CN109893268B - Arch wire bending robot and method for establishing bending arch wire motion model - Google Patents
Arch wire bending robot and method for establishing bending arch wire motion model Download PDFInfo
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- CN109893268B CN109893268B CN201910354135.0A CN201910354135A CN109893268B CN 109893268 B CN109893268 B CN 109893268B CN 201910354135 A CN201910354135 A CN 201910354135A CN 109893268 B CN109893268 B CN 109893268B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/02—Tools for manipulating or working with an orthodontic appliance
- A61C7/04—Tools for manipulating or working with an orthodontic appliance plier-type, e.g. pincers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/02—Tools for manipulating or working with an orthodontic appliance
- A61C7/026—Tools for manipulating or working with an orthodontic appliance for twisting orthodontic ligature wires
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Abstract
An arch wire bending robot and a method for establishing a motion model of a bent arch wire relate to the technical field of orthodontic arch wire bending. According to the invention, the process of the motion of a bent wire of a hand is simulated according to the spatial posture information of an orthodontic arch wire, the clamping position of orthodontic pliers, the motion track of the hand and the like of an orthodontist in the process of bending the orthodontic arch wire, firstly, an arch wire motion model is simplified and a coordinate system is established, secondly, the configuration of the degree of freedom of a robot is carried out, and finally, the parameters of the motion of the bent wire are determined, so that the establishment of the motion model of the bent orthodontic arch wire of the robot is completed.
Description
The technical field is as follows:
the invention relates to an arch wire bending robot and a method for establishing a motion model of a bent arch wire, and belongs to the technical field of orthodontic arch wire bending.
Background art:
in modern oral medicine, fixed correction is a common and effective orthodontic treatment means, and bending of an orthodontic arch wire is a key of a fixed correction technology, in recent years, the fixed correction technology is influenced deeply by digital manufacturing technology, the traditional oral manufacturing and processing technology is revolutionarily changed, the field of oral orthodontics also benefits from the digital technology, and the processing of the arch wire in the orthodontic appliance is developing towards digitization.
Utilize the robot technology to bend and make just abnormal arch wire, its purpose is to realize just abnormal arch wire automatic accurate system of bending, replaces just abnormal doctor to bend by hand, improves just abnormal arch wire's system efficiency of bending to further improvement just abnormal doctor's work efficiency. However, robot bending of orthodontic archwires presents a number of challenges, the most critical of which is that the archwire bending robot effects a second sequence of bends of the orthodontic archwire. The orthodontic arch wire with special correcting function has multiple kinds of second serial curves and different shapes. Therefore, the motion mode of the arch wire bending robot has a certain 'flexibility' while the robot has a simple structure, namely, the arch wire bending of all types of arch wire forms is realized by a small amount of degrees of freedom and a mechanism form. When the robot bends to make the orthodontic arch wire, the problem that most easily appears is the interference problem, and when other key technical problems of the orthodontic arch wire that the robot bends are researched, the interference problem in the robot bending process can be frequently received, so that the experiment failure of the orthodontic arch wire bending is caused, and then the experiment analysis for researching other key technical problems is interfered. Therefore, an arch wire bending robot and a method for establishing a bending arch wire motion model need to be researched according to the spatial posture information of the orthodontic arch wire, the clamping position of orthodontic pliers, the motion track of hands and the like of an orthodontic doctor in the process of bending the orthodontic arch wire and simulating the motion process of the bending wire of the hands.
The invention has the following patent contents:
aiming at the problems, the invention provides an arch wire bending robot and a method for establishing a bending arch wire motion model, which simplify the motion of bending an orthodontic arch wire by a hand into the motion of an orthodontic pliers, and enable the robot to simulate the motion of bending the arch wire by the hand, thereby realizing the flexible bending of the orthodontic arch wire by the orthodontic arch wire robot.
The scheme adopted by the invention to solve the problems is as follows:
a method for establishing a motion model of a bent arch wire is applied to an arch wire bending robot.
