CN112108898B

CN112108898B - Tooth socket cutting control system and tooth socket cutting system

Info

Publication number: CN112108898B
Application number: CN202010965898.1A
Authority: CN
Inventors: 刘希; 舒清元; 程立; 周楚昊
Original assignee: Suzhou Hebolian Robot Technology Co ltd
Current assignee: Suzhou Hebolian Robot Technology Co ltd
Priority date: 2020-09-15
Filing date: 2020-09-15
Publication date: 2023-05-02
Anticipated expiration: 2040-09-15
Also published as: CN112108898A

Abstract

The invention provides a dental socket cutting control system and a dental socket cutting system, wherein the dental socket cutting control system comprises a robot, a first identification device, a second identification device and a controller, and the first identification device identifies first position information of a dental socket blank in a supporting plate and sends the first position information to the robot; the second recognition device recognizes second position information of the tooth socket blank relative to the sucker and sends the second position information to the controller; the suction cup of the robot sucks the tooth socket blank from the supporting plate according to the first position information, and the mechanical arm moves the tooth socket blank from the supporting plate to an identifiable region of the second identifying device according to a preset moving track and moves the identifiable region to a cutting starting position of the cutting equipment; the mechanical arm moves the tooth socket blank along the corrected cutting track from the cutting starting position; the controller is electrically connected with the robot. This facing cutting control system need not carry out the tool setting, and the sucking disc need not be changed, has improved the efficiency of cutting.

Description

Tooth socket cutting control system and tooth socket cutting system

Technical Field

The invention relates to the technical field of surface treatment equipment, in particular to a dental mouthpiece cutting control system and a dental mouthpiece cutting system.

Background

A dental brace, also known as an dentition appliance or dental brace, is a device used in dentition correction to align teeth to a proper bite position. Dental braces are commonly used to ameliorate malocclusions, including scoops, bruxism, anterior and posterior malocclusions, open bite, tooth irregularities, or other defects in a wide variety of dentitions, and the like, for the purpose of cosmetic or dental structures.

The existing tooth socket cutting equipment generally adopts a five-axis machine tool to process, and a clamp is used for clamping the tooth socket when the tooth socket is processed, and the thickness of the tooth socket is generally only a few millimeters as the tooth socket needs to be processed according to a tooth model of a user, so that the requirement on the clamp is relatively high, and the design cost of the clamp is relatively high; moreover, the teeth of each user are different in shape and size, so that the clamps are required to be frequently replaced, and the cutting efficiency is reduced; in addition, every time a tooth socket is processed, the cutter needs to be re-aligned, and the cutting efficiency is reduced.

Disclosure of Invention

In view of the above problems, it is necessary to provide a dental mouthpiece cutting control system to solve or partially solve the above problems, and the technical solution provided by the present invention is as follows:

the invention provides a dental mouthpiece cutting control system, which comprises a robot, a first identification device, a second identification device and a controller, wherein:

the first identification device is used for identifying first position information of the tooth socket blank in the supporting plate and sending the first position information to the robot;

a second recognition means for recognizing second position information with respect to the suction cup included in the robot when the socket blank is moved to the recognizable area of the second recognition means, and transmitting the second position information to the controller;

the robot comprises a mechanical arm and a sucker, wherein the sucker sucks a dental socket blank from a supporting plate according to the first position information identified by the first identification device, and the mechanical arm is used for moving the dental socket blank sucked by the sucker from the supporting plate to an identifiable region of the second identification device according to a preset moving track and moving the identifiable region to a cutting starting position of external cutting equipment; the mechanical arm is also used for moving the tooth socket blank piece sucked by the sucker from the cutting starting position along the corrected cutting track;

the controller is electrically connected with the robot and used for determining a preset moving track based on the first position information, the identifiable region and the cutting starting position and controlling the mechanical arm to move along the preset moving track; and the mechanical arm is also used for correcting the pre-generated cutting track according to the cutting starting position and the second position information and controlling the mechanical arm to move along the corrected cutting track.

Further, the controller determining a preset movement trajectory based on the first position information, the identifiable region, and the cutting start position includes: the identifiable region is moved from the tray to the identifiable region of the second identifying means according to the first position information, and the identifiable region is moved from the identifiable region to a cutting start position of the external cutting device according to the identifiable region and the cutting start position.

