CN203732042U - Non-contact tooth and jaw medical three-dimension automated measuring device - Google Patents
Non-contact tooth and jaw medical three-dimension automated measuring device Download PDFInfo
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- CN203732042U CN203732042U CN201420113637.7U CN201420113637U CN203732042U CN 203732042 U CN203732042 U CN 203732042U CN 201420113637 U CN201420113637 U CN 201420113637U CN 203732042 U CN203732042 U CN 203732042U
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Abstract
The utility model discloses a non-contact tooth and jaw medical three-dimension automated measuring device comprising an optical path adjusting module, a tooth model positioning module and a visual measuring module, wherein the visual measuring module is used for subjecting a tooth and jaw model to optical scanning measurement operation, the visual measuring module is arranged in the optical path adjusting module, an optical path of the visual measuring module can be adjusted through the optical path adjusting module, the tooth and jaw model is arranged on the tooth model positioning module and is positioned and adjusted through the tooth model positioning module, and therefore the visual measuring module can be cooperated with in realizing three-dimensional scanning measurement of the tooth and jaw model. The device is characterized by high support system rigidity, stable work processes, strong interference-proof property, large optical path adjusting scope, simple and convenient operation, adjustable strength of fixation of the tooth model, flexible and practical properties, automated position adjustment of tooth model, and accurate and fast properties.
Description
Technical field
The utility model relates to field of machine vision, is specifically related to a kind of tooth jaw medical 3 D automatic measurement equipment.
Background technology
The observation of tooth jaw form and Measurement and analysis relate to the multiple fields of dentistry, are directly connected to diagnosis, therapeutic scheme design and the evaluation to curative effect of mouth disease.In research and clinical treatment in the past, the simple survey instrument of slide calliper rule, the bevel protractor etc. of adopting, therefore measure content and limited ability, be difficult to the complicated three-dimensional geometry form in dentognathic model surface make comprehensively, quantitative description and analysis accurately.Start digitalized oral cavity CAD/CAM technology to introduce in the seventies in last century the design and fabrication of mouth mending material abroad, existing more theory and practice.Also there is some scholars in China now in this field of research, but does not have yet matured product, and existing relevant device also has many improved places for the treatment of.
There is following problem in existing tooth three dimensional optical measuring equipment: (1) light path is relatively fixing, and height angle of regulation range is limited or regulate comparatively loaded down with trivial details; (2) light path adopts cantilever design to support more, and measuring system rigidity is good not, is difficult to keeping system calibration rear effectively long-time, and is subject to external interference; (3) measure complete tooth mould and need to obtain cloud data from multiple angles and carry out amalgamation, existing equipment adopts manual adjustments more, and efficiency and precision are not high.
Utility model content
For the deficiencies in the prior art, the purpose of this utility model is to provide a kind of contactless tooth jaw medical 3 D automatic measurement equipment, can realize by simple and clear physical construction the rapid adjustment of light path, the stable operation of process and point the complete of cloud accurately obtain, thereby to obtain tooth entirety three-dimensional model.
For achieving the above object, the utility model provides a kind of contactless tooth jaw medical 3 D automatic measurement equipment, for dentognathic model is carried out to three-dimensional scanning measurement, to obtain tooth three-dimensional model, it is characterized in that, this equipment comprises light path adjusting module, tooth mould locating module and vision measurement module, wherein, described vision measurement module is for carrying out photoscanning measurement to dentognathic model, it is arranged on described light path adjusting module and can adjusts the light path of described vision measurement module by this light path adjusting module, described dentognathic model is arranged on described tooth mould locating module, and position and adjust by this tooth mould locating module, thereby to coordinate described vision measurement module to realize the three-dimensional scanning measurement to this dentognathic model.
As improvement of the present utility model, described light path adjusting module comprises perpendicular position adjusting mechanism and is arranged on the angle-regulation structure on this perpendicular position adjusting mechanism, wherein, described perpendicular position adjusting mechanism is realized the adjustment of vision measurement module two degree of freedom on perpendicular, described angle-adjusting mechanism can be realized its angular setting, thereby jointly realizes the adjustment of vision measurement module light path by the two.
