CN109500583A - Oral cavity model automated attachment fitting machine - Google Patents
Oral cavity model automated attachment fitting machine Download PDFInfo
- Publication number
- CN109500583A CN109500583A CN201811525132.0A CN201811525132A CN109500583A CN 109500583 A CN109500583 A CN 109500583A CN 201811525132 A CN201811525132 A CN 201811525132A CN 109500583 A CN109500583 A CN 109500583A
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- Prior art keywords
- nut
- connector
- oral cavity
- cavity model
- sliding seat
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- 210000000214 mouth Anatomy 0.000 title claims abstract description 119
- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 230000004807 localization Effects 0.000 claims abstract description 65
- 239000000463 material Substances 0.000 claims abstract description 43
- 238000009434 installation Methods 0.000 claims abstract description 21
- 210000003128 head Anatomy 0.000 claims description 27
- 230000002745 absorbent Effects 0.000 claims description 19
- 239000002250 absorbent Substances 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000001914 calming effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 239000000047 product Substances 0.000 description 19
- 230000006870 function Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000004088 simulation Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 208000006735 Periostitis Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 210000003074 dental pulp Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000004400 mucous membrane Anatomy 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000003460 periosteum Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention discloses a kind of oral cavity model automated attachment fitting machines, pass through localization tool, jig mobile positioning mechanism, connector feed bin, connector feeding device, the cooperation of connector grabbing device, under the control of PLC controller, realize the automatic material taking of connector, it automatically grabs and is placed in the function in oral cavity model, realize intelligence and the automated job of connector installation, screw is arranged by machine for arranging screws automatic arranging, and screw crawl lock is combined to pay device, realize the automatic arranging arrangement of screw, automatically grab feeding and the function by the screwed lock in oral cavity model, it realizes screw and locks the function of paying connector automatically, keep the installation of connector intelligent and automation, compared with prior art manual operation, substantially increase the production efficiency of product, it not only reduces artificial, save energy consumption , also reached product with stable quality to a certain extent.
Description
Technical field
The present invention relates to oral cavity model manufacture technology fields, install more particularly, to a kind of oral cavity model automated attachment
Machine.
Background technique
Oral cavity model refers to the upper jaw, lower jaw structure for being used to simulate human mouth in the surgery training of dentistry teaching
Training model, oral cavity model is by simulation tooth, simulation alveolar bone, simulation gum, simulation mucous membrane, simulation dental pulp, simulation periosteum etc.
Anatomical tissue composition, according to the occlusion structure of human mouth, oral cavity model includes upper gnathode and mandibular model, upper gnathode and
The bottom of mandibular model is mounted on the connector for connecting with imitative head film, which is usually metalwork, such as iron plate,
Therefore steel disc etc. when assembling oral cavity model, needs the bottom installation connecting element in oral cavity model, some oral cavity models exist
Bottom is previously provided with threaded hole when molding, and this oral cavity model can be directly used two screws and connector is locked to oral cavity mould
The bottom of type, there are also some oral cavity models at the time of molding without threaded hole, but is equipped with locating slot in oral cavity model bottom, this
Oral cavity model just needs to be placed in locating slot to by two nuts, and connector is then locked to oral cavity using two screws again
The bottom of model, still, current above-mentioned installation, is all to be completed by manual operation, process is various, and complicated for operation, product quality is not
Stablize, and production efficiency and higher cost.
Summary of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of oral cavity model automated attachment fitting machine, instead of artificial
Operation, realizes intelligence and the automated job of oral cavity model installation connecting element, improves the production efficiency and quality of product,
It not only reduces manually, saves energy consumption, also reached product with stable quality to a certain extent.
The technical scheme of the present invention is realized as follows:
A kind of oral cavity model automated attachment fitting machine, including horizontal table, localization tool, jig movable positioning machine
Structure, portal frame, connector feed bin, connector feeding device, connector grabbing device, machine for arranging screws, screw crawl lock pay dress
It sets and PLC controller, oral cavity model positioning is placed on the localization tool, the jig mobile positioning mechanism is installed on described
On horizontal table, the portal frame is installed on the horizontal table and is located in the jig mobile positioning mechanism
Side, the machine for arranging screws and the connector feed bin are installed on the horizontal table, and are divided into the portal frame
Both sides, the connector feeding device are installed on the horizontal table, and are located at connector feed bin side, the company
Fitting grabbing device and screw crawl lock pay device and are installed on the crossbeam of the portal frame and are located at the two of the crossbeam
Side, under the control of the PLC controller, the jig mobile positioning mechanism can be along x to driving the localization tool, and energy
Enough that the localization tool is located in first position and the second position, the connector feeding device can be by the connector material
Connector in storehouse takes out and send to material position on connector, and the connector grabbing device can grab material position on the connector
Connector and be placed on being located in the oral cavity model on the localization tool at first position, screw crawl lock is paid
Device, which can be grabbed, to be sent to the screw of material position on screw through machine for arranging screws arrangement and lock and pair be located in second
It sets in the oral cavity model on the localization tool at place, by the connector being placed in oral cavity model in advance locking in oral cavity model.
Further, the connector feeding device include the first support base, the first telescopic cylinder and planker, described first
Telescopic cylinder is installed on first support base, and sliding groove, the planker sliding are formed on first support base top surface
In the sliding groove, the planker top surface has and can just accommodate the connector groove of connector, described planker one end with it is described
The telescopic shaft of first telescopic cylinder is fixedly connected, and the connector feed bin has along z to setting for loading falling for connection sheet
Hopper hole, the connector feed bin are set up at the top of first support base by pedestal, and make blanking slot connection institute
Sliding groove is stated, first telescopic cylinder drives the planker, the connector groove can be made to be moved to the blanking slot
Lower section fall into the connector in blanking slot just can in the connector groove, and is able to drive the connector and is moved to company
Material position on fitting, and the planker is made to block the blanking slot；The connector grabbing device include electromagnet gripping head,
To the driving z to driving mechanism and institute is driven to the z of the driving electromagnet gripping head to the first driving mechanism and along y along z
Electromagnet gripping head y is stated to mobile y to the first driving mechanism, the y is installed on the one of the crossbeam to the first driving mechanism
On side, the electromagnet gripping head draws connection under driving of the y to the first driving mechanism and z to the first driving mechanism
On part in the connector of material position and the oral cavity model being placed on the localization tool being located at first position.
