CN111532713B

CN111532713B - Transfer system of dental model

Info

Publication number: CN111532713B
Application number: CN202010603758.XA
Authority: CN
Inventors: 姚峻峰
Original assignee: Zhejiang Yinchili Medical Technology Co ltd
Current assignee: Zhejiang Zhengya Dental Co ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2021-11-09
Anticipated expiration: 2040-06-29
Also published as: CN111532713A

Abstract

The invention discloses a transfer system of a dental model, which comprises: the transfer device, the state recognition device, the turnover device and the control device are respectively in communication connection with the control device; the transfer device is used for transferring the dental model according to a preset station; the state recognition device is used for recognizing the placement state of the dental model; the overturning device is used for overturning or not overturning the dental model according to the placing state recognition result of the dental model by the state recognition device; and when the placing state recognition result is inconsistent with the preset placing state, the control device controls the overturning device to overturn the dental model at the overturning station so as to enable the placing state of the overturned dental model to be consistent with the preset placing state. The transfer system can uniformly place and transfer the disordered dental model through an automatic means.

Description

Transfer system of dental model

Technical Field

The invention belongs to the technical field of tooth correction, and particularly relates to a dental model manufacturing technology, in particular to a transfer system of a dental model.

Background

In recent years, the invisible orthodontic technology for performing the orthodontic treatment by wearing a shell-shaped dental appliance has been selected by more and more people because the appliance is comfortable to wear, removable, and aesthetically pleasing. In the technology for preparing the shell-shaped tooth appliance, a preparation method comprises the steps of firstly preparing an entity tooth jaw model, then obtaining the shell-shaped tooth appliance containing the tooth shape on the entity tooth jaw model in a hot-press forming mode, then obtaining the shell-shaped tooth appliance capable of containing the tooth through cutting, and then carrying out the processes of cleaning, disinfecting, packaging, distributing and the like on the shell-shaped tooth appliance, so that a patient can directly wear the shell-shaped tooth appliance for use.

In the process of preparing the dental model, the dental models which are placed on the front side and the back side inevitably appear on the conveying mechanism for receiving the prepared dental model, and in order to carry out subsequent processing operation, the dental models which are placed in disorder need to be placed on the front side or the back side uniformly. The existing solution is manual operation, namely, before the dental model is specially processed, the orientation of the dental model is distinguished by eyes manually, and then the dental model which is placed in disorder is placed on the front side or the back side in a unified manner by manual operation. Because the production rhythm is very fast, this operation can put forward very high requirement to workman's quantity or operating speed, can increase manufacturing cost undoubtedly, and the manual operation error rate is higher, and artifical contact dentognathic model can cause dentognathic model to pollute, has increased follow-up washing, the disinfection degree of difficulty.

Therefore, it is of great significance to research how to uniformly place and transfer disordered dental models by an automatic means so as to realize low-cost, efficient and pollution-free production of the dental models.

Disclosure of Invention

The invention mainly aims to overcome the defects of the prior art, provides a transfer system of a dental model, solves the problems of high difficulty and high cost when the existing dental model is placed out of order by manual operation, and reduces the error rate and the pollution to the dental model.

The technical scheme provided by the invention is as follows:

a transfer system for a dental model, comprising: the transfer device, the state recognition device, the turnover device and the control device are respectively in communication connection with the control device; the transfer device is used for transferring the dental model according to a preset station; the state recognition device is used for recognizing the placing state of the dental model at a state recognition station; the overturning device is used for overturning or not overturning the dental model according to the placing state recognition result of the dental model by the state recognition device, and the overturning device is arranged at an overturning station; and the control device controls the transfer device to move so as to send the dental model into the state recognition station, controls the state recognition device to recognize the placement state of the dental model, controls the transfer device to continue to move and sends the dental model into the overturning station, and controls the overturning device to overturn the dental model at the overturning station when the placement state recognition result is inconsistent with a preset placement state so as to enable the placement state of the overturned dental model to be consistent with the preset placement state.

Preferably, the dental jaw model transfer device further comprises a feeding device, the feeding device comprises a feeding line and a feeding and picking mechanism, and the feeding and picking mechanism picks up the dental jaw model from the feeding line and places the dental jaw model on the transfer device.

Preferably, the feeding device further comprises a position reading device for reading position information of the dental model on the feeding line, and the position reading device is in communication connection with the control device, and the control device controls and adjusts the picking posture of the feeding picking mechanism according to the position information of the dental model read by the position reading device, so that the feeding picking mechanism picks the dental model according to a preset picking posture relative to the dental model.

Preferably, the feeding line is of a closed loop structure and comprises a first feeding line and a second feeding line which are sequentially arranged, wherein the first feeding line and the second feeding line are arranged in a stage connection manner, the bearing surface of the discharge end of the first feeding line is higher than the bearing surface of the feed end of the second feeding line, and the conveying speed of the second feeding line is greater than or equal to the conveying speed of the first feeding line.

Preferably, the feeding device further comprises a dental model carding mechanism used for carding the dental models into a single-layer flat dental model in the feeding process, and the dental model carding mechanism is arranged on the second feeding line in a crossing mode.

Preferably, the dental model carding mechanism comprises a body part supported on the second feeding line in a crossing manner and a carding part connected with the body part and arranged facing the dental model, and when the dental model is transported on the second feeding line, the carding part is in contact with the dental model to enable the dental model to be tiled in a single layer.

Preferably, the dental model carding mechanism is arranged between the feeding end of the second feeding line and the position reading device.

