CN109894545B - Bending planning method for bending tear-drop with ring by using robot - Google Patents

Bending planning method for bending tear-drop with ring by using robot Download PDF

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CN109894545B
CN109894545B CN201910354119.1A CN201910354119A CN109894545B CN 109894545 B CN109894545 B CN 109894545B CN 201910354119 A CN201910354119 A CN 201910354119A CN 109894545 B CN109894545 B CN 109894545B
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bending
clamp
pliers
robot
clamping
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CN109894545A (en
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姜金刚
黄致远
马雪峰
霍彪
左思浩
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Harbin University of Science and Technology
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    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
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    • B21F1/00—Bending wire other than coiling; Straightening wire

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Abstract

A bending planning method for bending a tear drop with a ring by using a robot relates to the field of orthodontic arch wire bending, a wire bending motion model is calculated according to bending point information of the tear drop with the ring, a bending planning strategy of an orthodontic wire bending robot is determined, initial bending points are defined, a specific bending planning method is provided for interference conditions in the bending process, all bending points on the tear drop with the ring sequentially enter the bending planning method from initial bending points, and a robot bending information set of the tear drop with the ring is obtained and collected. The technical points are as follows: parameterization of the circled tear drop, calculation of a bending motion model, determination of a bending planning strategy of the robot, definition of initial bending point information, formulation of a planning strategy based on two interference conditions, acquisition of bending motion information of the robot and collection of a bending information set of the robot.

Description

Bending planning method for bending tear-drop with ring by using robot
The technical field is as follows:
the invention relates to a bending planning method for bending a tear drop with a ring by using a robot, belonging to the technical field of orthodontic arch wire bending.
Background art:
the orthodontic arch wire is designed according to the tooth malformation of patients, and has three forms including arch shape of the orthodontic arch wire in the first sequence, special function curve of the orthodontic arch wire in the second sequence, and twisting deformation of the orthodontic arch wire in the third sequence. The second sequence of the orthodontic arch wire has various shapes and complex types, but each shape is fixed, and only the size parameter needs to be modified so as to meet the condition that the gums of different patients such as children or adults are different in height.
The lachrymal flexure with the ring is taken as a second sequence flexure and consists of a straight line segment and a circular spiral line segment, and the shape is more complex. When the tear drop with the ring is bent by using the orthodontic arch wire robot, interference and collision can occur in the bending process of the robot, so that the bending difficulty of the robot is increased. In the process of bending the tear drop with the ring by the robot, one bending point completes bending movement, the orthodontic arch wire can generate a new shape, and the bending movement planning of the next bending point is performed in the new orthodontic arch wire shape. Therefore, as the bending process continues, the formed portion of the looped tear drop becomes more complex and interference is likely to occur, and it is necessary to re-plan the bending motion information for the bending point where the interference occurs.
SUMMARY OF THE PATENT FOR INVENTION
Aiming at the problems, the invention provides a bending planning method for bending a tear drop with a ring by using a robot, which aims to solve the problems that the bending tear drop with the ring of the robot is easy to interfere, and the automatic bending of the tear drop with the ring of the orthodontic archwire can not be realized due to the lack of a robotized bending planning method for the tear drop with the orthodontic archwire.
A bending planning method for bending tear drop with a ring by using a robot is applied to an orthodontic arch wire bending robot.