Further, the controller correcting the pre-generated cutting trajectory according to the cutting start position and the second position information includes: and correcting the cutting track according to the second position information and the pre-generated cutting track, and obtaining the corrected cutting track by combining the cutting starting position.

Further, the sucking disc adopts vacuum sucking disc, and vacuum sucking disc includes fixed plate, vacuum sucking plate, form a vacuum chamber between fixed plate and the vacuum sucking plate, the fixed plate with the arm is connected.

Further, the electromagnetic chuck is adopted, and comprises an electromagnet and an electromagnetic suction plate, wherein the electromagnetic suction plate is used for sucking the tooth socket blank, and the electromagnet is connected with the mechanical arm.

Further, the device also comprises a propelling mechanism connected with the supporting plate, wherein the propelling mechanism comprises two sliding rails which are arranged in parallel, and two first sliding blocks which are respectively connected with the two sliding rails in a nested manner, and the first sliding blocks are connected with the supporting plate.

Further, the propelling mechanism further comprises a cylinder guide rail and a cylinder nested and connected with the cylinder guide rail, wherein the cylinder guide rail is arranged between the two sliding rails in parallel, and the cylinder is connected with the supporting plate.

Further, the propelling mechanism further comprises a moving mechanism for driving the supporting plate to linearly reciprocate along the direction of the sliding rail and a driving device for driving the moving mechanism, and the moving mechanism is connected with the supporting plate.

Further, the motion mechanism is a cam mechanism, and comprises a cam, a follower rod and a connecting block, wherein a groove is formed in the cam, the connecting block is embedded into the groove, one end of the follower rod is connected with the connecting block, the other end of the follower rod is connected with the supporting plate, and the cam is coaxial with the driving device.

Further, the motion mechanism adopts a crank slide block mechanism, and comprises a crank, a connecting rod and a second slide block, wherein the crank is coaxial with the driving device, two ends of the connecting rod are respectively connected with the crank and the second slide block, and the second slide block is connected with the supporting plate.

In another aspect, the present invention provides a dental mouthpiece cutting system comprising a mouthpiece cutting control system as described above and a cutting device for cutting a mouthpiece blank.

Based on the technical scheme, the invention has the following beneficial effects compared with the prior art:

the embodiment of the invention discloses a tooth socket cutting control system, wherein a sucker of a robot sucks a tooth socket blank from a supporting plate according to the position information of a first identification device, and the sucker sucks the tooth socket blank in a sucking mode, so that replacement is not needed, and the cutting efficiency is improved; the controller corrects the pre-generated cutting track according to the cutting starting position and the second position information, and controls the mechanical arm to move along the corrected cutting track, so that the mechanical arm drives the tooth socket blank to move to match with the cutting equipment to cut, the operation of tool setting is not needed, and the cutting efficiency is improved.

Drawings

FIG. 1 is a perspective view of a mouthpiece cutting control system in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of a sucker in an embodiment of the present invention;

FIG. 3 is a schematic view of a propulsion mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic view of a cam mechanism according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a crank block mechanism according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Example 1

The present embodiment discloses a dental mouthpiece cutting control system, as shown in fig. 1, including a robot 20, a first recognition device 30, a second recognition device 40, and a controller 60, wherein:

the first identifying device 30 is configured to identify first position information of the dental socket blank in the pallet, and send the first position information to the robot 20.

The second recognition means 40 recognizes second position information with respect to the suction cup 22 included in the robot 20 when the socket blank is moved to the recognizable area of the second recognition means, and transmits the second position information to the controller 60.

The robot 20 comprises a mechanical arm 21 and a sucker 22, wherein the sucker 22 sucks a dental socket blank from a supporting plate according to the first position information recognized by the first recognition device 30, and the mechanical arm 21 is used for moving the dental socket blank sucked by the sucker 22 from the supporting plate to a recognizable area of the second recognition device 40 according to a preset moving track and moving the recognizable area to a cutting starting position of external cutting equipment; the mechanical arm 21 is further configured to move the dental socket blank sucked by the suction cup 22 from the cutting start position along the corrected cutting track. The robot 20 is preferably a six-axis robot, the degree of freedom of the six-axis robot is higher, the robot arm 21 is more flexible, and the more kinds of tasks can be completed. Of course, the robot 20 may be a five-axis robot.