Preferably, the transfer device comprises a transfer disc, a plurality of carrying parts for carrying the dental model are arranged at intervals along the periphery of the transfer disc, and the transfer device can make the carrying parts reciprocate between preset stations.

Preferably, follow the transportation dish is equipped with material loading station, state identification station, upset station, identification station and unloading station in proper order, transfer device transports and makes the load-bearing part is in proper order reciprocating motion between material loading station, state identification station, upset station, identification station and the unloading station.

Preferably, the dental model further comprises an identity information recognition device which is arranged corresponding to the identity recognition station and used for recognizing recognition information which is arranged on the dental model and used for determining the identity of the dental model.

Preferably, the blanking device is arranged corresponding to the blanking station and is in communication connection with the control device.

Preferably, the control device controls the blanking device to pick up the dental model and place the dental model to a blanking station with the same direction as the identification result according to the identification result of the identity information identification device.

Preferably, the blanking station is provided with a blanking device which comprises a blanking pickup mechanism and a blanking runner, and the blanking pickup mechanism picks up the dental model and then places the dental model on the blanking runner with the direction consistent with the identification result.

Preferably, the turnover device comprises a turnover arm and a picking part connected with the turnover arm, and the picking part is arranged on one side of the turnover arm, which is adjacent to the transfer device; after the control device controls the picking part to pick up the dental model, the overturning arm adjusts the placing state of the dental model to a preset placing state.

Preferably, the picking part is pivoted with the overturning arm, when the picking part is not picked, the picking part is folded relative to the overturning arm, and when the picking part is picked, the picking part is unfolded relative to the overturning arm.

Preferably, when the picking part is folded relative to the turning arm, the turning arm and the picking part are arranged at an included angle of 90 degrees, and when the picking part is unfolded relative to the turning arm, the turning arm and the picking part are arranged at an included angle of 0 or 180 degrees.

Preferably, the predetermined placement state of the dental model is a placement state when the crown of the dental model is upward.

The transfer system of the dental model can bring at least one of the following beneficial technical effects:

according to the transfer system of the dental model, the state recognition device recognizes the placing state of the dental model through the cooperation of the transfer device, the state recognition device, the turnover device and the control device, when the placing state recognition result is inconsistent with the preset placing state, the turnover device turns the dental model to be in the placing state consistent with the preset placing state, manual operation is not needed in the turnover operation of the dental model, the labor cost is saved, the working efficiency is improved, the dental model is prevented from being polluted, and the error rate and the difficulty and cost of subsequent cleaning operation are reduced.

Drawings

The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.

FIG. 1 is a schematic view of a transfer system for a dental model according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a transfer system for a dental model according to an embodiment of the present invention;

fig. 3 is an enlarged view of a portion S1 in fig. 2;

fig. 4 is a schematic structural diagram of a transfer device and a turnover device provided by an embodiment of the invention;

fig. 5 is an enlarged view of a portion S2 in fig. 4;

fig. 6 is a schematic structural diagram of a turning device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a state identification device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a first feeding line and a second feeding line according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a feeding and picking mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic structural view of a position reading device and a dental model carding mechanism provided by an embodiment of the present invention;

fig. 11 is a schematic structural diagram of an identity information recognition apparatus according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a blanking device provided in an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a plurality of flow channels according to an embodiment of the present invention.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Referring to fig. 1 to 13, an embodiment of the present invention provides a transfer system for a dental model, the transfer system including: the transfer device 10, the state recognition device 20, the turnover device 30 and the control device 40 further comprise a feeding device 50, a position reading device 60, an identity information recognition device 70 and a discharging device 80, the transfer device 10, the state recognition device 20, the turnover device 30, the feeding device 50, the position reading device 60, the identity information recognition device 70 and the discharging device 80 can be respectively in communication connection with the control device 40, and the control device 40 controls the orderly operation of all devices in the transfer system to realize the state adjustment of the dental model printed in the previous process and transfer the dental model to the station of the next process.

The control device 40 may be any suitable computing device, such as a personal computer, a server, a Programmable Logic Controller (PLC), a single chip, or an integrated computer device, the control device 40 has functions of receiving information and sending control commands, and the control device 40 may control the transfer device 10, the state recognition device 20, and the turnover device 30 to perform corresponding actions through wired communication or wireless communication, so as to complete the transfer of the dental model.

Referring to fig. 2 and 3, the transfer device 10 is used for transferring the dental model according to predetermined stations, which may include a loading station, a status recognition station, a turning station, an identification station, and a blanking station, picking up the dental model at the feeding station, placing the dental model on the transfer device 10, transferring the dental model to the state recognition station, recognizing the placing state of the dental model, the dental model with inconsistent placing state and preset placing state can be turned over by the turning device at the turning station, so that the placing state of the overturned dental model is consistent with the preset placing state, for example, the placing state when the dental crown of the dental model is upwards, the identity information of the dental model can be identified at the identity identification station to determine the identification information of the identity of the dental model, the dental model can be picked up from the transfer device 10 and placed on a designated device at a blanking station.

In one embodiment, the transfer device 10 includes a transfer plate 11, the transfer plate 11 is a circular or substantially circular structure, the transfer plate 11 is, for example, an index plate, a plurality of bearing portions 111 for bearing the dental model are disposed at intervals along the periphery of the transfer plate 11, and the plurality of bearing portions 111 are preferably disposed at equal intervals along the periphery of the transfer plate 11. The dental jaw model that picks up from the material loading station is placed on bearing part 111 according to predetermined gesture, and bearing part 111 has and holds the structure with dental jaw model structure and predetermined posture assorted bearing structure of placing for transfer device 10 is when transporting dental jaw model, and dental jaw model can not drop, drop or shift, and the picking or snatching of dental jaw model when simultaneously making things convenient for follow-up upset dental jaw model and unloading.