Further, the y to the first driving mechanism include y to the first sliding seat, y to the first lead-screw drive mechanism and y
To the first stepper motor, the y to y described in the first stepping motor driven to the first lead-screw drive mechanism so that drive the y to
First sliding seat is along y to moving；The z to the first driving mechanism include along z to being installed on z of the y on the first sliding seat
To the first guide rail, z of the z on the first guide rail is set to the first sliding seat to sliding along z and is installed on the y to the first cunning
To the first telescopic cylinder, the z connects z on dynamic seat to the telescopic shaft of the first telescopic cylinder and the z to the first sliding seat is fixed
It connects, the electromagnet gripping head is installed on the z on the first sliding seat.
Further, the screw crawl lock pays the suction that device includes electric screwdriver, is sheathed on outside the screwdriver bit end of the electric screwdriver
Attached component, along z to drive the z of the electric screwdriver and the absorbent module to the second driving mechanism and along y to drive the z to second
Driving mechanism simultaneously drives the electric screwdriver and the absorbent module y to mobile y to the second driving mechanism, and the y drives to second
Mechanism is installed on the other side of the crossbeam, the electric screwdriver and the absorbent module the y to the second driving mechanism and z to
Under the driving of second driving mechanism, draws on screw the screw of material position and lock and pair controlled in the positioning for being located in the second place
In oral cavity model on tool, by the connector being placed in oral cavity model in advance locking in oral cavity model.
Further, the y to the second driving mechanism include y to the second sliding seat, y to the second lead-screw drive mechanism and y
To second stepper motor, the y to second stepper motor drive the y to the second lead-screw drive mechanism so that drive the y to
Second sliding seat is along y to moving；The z to the second driving mechanism include along z to being installed on z of the y on the second sliding seat
To the second guide rail, z of the z on the second guide rail is set to the second sliding seat to sliding along z and is installed on the y to the second cunning
To the second telescopic cylinder, the z connects z on dynamic seat to the telescopic shaft of the second telescopic cylinder and the z to the second sliding seat is fixed
It connects, the electric screwdriver and the absorbent module are installed on the z on the second sliding seat.
It further, further include nut vibrating disk, nut feeding device, nut grabbing device and nut press device, institute
Nut vibrating disk to be stated to be installed on the horizontal table, the nut feeding device is installed on the horizontal table, and
The equipped at outlet port of guide rail is arranged positioned at the vibration of the nut vibrating disk, the nut grabbing device is installed on the portal frame
On crossbeam side, the nut press device is installed on the crossbeam bottom and is located at the localization tool along x to the rail moved
Above mark；Under the control of the PLC controller, the nut vibrating disk will be led after nut arrangement arrangement through vibration arrangement
Rail is delivered in the nut feeding device, and the nut can be moved to material position on nut, institute by the nut feeding device
It states nut grabbing device and can grab the nut on the nut at material position and be placed on being located in and determine at first position
In oral cavity model on the jig of position, the jig mobile positioning mechanism can be along x to driving the localization tool, and will be described fixed
Position jig is positioned at the third place below the nut press device, and the nut press device can will be positioned in described the
The nut placed in advance on the localization tool of three positions is squeezed into the locating slot in oral cavity model.
Further, the nut feeding device includes support base, the second telescopic cylinder being installed on the support base
And nut carries block, the nut carries block and is fixedly connected with the telescopic shaft of second telescopic cylinder, and the nut carries the top surface of block
Nut groove is formed on the position of side, second telescopic cylinder drives the nut to carry block movement, can make described
Nut groove is positioned at the vibration and arranges material position on the equipped at outlet port or the nut of guide rail, arranges the defeated of guide rail in the vibration
Exit, the delivery outlet that the nut groove arranges guide rail with the vibration are docked and connected, and the vibration is made to arrange guide rail output
Nut is able to enter in the nut groove；The nut grabbing device includes for clamping the Pneumatic clamping jaw of nut, along z to peace
Z loaded on the y on the first sliding seat is set to z of the z on third guide rail to third to sliding to third guide rail, along z
Sliding seat and it is installed on z of the y on the first sliding seat to third telescopic cylinder, the z is to the flexible of third telescopic cylinder
Axis is fixedly connected with the z to third sliding seat, and the Pneumatic clamping jaw is installed on the z on third sliding seat；The nut
Press device includes briquetting, press head and by air cylinder, described to be installed on the bottom of the crossbeam by air cylinder and be located at institute
Localization tool is stated along x to above the track moved, the briquetting is fixedly connected with described by the telescopic shaft of air cylinder, described to press
Pressure head is installed on the briquetting bottom.
Further, the jig mobile positioning mechanism includes x electric to lead-screw drive mechanism and x to stepping to sliding seat, x
Machine, the x to stepper motor drive the x to lead-screw drive mechanism so that drive the x to sliding seat along x to moving；It is described
Localization tool includes mounting plate, seat stand, positioning plate and Telescopic rotating cylinder, and the mounting plate is installed on the x on sliding seat,
The seat stand and the Telescopic rotating cylinder are installed on the mounting plate, and the positioning plate is stretched with the Telescopic rotating cylinder
Contracting rotary shaft is fixedly connected, and oral cavity model accommodating is positioned in the accommodating groove on the seat stand；In the Telescopic rotating cylinder
Under driving, the positioning plate can be rotated to the top of the oral cavity model on the seat stand and pushing down to be placed in the oral cavity model
Connection sheet.