As improvement of the present utility model, described perpendicular position adjusting mechanism comprises base, be arranged on the vertical adjustment structure on this base and be arranged on the structural horizontal regulating structure of described vertical adjustment, wherein,
Described vertical adjustment structure comprises the vertical axis of guide, axis of guide bearing, pillar geometrical clamp, wherein axis of guide bearing connects with base, and vertically the axis of guide inserts in axis of guide bearing, and fixes by built-in register pin, pillar geometrical clamp coordinates with the vertical axis of guide by vertical through hole, can move on a large scale at vertical direction, determine behind position by lock-screw locking sliding pair, realize friction lock;
Described horizontal regulating structure comprises crossbeam and axis of guide bearing, wherein, described pillar geometrical clamp coordinates with described crossbeam by the cross through hole on it, described crossbeam can be moved in the horizontal direction, described axis of guide bearing coordinates with this crossbeam by the horizontal through hole on it, and this axis of guide bearing can be moved in the horizontal direction.
As improvement of the present utility model, described angle-regulation structure mainly comprises that base plate, micro projector are adjusted structure and industrial camera is adjusted structure, wherein, described base plate is connected with axis of guide bearing, thereby perpendicular position adjustment unit and angle adjusting are coupled together;
Described micro projector is adjusted structure and is comprised projector card extender, the first studs, the first nut, the first screw and nut, wherein, described studs one end connects base plate, middle polished rod part as minor axis appear projector card extender and with its formation revolute pair, the other end limits axially-movable by the first nut screwing clamping, this projector card extender can be realized angular adjustment around polished rod partial rotation in the middle of studs, after location positioning, turn the second nut on the arc groove that projector card extender opposite side offers, make it to screw with the screw being fixed on base plate, thereby be fixed projector card extender,
Described industrial camera is adjusted structure and is comprised camera card extender, the second studs, the 3rd nut, the second screw and the 4th nut, wherein, described second studs one end connects base plate, middle polished rod part forms revolute pair as minor axis and camera card extender, the other end limits axially-movable by the 3rd nut screwing clamping, this camera card extender can be realized angular adjustment around polished rod partial rotation in the middle of studs, after location positioning, turn the 4th nut on the arc groove that described compression camera card extender one side offers, make it to screw with the second screw being fixed on base plate, thereby be fixed described camera card extender.
As improvement of the present utility model, described vision measurement module comprises industrial camera and projector, and it is separately positioned on, and described industrial camera is adjusted structure and micro projector is adjusted in structure, for implementation structure optical grating projection and image acquisition.
As improvement of the present utility model, described tooth mould locating module comprises tooth mould fixed cell and Ya Mo position regulating unit, tooth mould fixed cell is for being fixed on universal stage by tooth mould to be measured, and tooth mould position regulating unit is used for changing universal stage position, thereby adjusts tooth mould attitude.
As improvement of the present utility model, described tooth mould fixed cell comprises universal stage, slide clamp and elastic caoutchouc briquetting, wherein, bonding by glue between slide clamp and elastic caoutchouc briquetting, place after tooth mould, slide clamp can be by the straight trough adjusting position of opening on universal stage, until elastic caoutchouc briquetting can be fixed tooth mould to the elastic pressure of tooth mould, then turn screw in compression universal stage, make it fixing.
As improvement of the present utility model, described tooth mould position regulating unit comprises upset adjustment structure and horizontally rotates adjustment structure, wherein, web joint in upset adjustment structure is connected by screw the upper supporting plate horizontally rotating in adjustment structure, between web joint and upper supporting plate, be provided with floor, this floor is connected by screw upper supporting plate, is connected by screw web joint, upset adjustment structure and horizontally rotate adjustment structure and jointly complete the two-freedom rotation of universal stage.
As improvement of the present utility model, described upset adjustment structure comprises power section, running part, support section and coupling part, wherein, described power section comprises upset stepper motor, described running part comprises shaft coupling, connect minor axis, axis of guide bearing and be fixed on the web joint on this axis of guide bearing, described support section comprises motor fixing plate, location rolling bearing units, top board, support plate and bearing plate, described bearing plate is connected with the base in light path adjusting module by screw, described support plate one end is fixed on this bearing plate, the described support plate other end is fixed with top board by screw, described upset stepper motor passes to moment of torsion by the connection minor axis of described location rolling bearing units supporting by shaft coupling, and then the rotation of drive axis of guide bearing and web joint, thereby drive the universal stage rotation being fixed on this web joint, realizing upset regulates.