A bending planning method for bending tear drips with rings by using a robot comprises the following specific implementation processes:
step one, parameterizing the lacrimation with a ring:
in the bending process of the circled tear drop, a polar coordinate system O of the three-dimensional posture of the orthodontic arch wire for bending the (i + 1) th bending point is constructed by the (i-1) th, i + 1) th bending pointi-ρiθiZiWhen the initial bending point i is equal to 0, the position where the straight line direction theta from the ith bending point to the (i + 1) th bending point is equal to 0 is taken as the origin O, and the (i-1), i and i + 1) th bending points are taken as the polar coordinate system O to determine the bending planei-ρiThe plane where theta is located;
the shapes of the second series of curves of the orthodontic arch wire are formed by freely arranging and combining discrete geometric units, wherein the geometric units comprise straight line segments, circular arc segments, circular spiral line segments, rectangular spiral line segments and the like, and the expressions of the geometric units are L, M, N, P respectively, so that the digital model of the tear drop curves with the circles of the orthodontic arch wire is expressed as f ═ f { L { (L) }1，L2，N1，L3，L4Wherein f represents a second-order sequence, L1，L2，L3And L4Denotes the straight line segment, N1Representing a circular spiral line segment, and sequentially connecting five geometric units end to form a shape with a circle sequence curve, wherein a straight line segment L1Can be represented by the coordinates (p)0,θ0,z0) And (rho)1,θ1,z1) Is shown by the straight line segment L2Can be represented by the coordinates (p)1,θ1,z1) And (rho)2,θ2,z2) Is represented by N1From the coordinates (p)2,θ2,z2) And (rho)3,θ3,z3) As a spiral representation of the start and end points, L3Can be represented by the coordinates (p)3,θ3,z3) And (rho)4,θ4,z4) Is represented by L4Can be represented by the coordinates (p)4,θ4,z4) And (rho)5,θ5,z5) Represents, therefore, a straight line segment LiThe length of (D) can be expressed as L by two end point coordinatesi＝(ρi+1-ρi,θi+1-θi,zi+1-zi) The expression of the arc segment is to convert a continuous arc curve into a form of discrete finite points by utilizing a differential principle, thereby obtaining a coordinate matrix [ F ] of a bending wire motion track characteristic model at the (i + 1) th bending pointi+1]As shown in formula 1:
Figure GDA0002382544630000011
in the formula, Mi+1The arc segment of the arch wire is formed by t ═ n.DELTA t (t is more than 0 and less than theta)i+1) Is divided into n points (t represents a local arc segment, delta t represents each small arc segment divided on the arc), and the coordinate matrix of the n points is [ M [, wherei+1]；
Step two, calculating a wire bending motion model, and determining a bending planning strategy:
establishing a motion model PointA of the bent wire unit according to the motion track characteristics of the manually bent tear-drop with a ringi＝[ρi,θi,zi]In an orthodontics arch wire bending point polar coordinate system Oi-ρiθiZiNext, PointAiIndicates a bending point AiThe coordinates of (a);
the parameter model of the wire bending motion unit of the robot at the ith bending point is as shown in formula 2:
Figure GDA0002382544630000021
wherein Bend Δ Ai has the following meaning: bending movement at the ith bending point, the moving distance or the rotating angle of each degree of freedom of the robot, and the rotating angle for realizing the bending movement;1Openi,1Closeishowing the open-close state of the pliers I at the ith bending point,2Openi,2Closeiβ showing the open-close state of the ith bending point clamp IIiAn angle β indicating the bending rotation angle of bending point bending movement clamp I and the rotation angle of clamp II along the Z-axis direction during the position adjustmenti＝2θi+1To distinguish pliers I from pliers II, Delta1βiIndicating the bending rotation angle delta of the pliers I1βi+1＝90+θi+1+g(90+θi+1)，g(90+θi+1) Indicating a bending angle of 90+ thetai+1Value of temporal rebound Angle, g (90+ θ)i+1) Obtainable from empirical values, Δ2βiRepresenting the angle of rotation of the pliers II in the direction of the Z axis, where2βi+1＝Δ1βi；riRadius of curvature of pliers II at bending point
Figure GDA0002382544630000022
Δ1LiThe distance of the movement of the pliers I along the Z-axis direction is shown,
Figure GDA0002382544630000023
where h is a constant value of the movement of the pliers II along the Z-axis direction, r0And h0The maximum base radius and height, Delta, of the cone of the jaw of pliers I and II respectively2LiRepresenting the distance delta of movement of the pliers II along the Z-axis2Li+1＝h；
Step three, defining initial bending point information i as 0:
according to the motion model PointA of the wire bending uniti＝[ρi,θi,zi]When i is 0, the initial bending point PointA is defined as0In addition, because the characteristic of bending the tear drop with the ring has 6 bending points, the range of i is set to be more than or equal to 0 and less than or equal to 5;
step four, judging whether the bending rotation angle is larger than 270 degrees:
when bending planning is carried out on the tear drop curve with the ring, the set planning bending rotation angle is 540 degrees; however, when the bending rotation angle is larger than 270 °, interference occurs, and the bending rotation angle cannot be up to 540 °, so that whether the bending rotation angle is larger than 270 ° needs to be judged;
if Δ1βiNot less than 270 degrees, executing a planning strategy based on the bending angle, and expressing as Benduniti a＝[[Fi+1],Δ1βi≥270°]The wire bending rule of the orthodontic wire bending robot is as follows:
1) pliers II loose opposite bending point PointAiThe springback angle g (270 degrees) of the arch wire is released (the springback angle can be obtained by an empirical formula), and the bending point PointA is obtainediIs 270-g (270), and then the clamp II rotates 270 degrees around the Z axis to reach a newly-increased clamping bending point PointAi'；
2) Obtaining a newly added bending point PointAi' bending angle is Delta1βi-270°+g(270°)；
3) Obtaining Bend angle-based BendaΔAiAs shown in formula 3:
Figure GDA0002382544630000031
if Δ1βiIf the angle is less than 270 degrees, entering a fifth step;
and step five, judging that H is more than or equal to c (wherein H is the distance in the normal direction of the unformed part of the orthodontic arch wire, and c represents the structural size of a clamp mouth of the end effector):
if H is larger than or equal to c, executing a planning strategy based on the bending distance, wherein the expression is as follows: benduniti b＝[[Fi+1],2Close]The wire bending rule of the orthodontic wire bending robot is as follows:
1) at the current bending point PointAiAnd the next bending point PointAi+1Select a point PointA betweeni", points Ai' position adjustment planning is carried out as a temporary additional bending point to obtain the distance delta of the movement of the pliers I in the position adjustment process1Li' the pliers II keep a clamping state in the planning process, so that a micro gap of 0.5-1 mm is reserved between the end effector and the arch wire, and the arch wire and the end effector can move relatively;
2) releasing the pliers II until the small gap between the pliers II and the arch wire is reserved, and continuously moving the pliers II along the Z-axis direction by delta2LiAway from the bending point PointAi"position;
3) continuously releasing the pliers II to enable the pliers II to move delta along the Z-axis direction2Li', go back to the current bending point PointAiThen the pliers II clamp the arch wire, namely the two layers of arch wires are clamped;
4) get Bend distance based BendbΔAiAs shown in formula 4:
Figure GDA0002382544630000032
if H is less than c, entering the sixth step;
step six, detecting whether the clamp type interferes:
if the interference occurs, returning to the fourth step;
if no interference occurs, performing the seventh step;
step seven, obtaining Robot bending information Robot delta Ai：
Recording the current bending point PointAiThe robot bending motion unit parameter model Bend delta Ai、BendaΔAiOr BendbΔAiObtaining the current bending point PointAiThe information set of the robot wire bending motion unit model is as shown in formula 5:
RobotΔAi＝(BendΔA0,BendΔA1,...,BendΔAi,BendaΔAi,...,BendbΔAi) (5)
step eight, performing PointAi+1Bending a bending point:
point of bending pointanaiAdding 1 to the value of i to obtain the next bending point PointAi+1According to the bending characteristics of the lachrymal droppings with circles and the range of i set in the step three is that i is more than or equal to 0 and less than or equal to 5, and the bending point PointA of each lachrymal droppings with circlesiThe robot bending planning method is entered in sequence, so that bending points PointA can be obtained in sequence0To point A5Robot bending information Robot delta Ai(0. ltoreq. i.ltoreq.5), and when i > 5, performing the step nine;
step nine, collecting Robot bending information set Robot { A }i}：
Collecting bending point PointA0To point A5Robot bending information Robot delta Ai(i is more than or equal to 0 and less than or equal to 5) to obtain a Robot bending information set Robot { AiAs shown in formula 6, Robot { A }iThe information set of the bending planning of the lachrymal dropsy with the circle is as follows:
Robot{Ai}＝{RobotΔA0,RobotΔA1,...,RobotΔA5} (6)。
the invention has the beneficial effects that:
1. according to the invention, each bending point is taken as a unit to be planned, and the complex tear drop with the ring is divided into a plurality of units, so that the bending planning process is simplified, and the planning efficiency of the bending planning method is improved.