A method for establishing a motion model of a bent arch wire comprises the following steps: the method comprises the following concrete implementation processes:
step one, establishing a robot bending orthodontic arch wire motion model coordinate system:
when a hand bending motion model is established, simplifying a functional characteristic model of a hand structure into a clamp I and a clamp II; firstly, in order to enable the pliers II to realize the key action of adjusting the clamping position, the coordinate system of the pliers II adopts a rectangular coordinate system, and the establishment method is as follows: selecting the tail end of the clamp II as the origin O of a rectangular coordinate system2Taking the axis of the clamping point P2 of the pliers II as a z-axis, taking the opening direction of the pliers II as a y-axis, and determining the x-axis direction according to the right-hand rule and the determined y-axis and z-axis to establish straightnessAngular coordinate system O2-xyz; what pincers I realized is that position adjustment and the arch wire of clamping the strong point are tight, consequently, select the cylindrical coordinate system as the coordinate system of pincers II, and the establishment mode is: first, the origin O of the coordinate system is set to the Pliers II clamping point P21Taking the axial direction of a clamp II as a Z axis of a cylindrical coordinate system, taking a clamping point P2 of the clamp II as a reference point, taking an extension line perpendicular to the Z axis in the direction of the clamp I as an R axis of the cylindrical coordinate system, determining a jaw of the clamp I as a clamping point P1 of the clamp I, and establishing a cylindrical coordinate system O according to the Z axis and the R axis1-RZ；
Step two, configuring the degree of freedom of the robot:
let A (a)1,a2,a3,…,ai) Is the distribution of the degrees of freedom of a clamp I, wherein i is 1-6, aiIs 0 or 1, where 0 indicates that the degree of freedom is not required and 1 indicates that the degree of freedom is required; at a set value of aiIn (a)1Representing the degree of freedom of movement of the pliers I in the direction of the R-axis, a2Degree of freedom of rotation, a, representing angle theta3Representing a degree of freedom of movement in the Z-axis direction, a4Representing a rotational degree of freedom about the R axis, a5Representing a rotational degree of freedom about the Z axis, a6The freedom degree of clamping and loosening of the pliers I is shown; let B (B)1,b2,b3,…,bj) The degree of freedom of the pliers II is distributed, wherein j is 1-7, bjIs 0 or 1, where 0 indicates that the degree of freedom is not required and 1 indicates that the degree of freedom is required; at set bjIn (b)1Representing the degree of freedom of movement of the pliers II in the direction of the X-axis, b2Representing a degree of freedom of movement in the direction of the Y-axis, b3Representing a degree of freedom of movement in the Z-axis direction, b4Representing a degree of freedom of rotation about the X-axis, b5Representing rotational freedom about the Y axis, b6Representing rotational freedom about the Z axis, b7Expressing the freedom of clamping and unclamping of the pliers II, assigning A and B according to the motion plan of the pliers I and the pliers II to obtain a unique sequence number (A | B), and expressing the freedom required by the pliers I and the pliers II by the sequence number, namely (a)1,a2,a3,…,ai|b1,b2,b3,…,bj)；
Step three, optimizing the degree of freedom of the robot according to the second sequence curve:
through analysis of second sequence curves such as lachrymal-drip curve and minor-circle curve, the degree of freedom required by the pliers I and the pliers II is optimized, and the degree of freedom sequence number required by the robot is (1,0,1,0,1,1|0,0,1,0,0,1,1), namely the pliers I in a cylindrical coordinate system O 14 degrees of freedom are required in RZ, a1A degree of freedom of movement in the direction of the R axis3A degree of freedom of movement in the Z-axis direction of5Rotational degree of freedom about Z axis and6the clamp I has the freedom degree of clamping and loosening; pliers II at O23 degrees of freedom within-xyz are required, respectively b3Degree of freedom of movement in the Z-axis direction, b6Rotational degree of freedom about the Z axis and b7The clamp II has the freedom degree of clamping and loosening;
step four, determining parameters of the wire bending motion of the robot:
dividing the bending task of the arch wire bending robot into bending of a bending point and position adjustment of a clamping point, wherein the bending of the bending point is realized by firstly realizing the clamping of the bending point by a rectangular coordinate type end effector clamp I and secondly realizing the rotary bending motion by a cylindrical coordinate type end effector clamp II; the position adjustment of the clamping point is completed by matching two end effectors, firstly, the clamping position of a cylindrical coordinate type end effector clamp II is determined, and then the clamping position of a rectangular coordinate type end effector clamp I is determined;
