CN109893264B - Application method of arch wire bending robot combining cylindrical coordinates and rectangular coordinates - Google Patents

Abstract

The invention discloses a use method of a post coordinate and rectangular coordinate combined type arch wire bending robot, and relates to the field of orthodontic treatment equipment.

Description

Application method of arch wire bending robot combining cylindrical coordinates and rectangular coordinates

The technical field is as follows:

the invention relates to the field of orthodontic treatment equipment, in particular to a use method of an arch wire bending robot combining a cylindrical coordinate and a rectangular coordinate, which is used for replacing a dental curved wire technician to perform bending work of an orthodontic arch wire.

Background art:

malocclusion is an oral disease with symptoms of irregular tooth arrangement, abnormal jaw relation between upper and lower dental arches, abnormal jaw size, shape and position, and the like, and seriously harms the physical and mental health of human beings. Wearing corrective archwires is the most common and effective treatment for malocclusions. The orthodontic arch wire formed by bending applies orthodontic force to the bracket bonded on the tooth to enable the tooth to move to achieve the effect of correction, wherein the accurate bending formation of the orthodontic arch wire is the key of correction treatment. Orthodontists often require a long period of arch wire bending training to achieve high levels of orthodontic treatment. Therefore, there is a need for a robot for orthodontic archwire bending. The orthodontic arch wire bending robot has partial published patents, but the device designed at present still has the unsolved problem.

For example, the orthodontic archwire bending robot disclosed in patent publication No. CN 103892929B and utility model patent publication No. CN 203898469U all adopt rectangular coordinate type motion, mainly based on the movement in three directions of rectangular coordinate, add part of freedom to supplement and complete corresponding wire bending operation, and further complete the design of motion scheme of the entire orthodontic archwire bending robot, but in the actual bending process, because the formed part has a certain space structure, the wire feeding rotation process occupies a larger space range, so that the orthodontic archwire bending robot is easy to generate interference phenomenon to obstruct the bending process, and in addition, the bending dies adopted by the two rectangular coordinate type orthodontic archwire bending robots cannot clamp the orthodontic archwire, therefore, the orthodontic archwire bending robot in the bending process causes a bending gap between the chuck of the bending die and the orthodontic, the bending gap can cause the phenomenon of sliding and warping at the deformed part of the orthodontic arch wire, so that the quality of the orthodontic arch wire bent by the orthodontic arch wire bending robot is reduced, and the orthodontic arch wire bending robot cannot bend to obtain an ideal orthodontic arch wire. Due to the structural limitation of the rectangular coordinate type orthodontic arch wire bending robot, the rectangular coordinate type orthodontic arch wire bending robot is easy to interfere and slip and warp in the bending process, so that the rectangular coordinate type orthodontic arch wire bending robot can only bend a first sequence curve and a specific second sequence curve, and the bending requirements of doctors and patients on all the second sequence curves cannot be met.

Similarly, the utility model discloses a right angle coordinate type just abnormal arch wire bending robot that patent grant publication number is CN 204562423U can be through changing just abnormal arch wire bending system angle curvature radius, realizes the curved system of T shape, but the just abnormal arch wire bending robot that the right angle coordinate type combined together with the system of bending around the bending still can 'T avoid the limitation of right angle coordinate formula structure for just abnormal bending robot of arch wire can' T surpass the system of staff bending, can 'T break through just abnormal arch wire bending robot's key technological problem.

Similar patent also has an authorization publication No. CN 205324558U for the bending device of the orthodontic arch wire bending robot, the patent realizes the clamping and feeding of the orthodontic arch wire through the positive and negative rotation of the motor, but the bending device has a complex structure, can only realize the clamping and the releasing of the orthodontic arch wire, and cannot bend a complex sequential curve.

Comprehensively analyzes the prior orthodontic arch wire bending robot to only realize the bending of a first sequence of arches and the bending of a few simple second sequence of arches, and the dental curved wire technician can flexibly bend the arch wire with special shapes such as omega curve, T-shaped curve, tear drop curve, box curve and the like for clinical treatment according to years of clinical experience, in addition, a dental bender can bend a personalized orthodontic arch wire according to the actual conditions of different patients, the personalized orthodontic arch wire needs to contain one or more second and third series of special function curves, the structure complexity is different, and the types and the number of the second and third series of curves are various, and when the individual orthodontic arch wire is bent, the wire bending space is narrow, so that the problem of interference is easily caused in the bending process of the orthodontic arch wire robot, and the development of the orthodontic arch wire robot technology is restricted. In addition, in the actual arch wire bending process, the bending die adopted by the rectangular coordinate type orthodontic arch wire bending robot cannot clamp the orthodontic arch wire, so that a bending gap is generated in the bending process, the sliding and warping phenomena are caused, the bent orthodontic arch wire is in a cantilever beam state due to the bending mode, the bending precision of the orthodontic arch wire bending robot is influenced, and the rectangular coordinate type orthodontic arch wire bending robot is designed by comparing the existing rectangular coordinate type orthodontic arch wire bending robot.

The invention content is as follows:

aiming at the problems, the invention aims to provide an arch wire bending robot combining a cylindrical coordinate and a rectangular coordinate and a using method thereof.