2. The invention extracts the bending information of each bending point of the tear-drop bend with the ring under the polar coordinate, determines the bending planning strategy of the orthodontic wire bending robot, establishes the jaw type movement mode of the orthodontic wire bending robot, fully considers the factors influencing the bending precision of the orthodontic arch wire and can ensure the forming quality of the orthodontic arch wire bent according to the method.
3. According to the bending planning method, the bending points of the lacrimation with the ring sequentially enter the bending planning method in sequence, the error rate in the planning process is reduced, the robot bending information set is formed by collecting the robot information of the bending points, the bending efficiency of the robot is improved, the establishment process of the bending information of the robot is simplified, the information of the bending points can be traced, and the later correction and optimization are facilitated.
4. The invention considers two interference conditions of the robot in the bending process of the tear-drop with the ring, plans the bending method when the interference occurs, realizes the avoidance of the interference position and effectively solves the interference problem of the robot in the bending process.
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 method of bend planning for bending a circled tear drop using a robot;
fig. 2 is a schematic view of an orthodontic archwire bending point polar coordinate system;
FIG. 3 is a parameterized model of circled tear drop curvature;
fig. 4 is a general schematic view of the structure of the orthodontic 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 orthodontic archwire bending robot main body housing;
fig. 12 is a schematic diagram for establishing a coordinate system of the orthodontic archwire 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; 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:
a curved system robot of just abnormal arch wire, by pincers I1, pincers II 2, cylindrical coordinate system revolving stage 3, 4 four bibliographic categories of robot body shell divide and constitute its characterized in that: 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 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.
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 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 screw of the clamp I can be started to drive the screw 1-2 of the screw of the clamp I, and the translation along the wire feeding direction of the orthodontic arch wire 5 of the integral mechanism of the clamp I1 is completed, so that when the bending task of the orthodontic arch wire bending robot is completed, the clamp I1 can rotate and clamp the orthodontic arch wire 5, in addition, the clamp I1 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 clamp I1; 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 orthodontic 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 orthodontic arch wire bending process, under the mutual matching of the pliers I1 and the pliers II 2, the pliers II 2 clamp the orthodontic arch wire 5 through the movable jaws 2-1 and the fixed jaws 2-2 of the pliers II, and the movable jaws 2-1 and the fixed jaws 2-2 of the pliers II can be bent by adjusting the pose of the orthodontic arch wire 5 through the pliers I1, so that the arch wire can be formed.
Step one, parameterizing the lacrimation with a ring:
in the bending process of the circled tear drop, a polar coordinate system O of the three-dimensional posture of the orthodontic arch wire for bending the (i + 1) th bending point is constructed by the (i-1) th, i + 1) th bending pointi-ρiθiZiWhen the initial bending point i is equal to 0, the position where the straight line direction theta from the ith bending point to the (i + 1) th bending point is equal to 0 is taken as the origin O, and the (i-1), i and i + 1) th bending points are taken as the polar coordinate system O to determine the bending planei-ρiThe plane where theta is located;