in the distribution of tasks, the clamping position adjustment is completed by firstly determining the clamping position of a clamp II and then determining the clamping position of a clamp I, the bending point bending motion is realized by the fact that the clamp II is responsible for clamping the bending point, and the clamp I is responsible for bending motion; and (3) allocation of motion parameters: the pliers I comprise parameters of1β、1L、1λ、1Open/1Close, clamp II comprises2β、2L、2Open/2Close；1Open/1Close represents the open and closed clamping state of the pliers I,1β show the parameters of the rotary motion of pliers I around the Z axis,1l represents the translation of pincers I along the R axisThe parameters of the movement are such that,1lambda denotes a parameter of the rotational movement of the wire,2Open/2close represents the open and Close clamping state of the pliers II,2β show the parameters of the rotary motion of pliers ii about the Z axis,2l represents a parameter of translational motion of the pliers II along the Z axis;
the arch wire bending robot is provided with two tail end bending actuators, and can realize opening and closing and clamping functions in the bending process respectively, so that the two tail end bending actuators are combined in different clamping and opening and closing states, and the operating states of the arch wire are different, so that each step of bending action of the robot is taken as a unit, and a parameter model of a robot bending motion unit comprises four combined states of the two tail end actuators, namely clamping of a clamp I and clamping of a clamp II, so that the bending operation is realized; the first clamp and the second clamp are opened and closed, and the first clamp and the second clamp are opened and closed to realize the adjustment of the position of a clamping point; the first clamp and the second clamp are opened and closed, so that the robot moves to an initial position;
the parameter model of the wire bending motion unit of the robot at the ith bending point is as shown in formula 1:
based on the bending point sequence of the Robot bending orthodontic arch wire, recording the motion model information Robot delta A of the Robot bending whole orthodontic arch wire, as shown in formula 2:
RobotΔA＝(BendΔA0,BendΔA1,BendΔA2,,BendΔAi) (2)
the invention has the beneficial effects that:
1. the invention applies the principle of bending the arch wire by the hand, refers to the process of manually bending the arch wire by an orthodontist in principle, and simplifies and applies the process of manually bending the arch wire by the hand.
2. The invention simplifies the hand into two parts of a clamp I and a clamp II of the robot on the basis of realizing the function, and the two clamp types simplify the complex bending action of the hand and reduce the bending difficulty of the robot.
3. The invention optimizes the configuration of the degree of freedom, so that the robot realizes the bending of the bent wire under the least degree of freedom, reasonably distributes the degree of freedom between the pliers I and the pliers II, simplifies the structure and reduces the control difficulty of the pliers.
4. The invention simplifies the basic wire bending motion into a robot wire bending motion unit, parameterizes the execution action, and expresses the motion of the robot wire bending in a parameterization mode, so that the simulation of the robot wire bending motion in a computer is realized.
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 flow chart of a method for establishing a robot bending orthodontic arch wire motion model;
FIG. 2 is a simplified feature model of human hand structure function and its coordinate system assignment;
FIG. 3 is a degree of freedom configuration model;
fig. 4 is a general schematic view of the structure of the arch wire bending robot;
FIG. 5 is a side view of the structure of pliers I;
FIG. 6 is an exploded view of the collet of pliers I;
FIG. 7 is a side view of the structure of pliers II;
FIG. 8 is a schematic view of the internal structure of pliers II;
FIG. 9 is an exploded view of clamp II;
FIG. 10 is a schematic diagram of an internal structure of a turntable of a cylindrical coordinate system;
fig. 11 is a schematic view of an arch wire bending robot main body housing;
fig. 12 is a sketch map of the coordinate system establishment of the arch wire bending robot.
In the figure: 1. a clamp I; 2. a clamp II; 3. a cylindrical coordinate system turntable; 4. a robot main body housing; 5. an arch wire; 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:
for the purposes of promoting a clear understanding of the objects, aspects and advantages of the invention, reference will now be made to the following description of the preferred embodiments illustrated in the accompanying drawings, with the understanding that the description is illustrative only and is not intended to limit the scope of the invention, and that the following description will omit descriptions of well-known structures and techniques in order to avoid unnecessarily obscuring the concepts of the invention.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, and fig. 12, the present embodiment adopts the following technical solutions:
an arch wire system robot that bends, by pincers I1, pincers II 2, cylindrical coordinate system revolving stage 3, 4 four bibliographic categories of robot main part shell divide and constitute: 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; the pliers I1 comprises: 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 driven gears 1-5 to rotate around the clamp I clamping main shafts 1-20, so that clockwise rotation or anticlockwise rotation of the clamp I conical chucks 1-4 connected with the clamp I clamping driven gears 1-5 is controlled, and clamping and loosening of the abnormal arch wire 5 are finally achieved.