Further, the guide through hole being oriented to when being formed on the positioning plate for nut or screw installation.
Further, it is equipped at intervals with two sets of jig mobile positioning mechanisms on the horizontal table, is controlled described in every set
Tool mobile positioning mechanism is equipped with the localization tool, and the connector feed bin and the connector feeding device are set to two
It covers between the jig mobile positioning mechanism.
The beneficial effects of the present invention are: the present invention proposes a kind of oral cavity model automated attachment fitting machine, controlled by positioning
The cooperation of tool, jig mobile positioning mechanism, connector feed bin, connector feeding device, connector grabbing device is controlled in PLC
Under the control of device, the function of realizing the automatic material taking of connector, automatically grab and be placed in oral cavity model, that is, the company of realizing
The intelligence of fitting installation and automated job arrange screw by machine for arranging screws automatic arranging, and combine screw crawl lock
Device is paid, the automatic arranging arrangement of screw is realized, automatically grabs feeding and the function by the screwed lock in oral cavity model, i.e.,
It realizes screw and locks the function of paying connector automatically, keep the installation of connector intelligent and automation, manually grasped with the prior art
It compares, substantially increases the production efficiency of product, not only reduce manually, save energy consumption, also reach to a certain extent
Product with stable quality.
Detailed description of the invention
Fig. 1 is the perspective view at one visual angle of oral cavity model automated attachment fitting machine of the present invention；
Fig. 2 is Fig. 1 partial enlargement structural representation；
Fig. 3 is that structural schematic diagram is further amplified at localization tool in Fig. 2；
Fig. 4 is the perspective view at another visual angle of oral cavity model automated attachment fitting machine of the present invention；
Fig. 5 is that screw of the present invention crawl lock pays enlarged structure schematic diagram at device；
Fig. 6 is the perspective view at the another visual angle of oral cavity model automated attachment fitting machine of the present invention.
Specific embodiment
In order to be more clearly understood that technology contents of the invention, spy lifts following embodiment and is described in detail, and purpose is only
It is to be best understood from the protection scope that the contents of the present invention are not intended to limit the present invention.
Fig. 1 is the perspective view at one visual angle of oral cavity model automated attachment fitting machine of the present invention；Fig. 2 is Fig. 1 partial enlargement knot
Structure schematic diagram；Fig. 3 is that structural schematic diagram is further amplified at localization tool in Fig. 2；Fig. 4 is that oral cavity model of the present invention connects automatically
The perspective view at another visual angle of part fitting machine；Fig. 5 is that screw of the present invention crawl lock pays enlarged structure schematic diagram at device；Fig. 6 is this
The perspective view at the another visual angle of invention oral cavity model automated attachment fitting machine.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of oral cavity model automated attachment fitting machine, including level
Workbench 1, localization tool 2, jig mobile positioning mechanism 3, portal frame 4, connector feed bin 5, connector feeding device 6, connection
Part grabbing device 7, machine for arranging screws 8, screw crawl lock pay device 9 and PLC controller, and the positioning of oral cavity model 100 is placed in institute
It states on localization tool, the jig mobile positioning mechanism is installed on the horizontal table, and the portal frame is installed on described
It on horizontal table and is located above the jig mobile positioning mechanism, the machine for arranging screws and connector feed bin peace
Loaded on the horizontal table, and the both sides of the portal frame are divided into, the connector feeding device is installed on the water
On flat workbench, and it is located at connector feed bin side, the connector grabbing device and screw crawl lock pay device
It is installed on the crossbeam of the portal frame and is located at the two sides of the crossbeam, under the control of the PLC controller, the jig
Mobile positioning mechanism can be along x to driving the localization tool, and the localization tool can be located in first position and the
Connector in the connector feed bin can be taken out and be sent to connector feeding by two positions, the connector feeding device
Position, the connector grabbing device can grab the connector of material position on the connector and be placed on being located in first
It sets in the oral cavity model on the localization tool at place, the screw crawl lock pair device can be grabbed to be arranged through the machine for arranging screws
It send to the screw of material position on screw and is locked in the oral cavity model paid on the localization tool for being located in the second place, by thing
The connector being first placed in oral cavity model locks in oral cavity model.
In above structure, by localization tool, jig mobile positioning mechanism, connector feed bin, connector feeding device, connect
The cooperation of fitting grabbing device realizes the automatic material taking of connector, automatically grabs and place under the control of PLC controller
In the function in oral cavity model, that is, intelligence and the automated job of connector installation are realized, it is automatic by machine for arranging screws
It arranges and arranges screw, and screw crawl lock is combined to pay device, the automatic arranging for realizing screw arranges, automatically grabs feeding and will
Function of the screwed lock in oral cavity model realizes screw and locks the function of paying connector automatically, make the installation intelligence of connector
It can change and automate, compared with prior art manual operation, substantially increase the production efficiency of product, not only reduce manually,
Energy consumption is saved, has also reached product with stable quality to a certain extent.