As improvement of the present utility model, the described adjustment structure that horizontally rotates comprises power unit, gear unit, support unit and linkage unit, wherein, described power unit comprises horizontal stepper motor, gear unit comprises shaft coupling, connect minor axis and on lift, universal stage by screw with on lift and be connected, support unit comprises that motor connects platform and upper supporting plate, described motor connects platform one end and is connected with stepper motor by screw, the other end is connected by screw the upper supporting plate on upset governor motion, horizontal stepper motor passes to connection minor axis by shaft coupling by moment of torsion, and then lift and the rotation of universal stage on driving, thereby realize the adjusting that horizontally rotates of universal stage.
In the utility model, described perpendicular position adjustment unit is utilized horizontally-guided axle and vertical coordinating between the axis of guide and axis of guide bearing or pillar geometrical clamp through hole, realizes the slip on level and vertical direction, realize position adjustment, after location positioning, then turn lock-screw, make it fixing.
In the utility model, described angle adjusting adjusts structure by micro projector and industrial camera adjustment structure forms.
In the utility model, described micro projector is adjusted structure and is realized around minor axis and rotate adjustment angle by the through hole of projector card extender one side, after location positioning, then turns the arc groove of screw in compression projector card extender opposite side, makes it fixing.
In the utility model, described industrial camera is adjusted structure and is realized around minor axis and rotate adjustment angle by the through hole of camera card extender one side, after location positioning, then turns the arc groove of screw in compression camera card extender opposite side, makes it fixing.
In the utility model, described vision measurement module is made up of micro projector, industrial camera and fixture.Wherein micro projector will self be fixed on projector card extender by upper and lower two planes of Z-shaped side support plate, and industrial camera utilizes screw self to be locked on camera card extender.
Device of the present utility model is taking optical grating projection as basis, by noncontact photo taking type measuring technique, obtain fast high precision dentognathic model three dimensional point cloud, by Image Mosaic technology, finally generate tooth entirety three-dimensional model, as basis and the reference of subsequent treatment.The utility model compared with prior art, has following beneficial effect:
1) by adopting the accurate axis of guide and shaft stool, crossbeam composition gantry structure, the base plate at the projector in vision measurement module and camera place is connected on crossbeam by bearing simultaneously, formation has the stent support system of stronger rigidity, the calibration results can keep stable for a long time, and is not subject to ectocine;
2) by adjusting vertically and the support position of horizontal direction can be realized optical path the moving of two-freedom in perpendicular on a large scale, by rotating and projection instrument and camera card extender, change the position of relative base plate, can adjust among a small circle shooting angle, make light path adjustment easier;
3), in tooth mould fixed cell, slide clamp can realize the tooth mould of difformity and size is clamped flexibly, and on it, bonding elastic caoutchouc briquetting capable of regulating clamps dynamics, has more practical significance;
4), in tooth mould position adjustment unit, by automatic control module, realize the two-freedom rotation of rotation platform, more accurately quick.
Brief description of the drawings
Fig. 1 is the three-dimensional combination figure of the utility model dentognathic model measurer specific embodiment;
Fig. 2 a is the overall three-dimensional combination figure of light path adjusting module in the utility model dentognathic model measurer;
Fig. 2 b is the three-dimensional combination figure of perpendicular position adjustment unit in light path adjusting module in the utility model dentognathic model measurer;
Fig. 2 c is the three-dimensional combination figure of angle adjusting in light path adjusting module in the utility model dentognathic model measurer;
Fig. 3 a is the overall three-dimensional combination figure of the utility model dentognathic model measurer dens in dente mould locating module;
Fig. 3 b is the three-dimensional combination figure of the utility model dentognathic model measurer dens in dente mould locating module dens in dente mould fixed cell;
Fig. 3 c is the three-dimensional combination figure of the utility model dentognathic model measurer dens in dente mould locating module dens in dente mould position regulating unit;
Fig. 3 d is the three-dimensional combination figure of adjustment structure of overturning in the utility model dentognathic model measurer dens in dente mould locating module dens in dente mould position regulating unit;
Fig. 3 e is the three-dimensional exploded view of adjustment structure of overturning in the utility model dentognathic model measurer dens in dente mould locating module dens in dente mould position regulating unit;
Fig. 3 f is the three-dimensional combination figure that horizontally rotates adjustment structure in the utility model dentognathic model measurer dens in dente mould locating module dens in dente mould position regulating unit;
Fig. 3 g is the three-dimensional exploded view that horizontally rotates adjustment structure in the utility model dentognathic model measurer dens in dente mould locating module dens in dente mould position regulating unit;
Fig. 4 is the three-dimensional combination figure of micro projector and fixture in vision measurement module in the utility model dentognathic model measurer;
Fig. 5 is the three-dimensional exploded view of industrial camera and fixture in vision measurement module in the utility model dentognathic model measurer.