The invention relates to a post coordinate and rectangular coordinate combined arch wire bending robot and a using method thereof, wherein the arch wire bending robot consists of a clamp I, a clamp II, a post coordinate system rotary table and a robot main body shell: the lead screw guide rail sliding table of the clamp I in the clamp I is connected with a rotary table in a cylindrical coordinate system rotary table through a bolt, the rotary table of the cylindrical coordinate system rotary table is connected with a connecting chassis inside a robot main body shell through a bolt, and the clamp II is fixedly connected with the top of the shell outside the robot main body shell through a bolt; pincers I belong to the cylindrical coordinates formula, it includes: i lead screw guide rail sliding table of pliers, I lead screw of pliers, I rotary driving gear of pliers, I conical chuck of pliers, chuck shell, chuck sandwich, chuck main shaft, I clamping driven gear of pliers, I clamping driving gear of pliers, retaining ring, spring, shift fork, push rod, I linear motor push rod of pliers, sliding retaining ring, I clamping motor of pliers, I rotary driven gear of pliers, I bracket of pliers, I rotary motor of pliers, I lead screw nut of pliers, I rotary main shaft of pliers, I clamping main shaft of pliers, and wire feeding inlet, I lead screw of pliers is assembled and installed in I lead screw guide rail sliding table of pliers through shaft hole, I lead screw nut of pliers is connected with I lead screw of pliers through screw guide rail sliding table of pliers, I lead screw motor of pliers is installed at tail end of I lead screw of pliers through I lead screw guide rail sliding table of pliers to drive I lead screw to rotate around motor shaft of I lead screw motor of pliers, the lower bottom surface of a bracket of a pliers I is connected with a screw nut of the pliers I through a bolt, a rotating motor of the pliers I is assembled with a rotating driving gear of the pliers I through the bracket of the pliers I to drive the rotating driving gear of the pliers I to rotate around a motor shaft of the rotating motor of the pliers I, a rotating driven gear of the pliers I, a clamping driven gear of the pliers I and a conical chuck of the pliers I are all arranged on a rotating main shaft of the pliers I, the rotating main shaft of the pliers I is a hollow shaft, the rotating driven gear of the pliers I is arranged in the bracket of the pliers I and is meshed with the rotating driving gear of the pliers I to form a pair of meshed gears, the clamping driven gear of the pliers I and the conical chuck of the pliers I are arranged outside the bracket of the pliers I, a wire feeding inlet is positioned on the left side of the rotating main shaft of the pliers I, an arch wire to be bent can be transmitted, the wire feeding of the robot is completed, wherein a conical chuck of a clamp I consists of a chuck shell, a chuck sandwich and a chuck main shaft, the chuck shell is connected with the chuck main shaft through threads, the chuck sandwich is positioned between the rotary chuck shell and the chuck main shaft, when the chuck shell is rotated clockwise, the space between the chuck shell and the chuck main shaft is reduced, and the chuck sandwich is extruded by the chuck shell at the moment, so that the chuck sandwich keeps a clamping state to clamp the abnormal arch wire, otherwise, the chuck sandwich is rotated anticlockwise to realize the loosening of the abnormal arch wire; a clamp driven gear of a clamp I is meshed with a clamp driving gear of the clamp I to form a pair of meshed gears, a clamp motor of the clamp I is installed on the upper top surface of a support of the clamp I through threaded connection, a spindle of the clamp motor of the clamp I is connected with the clamp spindle of the clamp I to drive the clamp spindle of the clamp I to rotate around an axis, a shifting fork, a sliding check ring, a spring, a check ring and the clamp driving gear of the clamp I are installed on the clamp spindle of the clamp I in sequence from left to right through shaft hole assembly, the shifting fork is connected with the sliding check ring through a bolt, the spring is embedded in the sliding check ring and the check ring, the check ring is connected with the clamp driving gear of the clamp I through a bolt, a shaft shoulder is arranged at the tail end of the clamp spindle of the clamp I, which is far away from the direction of the motor spindle, and used, the I linear electric motor push rod of pincers is settled on I tight motor of pincers, when I linear electric motor push rod of pincers promotes or pulls back the push rod, the shift fork that is connected with the push rod can drive slip retaining ring, a spring, retaining ring and I tight driving gear of pincers move about I tight main shaft axial of pincers, and then the I tight driving gear of control pincers presss from both sides the meshing condition of tight driven gear with I pincers, in addition, I tight motor of pincers can drive I tight driving gear of pincers and encircle I tight main shaft of pincers and rotate, thereby control and I tight driven gear of pincers I that press from both sides the clockwise rotation or the anticlockwise rotation of the I cone chuck of pincers that link to each other, finally realize the clamp to just abnormal arch wire with.

Preferably, the pliers ii belong to a rectangular coordinate system, which includes: the clamp II comprises a movable clamp jaw, a movable wedge-shaped sliding block, a fixed clamp jaw, a clamping sliding block, a clamping wedge-shaped sliding block, a push rod of a linear motor of the clamp II, a linear motor, a driven gear for rotation of the clamp II, a shell of the clamp II, a lead screw motor of the clamp II, a lead screw nut of the clamp II, a driving gear for rotation of the clamp II, a rotating motor of the clamp II and a reset spring, wherein the movable clamp jaw of the clamp II is vertically downward and serves as a reference direction; the linear motor, the rotary driven gear of the second plier, the rotary driving gear of the second plier and the rotary motor of the second plier are all arranged in a screw nut of the second plier, wherein the rotary motor of the second plier is connected with the rotary driving gear of the second plier through a shaft hole in a matching way, the rotary driving gear of the second plier is meshed with the rotary driven gear of the second plier to form a pair of meshed gears so as to realize the rotation of the rotary driven gear of the second plier; the clamping slide block is fixed on the push rod of the linear motor II of the pliers through bolt connection, the clamping wedge slide block is installed on the clamping slide block, the movable wedge slide block is installed on the movable jaw of the pliers II, when the push rod of the linear motor II of the pliers is pushed out by the linear motor, the clamping wedge slide block and the movable wedge slide block are extruded, the movable jaw of the pliers II is pushed to move towards the direction of the fixed jaw of the pliers II, the clamping of the wire orthodontics by the pliers II is realized, when the push rod of the linear motor II of the pliers is pulled back by the linear motor, the clamping wedge slide block and the movable wedge slide block are separated, the reset spring pushes the movable jaw of the pliers II away from the fixed jaw.

Preferably, the cylindrical coordinate system turntable includes: the rotary table driving gear is meshed with the rotary table driven gear to form a pair of meshed gears, and the rotary table driven gear are fixed to each other through bolt connection so that the rotary table driven gear drives the rotary table to rotate around the center of the rotary table.

Preferably, the robot main body housing includes: the robot comprises a base, an annular sliding door, an annular shell, a main body support, a shell support column, a connecting chassis and a shell top, wherein the connecting chassis is installed inside the robot main body shell through bolt connection; the body support and housing struts are used to support the robot body housing.

The invention has the beneficial effects that:

(1) the orthodontic arch wire bending robot adopts a mode of combining the cylindrical coordinate with the rectangular coordinate, wherein the clamp I is in the cylindrical coordinate mode, so that the rotation range of the clamp I can reach 0-360 degrees, and compared with the rectangular coordinate mode, the clamp I in the cylindrical coordinate mode can move along the radial direction and rotate around the rotation center, the flexibility of bending an orthodontic arch wire is improved, and the interference phenomenon in the arch wire bending process is avoided.

(2) In the bending process of the orthodontic arch wire robot, the conical clamp of the clamp I and the fixed clamp of the clamp II are positioned in the same plane, so that the bending of an orthodontic arch wire in a two-dimensional plane is realized, the bending planning difficulty of the orthodontic arch wire bending robot is reduced, the bending difficulty of a second series of bending is reduced, and the bending efficiency is improved.

(3) The pliers II can clamp and bend an orthodontics arch wire, avoid the phenomenon of sliding and warping caused by the unclamped arch wire in the process of bending the orthodontics arch wire, and simultaneously weaken the influence of the formed arch wire not in the same plane caused by the bent arch wire in a cantilever beam state, thereby improving the accuracy of bending the arch wire.

(4) According to the invention, the movable wedge-shaped sliding block, the clamping wedge-shaped sliding block and the reset spring are designed, and the linear motor and the rotary motor are applied, so that the quick clamping and quick loosening of the pliers II are realized, the control difficulty is reduced, and the bending efficiency of the pliers II is improved.

(5) The conical chuck of the pliers I can adapt to arch wires with any cross section shapes, and the adaptability of the whole orthodontic arch wire bending robot is improved.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a side view of the structure of pliers I;

FIG. 3 is an exploded view of a cone-shaped chuck of a pliers I;

FIG. 4 is a side view of the structure of pliers II;

FIG. 5 is a schematic view of the internal structure of pliers II;

FIG. 6 is an exploded view of clamp II;

FIG. 7 is a schematic diagram of an internal structure of a turntable of a cylindrical coordinate system;

fig. 8 is a schematic view of a robot main body housing.