The transfer device 10 operates to enable the bearing part 111 to operate in a reciprocating mode between preset stations, specifically, the transfer device 10 transfers to enable the bearing part 111 to move in a reciprocating mode among the feeding station, the state recognition station, the overturning station, the identity recognition station and the discharging station in sequence, and therefore the processes of feeding, state recognition, overturning, identity recognition and discharging of a single dental model are completed repeatedly.

In one embodiment, referring to fig. 5, the transfer tray 11 includes a transfer base tray 112 and a transfer auxiliary tray 113 stacked on the transfer base tray 112. The periphery of the transfer auxiliary disc 113 is provided with a plurality of openings 1131 extending from the periphery of the transfer auxiliary disc 113 to the center of the transfer disc 11, each opening 1131 exposes a part of the surface of the transfer base disc 112, and the openings 1131 of the transfer auxiliary disc 113 and the exposed surface of the transfer base disc 112 from the openings 1131 of the transfer auxiliary disc 113 enclose a bearing portion 111 for bearing the dental model. The opening 1131 of the transfer auxiliary plate 113 is substantially in a U-shaped structure with a contracted opening, and when the open end of the dental arch of the dental model is placed on the bearing part 111 toward the center position of the transfer plate 11, the U-shaped structure with the contracted opening has an effect of restricting the dental model from moving in the direction back to the center of the transfer plate 11, and preventing the dental model from falling off or falling off from the bearing part 111.

In the transportation process of tooth jaw model, need carry out the material loading to tooth jaw model, operations such as upset and unloading, tooth jaw model need pass in and out supporting part 111 many times, in case shift position control is inaccurate, tooth jaw model probably runs into or hits the stereoplasm edge of supporting part 111, and then destroys tooth jaw model's structure, shell form tooth that the ware was made based on tooth jaw model will not have expected structure, can't reach anticipated effect of correcting, the transportation auxiliary plate 113 of this embodiment preferably adopts the resin material, when tooth jaw model passes in and out supporting part 111, the opening 1131 of supporting part 111 periphery by the formation of resin material can play the cushioning effect to supporting part 111, avoid destroying tooth jaw model's structure.

The transfer device 10 may further include a transfer driving mechanism (not shown) for driving the transfer tray 11 to operate according to a predetermined station sequence, for example, the transfer tray 11 is driven to move so that the carrying portion 111 is circularly reciprocated among the feeding station, the state recognition station, the turning station, the identity recognition station and the blanking station in sequence. The transfer driving mechanism comprises a cam divider (not shown) and a motor (not shown), for example, wherein the transfer disc 11 is connected with an output shaft of the cam divider, an output shaft of the motor is connected with an input shaft of the cam divider to drive the cam divider to move, the cam divider is used for realizing intermittent rotation of the transfer disc 11, namely, cyclic rotation of rotation-stop-rotation-stop of the transfer disc 11 is realized, when the transfer disc 11 rotates, the bearing part 111 runs between different stations, and when the transfer disc 11 stops, operations such as feeding, state recognition, picking, identity recognition and the like can be performed on the dental jaw model.

Referring to fig. 3, the control device 40 controls the transfer device 10 to move to send the dental model into the state recognition station, and at the state recognition station, the state recognition device 20 recognizes the placement state of the dental model, and the recognized placement state of the dental model may be a front placement state, such as a placement state in which the crown of the dental model is facing upward, or a back placement state, such as a placement state in which the crown of the dental model is facing downward.

In one embodiment, referring to fig. 7, the state recognition device 20 is, for example, a CCD digital image capture device, and includes a state recognition camera 21, and may further include a first backlight source 22, the state recognition camera 21 may be disposed above the dental model at the state recognition station through a bracket, the first backlight source 22 is disposed below the dental model at the state recognition station, and illuminates the dental model so that the state recognition camera 21 can obtain a clear picture, and by taking a picture of the dental model, it is recognized whether the dental model is placed on the front side or the back side. Specifically, taking an example of setting a mark point with a hole mark on a dental model, when the dental model is placed on the front side, the mark point is located at the lower right corner of the dental model, when the dental model is placed on the back side, the mark point is located at the lower left corner of the dental model, a state recognition camera 21 photographs the dental model at a state recognition station and sends the dental model to a control device 40, the control device 40 receives a dental model photograph photographed by the state recognition station and performs feature recognition on the dental model photograph, extracts a mark feature point, analyzes the mark feature point after performing feature comparison analysis on the extracted feature point, calculates the similarity between the mark feature point and a preset feature point, further judges whether the setting position of the feature point is within a preset range, for example, sets a lower similarity limit (e.g., 80), when the mark feature point of the jaw larger than the lower similarity limit is located at the lower right corner of the dental model, and judging that the dental model is placed in the front side, and when the mark point with the resolution larger than the lower limit of the similarity is positioned at the lower left corner of the dental model, judging that the dental model is placed in the back side, thereby obtaining a placing state recognition result of the dental model.

Or, using a contour searching tool to search the contour of the hole on the photo, and setting a lower limit of similarity (the lower limit of similarity is, for example, 80), when the searched marking point larger than the lower limit of similarity is positioned at the lower right corner of the dental model, judging that the dental model is placed in the front side, and when the searched marking point larger than the lower limit of similarity is positioned at the lower left corner of the dental model, judging that the dental model is placed in the back side, thereby obtaining the placing state recognition result of the dental model.

