matching and combined cover board (6), X in shell is to driving motor
(7), Y-direction driving motor (8), Z-direction driving motor (9), X are to right-angle reduction device (10), Y-direction right-angle reduction device (11), Z-direction right angle
Retarder (12), plane gear transmission mechanism (14), X are to screw (15), X to lead screw (16), Z-direction screw (17), Z-direction lead screw
(18), movable pulley (19), spring (20), grinding motor connector (23) and grinding motor (24), the rolling except shell
Gear (13), needle roller (22) and card grinding (25) and for install needle roller and with the clamping sliding block (21) of housing combination, the rolling
Gear (13) is matched with the rack gear in positioning unit, and the outer dimension of the shell is limited with the oral cavity that can be put into patient；X is to silk
One end of thick stick (16) is installed on the shell, power output end of the X of the other end and installation on the shell to right-angle reduction device (10)
Connection, X are connect with X on the shell is installed to driving motor (7) to the power intake of right-angle reduction device (10), and X is to screw
(15) X is mounted on on lead screw (16) and is contacted with the first confined planes (4.6) being arranged on shell；Y-direction driving motor (8) installation
On the shell, Y-direction driving motor is connect with the power intake of Y-direction right-angle reduction device (11), and Y-direction right-angle reduction device (11) moves
Power output end is connect with rolling bearing (13)；The upper end of Z-direction lead screw (18) is connect with the power output end of Z-direction right-angle reduction device, Z
It is connect to the lower end of lead screw (18) with movable pulley (19), the power intake and plane gear transmission mechanism of Z-direction right-angle reduction device
Power output end connection, the power intake of plane gear transmission mechanism connect with Z-direction driving motor, plane gear driver
The cabinet and X of structure are connected to screw (15), Z-direction screw (17) be mounted on Z-direction lead screw (18) and be arranged on shell second
Confined planes (5.2) contact, movable pulley (19) are located in the limit sliding chutes (5.3) being arranged on shell bottom plate；Grinding motor (24) is logical
It crosses grinding motor contact (23) to connect with Z-direction screw (17), the power output axis connection of card grinding (25) and grinding motor (24)；
Clamping sliding block (21) is realized by spring (20) and housing combination, and needle roller (22) is two, is separately mounted to clamping sliding block lower part
Two sides；
Operation unit is mounted on the facing (1) of positioning unit, by two needle rollers (22) the insertion facing of operation unit when installation
In the groove (1.1.1) of first U-board lateral surface setting, by the rack gear of rolling bearing (13) and positioning unit of operation unit
(2) it engages；
Described control unit is for controlling in operation unit X to driving motor (7), Y-direction driving motor (8), Z-direction driving motor
(9) operation.
2. according to claim 1 for automatic operation device in the oral cavity of tooth medical treatment, it is characterised in that the facing (1)
The first U-board (1.1) upper end be provided with the first convex edge (1.1.2) towards U-shaped through-hole (1.4), in the second U-board (1.2)
End is provided with the second convex edge (1.2.1) towards U-shaped through-hole (1.4).
3. automatic operation device in the oral cavity according to claim 1 or claim 2 for tooth medical treatment, it is characterised in that the shell
It is composed of first shell (4) and second shell (5)；First shell (4) include substrate (4.1), the first flap plate (4.2),
Second flap plate (4.9) and the first bottom plate (4.8), the first flap plate (4.2), the second flap plate (4.9) are located at substrate two
Side is simultaneously connected or is integrated with substrate, and the first bottom plate is located at substrate lower end, one side and substrate is connected, one end and first
Flap plate is connected, and the spacing of installation clamping sliding block (21), the second flap plate are remained between the other end and the second flap plate
(4.9) medial surface top is provided with for installing fulcrum bearing (4.7) of the X to lead screw, and substrate (4.1) the medial surface top is set
The first confined planes (4.6) for preventing X from rotating to screw are equipped with, first bottom plate is arranged by the position of the second flap plate (4.9)
There are the first spring anchorage bracket (4.4), is provided between the first spring anchorage bracket and the first flap plate for installing Y-direction driving electricity
The bracket (4.3) of machine, is provided between bracket and the first flap plate and wears for the power output end of Y-direction right-angle reduction device (11)
The first through hole (4.10) crossed is provided with guide pipe (4.5) on first spring anchorage bracket；Second shell (5) includes second
Bottom plate (5.1) and the coaming plate (5.4) for surrounding the second bottom plate, the lower end of the coaming plate are connected with the second bottom plate or tie to be integrated