the shape of the second serial curve of the orthodontic arch wire is formed by freely arranging and combining discrete geometric units, wherein the geometric units comprise straight line segments and circular arcsSegment, circular spiral segment, rectangular spiral segment, etc., each of which is L, M, N, P, the digitized model of the circled tear drop curvature of the orthodontic archwire is then expressed as f ═ f { L { (L) }1，L2，N1，L3，L4Wherein f represents a second-order sequence, L1，L2，L3And L4Denotes the straight line segment, N1Representing a circular spiral line segment, and sequentially connecting five geometric units end to form a shape with a circle sequence curve, wherein a straight line segment L1Can be represented by the coordinates (p)0,θ0,z0) And (rho)1,θ1,z1) Is shown by the straight line segment L2Can be represented by the coordinates (p)1,θ1,z1) And (rho)2,θ2,z2) Is represented by N1From the coordinates (p)2,θ2,z2) And (rho)3,θ3,z3) As a spiral representation of the start and end points, L3Can be represented by the coordinates (p)3,θ3,z3) And (rho)4,θ4,z4) Is represented by L4Can be represented by the coordinates (p)4,θ4,z4) And (rho)5,θ5,z5) Represents, therefore, a straight line segment LiThe length of (D) can be expressed as L by two end point coordinatesi＝(ρi+1-ρi,θi+1-θi,zi+1-zi) The expression of the arc segment is to convert a continuous arc curve into a form of discrete finite points by utilizing a differential principle, thereby obtaining a coordinate matrix [ F ] of a bending wire motion track characteristic model at the (i + 1) th bending pointi+1]As shown in formula 1:
Figure GDA0002382544630000071
in the formula, Mi+1The arc segment of the arch wire is formed by t ═ n.DELTA t (t is more than 0 and less than theta)i+1) Is divided into n points (t represents a local arc segment, delta t represents each small arc segment divided on the arc), and the coordinate matrix of the n points is [ M [, wherei+1]；
Step two, calculating a wire bending motion model, and determining a bending planning strategy:
establishing a motion model PointA of the bent wire unit according to the motion track characteristics of the manually bent tear-drop with a ringi＝[ρi,θi,zi]In an orthodontics arch wire bending point polar coordinate system Oi-ρiθiZiNext, PointAiIndicates a bending point AiThe coordinates of (a);
the parameter model of the wire bending motion unit of the robot at the ith bending point is as shown in formula 2:
Figure GDA0002382544630000072
wherein Bend Δ Ai has the following meaning: bending movement at the ith bending point, the moving distance or the rotating angle of each degree of freedom of the robot, and the rotating angle for realizing the bending movement;1Openi,1Closeishowing the open-close state of the pliers I at the ith bending point,2Openi,2Closeiβ showing the open-close state of the ith bending point clamp IIiAn angle β indicating the bending rotation angle of bending point bending movement clamp I and the rotation angle of clamp II along the Z-axis direction during the position adjustmenti＝2θi+1To distinguish pliers I from pliers II, Delta1βiIndicating the bending rotation angle delta of the pliers I1βi+1＝90+θi+1+g(90+θi+1)，g(90+θi+1) Indicating a bending angle of 90+ thetai+1Value of temporal rebound Angle, g (90+ θ)i+1) Obtainable from empirical values, Δ2βiRepresenting the angle of rotation of the pliers II in the direction of the Z axis, where2βi+1＝Δ1βi；riRadius of curvature of pliers II at bending point
Figure GDA0002382544630000081
Δ1LiThe distance of the movement of the pliers I along the Z-axis direction is shown,
Figure GDA0002382544630000082
where h is a constant value of the movement of the pliers II along the Z-axis direction, r0And h0The maximum base radius and height, Delta, of the cone of the jaw of pliers I and II respectively2LiRepresenting the distance delta of movement of the pliers II along the Z-axis2Li+1＝h；
Step three, defining initial bending point information i as 0:
according to the motion model PointA of the wire bending uniti＝[ρi,θi,zi]When i is 0, the initial bending point PointA is defined as0In addition, because the characteristic of bending the tear drop with the ring has 6 bending points, the range of i is set to be more than or equal to 0 and less than or equal to 5;
step four, judging whether the bending rotation angle is larger than 270 degrees:
when bending planning is carried out on the tear drop curve with the ring, the set planning bending rotation angle is 540 degrees; however, when the bending rotation angle is larger than 270 °, interference occurs, and the bending rotation angle cannot be up to 540 °, so that whether the bending rotation angle is larger than 270 ° needs to be judged;
if Δ1βiNot less than 270 degrees, executing a planning strategy based on the bending angle, and expressing as Benduniti a＝[[Fi+1],Δ1βi≥270°]The wire bending rule of the orthodontic wire bending robot is as follows:
1) pliers II loose opposite bending point PointAiThe springback angle g (270 degrees) of the arch wire is released (the springback angle can be obtained by an empirical formula), and the bending point PointA is obtainediIs 270-g (270), and then the clamp II rotates 270 degrees around the Z axis to reach a newly-increased clamping bending point PointAi'；