Referring to fig. 2 and 3, the transfer device 10 continues to move and sends the dental model into the turning station, the turning station is provided with a turning device 30, the turning device 30 is used for turning the dental model so that the turned dental model can be placed according to a preset placing state, and the dental model can be turned or not turned according to a placing state recognition result of the state recognition device 20 on the dental model. Specifically, when the placing state recognition result is inconsistent with the preset placing state, the control device 40 controls the turnover device 30 to turn over the dental model at the turnover station, so that the placing state of the turned dental model is consistent with the preset placing state; when the placing state recognition result is consistent with the preset placing state, the turnover device 30 does not turn over the dental model, and the transfer device 10 continues to move and enables the dental model to pass through the turnover station. It can be seen that through the cooperation of the transfer device 10, the state recognition device 20, the turnover device 30 and the control device 40, the turnover operation of the dental jaw model does not need manual operation, so that the labor cost is saved, the working efficiency is improved, the dental jaw model in the turnover operation is pollution-free, and the error rate and the difficulty and cost of the subsequent cleaning operation are reduced.

Referring to fig. 4, the flipping unit 30 may include a flipping arm 31 and a picking unit 32 connected thereto, and may further include a rotating arm 33 and a flipping driving mechanism 34, wherein the flipping driving mechanism 34 may be controlled by a control unit 40.

The overturning arm 31 can be overturned or rotated to adjust the placing state of the dental model, for example, the overturning arm 31 is movably connected with the picking part 32, the picking part 32 is arranged on one side of the overturning arm 31 adjacent to the transfer device 10, so that the dental model can be picked from the bearing part 111 conveniently, and when the placing state of the dental model on the bearing part 111 is inconsistent with the preset placing state, the overturning arm 31 adjusts the placing state of the dental model to the preset placing state after the picking part 32 picks up the dental model. For example, the flipping mechanism 34 may drive the flipping arm 31 to rotate under the control of the control device 40 so that the picking part 32 can move to the carrying part 111, and drive the picking part 32 to pick up the dental model placed on the carrying part 111, and after the picking part 32 picks up the dental model, the flipping arm 31 adjusts the placing state of the dental model to a predetermined placing state.

In one embodiment, referring to fig. 4-6, the picking portion 32 is pivotally connected to the flipping arm 31, and when the picking portion 32 is not picked, the picking portion 32 is retracted relative to the flipping arm 31, so as to prevent the unfolded picking portion 32 from affecting the normal operation of the transfer tray 11, and preferably, when the picking portion 32 is retracted relative to the flipping arm 31, the flipping arm 31 and the picking portion 32 are disposed at an angle of 90 degrees; when picking up, the picking-up part 32 is unfolded relative to the overturning arm 31, the picking-up part 32 extends out to pick up the dental model, and preferably, when the picking-up part 32 is unfolded relative to the overturning arm 31, the overturning arm 31 and the picking-up part 32 are arranged at an included angle of 0 or 180 degrees with each other. Preferably, the picking part 32 includes two jaws 321 pivotally connected to the flipping arm 31, and when the dental model is not picked up, the jaws 321 are retracted away from the transfer device 10 with respect to the flipping arm 31, and when the dental model is picked up, the jaws 321 are deployed toward the transfer device 10 with respect to the flipping arm 31 and grip both sides of the dental model.

The rotating arm 33 has a substantially rectangular thin plate structure, the turning arm 31 and the picking part 32 connected thereto are respectively disposed at two ends of the rotating arm 33 adjacent to the transfer device 10, an output shaft of the turning driving mechanism 34 can be connected to the rotating arm 33, the rotating arm 33 can be driven to rotate around a midpoint of the rotating arm 33, and the picking part 32 can be driven to perform picking or grabbing actions. When the placing state of the dental model on the bearing part 111 is inconsistent with the preset placing state, the overturning driving mechanism 34 drives the rotating arm 33 to rotate and the overturning arm 31 to rotate, so that the picking part 32 can move to the bearing part 111, the picking part 32 is driven to pick the dental model placed on the bearing part 111, after the picking part 32 picks the dental model, the overturning driving mechanism 34 drives the rotating arm 33 to rotate for 180 degrees, and the rotating arm 33 drives the overturning arm 31 to overturn to adjust the placing state of the dental model to the preset placing state.

Specifically, when the recognition result of the placement state of the dental model on the carrying portion 111 is inconsistent with the predetermined placement state, the overturning process of the overturning device 30 is, for example, that the control device 40 firstly controls the overturning driving mechanism 34 to drive the rotating arm 33 to rotate so that the picking portion 32 can move to the carrying portion 111, the picking portion 32 unfolds relative to the overturning arm 31 and picks up the dental model to be overturned, after the dental model is picked up, the overturning driving mechanism 34 drives the rotating arm 33 to rotate 90 degrees first, the transfer tray 11 continues to rotate one index, the carrying portion 111 operates one station forward, then the overturning driving mechanism 34 drives the rotating arm 33 to rotate 90 degrees again in the same direction, the rotating arm 33 drives the overturning arm 31 to overturn so as to adjust the placement state of the dental model to the predetermined placement state, the picking portion 32 moves toward and moves to the carrying portion 111 when the picking portion 32 picks up the dental model from the transfer tray 11, the picking part 32 is controlled to place the dental model which is turned by 180 degrees on the bearing part 111, and the turning of the dental model is completed.

The specific structure of the bearing portion 111 of the transfer tray 11 will be described in detail below in conjunction with the structure of the turnover device 30.