In the figure: 1. a clamp I; 2. a clamp II; 3. a cylindrical coordinate system turntable; 4. a robot main body housing; 1-1, a clamp I, a screw guide rail sliding table; 1-2, a screw rod of a clamp I; 1-3, a clamp I rotates a driving gear; 1-4, a conical chuck of a clamp I; 1-4-1, a chuck shell; 1-4-2, clamping head sandwich; 1-4-3, chuck main shaft; 1-5, clamping a driven gear by a clamp I; 1-6, a clamp I clamps a driving gear; 1-7, a check ring; 1-8, a spring; 1-9, a shifting fork; 1-10, push rod; 1-11, a linear motor push rod of a clamp I; 1-12, sliding retainer ring; 1-13, clamping a motor by a clamp I; 1-14, a clamp I rotates a driven gear; 1-15, supporting a clamp I; 1-16, a rotary motor of a clamp I; 1-17, a screw motor of a clamp I; 1-18, a screw nut of a clamp I; 1-19, rotating a main shaft by a clamp I; 1-20, clamping a main shaft by a clamp I; 1-21, a wire feeding inlet; 2-1, a movable jaw of a clamp II; 2-1-1, a movable wedge-shaped slide block; 2-2, fixing the jaw by using a clamp II; 2-3, clamping the sliding block; 2-3-1, clamping the wedge-shaped sliding block; 2-4, a linear motor push rod of a clamp II; 2-5, a linear motor; 2-6, rotating the driven gear by the pliers II; 2-7, a shell of a clamp II; 2-8, a screw rod of a clamp II; 2-9, a screw motor of a clamp II; 2-10, a screw nut of a clamp II; 2-11, rotating a driving gear by a clamp II; 2-12, a clamp II rotating motor; 2-13, a return spring; 3-1, a turntable motor; 3-2, a turntable driving gear; 3-3, rotating the table; 3-4, a driven gear of the rotary table; 4-1, a base; 4-2, a ring-shaped sliding door; 4-3, a ring-shaped housing; 4-4, main body support; 4-5, a housing strut; 4-6, connecting the chassis; 4-7, the top of the shell; 5. an orthodontic archwire.

The specific implementation mode is as follows:

in order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Example 1: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, and fig. 8, the present embodiment adopts the following technical solutions:

the combined arch wire bending robot with the cylindrical coordinates and the rectangular coordinates and the use method thereof are composed of four parts, namely a clamp I1, a clamp II 2, a cylindrical coordinate system rotary table 3 and a robot main body shell 4: the lead screw guide rail sliding table 1-1 of the clamp I in the clamp I1 is connected with a rotary table 3-3 in a cylindrical coordinate system rotary table 3 through a bolt, the rotary table 3-3 of the cylindrical coordinate system rotary table 3 is connected with a connecting chassis 4-6 inside a robot main body shell 4 through a bolt, and the clamp II 2 is fixedly connected with the top 4-7 of the shell outside the robot main body shell 4 through a bolt; pincers I1 belong to the cylindrical coordinates formula, it includes: the clamp I lead screw guide rail sliding table comprises 1-1 parts of a clamp I lead screw guide rail sliding table, 1-2 parts of a clamp I lead screw, 1-3 parts of a clamp I rotary driving gear, 1-4 parts of a clamp I conical chuck, 1-4-1 parts of a chuck shell, 1-4-2 parts of a chuck sandwich, 1-4-3 parts of a chuck spindle, 1-5 parts of a clamp I clamping driven gear, 1-6 parts of a clamp I clamping driving gear, 1-7 parts of a check ring, 1-8 parts of a spring, 1-9 parts of a shifting fork, 1-10 parts of a push rod, 1-11 parts of a clamp I linear motor push rod, 1-12 parts of a sliding check ring, 1-13 parts of a clamp I clamping motor, 1-14 parts of a clamp I rotary driven gear, 1-15 parts of a clamp I support, 1-16 parts of a clamp I, The lead screw 1-2 of the I-shaped pliers is assembled and installed in a lead screw guide rail sliding table 1-1 of the I-shaped pliers through a shaft hole, a lead screw nut 1-18 of the I-shaped pliers is connected with the lead screw 1-2 of the I-shaped pliers through a thread, a lead screw motor 1-17 of the I-shaped pliers is installed at the tail end of the lead screw 1-2 of the I-shaped pliers through the lead screw guide rail sliding table 1-1 of the I-shaped pliers to drive the lead screw 1-2 of the I-shaped pliers to rotate around a motor shaft of the lead screw motor 1-17 of the I-shaped pliers, the lead screw nut 1-18 of the I-shaped pliers moves left and right along the axial direction of the lead screw 1-2 of the I-shaped pliers, the lower bottom surface of a support 1-15 of the I-shaped pliers is connected with the lead screw nut 1-18 of, a rotary driving gear 1-3 of a driving pliers I rotates around a motor shaft of a rotary motor 1-16 of the pliers I, a rotary driven gear 1-14 of the pliers I, a clamping driven gear 1-5 of the pliers I and a conical chuck 1-4 of the pliers I are all arranged on a rotary main shaft 1-19 of the pliers I, the rotary main shaft 1-19 of the pliers I is a hollow shaft, wherein the rotary driven gear 1-14 of the pliers I is arranged inside a support 1-15 of the pliers I and is meshed with the rotary driving gear 1-3 of the pliers I to form a pair of meshed gears, the clamping driven gear 1-5 of the pliers I and the conical chuck 1-4 of the pliers I are arranged outside the support 1-15 of the pliers I, a wire feeding inlet 1-21 is positioned on the left side of the rotary main shaft 1-19 of the pliers I, an orthodontic arch wire 5 passes through the wire feeding inlet 1-21, the orthodontic arch wire 5 to be bent can be sent to a conical clamp 1-4 of a clamp I positioned at the tail end of a rotary main shaft 1-19 of the clamp I to finish the wire feeding link of a robot, wherein the conical clamp 1-4 of the clamp I consists of a clamp shell 1-4-1, a clamp core 1-4-2 and a clamp main shaft 1-4-3, the clamp shell 1-4-1 is connected with the clamp main shaft 1-4-3 through threads, the clamp core 1-4-2 is positioned between the rotary clamp shell 1-4-1 and the clamp main shaft 1-4-3, when the clamp shell 1-4-1 is rotated clockwise, the space between the clamp shell 1-4-1 and the clamp main shaft 1-4-3 is reduced, and at the moment, the clamp core 1-4-2 is extruded by the clamp shell 1-4-1, the collet sandwich 1-4-2 is kept in a clamping state to clamp the abnormal arch wire 5, otherwise, the collet sandwich 1-4-2 is rotated anticlockwise to loosen the abnormal arch wire 5; a clamp driven gear 1-5 of a clamp I is meshed with a clamp driving gear 1-6 of the clamp I to form a pair of meshed gears, clamp motors 1-13 of the clamp I are installed on the upper top surfaces of supports 1-15 of the clamp I through threaded connection, main shafts of the clamp motors 1-13 of the clamp I are connected with clamp main shafts 1-20 of the clamp I to drive the clamp main shafts 1-20 of the clamp I to rotate around an axial direction, a shifting fork 1-9, a sliding check ring 1-12, a spring 1-8, a check ring 1-7 and the clamp driving gear 1-6 of the clamp I are installed on the clamp main shafts 1-20 of the clamp I sequentially from left to right through shaft hole assembly, the shifting fork 1-9 is connected with the sliding check ring 1-12 through bolts, the spring 1-8 is embedded in the sliding check ring 1-12 and the check ring 1-7, the check ring 1-7 is connected with the clamp driving, the tail ends of the clamp I clamping main shafts 1-20 far away from the direction of the motor main shaft are provided with shaft shoulders for limiting the positions of parts assembled on the clamp I clamping main shafts 1-20, the tail ends of the push rods 1-10 are provided with clamp I linear motor push rods 1-11, the push rods 1-10 are connected with shifting forks 1-9 vertically below the push rods 1-10, the clamp I linear motor push rods 1-11 are arranged on clamp I clamping motors 1-13, when the clamp I linear motor push rods 1-11 push or pull back the push rods 1-10, the shifting forks 1-9 connected with the push rods 1-10 can drive sliding check rings 1-12, springs 1-8, check rings 1-7 and clamp I clamping driving gears 1-6 to move left and right along the clamp I clamping main shafts 1-20 axially so as to control the meshing condition of the clamp I clamping driving gears 1-6 and the clamp I clamping driven gears 1-5, in addition, the clamp I clamping motors 1-13 can drive the clamp I clamping driving gears 1-6 to rotate around the clamp I clamping main shafts 1-20, so that clockwise rotation or anticlockwise rotation of clamp I conical chucks 1-4 connected with the clamp I clamping driven gears 1-5 is controlled, and clamping and loosening of a distorted arch wire 5 are finally achieved.