Preferably, referring to fig. 2 and Fig. 6, the connector feeding device includes the first support base 601, the first telescopic cylinder
602 and planker 603, first telescopic cylinder be installed on first support base, first support base is formed on top surface
There is sliding groove, the planker sliding is set in the sliding groove, and the planker top surface has the connector that can just accommodate connector
Slot 6031, described planker one end are fixedly connected with the telescopic shaft of first telescopic cylinder, the connector feed bin have along z to
What is be arranged is used to load the blanking slot 501 of connection sheet, and the connector feed bin is set up in first support by pedestal 502
Seat top, and the blanking slot is made to be connected to the sliding groove, first telescopic cylinder drives the planker, can make described
Connector groove is moved to the lower section of the blanking slot, fall into the connector in blanking slot just can in the connector groove,
And it is able to drive the connector and is moved to material position on connector, and the planker is made to block the blanking slot；The company
Fitting grabbing device 7 include electromagnet gripping head 701, along z to drive the z of the electromagnet gripping head to the first driving mechanism
702 and along y to driving the z to driving mechanism and drive the electromagnet gripping head y to the y moved to the first driving mechanism
703, the y is installed on the side of the crossbeam to the first driving mechanism, and the electromagnet gripping head is driven in the y to first
Motivation structure and z are located in first under the driving of the first driving mechanism, drawing on connector the connector of material position and be placed in
It sets in the oral cavity model on the localization tool at place.In this way, passing through connector feed bin, planker and the sliding groove on the first support base
Cooperation, under the program control of PLC controller, the first telescopic cylinder of control stretches, and can be realized connector from even
The function that material position on connector is taken out and be moved in fitting feed bin controls y to the first driving mechanism and z by PLC controller
It to the first driving mechanism, can be moved between material position and first position on connector with drive electromagnet gripping head, due to connection
Part is usually ferromagnetic metal, and the magnetism of electromagnet gripping head is controlled by electric current of make-and-break, the material position on connector can be realized
Connector is sucked, and puts down the function of connector in first position.In this way, being achieved that the automatic material taking of connector, grabbing automatically
The function in oral cavity model is taken and be placed in, intelligence and the automated job of connector installation are realized, relative to artificial behaviour
Make, improve the production efficiency of product, not only reduces manually, save energy consumption, also reached product product to a certain extent
Matter stability.
Preferably, referring to fig. 2, the y includes that y is passed to the first sliding seat 7031, y to the first lead screw to the first driving mechanism
Motivation structure 7032 and y to the first stepper motor, the y to y described in the first stepping motor driven to the first lead-screw drive mechanism into
And drive the y to the first sliding seat along y to moving；The z to the first driving mechanism include along z to being installed on the y to
Z on one sliding seat is set to z of the z on the first guide rail to the first sliding seat 7022 to sliding to the first guide rail 7021, along z
Be installed on z of the y on the first sliding seat to the first telescopic cylinder 7023, telescopic shaft of the z to the first telescopic cylinder
It is fixedly connected with the z to the first sliding seat, the electromagnet gripping head is installed on the z on the first sliding seat.In this way, logical
It crosses and electromagnet gripping head is installed on z on the first sliding seat, the cooperation by z to the first sliding seat and z to the first guide rail,
Z under the driving of the first telescopic cylinder, may be implemented electromagnet gripping head z to movement and positioning function, z is flexible to first
Cylinder and z are installed on y on the first sliding seat to the first guide rail, and y is combined to the first sliding seat from y to the first lead screw transmission mechanism
Y carries out motion control to the first stepper motor, and sliding seat, lead-screw drive mechanism and stepper motor are combined into the prior art,
This is repeated no more, and PLC controller can be detected according to corresponding program combination sensor and accurately be controlled stepper motor, from
And realize the accurate positioning of connector with the relative position of the oral cavity model on localization tool.
Preferably, it pays device with Fig. 5, the screw crawl lock referring to fig. 4 and includes electric screwdriver 901, is sheathed on the electric screwdriver
Absorbent module 902 outside screwdriver bit end, along z to drive the z of the electric screwdriver and the absorbent module to 903 and of the second driving mechanism
To the second driving mechanism and the electric screwdriver and the absorbent module y is driven to drive to the y moved to second to the driving z along y
Mechanism 904, the y are installed on the other side of the crossbeam to the second driving mechanism, and the electric screwdriver and the absorbent module exist
Under the y is to the second driving mechanism and z to the driving of the second driving mechanism, draws on screw the screw of material position and lock pair
It is located in the oral cavity model on the localization tool of the second place, the connector being placed in oral cavity model in advance locking is existed
In oral cavity model.In this way, under the control of the program combination sensor detection of PLC controller, it is mechanical, electrical by arranging screws
It criticizes, the mutual cooperation of absorbent module, z to the second driving mechanism and y to the second driving mechanism, realizes the automatic arranging row of screw
It arranges, automatically grab feeding and the function by the screwed lock in oral cavity model, that is, realize screw and lock the function for paying connector automatically
Can, keep the installation of connector intelligent and automation, relative to manual operation, improves the production efficiency of product mostly, not only
It reduces manually, saves energy consumption, also reached product with stable quality to a certain extent.
Preferably, referring to Fig. 5, the y includes that y is passed to the second sliding seat 9041, y to the second lead screw to the second driving mechanism
Motivation structure 9042 and y to second stepper motor, the y to second stepper motor drive the y to the second lead-screw drive mechanism into
And drive the y to the second sliding seat along y to moving；The z to the second driving mechanism include along z to being installed on the y to
Z on two sliding seats is set to z of the z on the second guide rail to the second sliding seat 9032 to sliding to the second guide rail 9031, along z
Be installed on z of the y on the second sliding seat to the second telescopic cylinder 9033, telescopic shaft of the z to the second telescopic cylinder
It is fixedly connected with the z to the second sliding seat, the electric screwdriver and the absorbent module are installed on the z on the second sliding seat.