Fig. 6 is the schematic diagram of automatic control module in the utility model dentognathic model measurer.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.In addition,, in each embodiment of described the utility model, involved technical characterictic just can combine mutually as long as do not form each other conflict.
Fig. 1 is the three-dimensional combination figure of the utility model dentognathic model measurer specific embodiment.
As shown in fig. 1, the dentognathic model measurer of the utility model embodiment mainly comprises light path adjusting module 11, tooth mould locating module 12, automatic control module 13 and vision measurement module 14.Wherein, automatic control module 13 is made up of power supply, programmable logic controller (PLC) PLC, driver, stepper motor and PC end control interface; Light path adjusting module 11 is made up of support and micro projector adjustment unit, industrial camera adjustment unit; Vision measurement module 14 is made up of micro projector, industrial camera and fixture.
The base plate 22 at vision measurement module 14 places can move on a large scale in perpendicular, realizes light path adjustment on a large scale; Card extender 21 has the degree of freedom of rotation, can realize the local adjustment of light path; Machine operation in automatic control module 13, makes universal stage 31 in tooth mould locating module 12 have the rotation of two degree of freedom.Whole tooth mould locating module is placed under vision measurement module, and after tooth mould attitude is adjusted, the relative position of vision measurement module and tooth mould has been fixed, and can start structured light scanning survey.
Fig. 2 a is the overall three-dimensional combination figure of light path adjusting module 11 in Fig. 1.As shown in Figure 2 a, light path adjusting module 11 mainly comprise perpendicular position adjusting mechanism (Fig. 2 b) and angle-regulation structure (Fig. 2 c).Perpendicular position adjusting mechanism is realized the adjustment on a large scale of vision measurement module two degree of freedom in perpendicular, and angle-regulation structure is realized local angular setting, and the two completes the adjustment of light path jointly.
Fig. 2 b is the three-dimensional combination figure of perpendicular position adjustment unit in the light path adjusting module 11 in Fig. 1 in the utility model dentognathic model measurer.As shown in Figure 2 b, the perpendicular position adjusting mechanism in light path adjusting module comprises base 201, vertically adjusts structure and horizontal regulating structure.Wherein base 201 is bases of whole system, is used for supporting or placing other three modules.Vertically adjust structure and comprise the vertical axis of guide 202, axis of guide bearing 203, pillar geometrical clamp 204 forms.Axis of guide bearing 203 connects with base 201 by socket head cap screw 207, vertically the axis of guide 202 inserts in axis of guide bearing 203, and fix by built-in register pin, pillar geometrical clamp 204 coordinates with the vertical axis of guide 202 by vertical through hole, can move on a large scale at vertical direction, after determining position, pass through lock-screw 208 locking sliding pairs, realize friction lock.
Horizontal regulating structure comprises crossbeam 205, pillar geometrical clamp 204, axis of guide bearing 206.Horizontal adjustment has two kinds of methods: one, and pillar geometrical clamp 204 coordinates with crossbeam 205 by cross through hole, can move on a large scale in the horizontal direction, mixes up behind position by lock-screw 209 lockings, realizes friction lock; Its two, axis of guide bearing 206 coordinates with crossbeam 205 by cross through hole, can move on a large scale in the horizontal direction, mixes up behind position by lock-screw 210 lockings, realizes friction lock.