Furthermore, the pliers II 2 belong to a rectangular coordinate type and comprise: a movable jaw 2-1 of a clamp II, a movable wedge-shaped sliding block 2-1, a fixed jaw 2-2 of the clamp II, a clamping sliding block 2-3, a clamping wedge-shaped sliding block 2-3-1, a linear motor push rod 2-4 of the clamp II, a linear motor 2-5, a rotary driven gear 2-6 of the clamp II, a shell 2-7 of the clamp II, a screw 2-8 of the clamp II, a screw motor 2-9 of the clamp II, a screw nut 2-10 of the clamp II, a rotary driving gear 2-11 of the clamp II, a rotary motor 2-12 of the clamp II and a reset spring 2-13, wherein the movable jaw 2-1 of the clamp II is vertically downwards taken as a reference direction, the screw motor 2-9 of the clamp II is arranged at the top of the shell 2-7 of the clamp II to drive the screw 2-8 of the clamp II, and the screw nut 2-10 of the clamp II are in threaded, the lead screw nut 2-10 of the second clamp can move up and down along the axial direction of the lead screw 2-8 of the second clamp by driving the lead screw 2-8 of the second clamp through the lead screw motor 2-9 of the second clamp; the linear motor 2-5, the rotary driven gear 2-6 of the second plier, the rotary driving gear 2-11 of the second plier and the rotary motor 2-12 of the second plier are all arranged in a screw nut 2-10 of the second plier, wherein the rotary motor 2-12 of the second plier is connected with the rotary driving gear 2-11 of the second plier through a shaft hole in a matching way, the rotary driving gear 2-11 of the second plier is meshed with the rotary driven gear 2-6 of the second plier to form a pair of meshed gears so as to realize the rotation of the rotary driven gear 2-6 of the second plier, in addition, the linear motor 2-5 is arranged in the rotary driven gear 2-6 of the second plier through the shaft hole in a matching way, a push rod 2-4 of the linear motor 2-5 of the second plier is arranged in the linear motor 2-5, under, the push rod 2-4 of the linear motor of the pliers II can rotate around the axis of the driven gear 2-6 of the pliers II and can translate along the axis of the driven gear 2-6 of the pliers II; the clamping slide block 2-3 is fixedly connected to a push rod 2-4 of a linear motor of the pliers II through a bolt, the clamping slide block 2-3-1 is arranged on the clamping slide block 2-3, the movable jaw 2-1 of the pliers II is provided with a movable wedge slide block 2-1-1, when the push rod 2-4 of the linear motor of the pliers II is pushed out by the linear motor 2-5, the clamping wedge slide block 2-3-1 and the movable wedge slide block 2-1 are extruded, the movable jaw 2-1 of the pliers II is pushed to the fixed jaw 2-2 of the pliers II, the clamping of the pliers II 2 to a malformed arch wire 5 is realized, when the push rod 2-4 of the linear motor of the pliers II is pulled back by the linear motor 2-5, the clamping wedge slide block 2-3-1 is separated from the movable wedge slide block 2-1-1, the reset spring 2-13 pushes the movable jaw 2-1 of the pliers II away from the fixed jaw 2-2 of the pliers II, so that the pliers II 2 can loosen the abnormal arch wire 5.

Further, the cylindrical coordinate system turntable 3 includes: the turntable driving gear 3-2 is meshed with the turntable driven gear 3-4 to form a pair of meshed gears, and the turntable 3-3 and the turntable driven gear 3-4 are fixed to each other through bolt connection so that the turntable driven gear 3-4 drives the turntable 3-3 to rotate around the center of the turntable 3-3.

Further, the robot main body housing 4 includes: the robot comprises a base 4-1, an annular sliding door 4-2, an annular shell 4-3, a main body support 4-4, a shell support column 4-5, a connecting chassis 4-6 and a shell top 4-7, wherein the connecting chassis 4-6 is installed inside the robot main body shell 4 through bolt connection, the shell top 4-7 is installed outside the robot main body shell 4 through bolt connection, and the annular sliding door 4-2 can be used for opening and closing the robot main body shell 4 so as to protect an operator and an orthodontic arch wire bending robot; the body support 4-4 and the housing stanchion 4-5 are used to support the robot body housing 4.

Further, when the automatic wire feeding task is completed, the specific implementation mode that the orthodontic arch wire robot is required to complete the arch wire bending task is as follows: firstly, different types of bending arch wires are adopted, so that the specific implementation sequence of the orthodontic arch wire robot can be different, and the embodiment mainly additionally explains the bending function of the orthodontic arch wire robot; after the automatic wire feeding task is finished, an arch wire bending task is started to be executed, at the moment, an orthodontic arch wire 5 is arranged in a rotary main shaft 1-19 of a clamp I and is sent into a working area of an orthodontic arch wire robot, a conical clamp 1-4 of the clamp I1 is in a loosening state relative to the orthodontic arch wire 5, a clamp II 2 is in a clamping state relative to the orthodontic arch wire 5, and in the arch wire bending process, the conical clamp 1-4 of the clamp I1 needs to be adjusted to be in a clamping and rotating state, so that a push rod 1-10 is pushed out by a push rod 1-11 of a linear motor of the clamp I, and a clamping driving gear 1-6 of the clamp I and a clamping driven gear 1-5 of the clamp I are in a meshing state through force transmission among a shifting fork 1-9, a sliding retainer ring 1-12, a spring 1-8 and a retainer ring 1-7, at the moment, a clamping motor 1-13 of a clamp I is started to enable a clamping driving gear 1-6 of the clamp I to rotate anticlockwise, a clamping driven gear 1-5 of the clamp I, which is externally meshed with the clamping driving gear 1-6 of the clamp I, rotates clockwise, a conical chuck 1-4 of the clamp I, which is fixed with the clamping driven gear 1-5 of the clamp I, is also in a clockwise rotation state, a space between a chuck shell 1-4-1 and a chuck main shaft 1-4-3 is reduced, at the moment, a sandwich chuck 1-4-2 is extruded by the chuck shell 1-4-1, so that a chuck sandwich 1-4-2 is kept in a clamping state to clamp an orthodontics arch wire 5 to prepare for bending the arch wire by a robot, at the moment, the rotary motor 1-16 of the clamp I is started and rotates anticlockwise, the rotary driving gear 1-3 of the first pincers is driven to rotate by the first pincers I and the rotary driven gear 1-14 of the first pincers which are meshed with each other, so that the rotary main shaft 1-19 of the first pincers rotates clockwise, the orthodontic arch wire 5 can rotate around the rotary driving gear 1-3 in the bending process, therefore, the clamping motor 1-13 of the first pincers and the rotary motor 1-16 of the first pincers are started, the first pincers 1 rotate and clamp the orthodontic arch wire 5, at the moment, according to different bending requirements, the control sequence of the first pincers 1 possibly differs, when an interference phenomenon occurs in the orthodontic arch wire bending process, the rotary table motor 3-1 in the cylindrical coordinate system rotary table 3 is started to drive the rotary table driving gear 3-2 and the rotary table driven gear 3-4 meshed with each other, the rotary table 3-3 is rotated, the whole mechanism of the first pincers 1 can rotate by 0-360 degrees around the rotation center, the flexible bending of the orthodontic arch wire 5 is completed, in addition, when the translation along the wire feeding direction of the orthodontic arch wire 5 is needed, the screw motor 1-17 of the first clamp can be started to drive the screw 1-2 of the first clamp, and the translation along the orthodontic arch wire 5 direction of the integral mechanism of the first clamp 1 is completed, so that when the bending task of the orthodontic arch wire bending robot is completed, the first clamp 1 in a column coordinate type can rotate and clamp the orthodontic arch wire 5, in addition, the first clamp 1 can rotate around a rotation center and translate along the wire feeding direction of the orthodontic arch wire 5, the flexibility of bending is improved, and the feeding and the pose adjustment of the orthodontic arch wire 5 can be realized under the action of the integral mechanism of the first clamp 1; in the bending process, the pliers II 2 can clamp the abnormal arch wire 5, and can drive the pliers II to rotate the driving gear 2-11 and the pliers II engaged with each other to rotate the driven gear 2-6 by starting the pliers II rotating motor 2-12 so as to realize the integral rotation of the pliers II movable jaw 2-1 and the pliers II fixed jaw 2-2, when the interference phenomenon occurs in the orthodontic arch wire bending process, the rotating angle of the integral mechanism of the pliers II movable jaw 2-1 and the pliers II fixed jaw 2-2 is set, the collision between the pliers I1 and the pliers II 2 is avoided, and the bending of a certain bending point on the abnormal arch wire 5 is completed; therefore, by combining the execution mode of the pliers II 2 in the wire feeding task, the pliers II 2 can realize the movement along the vertical direction of the orthodontic arch wire 5 and the clamping and loosening of the orthodontic arch wire 5, and the interference phenomenon in the arch wire bending process can be avoided by setting the rotation angle;