In this way, by the way that electric screwdriver and absorbent module are installed on z on the second sliding seat, by z to the second sliding seat and z to the second guide rail
Cooperation, z under the driving of the second telescopic cylinder, may be implemented electric screwdriver and absorbent module z to movement and positioning function,
Z is installed on y on the second sliding seat to the second telescopic cylinder and z to the second guide rail, and y is to the second sliding seat from y to the second screw rod
Transmission mechanism combination y carries out motion control to second stepper motor, and sliding seat, lead-screw drive mechanism and stepper motor are combined into
The prior art, details are not described herein, and PLC controller can be detected according to corresponding program combination sensor and be carried out to stepper motor
Accurate control realizes that screw is automatic to realize the accurate positioning of the relative position of the oral cavity model on screw and localization tool
Feeding automatically grabs and locks the function of paying automatically.Electric screwdriver and matching for absorbent module are combined into the prior art, for example, absorbent module packet
Link block and absorption sleeve are included, absorption sleeve is installed on z on the second sliding seat (close to bottom position) by link block, adsorbs
Sleeve can be magnetic absorption, be also possible to vacuum suction, can also be that the two combines, and magnetic absorption is set in absorption sleeve
Magnet ring is set, and vacuum suction needs the gas nozzle of the setting connection vacuum transmitter in absorption sleeve.Specific structure repeats no more.
It preferably, referring to fig. 2, further include nut vibrating disk 10, nut feeding device 11, nut grabbing device 12 and nut
Press device 13, the nut vibrating disk are installed on the horizontal table, and the nut feeding device is installed on the water
On flat workbench, and the vibration for being located at the nut vibrating disk arranges the equipped at outlet port of guide rail, the nut grabbing device installation
In on the crossbeam side of the portal frame, the nut press device is installed on the crossbeam bottom and is located at the localization tool
Along x to above the track moved；Under the control of the PLC controller, the nut vibrating disk passes through after nut is arranged arrangement
The vibration arranges guide rail and is delivered in the nut feeding device, and the nut can be moved to by the nut feeding device
Material position on nut, the nut grabbing device can grab the nut on the nut at material position and be placed on being located in
In the oral cavity model on localization tool at one position, the jig mobile positioning mechanism can be controlled along x to the driving positioning
Tool, and the localization tool is positioned at the third place below the nut press device, the nut press device can
The nut that will be positioned in placing in advance on the localization tool of the third place is squeezed into the locating slot in oral cavity model.In this way,
Under the program control of PLC controller, pass through jig mobile positioning mechanism, nut vibrating disk, nut feeding device, nut
The mutual cooperation of grabbing device and nut press device realizes the automatic arranging arrangement of nut, automatic material taking, automatically grabs
Expect simultaneously screw is driven into the function in oral cavity model, when nut need to be installed by realizing connector, nut installation intelligence and
Automated job further improves the production efficiency of product relative to manual operation, not only reduces manually, saves energy
Consumption, has also reached product with stable quality to a certain extent.
Preferably, referring to figs. 2 and 3, the nut feeding device includes support base 1101, is installed on the support base
The second telescopic cylinder 1102 and nut carry block 1103, the telescopic shaft that the nut carries block and second telescopic cylinder fixed connects
It connects, the top surface that the nut carries block is formed with nut groove 1104 on the position of side, and second telescopic cylinder drives institute
It states nut and carries block movement, the nut groove can be made to be positioned at equipped at outlet port or the nut feeding that the vibration arranges guide rail
Position arranges the equipped at outlet port of guide rail in the vibration, and the delivery outlet that the nut groove arranges guide rail with the vibration is docked and connected,
The nut for making the vibration arrange guide rail output is able to enter in the nut groove；The nut grabbing device includes for pressing from both sides
Take the Pneumatic clamping jaw 1201 of nut, along z to being installed on z of the y on the first sliding seat to third guide rail 1202, along z to cunning
It is dynamic to be set to z of the z on third guide rail to third sliding seat 1203 and be installed on z of the y on the first sliding seat to the
Three telescopic cylinders 1204, the z are fixedly connected with the z to third sliding seat to the telescopic shaft of third telescopic cylinder, the gas
Dynamic clamping jaw is installed on the z on third sliding seat；The nut press device include briquetting 1301, press head 1302 and by
Air cylinder 1303, it is described to be installed on the bottom of the crossbeam by air cylinder and be located at the localization tool along x to the track moved
Top, the briquetting are fixedly connected with described by the telescopic shaft of air cylinder, and the press head is installed on the briquetting bottom.
In this way, carrying the cooperation of block and nut vibrating disk by nut, then block is carried by telescopic cylinder driving nut and arranges guide rail in vibration
It moves and positions between material position on delivery outlet and nut, realize the automatic material taking function of nut.Again by pacifying Pneumatic clamping jaw
Loaded on z on third sliding seat, cooperation by z to third sliding seat and from z to third guide rail, in z to third telescopic cylinder
Under driving, may be implemented Pneumatic clamping jaw z to movement and positioning function, z installs to third telescopic cylinder and z to third guide rail
In y on the first sliding seat, y is transported to the first sliding seat from y to the first lead screw transmission mechanism combination y to the first stepper motor
Dynamic control, sliding seat, lead-screw drive mechanism and stepper motor are combined into the prior art, and details are not described herein, and PLC controller can
Accurately to be controlled according to the detection of corresponding program combination sensor stepper motor, to realize on nut and localization tool
Oral cavity model relative position accurate positioning.Due to being installed on the bottom of crossbeam by air cylinder and being located at localization tool along x
To above mobile track, i.e., at the third place, in this way, passing through press head by air cylinder driving briquetting and thereon
The nut being placed on localization tool is driven into the locating slot of oral cavity model.