Referring to fig. 5, the whole of the carrying portion 111 is substantially M-shaped, the carrying portion 111 includes a carrying table 1111 for carrying the dental model, a positioning structure 1112 for placing the dental model in a predetermined direction, and a picking auxiliary portion 1113 for assisting the picking portion 32 to pick up the dental model, the positioning structure 1112 and the picking auxiliary portion 1113 are both disposed on the carrying table 1111, and an open end of the dental arch of the dental model is placed toward the center of the transfer tray 11. The bearing part 111 with the structure enables the transfer device 10 not to fall off, drop or shift when transferring the dental model, and simultaneously facilitates the picking or grabbing of the dental model during the subsequent overturning of the dental model and the blanking.

Referring to fig. 5, the positioning structure 1112 includes a first protrusion 1112a and a second protrusion 1112b disposed on the carrying platform 1111, the first protrusion 1112a is disposed on the carrying surface of the carrying platform 1111 adjacent to the periphery, the second protrusion 1112b is disposed on a side of the first protrusion 1112a facing away from the periphery of the carrying platform 1111, the dental model on the carrying portion 111 can be removably clamped between the first protrusion 1112a and the second protrusion 1112b, and the dental model does not fall off, fall off or shift from the carrying portion 111 when the transfer device 10 transfers the dental model. Preferably, the closed end of the dental arch of the dental model abuts against the first protrusion 1112a, one side of the second protrusion 1112b facing the first protrusion 1112a is provided with a positioning groove, the dental model is provided with a positioning portion (not shown) extending from the lingual side to the open end of the dental arch, and the outer end of the positioning portion of the dental model is accommodated in the positioning groove of the second protrusion 1112b, so that the dental model is removably clamped between the first protrusion 1112a and the second protrusion 1112 b.

Referring to fig. 5, the pick-up assisting part 1113 is a pick-up passage 1113a provided in the upper and lower surfaces of the carrier 1111 and extending from the periphery of the carrier 1111 toward the center of the transfer tray 11, and partially covers the pick-up passage 1113a after the dental model is placed on the carrier 111, and the pick-up part 32 picks up the dental model through the pick-up passage 1113a when picking up the dental model. The pick-up channel 1113a of this embodiment includes two slits, each slit respectively extends from the periphery of the carrying platform 1111 to the center of the transfer tray 11 and penetrates through the upper and lower surfaces of the carrying platform 1111, the two slits are respectively located at two sides of the first protrusion 1112a of the positioning structure 1112, the process of picking up the dental model is, for example, before picking up the dental model, the two jaws 321 of the pick-up portion 32 are retracted and arranged at an angle of 90 degrees with the flipping arm 31, when the pick-up portion 32 moves to the carrying portion 111 for picking up, the two jaws 321 of the pick-up portion 32 are unfolded relative to the flipping arm 31 and arranged at an angle of 180 degrees with the flipping arm 31, the jaw 321 above the pick-up portion 32 clamps a part of the upper surface of the dental model, the jaws 321 below the pick-up portion 32 pass through the slits at two sides of the first protrusion 1112a to clamp a part of the lower surface of the rotating arm of the dental model, the flipping driving mechanism 34 drives the rotating arm 33 to rotate by 180 degrees, and adjusting the placing state of the dental model to a preset placing state.

In some embodiments of the present invention, referring to fig. 8 to 10, the transfer system further includes a feeding device 50, and the feeding device 50 includes a feeding line 51 and a feeding pick-up mechanism 52. The feeding line 51 is used to convey the dental model to a picking position of the feeding and picking mechanism 52, and the feeding line 51 is, for example, a belt feeding line, a chain plate feeding line, or a drum feeding line. The feeding pick-up mechanism 52 is used for picking up the dental model from the feeding line 51 and placing it on the carrying part 111 of the transfer device 10. Referring to fig. 9, the feeding and picking mechanism 52 includes, for example, a robot arm 521 and a suction cup 522 connected to the robot arm 521, the suction cup 522 picks up the dental model on the feeding line 51 by vacuum suction, the robot arm 521 transfers the dental model on the suction cup 522 from the feeding line 51 to the carrying part 111 of the transfer device 10, and the feeding and picking mechanism 52 can feed the dental model once after the transfer plate 11 of the transfer device 10 rotates one index.

In some embodiments of the present invention, referring to fig. 2 and 10, the feeding device 50 further includes a position reading device 60 for reading position information of the dental model on the feeding line 51, and is connected to the control device 40 in a communication manner, and the control device 40 controls and adjusts a picking posture of the feeding and picking mechanism 52 according to the position information of the dental model read by the position reading device 60, so that the feeding and picking mechanism 52 picks up the dental model according to a predetermined picking posture relative to the dental model.

Specifically, the position reading device 60 may include a position reading camera 61, the position reading camera 61 may be disposed above the feeding line 51 through a bracket, when the dental model passes below the position reading camera 61, the position reading camera 61 photographs the dental model on the feeding line 51 and sends the dental model to the control device 40, the control device 40 obtains position information of the dental model on the feeding line 51 by recognizing the dental model, obtains a time when the dental model moves to the feeding pick-up mechanism 52 according to a distance between the position reading camera 61 and the feeding pick-up mechanism 52 and a conveying speed of the feeding line 51, when the dental model reaches the feeding pick-up mechanism 52, the control device 40 controls to adjust a pick-up posture of the feeding pick-up mechanism 52 and pick up the dental model from the feeding line 51 according to the position information of the dental model, and then places the dental model on the bearing part 111 of the transfer device 10, and finishing the feeding operation of the dental model.