in conclusion, the post coordinate and rectangular coordinate combined type arch wire bending robot can achieve feeding and pose adjustment of an orthodontic arch wire 5 in a post coordinate type clamp I1, wherein a rectangular coordinate type clamp II 2 can achieve clamping of the orthodontic arch wire 5 and is used for avoiding interference phenomena in the process of bending the orthodontic arch wire, under the condition that the clamp I1 is matched with the clamp II 2, the clamp II 2 clamps the orthodontic arch wire 5 through a movable clamp jaw 2-1 of the clamp II and a fixed clamp jaw 2-2 of the clamp II, and the clamp I1 adjusts the pose of the orthodontic arch wire 5, so that the orthodontic arch wire 5 can be bent around the movable clamp jaw 2-1 of the clamp II and the fixed clamp jaw 2-2 of the clamp II, and the arch wire is formed.

Example 2: defining an initial power-on position of the orthodontic arch wire bending robot;

according to the device in the embodiment 1, when the orthodontic arch wire bending robot is in an initial power-on state, push rods 1-11 of linear motors of pliers I in pliers I1 are in an initial state without being pushed out, clamping motors 1-13 of pliers I, rotating motors 1-16 of pliers I and lead screw motors 1-17 of pliers I are in a standby state, the minimum distance between lead screw nuts 1-18 of pliers I and lead screw motors 1-17 of pliers I is the initial position of the lead screw nuts 1-18 of pliers I, clamping driven gears 1-5 of pliers I and clamping driving gears 1-6 of pliers I are in a non-meshing state, and clamping head sandwiches 1-4-2 of conical clamping heads 1-4 of pliers I are in a non-clamping state; a linear motor 2-5, a lead screw motor 2-9 and a rotary motor 2-12 in the second plier II 2 are all in a standby state, a gap formed by a lead screw nut 2-10 of the second plier II and the lead screw motor 2-9 of the second plier II in an initial state is minimum, the linear motor 2-5 and a push rod 2-4 of the linear motor of the second plier II are in an initial state without being pushed out, so that a clamping slide block 2-3 and a movable jaw 2-1 of the second plier II are in a separated state, a return spring 2-13 is in a natural state, and the movable jaw 2-1 of the second plier II is separated from a fixed jaw 2-2 of the second plier II, therefore, in the initial state, the jaw of the second plie; a rotary table motor 3-1 in the rotary table 3 of the cylindrical coordinate system is in a standby state.

Example 3: the orthodontic arch wire robot completes the specific implementation mode of automatic wire feeding task;

according to the device in the embodiment 1, when a dental bending wire technician needs an orthodontic arch wire robot to complete the automatic wire feeding task, the specific implementation mode is as follows: before the wire feeding task is executed, the orthodontic archwire robot is in an initial power-on state, a linear motor push rod 1-11 of a clamp I in a clamp I1 is still in an initial state which is not pushed out, a clamping motor 1-13 of the clamp I and a rotating motor 1-16 of the clamp I are still in initial states and are kept in a standby state, a clamping driven gear 1-5 of the clamp I and a clamping driving gear 1-6 of the clamp I are in a non-meshing state, a clamp core 1-4-2 of a conical clamp 1-4 of the clamp I are in a non-clamping state, when a dental bending technician sends an archwire 5 to the conical clamp 1-4 of the clamp I from a wire feeding inlet 1-21, and the orthodontic archwire 5 exceeds the conical clamp 1-410 mm to 15mm distance of the clamp I, a screw motor 1-17 of the clamp I starts to run, a screw rod I1-2 of the clamp is driven to rotate, so that a screw rod nut 1-18 of, therefore, under the drive of a lead screw motor 1-17 of a clamp I, the clamp I1 and an orthodontic arch wire 5 can move, when the orthodontic arch wire 5 moves to the position right below a fixed clamp jaw 2-2 of a clamp II 2, the clamp II 2 is not in an initial state, a linear motor 2-5 and a lead screw motor 2-9 in the clamp II 2 start to be in a working state, the lead screw motor 2-9 of the clamp II drives a lead screw 2-8 of the clamp II to enable a lead screw nut 2-10 of the clamp II to move towards a direction far away from the lead screw motor 2-9 of the clamp II, so that the whole mechanism of the clamp II 2 approaches to the orthodontic arch wire 5, when the orthodontic arch wire 5 is positioned between a movable clamp jaw 2-1 of the clamp II and a fixed clamp jaw 2-2 of the clamp II, the linear motor 2-5 pushes a push rod 2-4 of the linear motor II, and the push rod 2-4 of the linear motor II enables a clamping wedge-shaped slide block 2-3 And (2) extruding a movable wedge-shaped sliding block 2-1-1 on the jaw-1, enabling a movable jaw 2-1 of the jaw II to approach a fixed jaw 2-2 of the jaw II, and further clamping the orthodontic arch wire 5, controlling a screw motor 1-17 of the jaw I to rotate reversely, enabling the integral mechanism of the jaw I1 to approach the screw motor 1-17 of the jaw I, and sending the orthodontic arch wire 5 into a working area of the orthodontic arch wire bending robot under the dual actions of clamping the jaw II 2 and translating the jaw I1.