2) Obtaining a newly added bending point PointAi' bending angle is Delta1βi-270°+g(270°)；
3) Get Bend angle based BendaΔAiAs shown in formula 3:
Figure GDA0002382544630000083
if Δ1βiIf the angle is less than 270 degrees, entering a fifth step;
and step five, judging that H is more than or equal to c (wherein H is the distance in the normal direction of the unformed part of the orthodontic arch wire, and c represents the structural size of a clamp mouth of the end effector):
if H is larger than or equal to c, executing a planning strategy based on the bending distance, wherein the expression is as follows: benduniti b＝[[Fi+1],2Close]The wire bending rule of the orthodontic wire bending robot is as follows:
1) at the current bending point PointAiAnd the next bending point PointAi+1Select a point PointA betweeni", points Ai' position adjustment planning is carried out as a temporary additional bending point to obtain the distance delta of the movement of the pliers I in the position adjustment process1Li' the pliers II keep a clamping state in the planning process, so that a micro gap of 0.5-1 mm is reserved between the end effector and the arch wire, and the arch wire and the end effector can move relatively;
2) releasing the pliers II until the small gap between the pliers II and the arch wire is reserved, and continuously moving the pliers II along the Z-axis direction by delta2LiAway from the bending point PointAi"position;
3) continuously releasing the pliers II to enable the pliers II to move delta along the Z-axis direction2Li', go back to the current bending point PointAiThen the pliers II clamp the arch wire, namely the two layers of arch wires are clamped;
4) get Bend distance based BendbΔAiAs shown in formula 4:
Figure GDA0002382544630000091
if H is less than c, entering the sixth step;
step six, detecting whether the clamp type interferes:
if the interference occurs, returning to the fourth step;
if no interference occurs, performing the seventh step;
step seven, obtaining the robot bendRobot delta A system informationi：
Recording the current bending point PointAiThe robot bending motion unit parameter model Bend delta Ai、BendaΔAiOr BendbΔAiObtaining the current bending point PointAiThe information set of the robot wire bending motion unit model is as shown in formula 5:
RobotΔAi＝(BendΔA0,BendΔA1,...,BendΔAi,BendaΔAi,...,BendbΔAi) (5)
step eight, performing PointAi+1Bending a bending point:
point of bending pointanaiAdding 1 to the value of i to obtain the next bending point PointAi+1According to the bending characteristics of the lachrymal droppings with circles and the range of i set in the step three is that i is more than or equal to 0 and less than or equal to 5, and the bending point PointA of each lachrymal droppings with circlesiThe robot bending planning method is entered in sequence, so that bending points PointA can be obtained in sequence0To point A5Robot bending information Robot delta Ai(0. ltoreq. i.ltoreq.5), and when i > 5, performing the step nine;
step nine, collecting Robot bending information set Robot { A }i}：
Collecting bending point PointA0To point A5Robot bending information Robot delta Ai(i is more than or equal to 0 and less than or equal to 5) to obtain a Robot bending information set Robot { AiAs shown in formula 6, Robot { A }iThe information set of the bending planning of the lachrymal dropsy with the circle is as follows:
Robot{Ai}＝{RobotΔA0,RobotΔA1,...,RobotΔA5} (6)。
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 (1)

1. A bending planning method for bending tear drop with a ring by using a robot is applied to an orthodontic arch wire bending robot, the orthodontic arch wire bending robot is composed of four parts, namely a clamp I (1), a clamp II (2), a cylindrical coordinate system rotary table (3) and a robot main body shell (4), the clamp I screw guide rail sliding table (1-1) in the clamp I (1) is connected with the rotary table (3-3) of the cylindrical coordinate system rotary table (3) through bolts, the rotary table (3-3) of the cylindrical coordinate system rotary table (3) is connected with a connecting chassis (4-6) inside the robot main body shell (4) through bolts, and the clamp II (2) is fixed on the top (4-7) of the shell outside the robot main body shell (4) through bolts; 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, 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:
step one, parameterizing the lacrimation with a ring:
in the bending process of the circled tear drop, a polar coordinate system O of the three-dimensional posture of the orthodontic arch wire for bending the (i + 1) th bending point is constructed by the (i-1) th, i + 1) th bending pointi-ρiθiZiWhen the initial bending point i is equal to 0, the position where the straight line direction theta from the ith bending point to the (i + 1) th bending point is equal to 0 is taken as the origin O, and the (i-1), i and i + 1) th bending points are taken as the polar coordinate system O to determine the bending planei-ρiThe plane where theta is located;
the shapes of the second series of curves of the orthodontic archwire are all formed by freely arranging and combining discrete geometric units, wherein the geometric units comprise straight line segments, circular arc segments, circular spiral line segments and rectangular spiral line segments, the expressions of the geometric units are L, M, N, P respectively, and then the digital model of the tear drop curves with the circles of the orthodontic archwire is expressed as f ═ f { L { (L) }1，L2，N1，L3，L4Wherein f represents a second-order sequence, L1，L2，L3And L4Denotes the straight line segment, N1Representing a circular spiral line segment, and sequentially connecting five geometric units end to form a shape with a circle sequence curve, wherein a straight line segment L1From the coordinates (p)0,θ0,z0) And (rho)1,θ1,z1) Is shown by the straight line segment L2From the coordinates (p)1,θ1,z1) And (rho)2,θ2,z2) Is represented by N1From the coordinates (p)2,θ2,z2) And (rho)3,θ3,z3) As a spiral representation of the start and end points, L3From the coordinates (p)3,θ3,z3) And (rho)4,θ4,z4) Is represented by L4From the coordinates (p)4,θ4,z4) And (rho)5,θ5,z5) Represents, therefore, a straight line segment LiThe length of (D) can be expressed as L by two end point coordinatesi＝(ρi+1-ρi,θi+1-θi,zi+1-zi) The expression of the arc segment is to convert a continuous arc curve into a form of discrete finite points by utilizing a differential principle, thereby obtaining a coordinate matrix [ F ] of a bending wire motion track characteristic model at the (i + 1) th bending pointi+1]As shown in formula 1:
Figure FDA0002382544620000021
in the formula, Mi+1Dividing the arc segment of the arch wire into n points by t ═ n · Δ t, wherein t represents a partial arc segment, and t is more than 0 and less than thetai+1(ii) a Delta t represents each small arc segment divided on the arc, and the coordinate matrix of n points is [ M [ ]i+1]；
Step two, calculating a wire bending motion model, and determining a bending planning strategy:
establishing a motion model PointA of the bent wire unit according to the motion track characteristics of the manually bent tear-drop with a ringi＝[ρi,θi,zi]In an orthodontics arch wire bending point polar coordinate system Oi-ρiθiZiNext, PointAiIndicates a bending point AiThe coordinates of (a);
the parameter model of the wire bending motion unit of the robot at the ith bending point is as shown in formula 2:
Figure FDA0002382544620000031
wherein Bend Δ Ai has the following meaning: bending movement at the ith bending point, the moving distance or the rotating angle of each degree of freedom of the robot, and the rotating angle for realizing the bending movement;1Openi,1Closeishowing the open-close state of the pliers I at the ith bending point,2Openi,2Closeiβ showing the open-close state of the ith bending point clamp IIiAn angle β indicating the bending rotation angle of bending point bending movement clamp I and the rotation angle of clamp II along the Z-axis direction during the position adjustmenti＝2θi+1To distinguish pliers I from pliers II, Delta1βiIndicating the bending rotation angle delta of the pliers I1βi+1＝90+θi+1+g(90+θi+1)，g(90+θi+1) Indicating a bending angle of 90+ thetai+1Value of temporal rebound Angle, g (90+ θ)i+1) Obtainable from empirical values, Δ2βiRepresenting the angle of rotation of the pliers II in the direction of the Z axis, where2βi+1＝Δ1βi；riRadius of curvature of pliers II at bending point
Figure FDA0002382544620000032
Δ1LiThe distance of the movement of the pliers I along the Z-axis direction is shown,
Figure FDA0002382544620000033
where h is a constant value of the movement of the pliers II along the Z-axis direction, r0And h0The maximum base radius and height, Delta, of the cone of the jaw of pliers I and II respectively2LiRepresenting the distance delta of movement of the pliers II along the Z-axis2Li+1＝h；
Step three, defining initial bending point information i as 0:
according to the motion model PointA of the wire bending uniti＝[ρi,θi,zi]When i is 0, the initial bending point PointA is defined as0In addition, because the characteristic of bending the tear drop with the ring has 6 bending points, the range of i is set to be more than or equal to 0 and less than or equal to 5;
step four, judging whether the bending rotation angle is larger than 270 degrees:
when bending planning is carried out on the tear drop curve with the ring, the set planning bending rotation angle is 540 degrees; however, when the bending rotation angle is larger than 270 °, interference occurs, and the bending rotation angle cannot be up to 540 °, so that whether the bending rotation angle is larger than 270 ° needs to be judged;
if Δ1βiNot less than 270 degrees, executing a planning strategy based on the bending angle, and expressing as Benduniti a＝[[Fi+1],Δ1βi≥270°]The wire bending rule of the orthodontic wire bending robot is as follows:
1) pliers II loose opposite bending point PointAiThe springback angle g (270 degrees) of the arch wire is released, the springback angle can be obtained by an empirical formula, and the bending point PointA is obtainediIs 270-g (270), and then the clamp II rotates 270 degrees around the Z axis to reach a newly-increased clamping bending point PointAi'；
2) Obtaining a newly added bending point PointAi' bending angle is Delta1βi-270°+g(270°)；
3) Get Bend angle based BendaΔAiAs shown in formula 3:
Figure FDA0002382544620000034
if Δ1βiIf the angle is less than 270 degrees, entering a fifth step;
and fifthly, judging that H is larger than or equal to c, wherein H is the distance in the normal direction of the unformed part of the orthodontic arch wire, and c represents the structural size of a clamp mouth of the end effector:
if H is larger than or equal to c, executing a planning strategy based on the bending distance, wherein the expression is as follows: benduniti b＝[[Fi+1],2Close]The wire bending rule of the orthodontic wire bending robot is as follows:
1) at the current bending point PointAiAnd the next bending point PointAi+1Select a point PointA betweeni", points Ai' position adjustment planning is carried out as a temporary additional bending point to obtain the distance delta of the movement of the pliers I in the position adjustment process1Li' the pliers II keep a clamping state in the planning process, so that a micro gap of 0.5-1 mm is reserved between the end effector and the arch wire, and the arch wire and the end effector can move relatively;
2) releasing pliers II until retention with arch wire is reachedA small gap is formed, and the clamp II is continuously moved by delta along the Z-axis direction2LiAway from the bending point PointAi"position;
3) continuously releasing the pliers II to enable the pliers II to move delta along the Z-axis direction2Li', go back to the current bending point PointAiThen the pliers II clamp the arch wire, namely the two layers of arch wires are clamped;
4) get Bend distance based BendbΔAiAs shown in formula 4:
Figure FDA0002382544620000041
if H is less than c, entering the sixth step;
step six, detecting whether the clamp type interferes:
if the interference occurs, returning to the fourth step;
if no interference occurs, performing the seventh step;
step seven, obtaining Robot bending information Robot delta Ai：
Recording the current bending point PointAiThe robot bending motion unit parameter model Bend delta Ai、BendaΔAiOr BendbΔAiObtaining the current bending point PointAiThe information set of the robot wire bending motion unit model is as shown in formula 5:
RobotΔAi＝(BendΔA0,BendΔA1,…,BendΔAi,BendaΔAi,...,BendbΔAi) (5)
step eight, performing PointAi+1Bending a bending point:
point of bending pointanaiAdding 1 to the value of i to obtain the next bending point PointAi+1According to the bending characteristics of the lachrymal droppings with circles and the range of i set in the step three is that i is more than or equal to 0 and less than or equal to 5, and the bending point PointA of each lachrymal droppings with circlesiThe robot bending planning method is entered in sequence, so that bending points PointA can be obtained in sequence0To point A5Robot bending information Robot delta AiAnd when i is more than 5, performing the step nine;
step nine, collecting Robot bending information set Robot { A }i}：
Collecting bending point PointA0To point A5Robot bending information Robot delta AiObtaining a Robot bending information set Robot { A }iAs shown in formula 6, Robot { A }iThe information set of the bending planning of the lachrymal dropsy with the circle is as follows:
Robot{Ai}＝{RobotΔA0,RobotΔA1,...,RobotΔA5} (6)。
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