Preferably, referring to figs. 2 and 3, the jig mobile positioning mechanism includes x to sliding seat 301, x to lead screw transmission
To stepper motor, the x drives the x to lead-screw drive mechanism to stepper motor and then drives the x to cunning by mechanism 302 and x
Dynamic seat is along x to moving；The localization tool includes mounting plate 201, seat stand 202, positioning plate 203 and Telescopic rotating cylinder 204, institute
It states mounting plate and is installed on the x on sliding seat, the seat stand and the Telescopic rotating cylinder are installed on the mounting plate, institute
It states positioning plate to be fixedly connected with the Telescopic rotating axis of the Telescopic rotating cylinder, oral cavity model accommodating is positioned on the seat stand
In accommodating groove；Under the driving of the Telescopic rotating cylinder, the positioning plate can be rotated to the oral cavity model on the seat stand
Top and push down the connection sheet placed in the oral cavity model.In this way, may be implemented to receive by the way that accommodating groove is arranged on seat stand
It receives the effect of positioning oral cavity model, drives positioning plate to rotate and push by Telescopic rotating cylinder, can be put in oral cavity model
After setting connection sheet, push down connection sheet, prevent oral cavity model with localization tool x to during movement (such as from place connect
Process of the first position of piece to the second position of locked screw) and locking screw and put nut during is subjected to displacement.
Mounting plate is installed on x on sliding seat, and x carries out motion control, lead screw by lead screw transmission mechanism combination stepper motor to sliding seat
Transmission mechanism and stepper motor are combined into the prior art, and details are not described herein, and PLC controller can be according to corresponding program knot
It closes sensor detection accurately to control stepper motor, the oral cavity model position on localization tool is carried out accurately to realize
Positioning.
Preferably, referring to Fig. 3, the guiding that is oriented to when be formed on the positioning plate for nut or screw installation
Through-hole 2031.In this way, when nut to be driven into oral cavity model, positioning plate is protected by forming guide through hole on positioning plate
The state being pressed on connector is held, the guide through hole on positioning plate is connected to the locating slot for being used for location nut in oral cavity model,
At this point, nut can be placed in the guide through hole on positioning plate, then nut is squeezed by oral cavity mould by nut press device
In type in locating slot, the accurate installation of nut is realized, position shifts during preventing nut from pressing, in locked screw,
Screw equally through connect again with the nut thread in locating slot across guide through hole or directly with screw thread preset in oral cavity model
Hole is threadedly coupled.
Preferably, two sets of jig mobile positioning mechanisms, jig described in every set are equipped at intervals on the horizontal table
Mobile positioning mechanism is equipped with the localization tool, and the connector feed bin and the connector feeding device are set to two sets
Between the jig mobile positioning mechanism.In this way, foring a kind of double-station oral cavity model automated attachment fitting machine, Yi Taoding
For position jig when sending to locked screw after placing connection sheet and nut, another set of localization tool can place connection sheet and spiral shell simultaneously
It is female.Further increase production efficiency.Two sets of connector feed bins and two sets can also be set according to the difference of connector installation form
Connector feeding device, for example, a set of connector feed bin is used to not need the connector of placing nut, another set of connector feed bin
For needing the connector of first placing nut.
The operating principle of oral cavity model automated attachment fitting machine of the present invention is as follows:
Connection sheet process is installed and presses starting firstly, oral cavity model product is put into the locating slot on localization tool
Material position in connection sheet, connection sheet crawl dress are taken out and are moved to key, the connector connected piece feeding device in connector feed bin
It sets crawl connection sheet and is moved to above the oral cavity model of localization tool at first position, and connection sheet is put into localization tool
Oral cavity model in；Then, the Telescopic rotating cylinder on localization tool drives positioning plate to rotate and push, and pushes down in oral cavity model
The connection sheet of placement, then, jig mobile positioning mechanism movement, oral cavity model by localization tool and thereon are moved to second
(locked screw position) is set, installation screw process is carried out.
Screw process is installed, firstly, machine for arranging screws carries out arrangement arrangement to screw, screw is enable to vibrate vibration guide rail
In, screw can be located in material position on screw with proper alignment screw by vibration guide rail, can be more convenient screw crawl lock in this way and be paid
Device positioning provides signals to PLC controller by alignment sensor, and PLC controller will do it to be acted in next step, electric screwdriver and suction
Attached component is drawn the screw of material position on screw and is locked under driving of the y to the second driving mechanism and z to the second driving mechanism
It pays in the oral cavity model on the localization tool for being located in the second place, the connector being placed in oral cavity model in advance is locked
Gu in oral cavity model.Inductor is housed on electric screwdriver, is positioned by inductor, can control the screwed lock depth ensures spiral shell
Silk height within the set range, if insufficient height sensor can provide signals to PLC controller and warning note, if be no different
Often it will continue to work, while the also included torque setting of the electric screwdriver, torque exceeds and to PLC signal and can all alarm lower than setting value
Ensure the stability of product quality, while also improving the intelligent level of equipment；Also there is corresponding controller on localization tool
It is controlled, when screw, which is not locked, to be paid in connection sheet, sensor can give PLC controller signal, and PLC controller can be reported
It is alert.
Some oral cavity models need that first two nuts are placed in locating slot, at this point, further include nut installation procedure, it is first
First, nut vibrating disk carries out the nut of original confusion arrangement arrangement and runs to vibration to arrange in track by concussion, not only
Nut proper alignment is also assured while reaching Automatic-feeding and separates nut direction, and vibration arranges track, and more than nuts are whole
Reason is transported on nut after material position, and sensor can receive signal and carry out nut crawl work, nut feeding to PLC controller
The nut of device carries the cooperation of block and nut vibrating disk, and the telescopic cylinder driving nut of nut feeding device carries block and arranges in vibration
It moves and positions between material position on the delivery outlet and nut of guide rail, realize the automatic material taking function of nut.Nut feeding device
The device will do it supplement charging again after taking out nut, and then nut grabbing device grabs the nut on nut at material position and will
It is placed in the oral cavity model on the localization tool being located at first position, and then, jig mobile positioning mechanism is along x to drive
Dynamic localization tool, and localization tool is positioned at the third place below nut press device, the movement of nut press device will be determined
The nut placed in advance on the localization tool of the third place is squeezed into the locating slot in oral cavity model.