Further, the pliers II 2 comprises: 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 4-5, a connecting chassis 4-6 and a shell top 4-7, wherein the connecting chassis 4-6 is installed inside the shell 4 of the robot main body through bolt connection, the shell top 4-7 is installed outside the shell 4 of the robot main body through bolt connection, and the shell 4-2 can be opened and closed to protect an operator and an 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 screw of the pliers I can be started to drive the screw 1-2 of the screw of the pliers I, and the translation along the wire feeding direction of the orthodontic arch wire 5 of the integral mechanism of the pliers I1 is completed, so that when the bending task of the arch wire bending robot is completed, the rotation and the clamping of the orthodontic arch wire 5 can be realized by the pliers I1, in addition, the rotation around the rotation center and the translation along the wire feeding direction of the orthodontic arch wire 5 can also be realized by the pliers I1, the flexibility of the bending is improved, and the feeding and the pose adjustment of the orthodontic arch wire 5 can be realized under the action of; 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 pliers I1 in the arch wire bending robot can realize the feeding and the pose adjustment of an orthodontic arch wire 5, the pliers II 2 can realize the clamping of the orthodontic arch wire 5 and is used for avoiding the interference phenomenon in the process of bending the orthodontic arch wire, under the mutual matching of the pliers I1 and the pliers II 2, the pliers II 2 can clamp the orthodontic arch wire 5 through the movable jaws 2-1 and the fixed jaws 2-2 of the pliers II, and the pliers I1 can adjust the pose of the orthodontic arch wire 5, so that the orthodontic arch wire 5 can be bent around the movable jaws 2-1 and the fixed jaws 2-2 of the pliers II, and the arch wire is formed.
A method for establishing a motion model of a bent arch wire is applied to an arch wire bending robot.
A method for establishing a motion model of a bent arch wire is specifically realized by the following steps:
step one, establishing a robot bending orthodontic arch wire motion model coordinate system:
when a hand bending motion model is established, simplifying a functional characteristic model of a hand structure into a clamp I and a clamp II; firstly, in order to enable the pliers II to realize the key action of adjusting the clamping position, the coordinate system of the pliers II adopts a rectangular coordinate system, and the establishment method is as follows: selecting the tail end of the clamp II as the origin O of a rectangular coordinate system2Taking the axis of the clamping point P2 of the pliers II as a z-axis, taking the opening direction of the pliers II as a y-axis, determining the x-axis direction according to the right-hand rule and the determined y-axis and z-axis, and establishing a rectangular coordinate system O2-xyz; what pincers I realized is that position adjustment and the arch wire of clamping the strong point are tight, consequently, select the cylindrical coordinate system as the coordinate system of pincers II, and the establishment mode is: first, the clamp II clamping point P2 is used as the coordinateSystem origin point O1Taking the axial direction of a clamp II as a Z axis of a cylindrical coordinate system, taking a clamping point P2 of the clamp II as a reference point, taking an extension line perpendicular to the Z axis in the direction of the clamp I as an R axis of the cylindrical coordinate system, determining a jaw of the clamp I as a clamping point P1 of the clamp I, and establishing a cylindrical coordinate system O according to the Z axis and the R axis1-RZ; determining the possible degrees of freedom of the pliers I and the pliers II in the bending process by establishing coordinate systems of the pliers I and the pliers II, so that the degree of freedom of the robot in the step two can be conveniently configured;
step two, configuring the degree of freedom of the robot:
let A (a)1,a2,a3,…,ai) Is the distribution of the degrees of freedom of a clamp I, wherein i is 1-6, aiIs 0 or 1, where 0 indicates that the degree of freedom is not required and 1 indicates that the degree of freedom is required; at a set value of aiIn (a)1Representing the degree of freedom of movement of the pliers I in the direction of the R-axis, a2Degree of freedom of rotation, a, representing angle theta3Representing a degree of freedom of movement in the Z-axis direction, a4Representing a rotational degree of freedom about the R axis, a5Representing a rotational degree of freedom about the Z axis, a6The freedom degree of clamping and loosening of the pliers I is shown; let B (B)1,b2,b3,…,bj) The degree of freedom of the pliers II is distributed, wherein j is 1-7, bjIs 0 or 1, where 0 indicates that the degree of freedom is not required and 1 indicates that the degree of freedom is required; at set bjIn (b)1Representing the degree of freedom of movement of the pliers II in the direction of the X-axis, b2Representing a degree of freedom of movement in the direction of the Y-axis, b3Representing a degree of freedom of movement in the Z-axis direction, b4Representing a degree of freedom of rotation about the X-axis, b5Representing rotational freedom about the Y axis, b6Representing rotational freedom about the Z axis, b7Expressing the freedom of clamping and unclamping of the pliers II, assigning A and B according to the motion plan of the pliers I and the pliers II to obtain a unique sequence number (A | B), and expressing the freedom required by the pliers I and the pliers II by the sequence number, namely (a)1,a2,a3,…,ai|b1,b2,b3,…,bj) (ii) a By assigning values to A, BThe degree of freedom required for bending various types of curves is quickly extracted and realized, and the degree of freedom of the optimized robot in the third step is taken as a basis;