A controller 60 electrically connected to the robot 20, for determining a preset movement track based on the first position information, the identifiable region and the cutting start position, and controlling the robot arm 21 to move along the preset movement track; and is further configured to modify a pre-generated cutting trajectory according to the cutting start position and the second position information, and control the mechanical arm 21 to move along the modified cutting trajectory.

Specifically, the controller 60 determines a preset movement trajectory based on the first position information, the identifiable region, and the cutting start position, including moving the identifiable region from the tray to the identifiable region of the second recognition device according to the first position information, and moving the identifiable region from the identifiable region to the cutting start position of the external cutting device according to the identifiable region, the cutting start position; the computer automatically recognizes gums according to the imported three-dimensional model of the dental mouthpiece and obtains a pre-generated cutting track, the pre-generated cutting track is sent to the controller 60, the controller 60 corrects the pre-generated cutting track according to the cutting starting position and the second position information, and the mechanical arm 21 is controlled to move along the corrected cutting track; the controller 60 corrects the pre-generated cutting trajectory according to the cutting start position and the second position information, including: and correcting the cutting track according to the second position information and the pre-generated cutting track, and obtaining the corrected cutting track by combining the cutting starting position.

The embodiment of the invention discloses a tooth socket cutting control system, wherein a sucker 22 of a robot 20 sucks a tooth socket blank from a supporting plate according to the position information of a first identification device 30, and the sucker 22 sucks the tooth socket blank in a sucking way, so that replacement is not needed, and the cutting efficiency is improved; the controller 60 corrects the pre-generated cutting track according to the cutting start position and the second position information, and controls the mechanical arm 21 to move along the corrected cutting track, so that the mechanical arm 21 drives the tooth socket blank to move to match with the cutting equipment to cut, and the operation of tool setting is not needed, thereby improving the cutting efficiency.

In some embodiments, as shown in fig. 2, the suction cup 22 is a vacuum suction cup, and the vacuum suction cup includes a fixing plate 21 and a vacuum suction plate 22, between which a vacuum chamber 23 is formed, and the fixing plate is connected to the mechanical arm 21. Firstly, connecting the vacuum sucker with external vacuum equipment through a connecting pipe, then contacting the vacuum sucker with a tooth socket blank, starting the vacuum equipment to suck, and generating negative air pressure in a vacuum cavity so as to firmly suck the tooth socket blank, and then starting to transfer the tooth socket blank; when the tooth socket blank piece is required to be placed at the designated position, the tooth socket blank piece is stably inflated into the vacuum cavity, so that the negative air pressure in the vacuum cavity is changed into zero air pressure or slightly positive air pressure, and the vacuum sucker is separated from the tooth socket blank piece. The vacuum chuck sucks the tooth socket blank through vacuum negative pressure, and the vacuum chuck only needs to suck the middle part of the tooth socket blank and does not need to be replaced because the specification of the tooth socket blank is inconsistent, so that the cutting efficiency is improved.

In other embodiments, the suction cup 22 is an electromagnetic suction cup, and the electromagnetic suction cup includes an electromagnet and an electromagnetic suction plate, and the electromagnetic suction plate is used for sucking the dental socket blank, and the electromagnet is connected with the mechanical arm 21. The working principle of the electromagnetic chuck is that the electromagnetic chuck tightly sucks the tooth socket blank contacted with the surface of the electromagnetic chuck through the electromagnetic chuck by electrifying an internal coil to generate magnetic force, and demagnetizes the tooth socket blank through the outage of the coil and the electromagnetic chuck is separated from the tooth socket blank. The electromagnetic chuck sucks the tooth socket blank through the electromagnetic principle, and as the electromagnetic chuck only needs to suck the middle part of the tooth socket blank, the tooth socket blank is not required to be replaced because of inconsistent specifications of the tooth socket blank, and the cutting efficiency is improved.