Example 4: the orthodontic arch wire robot completes the specific implementation mode of an arch wire bending task;

according to the device in the embodiment 1, when the automatic wire feeding task is completed, the specific implementation mode that the orthodontic arch wire robot is required to complete the arch wire bending task is as follows: firstly, different types of bending arch wires are adopted, so that the specific implementation sequence of the orthodontic arch wire robot can be different, and the embodiment mainly additionally explains the bending function of the orthodontic arch wire robot; after the automatic wire feeding task is finished, an arch wire bending task is started to be executed, at the moment, an orthodontic arch wire 5 is arranged in a rotary main shaft 1-19 of a clamp I and is sent into a working area of an orthodontic arch wire robot, a conical clamp 1-4 of the clamp I1 is in a loosening state relative to the orthodontic arch wire 5, a clamp II 2 is in a clamping state relative to the orthodontic arch wire 5, and in the arch wire bending process, the conical clamp 1-4 of the clamp I1 needs to be adjusted to be in a clamping and rotating state, so that a push rod 1-10 is pushed out by a push rod 1-11 of a linear motor of the clamp I, and a clamping driving gear 1-6 of the clamp I and a clamping driven gear 1-5 of the clamp I are in a meshing state through force transmission among a shifting fork 1-9, a sliding retainer ring 1-12, a spring 1-8 and a retainer ring 1-7, at the moment, a clamping motor 1-13 of a clamp I is started to enable a clamping driving gear 1-6 of the clamp I to rotate anticlockwise, a clamping driven gear 1-5 of the clamp I, which is externally meshed with the clamping driving gear 1-6 of the clamp I, rotates clockwise, a conical chuck 1-4 of the clamp I, which is fixed with the clamping driven gear 1-5 of the clamp I, is also in a clockwise rotation state, a space between a chuck shell 1-4-1 and a chuck main shaft 1-4-3 is reduced, at the moment, a sandwich chuck 1-4-2 is extruded by the chuck shell 1-4-1, so that a chuck sandwich 1-4-2 is kept in a clamping state to clamp an orthodontics arch wire 5 to prepare for bending the arch wire by a robot, at the moment, the rotary motor 1-16 of the clamp I is started and rotates anticlockwise, the rotary driving gear 1-3 of the first pincers is driven to rotate by the first pincers I and the rotary driven gear 1-14 of the first pincers which are meshed with each other, so that the rotary main shaft 1-19 of the first pincers rotates clockwise, the orthodontic arch wire 5 can rotate around the rotary driving gear 1-3 in the bending process, therefore, the clamping motor 1-13 of the first pincers and the rotary motor 1-16 of the first pincers are started, the first pincers 1 rotate and clamp the orthodontic arch wire 5, at the moment, according to different bending requirements, the control sequence of the first pincers 1 possibly differs, when an interference phenomenon occurs in the orthodontic arch wire bending process, the rotary table motor 3-1 in the cylindrical coordinate system rotary table 3 is started to drive the rotary table driving gear 3-2 and the rotary table driven gear 3-4 meshed with each other, the rotary table 3-3 is rotated, the whole mechanism of the first pincers 1 can rotate by 0-360 degrees around the rotation center, the flexible bending of the orthodontic arch wire 5 is completed, in addition, when the translation along the wire feeding direction of the orthodontic arch wire 5 is needed, the screw motor 1-17 of the first clamp can be started to drive the screw 1-2 of the first clamp, and the translation along the orthodontic arch wire 5 direction of the integral mechanism of the first clamp 1 is completed, so that when the bending task of the orthodontic arch wire bending robot is completed, the first clamp 1 in a column coordinate type can rotate and clamp the orthodontic arch wire 5, in addition, the first clamp 1 can rotate around a rotation center and translate along the wire feeding direction of the orthodontic arch wire 5, the flexibility of bending is improved, and the feeding and the pose adjustment of the orthodontic arch wire 5 can be realized under the action of the integral mechanism of the first clamp 1; in the bending process, the pliers II 2 can clamp the abnormal arch wire 5, and can drive the pliers II to rotate the driving gear 2-11 and the pliers II engaged with each other to rotate the driven gear 2-6 by starting the pliers II rotating motor 2-12 so as to realize the integral rotation of the pliers II movable jaw 2-1 and the pliers II fixed jaw 2-2, when the interference phenomenon occurs in the orthodontic arch wire bending process, the rotating angle of the integral mechanism of the pliers II movable jaw 2-1 and the pliers II fixed jaw 2-2 is set, the collision between the pliers I1 and the pliers II 2 is avoided, and the bending of a certain bending point on the abnormal arch wire 5 is completed; therefore, by combining the execution mode of the pliers II 2 in the wire feeding task, the pliers II 2 can realize the movement along the vertical direction of the orthodontic arch wire 5 and the clamping and loosening of the orthodontic arch wire 5, and the interference phenomenon in the arch wire bending process can be avoided by setting the rotation angle;

to sum up, the post coordinate and rectangular coordinate combined type arch wire bending robot can achieve feeding and pose adjustment of an orthodontic arch wire 5 in a post coordinate type clamp I1, wherein a rectangular coordinate type clamp II 2 can achieve clamping of the orthodontic arch wire 5 and is used for avoiding interference phenomena in the orthodontic arch wire bending process, under the mutual matching of the clamp I1 and the clamp II 2, the clamp II 2 clamps the orthodontic arch wire 5 through a movable clamp jaw 2-1 of the clamp II and a fixed clamp jaw 2-2 of the clamp II, and bending of the orthodontic arch wire 5 around the movable clamp jaw 2-1 of the clamp II and the fixed clamp jaw 2-2 of the clamp II can be achieved through adjustment of the pose of the clamp I1 to the orthodontic arch wire 5, so that the arch wire is formed.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (1)