Fig. 2 c is the three-dimensional combination figure of angle adjusting in light path adjusting module in the utility model dentognathic model measurer.As shown in Figure 2 c, angle-regulation structure mainly comprises that base plate 211, micro projector are adjusted structure and industrial camera is adjusted structure.Wherein, base plate 211 is connected with axis of guide bearing 206 by coiled hair socket head cap screw, thereby perpendicular position adjustment unit and angle adjusting are coupled together.Micro projector is adjusted structure and is mainly comprised that projector card extender 219, studs 218, nut 222, screw 221 and nut 220 form.Wherein, studs 218 one end connect base plate 211, and centre forms revolute pair as minor axis and projector card extender 219, and the other end is tightened restriction axially-movable by nut 222.Projector card extender 219 can polished rod partial rotation be realized angular adjustment in the middle of studs 218, after location positioning, turns nut 220 and screws with the screw 221 being fixed on base plate 211, compresses the arc groove of projector card extender 219 opposite sides, makes it fixing.Industrial camera is adjusted structure and is mainly comprised that camera card extender 216, studs 217, nut 213, screw 215 and nut 214 form.Wherein, studs 217 one end connect base plate 211, and centre forms revolute pair as minor axis and camera card extender 216, and the other end is tightened restriction axially-movable by nut 213.Camera card extender 216 can polished rod partial rotation be realized angular adjustment in the middle of studs 217, after location positioning, turns nut 214 and screws with the screw 215 being fixed on base plate 211, compresses the arc groove of camera card extender 216 opposite sides, makes it fixing.
Fig. 3 a is the overall three-dimensional combination figure of the utility model dentognathic model measurer dens in dente mould locating module 12.As shown in Figure 3 a, tooth mould locating module 12 comprises tooth mould fixed cell (b) (Fig. 3 c) with tooth mould position regulating unit for Fig. 3.Tooth mould fixed cell is for being fixed on universal stage by tooth mould to be measured, and tooth mould position regulating unit is used for changing universal stage position, thereby adjusts tooth mould attitude.
Fig. 3 b is the three-dimensional combination figure of the utility model dentognathic model measurer dens in dente mould locating module 12 dens in dente mould fixed cells.As shown in Figure 3 b, tooth mould fixed cell mainly comprises universal stage 301, slide clamp 302, screw 303 and elastic caoutchouc briquetting 304.Wherein, bonding by glue between slide clamp 302 and elastic caoutchouc briquetting 304.Place after tooth mould, slide clamp 302 can, by the straight trough adjusting position of opening on universal stage 301, until elastic caoutchouc briquetting can be fixed tooth mould to the elastic pressure of tooth mould, then turn screw 303 and compress universal stage 301, makes it fixing.
Fig. 3 c is the three-dimensional combination figure of the utility model dentognathic model measurer dens in dente mould locating module 12 dens in dente mould position regulating units.Tooth mould position regulating unit mainly comprises upset adjustment structure (Fig. 3 d) and horizontally rotate adjustment structure (Fig. 3 f) as shown in Figure 3 c, web joint 305 in upset adjustment structure connects by screw 310 upper supporting plate 306 horizontally rotating in adjustment structure, for ensureing the stability of structure, between web joint 305 and upper supporting plate 306, add a floor 307, floor 307 connects upper supporting plate 306 by screw 308, connects web joint 305 by screw 309.Upset adjustment structure and horizontally rotate adjustment structure and jointly complete the two-freedom rotation of universal stage 301.
Fig. 3 e is the three-dimensional exploded view of adjustment structure of overturning in the utility model dentognathic model measurer dens in dente mould locating module 12 dens in dente mould position regulating units.As shown in Figure 3 e, upset adjustment structure mainly comprises power section, running part, support section and coupling part.Power section is the stepper motor 325 in automatic control module; Running part comprises shaft coupling 313, connects minor axis 315, axis of guide bearing 316 and web joint 305; Support section comprises motor fixing plate 312, location rolling bearing units 314, top board 322, support plate 324 and bearing plate 320; First three part is coupled together and is formed an entirety by coupling part again.Wherein, bearing plate 320 is connected with the base 201 in light path adjusting module 11 by screw 321, by screw 319, support plate 324 is fixedly come up, support plate 324 is fixed top board 322 thereon by screw 323 again, so far forms the lower support structure of running part.Stepper motor 325 is worked and will moment of torsion be passed to the connection minor axis 315 that the rolling bearing units 314 that are positioned support by shaft coupling 313, and then the rotation of drive axis of guide bearing 316, and axis of guide bearing 316 is by screw 317 web joint 305 that is connected, make its rotation, thereby realize the upset adjusting of universal stage 301.