The trailing flank inside of structure, coaming plate is provided with the second confined planes (5.2) for preventing Z-direction screw from rotating, and is arranged on second bottom plate
The second through-hole (5.5) for having the limit sliding chutes (5.3) for movable pulley oriented sliding and being passed through for grinding motor, limit sliding chutes
(5.3) with the second confined planes (5.3) for one side, and bottom surface is vertical with the second confined planes (5.2), the second through-hole (5.5) position
On the inside of the leading flank of coaming plate between limit sliding chutes (5.3)；
The clamping sliding block (21) by support plate (21.4), the second spring fixed frame of support plate top surface side is set
(21.1), the support plate bottom surface other side is arranged in needle roller fixed frame (21.3) and the guiding that is arranged on second spring fixed frame
Bar (21.2) is constituted, the pitch match between the length of support plate (21.4) and first bottom plate and the second flap plate, support
The width of plate (21.4) is matched with the width of first bottom plate；Guide rod (21.2) insertion on the second spring fixed frame
Guide pipe (4.5) inner hole being arranged on first spring anchorage bracket, needle roller fixed frame (21.3) are located at except first shell, institute
It states spring (20) to be sleeved on guide pipe (4.5), its both ends connect with the first spring anchorage bracket and second spring fixed frame respectively
It connects, two needle rollers (22) are separately mounted to the two sides of needle roller fixed frame (21.3)；
The X is mounted on the branch that the second flap plate (4.9) medial surface top is arranged in first shell (4) to one end of lead screw (16)
It holds on seat (4.7), the X is mounted on first to right-angle reduction device (10), X to driving motor (7) and Y-direction right-angle reduction device (11)
In shell (4) on the medial surface of substrate (4.1), the Y-direction driving motor (8) passes through the bracket being arranged in first shell insole board
(4.3) fixed, the peaceful face gear transmission mechanism (14) of the Z-direction driving motor (9) is located in first shell (4)；The Z-direction is straight
Angle retarder (12), Z-direction lead screw (18) and grinding motor (24) are located in second shell (5), the cunning connecting with Z-direction lead screw lower end
Driving wheel (19) is located in the limit sliding chutes (5.3) being arranged on the second bottom plate of second shell.
4. automatic operation device in the oral cavity according to claim 1 or claim 2 for tooth medical treatment, it is characterised in that the control
Unit is mainly electric from the X for being equipped with the CNC digital control system of control program and connecting with the digital control system to motor driver, Y-direction
Machine driver and Z-direction motor driver composition.
5. according to claim 3 for automatic operation device in the oral cavity of tooth medical treatment, it is characterised in that the control is single
Member is mainly from the CNC digital control system that is equipped with control program and the X that connect with the digital control system to motor driver, Y-direction motor
Driver and Z-direction motor driver composition.
6. automatic operation device in the oral cavity according to claim 1 or claim 2 for tooth medical treatment, it is characterised in that the X to
Screw (15) and Z-direction screw (17) are square slider formula screw.
7. according to claim 3 for automatic operation device in the oral cavity of tooth medical treatment, it is characterised in that the X is to screw
(15) and Z-direction screw (17) is square slider formula screw.
8. according to claim 4 for automatic operation device in the oral cavity of tooth medical treatment, it is characterised in that the X is to screw
(15) and Z-direction screw (17) is square slider formula screw.
9. according to claim 5 for automatic operation device in the oral cavity of tooth medical treatment, it is characterised in that the X is to screw
(15) and Z-direction screw (17) is square slider formula screw.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811141659.3A CN109330718B (en) | 2018-09-28 | 2018-09-28 | Automatic intraoral operation device for dental treatment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811141659.3A CN109330718B (en) | 2018-09-28 | 2018-09-28 | Automatic intraoral operation device for dental treatment |
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| CN109330718A true CN109330718A (en) | 2019-02-15 |
| CN109330718B CN109330718B (en) | 2023-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109820608A (en) * | 2019-03-25 | 2019-05-31 | 北京大学口腔医学院 | Root canal treatment robot and treatment method |
| CN113397729A (en) * | 2021-06-16 | 2021-09-17 | 彭满先 | High-precision multi-angle tooth polishing system and method based on Internet of things |
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| CN109330718B (en) | 2023-12-12 |
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