In some embodiments, as shown in fig. 1, the dental socket cutting control system further includes a pushing mechanism 70 connected to the pallet, and as shown in fig. 3, the pushing mechanism 70 includes two sliding rails 71 disposed in parallel, two first sliding blocks 72 respectively connected to the two sliding rails 71 in a nested manner, a cylinder guide 73, and a cylinder 74 connected to the cylinder guide 73 in a nested manner, where the first sliding blocks 72 are connected to the pallet, the cylinder guide 73 is disposed between the two sliding rails 71 in parallel, and the cylinder 74 is connected to the pallet. The cylinder 74 moves along the cylinder guide rail 73 to drive the supporting plate to move along the two slide rails 71, so that automatic feeding of tooth socket blanks on the supporting plate is realized, the degree of automation is improved, meanwhile, the safety is also improved, and the damage to workers caused by manual movement of the supporting plate is prevented.

In other embodiments, the dental socket cutting control system further comprises a pushing mechanism 70 connected with the supporting plate, the pushing mechanism comprises two sliding rails 71 arranged in parallel, two first sliding blocks 72 respectively connected with the two sliding rails 71 in a nested manner, a moving mechanism 73 for driving the supporting plate to linearly reciprocate along the direction of the sliding rails 71, and a driving device 74 for driving the moving mechanism 73, the first sliding blocks 72 are connected with the supporting plate, and the moving mechanism 73 is connected with the supporting plate. The motion mechanism 73 moves linearly and reciprocally along the direction of the sliding rails 71 to drive the supporting plate to move along the two sliding rails 71, so that automatic feeding of tooth socket blanks on the supporting plate is realized, the degree of automation is improved, meanwhile, the safety is also improved, and the possible injury to workers caused by manual movement of the supporting plate is prevented.

In some embodiments, as shown in fig. 4, the moving mechanism 73 may be a cam mechanism, including a cam 731, a follower 732, and a connecting block 733, where a groove 7311 is disposed on the cam 731, the connecting block 733 is embedded in the groove 7311, the cam 731 is coaxial with the driving device 74, and one end of the follower 732 is connected to the connecting block 733, and the other end is connected to the supporting plate. The driving device 74 drives the cam 731 to rotate, the connecting block 733 slides along the groove 7311 to drive the follower 732 to move, the follower 732 is connected to the supporting plate, and the supporting plate is limited by the two sliding rails 71 to move linearly only along the sliding rail 71 direction, so that the supporting plate moves linearly and reciprocally along the sliding rail 71 direction along with the rotation of the cam 731. In this embodiment, the driving device 74 employs a motor.

In other embodiments, as shown in connection with fig. 5, the moving mechanism 73 may be a crank-slider mechanism, including a crank 731, a connecting rod 732, and a second slider 733, where the crank 731 is coaxial with the driving device 74, two ends of the connecting rod 732 are respectively connected to the crank 731 and the second slider 733, and the second slider 733 is connected to the supporting plate. The two ends of the connecting rod 732 are respectively hinged with the crank 731 and the second slider 733, the driving device 74 drives the crank 731 to rotate, the crank 731 drives the connecting rod 732 to rotate, the second slider 733 is connected with the supporting plate, the supporting plate can only move linearly along the direction of the sliding rail 71 under the limitation of the two sliding rails 71, the second slider 733 can only move linearly along the direction of the sliding rail 71, and the second slider 733 drives the supporting plate to reciprocate linearly along the sliding rail 71 along with the rotation of the crank 731. In this embodiment, the driving device 74 employs a motor.

Example two

The present embodiment discloses a dental mouthpiece cutting system, as shown in fig. 1, comprising a robot 20, a first recognition device 30, a second recognition device 40, a cutting apparatus 50, and a controller 60, wherein:

the first identifying device 30 is disposed above the workbench 10, and is used for identifying first position information of the dental socket blank in the supporting plate and transmitting the first position information to the robot 20.

The robot 20 comprises a mechanical arm 21 and a sucker 22, wherein the sucker 22 sucks a dental socket blank from a supporting plate according to the first position information identified by the first identification device 30, and the mechanical arm 21 is used for moving the dental socket blank sucked by the sucker 22 from the supporting plate to an identifiable region of the second identification device 40 according to a preset moving track and moving the identifiable region to a cutting starting position of the cutting equipment; the mechanical arm 21 is further configured to move the dental socket blank sucked by the suction cup 22 from the cutting start position along the corrected cutting track. The robot 20 is preferably a six-axis robot, the degree of freedom of the six-axis robot is higher, the robot arm 21 is more flexible, and the more kinds of tasks can be completed. Of course, the robot 20 may be a five-axis robot.