step three, optimizing the degree of freedom of the robot according to the second sequence curve:
through analysis of second sequence curves such as lachrymal-drip curve and minor-circle curve, the degree of freedom required by the pliers I and the pliers II is optimized, and the degree of freedom sequence number required by the robot is (1,0,1,0,1,1|0,0,1,0,0,1,1), namely the pliers I in a cylindrical coordinate system O 14 degrees of freedom are required in RZ, a1A degree of freedom of movement in the direction of the R axis3A degree of freedom of movement in the Z-axis direction of5Rotational degree of freedom about Z axis and6the clamp I has the freedom degree of clamping and loosening; pliers II at O23 degrees of freedom within-xyz are required, respectively b3Degree of freedom of movement in the Z-axis direction, b6Rotational degree of freedom about the Z axis and b7The clamp II has the freedom degree of clamping and loosening; in the third step, the degree of freedom is optimized according to the second sequence curve, and the degree of freedom required by the orthodontic arch wire robot is simplified, so that the structure is simplified, and the motion precision angle is improved;
step four, determining parameters of the wire bending motion of the robot:
dividing the bending task of the arch wire bending robot into bending of a bending point and position adjustment of a clamping point, wherein the bending of the bending point is realized by firstly realizing the clamping of the bending point by a rectangular coordinate type end effector clamp I and secondly realizing the rotary bending motion by a cylindrical coordinate type end effector clamp II; the position adjustment of the clamping point is completed by matching two end effectors, firstly, the clamping position of a cylindrical coordinate type end effector clamp II is determined, and then the clamping position of a rectangular coordinate type end effector clamp I is determined;
in the distribution of tasks, the clamping position adjustment is completed by firstly determining the clamping position of a clamp II and then determining the clamping position of a clamp I, the bending point bending motion is realized by the fact that the clamp II is responsible for clamping the bending point, and the clamp I is responsible for bending motion; and (3) allocation of motion parameters: the pliers I comprise parameters of1β、1L、1λ、1Open/1Close, clamp II comprises2β、2L、2Open/2Close；1Open/1Close represents the open and closed clamping state of the pliers I,1β show the parameters of the rotary motion of pliers I around the Z axis,1l represents a parameter of the translational movement of the pliers i along the R axis,1lambda denotes a parameter of the rotational movement of the wire,2Open/2close represents the open and Close clamping state of the pliers II,2β show the parameters of the rotary motion of pliers ii about the Z axis,2l represents a parameter of translational motion of the pliers II along the Z axis;
the arch wire bending robot is provided with two tail end bending actuators, and can realize opening and closing and clamping functions in the bending process respectively, so that the two tail end bending actuators are combined in different clamping and opening and closing states, and the operating states of the arch wire are different, so that each step of bending action of the robot is taken as a unit, and a parameter model of a robot bending motion unit comprises four combined states of the two tail end actuators, namely clamping of a clamp I and clamping of a clamp II, so that the bending operation is realized; the first clamp and the second clamp are opened and closed, and the first clamp and the second clamp are opened and closed to realize the adjustment of the position of a clamping point; the first clamp and the second clamp are opened and closed, so that the robot moves to an initial position;
the parameter model of the wire bending motion unit of the robot at the ith bending point is as shown in formula 1:
based on the bending point sequence of the Robot bending orthodontic arch wire, recording the motion model information Robot delta A of the Robot bending whole orthodontic arch wire, as shown in formula 2:
RobotΔA＝(BendΔA0,BendΔA1,BendΔA2,,BendΔAi) (2)
while there has been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention and which are within the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides an arch wire system robot that bends, is divided by pincers I (1), pincers II (2), cylindrical coordinate system revolving stage (3), robot main part shell (4) four bibliographic categories and forms its characterized in that: 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 orthodontic wire (5), otherwise, the collet core (1-4-2) is rotated counterclockwise to realize the loosening of the orthodontic 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, and then 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 is controlled, in addition, a clamp motor (1-13) of the first clamp can drive the clamp driven gear (1-5) 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).