In one embodiment, referring to fig. 8, the feeding line 51 is a closed loop structure, and includes a first feeding line 511 and a second feeding line 512 arranged in sequence, wherein the first feeding line 511 and the second feeding line 512 are arranged in a stepwise connection. More specifically, the first feeding line 511 is a C-shaped belt line, the second feeding line 512 is a linear belt line, both ends of the first feeding line 511 are a feeding end 511a and a discharging end 511b, both ends of the second feeding line 512 are a feeding end 512a and a discharging end 512b, respectively, the feeding end 511a of the first feeding line 511 is connected with the discharging end 512b of the second feeding line 512, the discharging end 511b of the first feeding line 511 is connected with the feeding end 512a of the second feeding line 512, the discharging end 511b of the first feeding line 511 and the feeding end 512a of the second feeding line 512 are arranged with a predetermined height difference, preferably, between 60 and 80mm, the bearing surface of the discharging end 511b of the first feeding line 511 is arranged above the bearing surface of the feeding end 512a of the second feeding line 512, and the first feeding line 511 and the second feeding line 512 form a closed loop structure.

The dental models on the first feeding line 511 are transferred to the second feeding line 512 from the discharge end 511b of the dental models through the feed end 512a of the second feeding line 512, the feeding picking mechanism 52 picks up the dental models from the second feeding line 512 and carries out feeding, the dental models on the second feeding line 512 which are not picked up by the feeding picking mechanism 52 are transferred to the first feeding line 511 from the discharge end 512b of the second feeding line 512 through the feed end 511a of the first feeding line 511, and the dental models are transferred to the second feeding line 512 again after being conveyed by the first feeding line 511 until being picked up and fed by the feeding picking mechanism 52. The bearing surface of the discharge end 512b of the second feeding line 512 is preferably arranged higher than the bearing surface of the feed end 511a of the first feeding line 511, so that the dental models on the second feeding line 512 which are not picked up by the feeding pick-up mechanism 52 are transferred from the discharge end 512b of the second feeding line 512 to the first feeding line 511.

With continued reference to fig. 8, the bearing surface of the discharge end 511b of the first feeding line 511 is higher than the bearing surface of the feed end 512a of the second feeding line 512, the conveying speed of the second feeding line 512 is greater than or equal to the conveying speed of the first feeding line 511, the bearing surface of the discharge end 511b of the first feeding line 511 and the bearing surface of the feed end 512a of the second feeding line 512 are used for bearing and conveying the dental model, when conveying the dental model, the dental model falls from the bearing surface of the discharge end 511b of the first feeding line 511 to the bearing surface of the feed end 512a of the second feeding line 512 due to the difference in height between the bearing surface of the discharge end 511b of the first feeding line 511 and the bearing surface of the feed end 512a of the second feeding line 512, and the dental model that has fallen onto the second feeding line 512 first is conveyed forward at a faster speed due to the difference in speed between the conveying speed of the first feeding line 511 and the conveying speed of the second feeding line 512, and the distance between the position reading device 60 and the dental model falling into the second feeding line 512 is separated, so that the dental models falling into the second feeding line 512 successively cannot be overlapped, the dental models are in a single-layer tiled state on the second feeding line 512, the position reading device is favorable for accurately acquiring the position information of the dental models on the second feeding line 512, and the feeding and picking mechanism 52 is precisely controlled to adjust the picking posture and accurately pick the dental models.

Referring to fig. 2 and 10, the feeding device 50 further includes a dental model combing mechanism 53 for combing the dental models into a single-layer tiled dental model, the dental model combing mechanism 53 is arranged across the second feeding line 512, the dental models are combed into a single-layer tiled state by the dental model combing mechanism 53, the dental models are ensured to be in a single-layer tiled state on the second feeding line 512, which is also beneficial for the position reading device 60 to accurately obtain the position information of the dental models on the second feeding line 512, and the feeding picking mechanism 52 is precisely controlled to adjust the picking posture and accurately pick the dental models. The dental model combing mechanism 53 is preferably arranged behind the feeding end 512a of the second feeding line 512, and the dental model combing mechanism 53 is more preferably arranged between the feeding end of the second feeding line 512 and the position reading device 60, so that the dental models are in a single-layer tiled state before the position reading device 60 acquires the position information of the dental models on the second feeding line 512, and the position reading device 60 can accurately acquire the position information of the dental models on the second feeding line 512.

Referring to fig. 10, the dental model combing mechanism 53 includes a body portion 531 supported across the second feeding line 512 and a combing portion 532 connected to the body portion 531 and disposed facing the dental model, the combing portion 532 is disposed above the bearing surface of the second feeding line 512, the combing portion 532 includes, for example, a brush contacting the dental model and combing the dental model into a single-layered flat, a distance between the combing portion 532 and the bearing surface of the second feeding line 512 is set to allow only a single-layered dental model to pass, and when the dental model is transported on the second feeding line 512, the combing portion 532 contacts the dental model to make the dental model into a single-layered flat.