A controller 60 electrically connected to the robot 20, for determining a preset movement track based on the first position information, the identifiable region and the cutting start position, and controlling the robot arm 21 to move along the preset movement track; and correcting a pre-generated cutting track according to the cutting start position and the second position information, and controlling the mechanical arm 21 to move along the corrected cutting track.

A cutting device 50 for cutting the shell blank.

The embodiment of the invention discloses a tooth socket cutting system, wherein a suction cup 22 of a robot 20 sucks a tooth socket blank from a supporting plate according to the position information of a first identification device 30, and the suction cup 22 sucks the tooth socket blank in a suction mode, so that replacement is not needed, and the cutting efficiency is improved; the controller 60 corrects the pre-generated cutting track according to the cutting start position and the second position information, and controls the mechanical arm 21 to move along the corrected cutting track, so that the mechanical arm 21 drives the tooth socket blank to move to match with the cutting device 50 for cutting, and the operation of tool setting is not required, thereby improving the cutting efficiency.

In some embodiments, in order to fix the robot 20, the first recognition device 30, the second recognition device 40, the cutting apparatus 50, the controller 60 in a well-defined positional relationship, the dental socket cutting system further comprises a table 10 for fixing the robot 20, the first recognition device 30, the second recognition device 40, the cutting apparatus 50, the controller 60; and the supporting plate is also used for supporting the tooth socket blank. A plurality of dental socket blanks can be simultaneously placed on the supporting plate, and the dental socket blanks are provided for the robot 20 to absorb, so that the efficiency can be improved.

In some embodiments, as shown in fig. 1, the cutting device 50 includes a motor 51 and a milling cutter 52, where the milling cutter 51 is connected to the motor 52, and the motor 51 drives the milling cutter 52 to rotate, so as to cut the dental socket blank. Of course, the cutting device 50 may also be a laser cutter or other device that can cut a dental floss blank.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this invention.

The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as "comprising," is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. The utility model provides a facing cutting control system, its characterized in that includes robot, first recognition device, second recognition device, controller, wherein:

the pushing mechanism is connected with the supporting plate and comprises two sliding rails which are arranged in parallel and two first sliding blocks which are respectively connected with the two sliding rails in a nested manner, and the first sliding blocks are connected with the supporting plate; the device also comprises a cylinder guide rail and a cylinder which is connected with the cylinder guide rail in a nested way, wherein the cylinder guide rail is arranged between the two sliding rails in parallel, and the cylinder is connected with the supporting plate; the device also comprises a moving mechanism for driving the supporting plate to linearly reciprocate along the direction of the sliding rail and a driving device for driving the moving mechanism, wherein the moving mechanism is connected with the supporting plate;

2. The dental mouthpiece cutting control system of claim 1, wherein the suction cup is a vacuum suction cup, the vacuum suction cup comprises a fixed plate and a vacuum suction plate, a vacuum cavity is formed between the fixed plate and the vacuum suction plate, and the fixed plate is connected with the mechanical arm.

3. The mouthpiece cutting control system of claim 1, wherein the suction cup is an electromagnetic suction cup, the electromagnetic suction cup comprises an electromagnet and an electromagnetic suction plate, the electromagnetic suction plate is used for sucking the mouthpiece blank, and the electromagnet is connected with the mechanical arm.

4. The dental mouthpiece cutting control system of claim 1, wherein the movement mechanism is a cam mechanism comprising a cam, a follower rod, a connecting block, the cam having a groove formed therein, the connecting block being embedded in the groove, one end of the follower rod being connected to the connecting block and the other end being connected to the bracket, the cam being coaxial with the drive means.

5. The dental mouthpiece cutting control system of claim 1, wherein the movement mechanism is a crank-slider mechanism comprising a crank, a connecting rod, and a second slider, the crank is coaxial with the driving device, two ends of the connecting rod are respectively connected with the crank and the second slider, and the second slider is connected with the supporting plate.

6. A dental mouthpiece cutting system comprising a mouthpiece cutting control system as claimed in any of claims 1 to 5 and a cutting device for cutting a blank of dental mouthpiece.

7. The mouthpiece cutting system of claim 6, wherein the cutting device comprises a motor and a milling cutter, the milling cutter being coupled to the motor;

alternatively, the cutting device employs a laser cutter.