1. A use method of a post coordinate and rectangular coordinate combined type arch wire bending robot is applied to the post coordinate and rectangular coordinate combined type arch wire bending robot, the post coordinate and rectangular coordinate combined type arch wire bending robot is composed of a clamp I (1), a clamp II (2), a post coordinate system rotary table (3) and a robot main body shell (4), the lead screw guide rail sliding table (1-1) of the clamp I in the clamp I (1) is connected with a rotary table (3-3) of a cylindrical coordinate system rotary table (3) through a bolt, the rotary table (3-3) of the cylindrical coordinate system rotary table (3) is connected with a connecting chassis (4-6) inside a robot main body shell (4) through a bolt, and the clamp II (2) is fixed on the top (4-7) of the shell outside the robot main body shell (4) through a bolt; pincers I (1) belong to the cylindrical coordinates formula, it includes: the lead screw guide rail sliding table (1-1) of the I-shaped pliers, a lead screw (1-2) of the I-shaped pliers, a rotary driving gear (1-3) of the I-shaped pliers, a conical chuck (1-4) of the I-shaped pliers, a chuck shell (1-4-1), a chuck sandwich (1-4-2), a chuck main shaft (1-4-3), a clamping driven gear (1-5) of the I-shaped pliers, a clamping driving gear (1-6) of the I-shaped pliers, a check ring (1-7), a spring (1-8), a shifting fork (1-9), a push rod (1-10), a linear motor push rod (1-11) of the I-shaped pliers, a sliding check ring (1-12), a clamping motor (1-13) of the I-shaped pliers, a rotary driven gear (1-14) of the I-, The lead screw motor (1-17) of the I-shaped pliers, the lead screw nut (1-18) of the I-shaped pliers, the rotating main shaft (1-19) of the I-shaped pliers, the clamping main shaft (1-20) of the I-shaped pliers and a wire feeding inlet (1-21), the lead screw (1-2) of the I-shaped pliers is assembled and installed in a lead screw guide rail sliding table (1-1) of the I-shaped pliers through a shaft hole, the lead screw nut (1-18) of the I-shaped pliers is connected with the lead screw (1-2) of the I-shaped pliers through a thread, the lead screw motor (1-17) of the I-shaped pliers is installed at the tail end of the lead screw (1-2) of the I-shaped pliers through the lead screw guide rail sliding table (1-1) of the I-shaped pliers so as to drive the lead screw (1-2) of the, the lower bottom surface of a bracket (1-15) of a first plier I is connected with a lead screw nut (1-18) of the first plier I through a bolt, a rotating motor (1-16) of the first plier I is assembled with a rotating driving gear (1-3) of the first plier I through the bracket (1-15) of the first plier I, the rotating driving gear (1-3) of the first plier I is driven to rotate around a motor shaft of the rotating motor (1-16) of the first plier I, a rotating driven gear (1-14) of the first plier I, a clamping driven gear (1-5) of the first plier I and a conical chuck (1-4) of the first plier I are all arranged on a rotating main shaft (1-19) of the first plier I, the rotating main shaft (1-19) of the first plier I is a hollow shaft, the rotating driven gear (1-14) of the first plier, a pair of meshing gears is formed, a clamp I clamps a driven gear (1-5) and a clamp I conical chuck (1-4) are arranged outside a clamp I support (1-15), a wire feeding inlet (1-21) is positioned on the left side of a clamp I rotating main shaft (1-19), an orthodontic arch wire (5) passes through the wire feeding inlet (1-21) and passes through the interior of the clamp I rotating main shaft (1-19), the orthodontic arch wire (5) to be bent can be sent to the clamp I conical chuck (1-4) positioned at the tail end of the clamp I rotating main shaft (1-19), the wire feeding of a robot is completed, wherein the clamp I conical chuck (1-4) consists of a chuck outer shell (1-4-1), a chuck sandwich (1-4-2) and a chuck main shaft (1-4-3), the chuck outer shell (1-4-1) is connected with the chuck main shaft (1-4-3) through threads, the collet core (1-4-2) is positioned between the rotary collet shell (1-4-1) and the collet spindle (1-4-3), when the collet shell (1-4-1) is rotated clockwise, the space between the collet shell (1-4-1) and the collet spindle (1-4-3) is reduced, and at the moment, the collet core (1-4-2) is extruded by the collet shell (1-4-1), so that the collet core (1-4-2) is kept in a clamping state to clamp the orthodontics arch wire (5), otherwise, the collet core (1-4-2) is rotated anticlockwise to realize the loosening of the orthodontics arch wire (5); a clamp I driven gear (1-5) is meshed with a clamp I driving gear (1-6) to form a pair of meshed gears, a clamp I motor (1-13) is installed on the upper top surface of a clamp I support (1-15) through threaded connection, a spindle of the clamp I motor (1-13) is connected with a clamp I clamping spindle (1-20) to drive the clamp I clamping spindle (1-20) to rotate axially, a shifting fork (1-9), a sliding check ring (1-12), a spring (1-8), a check ring (1-7) and the clamp I clamping driving gear (1-6) are installed on the clamp I clamping spindle (1-20) sequentially from left to right through shaft hole assembly, the shifting fork (1-9) is connected with the sliding check ring (1-12) through bolts, and the spring (1-8) is embedded in the sliding check ring (1-12) and the check ring (1-7) ) The clamp I linear motor push rod assembly comprises a retaining ring (1-7), a clamp I clamping driving gear (1-6) and a clamp I linear motor push rod (1-11), wherein the retaining ring (1-7) is connected with a clamp I clamping driving gear (1-6) through a bolt, a shaft shoulder is arranged at the tail end, away from the direction of a motor spindle, of a clamp I clamping spindle (1-20) and used for limiting the position of a part assembled on the clamp I clamping spindle (1-20), the tail end of the push rod (1-10) is provided with the clamp I linear motor push rod (1-11), the push rod (1-10) is connected with a shifting fork (1-9) vertically below the push rod (1-10), the clamp I linear motor push rod (1-11) is arranged on a clamp I clamping motor (1-13), and when the push rod (1-11) of the clamp I linear motor pushes or pulls back the push rod (, The spring (1-8), the check ring (1-7) and the clamp driving gear (1-6) of the first clamp move left and right along the axial direction of the clamp main shaft (1-20) of the first clamp, so as to control the meshing condition of the clamp driving gear (1-6) of the first clamp and the clamp driven gear (1-5) of the first clamp, in addition, a clamp motor (1-13) of the first clamp can drive the clamp driving gear (1-6) of the first clamp to rotate around the clamp main shaft (1-20) of the first clamp, thereby controlling the clockwise rotation or the counterclockwise rotation of a conical chuck (1-4) of the first clamp connected with the clamp driven gear (1-5) of the first clamp, and finally realizing the clamping and the loosening of the abnormal arch wire (5); pincers II (2) belong to rectangular coordinate formula, it includes: a movable jaw (2-1) of a clamp II, a movable wedge-shaped sliding block (2-1-1), a fixed jaw (2-2) of the clamp II, a clamping sliding block (2-3), a clamping wedge-shaped sliding block (2-3-1), a linear motor push rod (2-4) of the clamp II, a linear motor (2-5), a rotary driven gear (2-6) of the clamp II, a shell (2-7) of the clamp II, a lead screw (2-8) of the clamp II, a lead screw motor (2-9) of the clamp II, a lead screw nut (2-10) of the clamp II, a rotary driving gear (2-11) of the clamp II, a rotary motor (2-12) of the clamp II and a reset spring (2-13), wherein the movable jaw (2-1) of the clamp II is vertically downward as a reference direction, and the lead screw motor (2-9) of, the lead screw (2-8) of the second pliers is driven, wherein the lead screw (2-8) of the second pliers is in threaded connection and matching with the lead screw nut (2-10) of the second pliers, and the lead screw nut (2-8) of the second pliers is driven by the lead screw motor (2-9) of the second pliers to move up and down along the axial direction of the lead screw (2-8) of the second pliers; the linear motor (2-5), the rotary driven gear (2-6) of the second tong, the rotary driving gear (2-11) of the second tong and the rotary motor (2-12) of the second tong are all arranged in a screw nut (2-10) of the second tong, wherein the rotary driving gear (2-12) of the second tong and the rotary driving gear (2-11) of the second tong are connected in a matching way through shaft holes, the rotary driving gear (2-11) of the second tong is meshed with the rotary driven gear (2-6) of the second tong to form a pair of meshed gears so as to realize the rotation of the rotary driven gear (2-6) of the second tong, in addition, the linear motor (2-5) is arranged in the rotary driven gear (2-6) of the second tong through the shaft hole matching, a push rod (2-4) of the linear motor (2-5) of the second tong is arranged in the linear motor (2-5), under the action of the rotary driven gear (2-6) of the linear motor (, the linear motor push rod (2-4) of the pliers II can rotate around the axis of the driven gear (2-6) rotated by the pliers II and can translate along the axis of the driven gear (2-6) rotated by the pliers II; the clamping slide block (2-3) is fixedly connected onto a push rod (2-4) of a linear motor of the second pliers through a bolt, the clamping slide block (2-3) is provided with a clamping wedge-shaped slide block (2-3-1), the movable jaw (2-1) of the second pliers is provided with a movable wedge-shaped slide block (2-1-1), when the push rod (2-4) of the linear motor of the second pliers is pushed out by the linear motor (2-5), the clamping wedge-shaped slide block (2-3-1) and the movable wedge-shaped slide block (2-1) are extruded, the movable jaw (2-1) of the second pliers is pushed to move towards the fixed jaw (2-2) of the second pliers, the clamping of the second pliers (2) to a distorted arch wire (5) is realized, when the push rod (2-4) of the linear motor of the second pliers is pulled back by the linear motor (2, the clamping wedge-shaped sliding block (2-3-1) is separated from the movable wedge-shaped sliding block (2-1-1), and the reset spring (2-13) pushes the movable jaw (2-1) of the pliers II away from the fixed jaw (2-2) of the pliers II, so that the pliers II (2) can release the abnormal arch wire (5);