Referring to fig. 2 and 11, the transfer system further includes an identification information recognition device 70, such as a CCD digital image acquisition device, disposed corresponding to the identification station, the identification information recognition device 70 being configured to recognize recognition information disposed on the dental model for determining the identity of the dental model. Specifically, the identification information may be character string information formed by letters, numbers or a combination thereof, which is disposed on the dental model, the identification information recognition device 70 may include an identification information recognition camera 71, and may further include a second backlight source 72, the identification information recognition camera 71 may be disposed above the dental model at the identification station through a bracket, the second backlight source 72 is disposed below the dental model at the identification station, illuminates the dental model so that the identification information recognition camera can obtain a clear picture, and recognizes the identification information on the dental model by photographing the dental model and sending the picture to the control device 40, and the control device 40. The dental model is prepared by doctors and medical designers after being designed according to the requirements of patients and the intraoral conditions, the intraoral conditions and the correction requirements of different patients have individual differences, the prepared dental model is also an individualized product, and after the dental model which is placed in disorder is placed uniformly by the transfer system, the subsequent individualized processing can be carried out only by associating the single dental model with the relevant case information of the patients. Therefore, the identification information on the dental model needs to be identified by the identification information identification device 70, the identity of the dental model can be determined, and the processing parameters corresponding to the dental model can be obtained by communicating with the upper database, so that the subsequent personalized processing is facilitated.

Referring to fig. 2 and 12, the transfer system further includes a discharging device 80 disposed corresponding to the discharging station, and the discharging device 80 is in communication connection with the control device 40. The control device 40 controls the blanking device 80 to pick up the dental model and place the dental model to the blanking station with the same direction as the identification result according to the identification result of the identity information identification device 70.

Specifically, the blanking device 80 includes a blanking pick-up mechanism 81 and a blanking flow channel 82, the blanking pick-up mechanism 81 includes, for example, a mechanical arm 811 and two suction cups 812 connected to the mechanical arm 811, the two suction cups 812 can simultaneously suck and pick up the dental models on the two bearing parts 111 of the transfer device 10 in a vacuum manner, the mechanical arm 811 is controlled to move the suction cups 812 to reciprocate between the blanking station and the blanking flow channel 82, and the dental models sucked by the suction cups 82 are transferred from the bearing parts 111 of the transfer device 10, and the blanking device 80 can perform blanking once after the transfer plate 11 of the transfer device 10 rotates two indexes. The blanking station is provided with a plurality of blanking flow channels 82, as shown in fig. 13, the plurality of blanking flow channels 82 are used for conveying the dental models which are turned over and identified by the transfer system, each blanking flow channel 82 can respectively and correspondingly convey the dental model of one patient, and the blanking pick-up mechanism 81 picks up the dental models and then places the dental models on the blanking flow channels 82 which are consistent with the orientation of the identification result of the identity information identification device 70.

In order to realize the production and manufacture of the full-automatic shell-shaped tooth appliance, not only depending on production and processing equipment, but also ensuring the stable and rapid operation of a production line only by accurate information transmission and communication, in particular based on the application in the invisible orthodontic field of teeth, each shell-shaped tooth appliance belongs to an individual product and can not be carried out according to standards, so that the data information must be ensured to be reliable, the coordination among all the equipment must be on a uniformly set working beat, and based on the above, the transfer process of the transfer system of the dental jaw model comprises the following steps:

(1) before the preparation is obtained to tooth jaw information for subsequent press mold operation to the tooth jaw model that produces through printing device, the work of preparing in earlier stage is carried out to tooth jaw model through the transfer system that sets up on producing the line, sets up to transfer system's the line structure: the dental model on the first feeding line 511 is transferred to the second feeding line 512 from the discharge end 511b thereof through the feed end 512a of the second feeding line 512, the dental model carding mechanism 53 combs the dental model into a single-layer tiled state, and the position reading device 60 acquires the position information of the dental model on the second feeding line 512;

(2) the control device 40 controls and adjusts the picking posture of the feeding and picking mechanism 52 according to the position information of the dental model read by the position reading device 60, so that the feeding and picking mechanism 52 picks the dental model according to a preset picking posture relative to the dental model and transfers the dental model to the bearing part 111 of the transfer device 10;

(3) the control device 40 controls the transfer device 10 to move, the dental model is transferred to the state recognition station, and the state recognition device 20 recognizes the placement state of the dental model; analyzing the state of the current dental model in an image recognition mode to be that the dental crown is placed upwards (front side) or downwards (back side);

(4) the control device 40 controls the transfer device 10 to move continuously and send the dental model into the turning station, and when the placing state recognition result of the state recognition device 20 is inconsistent with the preset placing state, the control device 40 controls the turning device 30 to turn the dental model at the turning station so that the placing state of the turned dental model is consistent with the preset placing state; when the placing state recognition result is consistent with the preset placing state, the overturning device 30 does not overturn the dental model, and the transferring device 10 continues to move and enables the dental model to enter the next station through the overturning station;

(5) the control device 40 controls the transfer device 10 to move continuously and sends the dental model into an identity recognition station, and the identity information recognition device 70 recognizes recognition information which is arranged on the dental model and used for determining the identity of the dental model at the identity recognition station;

(6) the control device 40 controls the transfer device 10 to move continuously and sends the dental model to the blanking station, and the control device 40 controls the blanking device 80 to pick up the dental model from the transfer device 10 and place the dental model on the blanking flow channel 82 which is consistent with the identification result of the identity information identification device 70 in the direction according to the identification result of the identity information identification device 70, so that the transfer of the dental model is completed.