The above-mentioned each device of oral cavity model automated attachment fitting machine of the present invention passes through photoelectric sensor or touch sensor
The accurately judgement with intelligence is carried out to each step, centralized control and optimization processing are carried out by PLC program, ensure equipment at quarter
It is carried out according to setting scheme.
Oral cavity model automated attachment fitting machine of the present invention is additionally provided with PLC liquid crystal control panels, to carry out to device program
Editor and adjustment, cope with the work operating condition of different product, the program being currently set is 0~9999, that is, can be to similar
The determination of product progress process and quality；
Oral cavity model automated attachment fitting machine of the present invention is additionally provided with warning light, and amber light is bright under normal circumstances, after alarm
It can show red light, and carry out audible alarm, equipment can be automatically stopped operation, it is ensured that equipment stabilization does not damage equipment and product.
Above embodiments are referring to attached drawing, to a preferred embodiment of the present invention will be described in detail.Those skilled in the art
Member by above-described embodiment carry out various forms on modification or change, but without departing substantially from essence of the invention in the case where, all
It falls within the scope and spirit of the invention.
Claims (10)
1. a kind of oral cavity model automated attachment fitting machine, which is characterized in that including horizontal table (1), localization tool (2),
Jig mobile positioning mechanism (3), portal frame (4), connector feed bin (5), connector feeding device (6), connector grabbing device
(7), machine for arranging screws (8), screw crawl lock pay device (9) and PLC controller, and oral cavity model (100) positioning is placed in described
On localization tool, the jig mobile positioning mechanism is installed on the horizontal table, and the portal frame is installed on the water
It on flat workbench and is located above the jig mobile positioning mechanism, the machine for arranging screws and connector feed bin installation
In on the horizontal table, and the both sides of the portal frame are divided into, the connector feeding device is installed on the level
On workbench, and it is located at connector feed bin side, the connector grabbing device and screw crawl lock pay device peace
Two sides on crossbeam loaded on the portal frame and positioned at the crossbeam, under the control of the PLC controller, the jig is moved
Dynamic positioning mechanism can be along x to the driving localization tool, and the localization tool can be located in first position and second
Connector in the connector feed bin can be taken out and be sent to material position on connector by position, the connector feeding device,
The connector grabbing device can grab the connector of material position on the connector and be placed on being located in first position
In oral cavity model on the localization tool at place, the screw crawl lock pair device can be grabbed to be sent through machine for arranging screws arrangement
The screw of material position and being locked is paid in oral cavity model on the localization tool for being located in the second place on to screw, will be prior
The connector being placed in oral cavity model locks in oral cavity model.
2. oral cavity model automated attachment fitting machine according to claim 1, which is characterized in that the connector feeding dress
It sets including the first support base (601), the first telescopic cylinder (602) and planker (603), first telescopic cylinder is installed on described
On first support base, sliding groove is formed on first support base top surface, the planker sliding is set in the sliding groove, institute
Stating planker top surface has the connector groove (6031) that can just accommodate connector, described planker one end and first telescopic cylinder
Telescopic shaft is fixedly connected, and the connector feed bin has along z to setting for loading the blanking slot (501) of connection sheet, institute
It states connector feed bin to be set up at the top of first support base by pedestal (502), and the blanking slot is made to be connected to the cunning
Dynamic slot, first telescopic cylinder drive the planker, the connector groove can be made to be moved to the lower section of the blanking slot,
It fall into the connector in blanking slot just can in the connector groove, and be able to drive the connector and be moved on connector
Material position, and the planker is made to block the blanking slot；The connector grabbing device (7) includes electromagnet gripping head
(701), along z to drive the z of the electromagnet gripping head to the first driving mechanism (702) and along y to drive the z to driving machine
Structure simultaneously drives the electromagnet gripping head y to mobile y to the first driving mechanism (703), and the y is installed to the first driving mechanism
In on the side of the crossbeam, drive of the electromagnet gripping head in the y to the first driving mechanism and z to the first driving mechanism
Under dynamic, the connector of material position and the oral cavity model being placed on the localization tool being located at first position on connector are drawn
On.
3. oral cavity model automated attachment fitting machine according to claim 2, which is characterized in that the y drives to first
Mechanism includes y to the first sliding seat (7031), y to the first lead-screw drive mechanism (7032) and y to the first stepper motor, the y
To y described in the first stepping motor driven to the first lead-screw drive mechanism so that drive the y to the first sliding seat along y to moving；
The z to the first driving mechanism include along z to be installed on z of the y on the first sliding seat to the first guide rail (7021), along z
Z of the z on the first guide rail, which is set to, to sliding to the first sliding seat (7022) and is installed on the y on the first sliding seat
Z is fixedly connected with the z to the first sliding seat to the first telescopic cylinder (7023), the z to the telescopic shaft of the first telescopic cylinder,
The electromagnet gripping head is installed on the z on the first sliding seat.
4. oral cavity model automated attachment fitting machine according to claim 1, which is characterized in that the screw crawl lock is paid
Device include electric screwdriver (901), the absorbent module (902) being sheathed on outside the screwdriver bit end of the electric screwdriver, along z to driving the electric screwdriver
And the z of the absorbent module to the second driving mechanism (903) and along y to driving the z to the second driving mechanism and described in driving
To mobile y to the second driving mechanism (904), the y is installed on described to the second driving mechanism by electric screwdriver and the absorbent module y
On the other side of crossbeam, the electric screwdriver and the absorbent module are in the y to the second driving mechanism and z to the second driving mechanism
Under driving, draws the screw of material position on screw and locked the oral cavity model paid on the localization tool for being located in the second place
On, by the connector being placed in oral cavity model in advance locking in oral cavity model.