2. An archwire bending robot as in claim 1, wherein: 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 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 robot main body shell (4) can be opened and closed through the annular sliding door (4-2) so as to protect an operator and an arch wire bending robot; the main body support (4-4) and the shell strut (4-5) are used for supporting the robot main body shell (4).
3. A method for establishing a motion model of a bent arch wire is characterized by comprising the following steps: the method is applied to the arch wire bending robot as claimed in claim 1; the method comprises the following concrete implementation processes:
step one, establishing a robot bending orthodontic arch wire motion model coordinate system:
when a hand bending motion model is established, simplifying a functional characteristic model of a hand structure into a clamp I and a clamp II; firstly, in order to enable the pliers II to realize the key action of adjusting the clamping position, the coordinate system of the pliers II adopts a rectangular coordinate system, and the establishment method is as follows: selecting the tail end of the clamp II as the origin O of a rectangular coordinate system2Taking the axis of the clamping point P2 of the pliers II as a z-axis, taking the opening direction of the pliers II as a y-axis, determining the x-axis direction according to the right-hand rule and the determined y-axis and z-axis, and establishing a rectangular coordinate system O2-xyz; what pincers I realized is that position adjustment and the arch wire of clamping the strong point are tight, consequently, select the cylindrical coordinate system as the coordinate system of pincers II, and the establishment mode is: first, the origin O of the coordinate system is set to the Pliers II clamping point P21Taking the axial direction of a clamp II as a Z axis of a cylindrical coordinate system, taking a clamping point P2 of the clamp II as a reference point, taking an extension line perpendicular to the Z axis in the direction of the clamp I as an R axis of the cylindrical coordinate system, determining a jaw of the clamp I as a clamping point P1 of the clamp I, and establishing a cylindrical coordinate system O according to the Z axis and the R axis1-RZ；
Step two, configuring the degree of freedom of the robot:
let A (a)1,a2,a3,…,ai) Is the distribution of the degrees of freedom of a clamp I, wherein i is 1-6, aiIs 0 or 1, where 0 indicates that the degree of freedom is not required and 1 indicates that the degree of freedom is required; at a set value of aiIn (a)1Representing the degree of freedom of movement of the pliers I in the direction of the R-axis, a2Denotes thetaAngular rotational degree of freedom, a3Representing a degree of freedom of movement in the Z-axis direction, a4Representing a rotational degree of freedom about the R axis, a5Representing a rotational degree of freedom about the Z axis, a6The freedom degree of clamping and loosening of the pliers I is shown; let B (B)1,b2,b3,…,bj) The degree of freedom of the pliers II is distributed, wherein j is 1-7, bjIs 0 or 1, where 0 indicates that the degree of freedom is not required and 1 indicates that the degree of freedom is required; at set bjIn (b)1Representing the degree of freedom of movement of the pliers II in the direction of the X-axis, b2Representing a degree of freedom of movement in the direction of the Y-axis, b3Representing a degree of freedom of movement in the Z-axis direction, b4Representing a degree of freedom of rotation about the X-axis, b5Representing rotational freedom about the Y axis, b6Representing rotational freedom about the Z axis, b7Expressing the freedom of clamping and unclamping of the pliers II, assigning A and B according to the motion plan of the pliers I and the pliers II to obtain a unique sequence number (A | B), and expressing the freedom required by the pliers I and the pliers II by the sequence number, namely (a)1,a2,a3,…,ai|b1,b2,b3,…,bj)；
Step three, optimizing the degree of freedom of the robot according to the second sequence curve:
through analyzing the second sequence curves of the lachrymal dropper and the minor loop curve, the freedom degrees required by the pliers I and the pliers II are optimized, and the sequence number of the freedom degrees required by the robot is (1,0,1,0,1,1|0,0,1,0,0,1,1), namely the pliers I is in a cylindrical coordinate system O14 degrees of freedom are required in RZ, a1A degree of freedom of movement in the direction of the R axis3A degree of freedom of movement in the Z-axis direction of5Rotational degree of freedom about Z axis and6the clamp I has the freedom degree of clamping and loosening; pliers II at O23 degrees of freedom within-xyz are required, respectively b3Degree of freedom of movement in the Z-axis direction, b6Rotational degree of freedom about the Z axis and b7The clamp II has the freedom degree of clamping and loosening;
step four, determining parameters of the wire bending motion of the robot:
dividing the bending task of the arch wire bending robot into bending of a bending point and position adjustment of a clamping point, wherein the bending of the bending point is realized by firstly realizing the clamping of the bending point by a rectangular coordinate type end effector clamp I and secondly realizing the rotary bending motion by a cylindrical coordinate type end effector clamp II; the position adjustment of the clamping point is completed by matching two end effectors, firstly, the clamping position of a cylindrical coordinate type end effector clamp II is determined, and then the clamping position of a rectangular coordinate type end effector clamp I is determined;
in the distribution of tasks, the clamping position adjustment is completed by firstly determining the clamping position of a clamp II and then determining the clamping position of a clamp I, the bending point bending motion is realized by the fact that the clamp II is responsible for clamping the bending point, and the clamp I is responsible for bending motion; and (3) allocation of motion parameters: the pliers I comprise parameters of1β、1L、1λ、1Open/1Close, clamp II comprises2β、2L、2Open/2Close；1Open/1Close represents the open and closed clamping state of the pliers I,1β show the parameters of the rotary motion of pliers I around the Z axis,1l represents a parameter of the translational movement of the pliers i along the R axis,1lambda denotes a parameter of the rotational movement of the wire,2Open/2close represents the open and Close clamping state of the pliers II,2β show the parameters of the rotary motion of pliers ii about the Z axis,2l represents a parameter of translational motion of the pliers II along the Z axis;
the parameter model of the wire bending motion unit of the robot at the ith bending point is as shown in formula 1:
based on the bending point sequence of the Robot bending orthodontic arch wire, recording the motion model information Robot delta A of the Robot bending whole orthodontic arch wire, as shown in formula 2:
RobotΔA＝(BendΔA0,BendΔA1,BendΔA2,…,BendΔAi) (2)。
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| CN109009500A (en) * | 2018-06-16 | 2018-12-18 | 哈尔滨理工大学 | It is a kind of based on the bending of arch edgewise robot bent by hand and its to bend planing method |
| CN108670453A (en) * | 2018-06-16 | 2018-10-19 | 哈尔滨理工大学 | A kind of cylindrical coordinates and rectangular co-ordinate combined type bending of arch edgewise robot and application method |
| CN109549699B (en) * | 2018-12-04 | 2021-05-25 | 中南大学湘雅医院 | Automatic moulding mechanism of medical interior fixed plate of pitch arc type titanium alloy |
| CN109530509B (en) * | 2018-12-04 | 2020-01-31 | 中国科学院宁波材料技术与工程研究所 | Automatic moulding mechanism of medical interior fixed plate of sharp type titanium alloy |
| CN110013330B (en) * | 2019-05-20 | 2020-02-07 | 哈尔滨理工大学 | Method for establishing auxiliary arch tooth rotation angle prediction model for depression |
| CN111588505B (en) * | 2020-06-01 | 2021-07-09 | 哈尔滨理工大学 | Plane variable-radius circular domain dividing method for orthodontic arch wire bending sequence planning |
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| CN204562423U (en) * | 2015-01-29 | 2015-08-19 | 哈尔滨理工大学 | Cartesian co-ordinate type orthodontic bow-wire bends robot |
| CN107137152B (en) * | 2017-06-10 | 2020-11-13 | 哈尔滨理工大学 | First-sequence orthodontic arch wire bending parameter generation and bending method |
| CN107647925B (en) * | 2017-11-14 | 2020-02-21 | 哈尔滨理工大学 | Circular domain dividing method for orthodontic arch wire bending planning |
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