Since one dental model corresponds to a shell-shaped tooth appliance of a patient at a certain period, in the application, production information from the correction case information of the patient to the corresponding appliance can be acquired by an MES (data processing server), the MES can send the data information to a control device (in the embodiment of the application, the control device comprises a PLC (programmable logic controller)), and the control device controls each device in the transfer system to operate according to the received data information; when the dental model is turned to a preset state, the dental model is transferred to an identity information reading station, identification information printed on the dental model can be obtained through a camera or a CCD (charge coupled device), the identification information is a unique identification code, the identification code can be a printed concave-convex code or a hollow code and is integrally printed with the dental model, and the identification code comprises at least one or more combined codes such as letters, numbers, Chinese characters and the like; the controller sends received image information to the MES system, and discern this identification code, and communicate through database ERP system on this identification code MES system and upper strata, transfer information such as processing parameter that this identification code corresponds, and the runner is transferred out for the assignment of the tooth jaw model that this identification code corresponds, in this embodiment, be provided with 4 runners on the unloader of circulation tooth jaw model, can be for every different patient assigns the runner that corresponds (according to technological parameter in the production technology, including diaphragm parameter, hot pressing parameter etc.), and flow to next manufacturing procedure, carry out subsequent press mold, beat relevant processes such as mark, accomplish the production operation that shelly dentistry rescued ware.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A transfer system for a dental model, comprising: the transfer device, the state recognition device, the turnover device and the control device are respectively in communication connection with the control device; the transfer device is used for transferring the dental model according to a preset station, the transfer device comprises a transfer disc, a plurality of bearing parts for bearing the dental model are arranged at intervals along the periphery of the transfer disc, the bearing parts can reciprocate between preset stations by the operation of the transfer device, a feeding station, a state recognition station, a turnover station, an identity recognition station and a blanking station are sequentially arranged along the transfer disc, and the bearing parts can sequentially reciprocate among the feeding station, the state recognition station, the turnover station, the identity recognition station and the blanking station by the transfer of the transfer device; the state recognition device is used for recognizing the placing state of the dental model at a state recognition station; the overturning device is used for overturning or not overturning the dental model according to the placing state recognition result of the dental model by the state recognition device, and the overturning device is arranged at an overturning station; and the control device controls the transfer device to move so as to send the dental model into the state recognition station, controls the state recognition device to recognize the placement state of the dental model, controls the transfer device to continue to move and sends the dental model into the overturning station, and controls the overturning device to overturn the dental model at the overturning station when the placement state recognition result is inconsistent with a preset placement state so as to enable the placement state of the overturned dental model to be consistent with the preset placement state.

2. The transfer system of the dental model of claim 1, further comprising a loading device, wherein the loading device comprises a loading line and a loading pick-up mechanism, and the loading pick-up mechanism picks up the dental model from the loading line and places the dental model on the transfer device.

3. The dental model transfer system according to claim 2, wherein the feeding device further comprises a position reading device for reading position information of the dental model on the feeding line, and the position reading device is connected to the control device in a communication manner, and the control device controls and adjusts the picking posture of the feeding and picking mechanism according to the position information of the dental model read by the position reading device, so that the feeding and picking mechanism picks the dental model according to a predetermined picking posture relative to the dental model.

4. The transfer system of the dental model according to claim 3, wherein the feeding line is a closed loop structure and comprises a first feeding line and a second feeding line which are arranged in sequence, wherein the first feeding line and the second feeding line are arranged in a stage connection manner, a bearing surface of a discharge end of the first feeding line is higher than a bearing surface of a feed end of the second feeding line, and a conveying speed of the second feeding line is greater than or equal to a conveying speed of the first feeding line.

5. The dental model transfer system of claim 4, wherein the feeding device further comprises a dental model combing mechanism for combing the dental model into a single-layer flat dental model during the feeding process, and the dental model combing mechanism is arranged on the second feeding line in a crossing manner.

6. The transfer system of the dental model according to claim 5, wherein the dental model combing mechanism comprises a body part supported across the second feeding line and a combing part connected with the body part and arranged facing the dental model, and when the dental model is transported on the second feeding line, the combing part contacts with the dental model to enable the dental model to be tiled in a single layer.

7. The system for transferring dental models according to claim 5 or 6, wherein the dental model combing mechanism is arranged between the second feeding line feeding end and the position reading device.

8. The transfer system for dental models according to claim 1, further comprising an identification information recognition device corresponding to the identification station, wherein the identification information recognition device is configured to recognize recognition information provided on the dental model for identifying the dental model.

9. The transfer system for dental models according to claim 8, further comprising a blanking device corresponding to the blanking station, wherein the blanking device is in communication connection with the control device.

10. The transfer system for dental models according to claim 9, wherein the control device controls the blanking device to pick up the dental model and place the dental model to a blanking station with the orientation consistent with the identification result according to the identification result of the identification information identification device.

11. The transfer system for dental models according to claim 10, wherein the blanking station is provided with a blanking device, the blanking device comprises a blanking picking mechanism and a blanking flow channel, and the blanking picking mechanism picks up the dental models and then places the dental models on the blanking flow channel with the orientation consistent with the identification result.

12. The transfer system of the dental model according to claim 1, wherein the flipping device comprises a flipping arm and a pick-up portion connected thereto, the pick-up portion being disposed on a side of the flipping arm adjacent to the transfer device; after the control device controls the picking part to pick up the dental model, the overturning arm adjusts the placing state of the dental model to a preset placing state.

13. The system of claim 12, wherein the pick-up section is pivotally connected to the flip arm, and wherein the pick-up section is retracted relative to the flip arm when not in use and is extended relative to the flip arm when in use.

14. The dental model transfer system of claim 13, wherein the flipping arm and the pick-up portion are disposed at an angle of 90 degrees relative to each other when the pick-up portion is retracted relative to the flipping arm, and the flipping arm and the pick-up portion are disposed at an angle of 0 or 180 degrees relative to each other when the pick-up portion is extended relative to the flipping arm.

15. The system for transferring dental models according to claim 1, wherein the predetermined placement state of the dental model is a placement state in which a crown of the dental model is facing upward.