the cylindrical coordinate system turntable (3) comprises: the turntable driving gear (3-2) is connected with the turntable driving gear (3-2) through shaft hole assembly to drive the turntable driving gear (3-2) to rotate around a motor shaft of the turntable motor (3-1), the turntable driving gear (3-2) is meshed with the turntable driven gear (3-4) to form a pair of meshed gears, and the turntable (3-3) and the turntable driven gear (3-4) are fixed with each other through bolt connection so that the turntable driven gear (3-4) drives the turntable (3-3) to rotate around the center of the turntable (3-3); the robot main body housing (4) comprises: the robot arch wire orthodontic bending robot comprises a base (4-1), an annular sliding door (4-2), an annular shell (4-3), a main body support (4-4), a shell support post (4-5), a connecting chassis (4-6) and a shell top (4-7), wherein the connecting chassis (4-6) is installed inside the robot main body shell (4) through bolt connection, the shell top (4-7) is installed outside the robot main body shell (4) through bolt connection, and the robot main body shell (4) can be opened and closed through the annular sliding door (4-2) so as to protect an operator and the arch wire orthodontic bending robot with a combined column coordinate and rectangular coordinate; the main body support (4-4) and the shell strut (4-5) are used for supporting the robot main body shell (4);

the method is characterized in that: the method comprises the following concrete implementation processes: after the automatic wire feeding task is completed, an arch wire bending task is started to be executed, at the moment, an orthodontic arch wire (5) is arranged in a rotary main shaft (1-19) of a clamp I and sent into a working area of an orthodontic arch wire robot, a clamp I conical chuck (1-4) of the clamp I (1) is in a loosening state relative to the orthodontic arch wire (5), a clamp II (2) is in a clamping state relative to the orthodontic arch wire (5), and in the arch wire bending process, the clamp I conical chuck (1-4) of the clamp I (1) needs to be adjusted to be in a clamping and rotating state, so that a clamp I linear motor push rod (1-11) is controlled to push out a push rod (1-10) and force transmission is carried out between a shifting fork (1-9), a sliding retainer ring (1-12), a spring (1-8) and a retainer ring (1-7), and a clamp I clamping driving gear (1-6) and a clamp I clamping driven gear (1-5) are in a clamping state In the meshing state, at the moment, a clamp I clamping motor (1-13) is started to enable a clamp I clamping driving gear (1-6) to rotate anticlockwise, a clamp I clamping driven gear (1-5) meshed with the clamp I clamping driving gear (1-6) rotates clockwise, a clamp I conical chuck (1-4) fixed with the clamp I clamping driven gear (1-5) is enabled to rotate clockwise, further the space between a chuck shell (1-4-1) and a chuck spindle (1-4-3) is reduced, at the moment, a chuck sandwich (1-4-2) is extruded by the chuck shell (1-4-1), so that the chuck sandwich (1-4-2) keeps in the clamping state, the clamping of a distorted arch wire (5) is realized, and preparation is made for bending a robot, at the moment, a rotary motor (1-16) of the pliers I is started and rotates anticlockwise, a rotary driving gear (1-3) of the pliers I and a rotary driven gear (1-14) of the pliers I meshed with the pliers I are driven to rotate clockwise, the orthodontic arch wire (5) can rotate around the rotary driving gear (1-3) of the pliers I and a driven gear (1-14) of the pliers I meshed with the pliers I, therefore, the clamping motor (1-13) of the pliers I and the rotary motor (1-16) of the pliers I are started, the pliers I (1) can rotate and clamp the orthodontic arch wire (5), at the moment, according to different bending requirements, the control sequence of the pliers I (1) is different, when interference phenomenon occurs in the bending process of the orthodontic arch wire, the rotary motor (3-1) in a column coordinate system rotary table (3) is started to drive a rotary driving gear (3-2) of the orthodontic arch wire and a rotary table driven gear (3-4) meshed with the pliers I, further rotating the rotary table (3-3) to realize that the whole mechanism of the pliers I (1) rotates by 0-360 degrees around the rotating center, thus finishing the flexible bending of the orthodontics arch wire (5), in addition, when the orthodontic arch wire 5 needs to be translated along the wire feeding direction, a screw motor (1-17) of the pliers I can be started, so as to drive the lead screw (1-2) of the pliers I (1) to complete the translation of the integral mechanism of the pliers I (1) along the direction of the orthodontic arch wire (5), when the orthodontic arch wire bending robot finishes the bending task, the clamp I (1) in the column coordinate type can rotate and clamp the orthodontic arch wire (5), in addition, the pliers I (1) can also realize rotation around a rotation center and translation along the wire feeding direction of the orthodontic arch wire (5), thereby improving the flexibility of bending, under the action of the integral mechanism of the pliers I (1), the feed and pose adjustment of an orthodontic arch wire (5) can be realized; in the bending process, the second pliers (2) can clamp an orthodontic arch wire (5) and can drive the second pliers rotary driving gear (2-11) and the second pliers rotary driven gear (2-6) meshed with the second pliers rotary driving gear through starting the second pliers rotary motor (2-12) so as to realize the integral rotation of the second pliers movable jaw (2-1) and the second pliers fixed jaw (2-2), and when an interference phenomenon occurs in the orthodontic arch wire bending process, the rotation angles of the integral mechanisms of the second pliers movable jaw (2-1) and the second pliers fixed jaw (2-2) are set, so that the first pliers (1) and the second pliers (2) are prevented from colliding, and the bending of a certain bending point on the orthodontic arch wire (5) is completed; therefore, by combining the execution mode of the pliers II (2) in the wire feeding task, the pliers II (2) can realize the movement along the vertical direction of the orthodontic arch wire (5) and the clamping and loosening of the orthodontic arch wire (5), and the interference phenomenon in the arch wire bending process can be avoided by setting the rotation angle; a cylindrical coordinate and rectangular coordinate combined type arch wire bending robot can achieve feeding and pose adjustment of an orthodontic arch wire (5) in a cylindrical coordinate type clamp I (1), wherein a rectangular coordinate type clamp II (2) can achieve clamping of the orthodontic arch wire (5) and is used for avoiding interference phenomena in the process of bending the orthodontic arch wire, under the condition that the clamp I (1) and the clamp II (2) are mutually matched, the clamp II (2) can clamp the orthodontic arch wire (5) through a movable clamp jaw (2-1) of the clamp II and a fixed clamp jaw (2-2) of the clamp II, and the pose of the orthodontic arch wire (5) is adjusted through the clamp I (1), so that the orthodontic arch wire (5) can be bent around the movable clamp jaw (2-1) of the clamp II and the fixed clamp jaw (2-2) of the clamp II, and further shaping is achieved.

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