5. oral cavity model automated attachment fitting machine according to claim 4, which is characterized in that the y drives to second
Mechanism includes y to the second sliding seat (9041), y to the second lead-screw drive mechanism (9042) and y to second stepper motor, the y
To second stepper motor drive the y to the second lead-screw drive mechanism so that drive the y to the second sliding seat along y to moving；
The z to the second driving mechanism include along z to be installed on z of the y on the second sliding seat to the second guide rail (9031), along z
Z of the z on the second guide rail, which is set to, to sliding to the second sliding seat (9032) and is installed on the y on the second sliding seat
Z is fixedly connected with the z to the second sliding seat to the second telescopic cylinder (9033), the z to the telescopic shaft of the second telescopic cylinder,
The electric screwdriver and the absorbent module are installed on the z on the second sliding seat.
6. oral cavity model automated attachment fitting machine according to claim 3, which is characterized in that further include nut vibrating disk
(10), nut feeding device (11), nut grabbing device (12) and nut press device (13), the nut vibrating disk are installed on
On the horizontal table, the nut feeding device is installed on the horizontal table, and is located at the nut vibrating disk
Vibration arrange the equipped at outlet port of guide rail (101), the nut grabbing device is installed on the crossbeam side of the portal frame, institute
Nut press device is stated to be installed on the crossbeam bottom and be located at the localization tool along x to above the track moved；Described
Under the control of PLC controller, the nut vibrating disk will be delivered to described through vibration arrangement guide rail after nut arrangement arrangement
In nut feeding device, the nut can be moved to material position on nut, the nut crawl dress by the nut feeding device
It sets the nut that can be grabbed on the nut at material position and is placed on being located in the mouth on the localization tool at first position
In cavity mold type, the jig mobile positioning mechanism can be along x to the driving localization tool, and the localization tool is positioned at
The third place below the nut press device, the nut press device can will be positioned in the positioning of the third place
The nut placed in advance on jig is squeezed into the locating slot in oral cavity model.
7. oral cavity model automated attachment fitting machine according to claim 6, which is characterized in that the nut feeding device
Block (1103) are carried including support base (1101), the second telescopic cylinder (1102) being installed on the support base and nut, it is described
Nut carries block and is fixedly connected with the telescopic shaft of second telescopic cylinder, and the nut carries the top surface of block on the position of side
It is formed with nut groove (1104), second telescopic cylinder drives the nut to carry block movement, and the nut groove can be made to position
In material position on the equipped at outlet port or the nut that the vibration arranges guide rail, the equipped at outlet port of guide rail, institute are arranged in the vibration
State nut groove and it is described vibration arrange guide rail delivery outlet be docked and connected, enable it is described vibration arrange guide rail output nut into
Enter into the nut groove；The nut grabbing device includes for clamping the Pneumatic clamping jaw of nut (1201), along z to being installed on
Z of the y on the first sliding seat is set to z of the z on third guide rail to the to sliding to third guide rail (1202), along z
Three sliding seats (1203) and it is installed on z of the y on the first sliding seat to third telescopic cylinder (1204), the z is to third
The telescopic shaft of telescopic cylinder is fixedly connected with the z to third sliding seat, and the Pneumatic clamping jaw is installed on the z and slides to third
On seat；The nut press device includes briquetting (1301), press head (1302) and by air cylinder (1303), described by calming the anger
Cylinder is installed on the bottom of the crossbeam and is located at the localization tool along x to above the track moved, the briquetting with it is described
It is fixedly connected by the telescopic shaft of air cylinder, the press head is installed on the briquetting bottom.
8. oral cavity model automated attachment fitting machine according to claim 7, which is characterized in that the jig running fix
Mechanism includes x to sliding seat (301), x to lead-screw drive mechanism (302) and x to stepper motor, and the x drives to stepper motor
The x to lead-screw drive mechanism so that drive the x to sliding seat along x to moving；The localization tool includes mounting plate
(201), seat stand (202), positioning plate (203) and Telescopic rotating cylinder (204), the mounting plate are installed on the x to sliding seat
On, the seat stand and the Telescopic rotating cylinder are installed on the mounting plate, the positioning plate and the Telescopic rotating cylinder
Telescopic rotating axis be fixedly connected, oral cavity model accommodating be positioned in the accommodating groove on the seat stand；In the Telescopic rotating gas
Under the driving of cylinder, the positioning plate can be rotated to the top of the oral cavity model on the seat stand and be pushed down in the oral cavity model
The connection sheet of placement.
9. oral cavity model automated attachment fitting machine according to claim 8, which is characterized in that formed on the positioning plate
The guide through hole (2031) being oriented to when having for nut or screw installation.
10. oral cavity model automated attachment fitting machine according to claim 9, which is characterized in that the horizontal table
On be equipped at intervals with two sets of jig mobile positioning mechanisms, jig mobile positioning mechanism described in every set is equipped with the positioning
Jig, the connector feed bin and the connector feeding device are set between two sets of jig mobile positioning mechanisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525132.0A CN109500583A (en) | 2018-12-13 | 2018-12-13 | Oral cavity model automated attachment fitting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525132.0A CN109500583A (en) | 2018-12-13 | 2018-12-13 | Oral cavity model automated attachment fitting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109500583A true CN109500583A (en) | 2019-03-22 |
Family
ID=65752465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811525132.0A Pending CN109500583A (en) | 2018-12-13 | 2018-12-13 | Oral cavity model automated attachment fitting machine |
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| Country | Link |
|---|---|
| CN (1) | CN109500583A (en) |
Cited By (1)
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