Fig. 3 g is the three-dimensional exploded view that horizontally rotates adjustment structure in the utility model dentognathic model measurer dens in dente mould locating module 12 dens in dente mould position regulating units.As shown in Fig. 3 g, horizontally rotate adjustment structure and mainly comprise power section, running part, support section and coupling part.Power section is the stepper motor 326 in automatic control module; Running part comprise shaft coupling 329, connect minor axis 332 and on lift 330; Support section comprises that motor connects platform 328 and upper supporting plate 306; First three part is coupled together and is formed an entirety by coupling part again.Wherein, motor connects platform 328 and connects stepper motor 326 by screw 334, connects upper supporting plate 306, thereby motor is fixed in system by screw 333.Stepper motor 326 work will be passed to moment of torsion to connect minor axis 332 by shaft coupling 329, and then lift 330 rotation on driving, and on lift 330 by screw 331 universal stage 301 that is connected, thereby realize the adjusting that horizontally rotates of universal stage 301.
Fig. 4 is the three-dimensional combination figure of micro projector and fixture in vision measurement module 14 in the utility model dentognathic model measurer.As shown in Figure 4, micro projector 401 will self be fixed on projector card extender 219 by two pairs of long Z-shaped side support plates 403 and upper and lower two planes of short Z-shaped side support plate 402.And long Z-shaped side support plate 403 is connected on projector card extender 219 by screw 404, short Z-shaped side support plate 402 is connected on projector card extender 219 by screw 405.
Fig. 5 is the three-dimensional exploded view of industrial camera and fixture in vision measurement module 14 in the utility model dentognathic model measurer.As shown in Figure 5, industrial camera 501 utilizes screw 502 self to be locked on camera card extender 216.
Fig. 6 is the schematic diagram of automatic control module in the utility model dentognathic model measurer.As shown in Figure 6, PC end, by interface operation, is issued the existing Power supply of programmable logic controller (PLC) PLC() order, rotate to an angle by driver control stepper motor, realize the position and attitude adjustment of tooth modular space.
In the time using dentognathic model measurer of the present utility model, staff's first step is first determined the position of vision measurement module 14 in whole system by light path adjusting module 11, comprise base plate 22 at the position of perpendicular and micro projector 401 angle with industrial camera 501, and will after operation in remain unchanged.Second step carries out system calibrating: on universal stage 301, fix chessboard calibration plate, change the locus of universal stage 301 by automatic control module 13, preferably adopt the standardization of Zhang Zhengyou based on Free Planar, several not coplanar gridiron patterns are demarcated to target and carry out image acquisition, final camera model and the projector model of considering lens distortion set up, and determine that camera coordinate system, projector coordinates are, the relation between world coordinate system three.The 3rd step is carried out the operation of formal dentognathic model: first tooth mould to be measured is fixed on and on universal stage 301, completes tooth mould location, then micro projector 401 implementation structure optical grating projections, industrial camera 501 carries out image acquisition, import data into PC, call OpenCV built-in function by Microsoft Visual Studio and generate some cloud file, open and obtain dental model three-dimensional point cloud model with Geomagic Studio, and carry out on this basis tooth parameter measurement, complete objective function.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any amendments of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (10)
1. a contactless tooth jaw medical 3 D automatic measurement equipment, for dentognathic model is carried out to three-dimensional scanning measurement, to obtain tooth three-dimensional model, it is characterized in that, this equipment comprises light path adjusting module (11), tooth mould locating module (12) and vision measurement module (14), wherein, described vision measurement module (14) is for carrying out photoscanning measurement to dentognathic model, it is arranged on, and described light path adjusting module (11) is upper also can be adjusted the light path of described vision measurement module (14) by this light path adjusting module (11), described dentognathic model is arranged on described tooth mould locating module (12), and position and adjust by this tooth mould locating module (12), thereby to coordinate described vision measurement module (14) to realize the three-dimensional scanning measurement to this dentognathic model.
2. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 1, wherein, described light path adjusting module (11) comprises perpendicular position adjusting mechanism and is arranged on the angle-regulation structure on this perpendicular position adjusting mechanism, wherein, described perpendicular position adjusting mechanism is realized the adjustment of vision measurement module (14) two degree of freedom on perpendicular, described angle-adjusting mechanism can be realized its angular setting, thereby jointly realizes the adjustment of vision measurement module (14) light path by the two.
3. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 2, wherein, described perpendicular position adjusting mechanism comprises base (201), be arranged on the vertical adjustment structure on this base (201) and be arranged on the structural horizontal regulating structure of described vertical adjustment, wherein
Described vertical adjustment structure comprises the vertical axis of guide (202), axis of guide bearing (203), pillar geometrical clamp (204), wherein axis of guide bearing (203) connects with base (201), vertically the axis of guide (202) inserts in axis of guide bearing (203), and fix by built-in register pin, pillar geometrical clamp (204) coordinates with the vertical axis of guide (202) by vertical through hole, can move on a large scale at vertical direction, after determining position, pass through lock-screw (208) locking sliding pair, realize friction lock;
Described horizontal regulating structure comprises crossbeam (205) and axis of guide bearing (206), wherein, described pillar geometrical clamp (204) coordinates with described crossbeam (205) by the cross through hole on it, described crossbeam (205) can be moved in the horizontal direction, described axis of guide bearing (206) coordinates with this crossbeam (205) by the horizontal through hole on it, and this axis of guide bearing (205) can be moved in the horizontal direction.
4. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 3, wherein, described angle-regulation structure mainly comprises that base plate (211), micro projector are adjusted structure and industrial camera is adjusted structure, wherein, described base plate (211) is connected with axis of guide bearing (206), thereby perpendicular position adjustment unit and angle adjusting are coupled together;
Described micro projector is adjusted structure and is comprised projector card extender (219), the first studs (218), the first nut (222), the first screw (221) and nut (220), wherein, described studs (218) one end connects base plate (211), middle polished rod part as minor axis appear projector card extender (219) and with its formation revolute pair, the other end is tightened restriction axially-movable by the first nut (222), this projector card extender (219) can be realized angular adjustment around polished rod partial rotation in the middle of studs (218), after location positioning, turn the second nut (220) on the arc groove that projector card extender (219) opposite side offers, make it to screw with the screw (221) being fixed on base plate (211), thereby be fixed projector card extender (219),
Described industrial camera is adjusted structure and is comprised camera card extender (216), the second studs (217), the 3rd nut (213), the second screw (215) and the 4th nut (214), wherein, described second studs 217 one end connect base plate (211), middle polished rod part forms revolute pair as minor axis and camera card extender 216, the other end is tightened restriction axially-movable by the 3rd nut (213), this camera card extender (216) can be realized angular adjustment around polished rod partial rotation in the middle of studs (217), after location positioning, turn the 4th nut (214) on the arc groove that described compression camera card extender (216) opposite side offers, make it to screw with the second screw (215) being fixed on base plate (211), thereby be fixed described camera card extender (216).
5. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 4, wherein, described vision measurement module (14) comprises industrial camera and projector, it is separately positioned on, and described industrial camera is adjusted structure and micro projector is adjusted in structure, for implementation structure optical grating projection and image acquisition.
6. according to the contactless tooth jaw medical 3 D automatic measurement equipment described in any one in claim 1-5, wherein, described tooth mould locating module (12) comprises tooth mould fixed cell and Ya Mo position regulating unit, tooth mould fixed cell is for being fixed on universal stage by tooth mould to be measured, tooth mould position regulating unit is used for changing universal stage position, thereby adjusts tooth mould attitude.
7. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 6, wherein, described tooth mould fixed cell comprises universal stage (301), slide clamp (302) and elastic caoutchouc briquetting (304), wherein, bonding by glue between slide clamp (302) and elastic caoutchouc briquetting (304), place after tooth mould, slide clamp (302) can be by the straight trough adjusting position of opening on universal stage (301), until elastic caoutchouc briquetting (304) can be fixed tooth mould to the elastic pressure of tooth mould, then turn screw in compression universal stage (301), make it fixing.
8. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 7, wherein, described tooth mould position regulating unit comprises upset adjustment structure and horizontally rotates adjustment structure, wherein, web joint (305) in upset adjustment structure is connected by screw the upper supporting plate (306) horizontally rotating in adjustment structure, between web joint (305) and upper supporting plate (306), be provided with floor (307), this floor (307) is connected by screw upper supporting plate (306), be connected by screw web joint (305), upset adjustment structure and horizontally rotate adjustment structure and jointly complete the two-freedom rotation of universal stage (301).
9. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 8, wherein, described upset adjustment structure comprises power section, running part, support section and coupling part, wherein, described power section comprises upset stepper motor (325), described running part comprises shaft coupling (313), connect minor axis (315), axis of guide bearing (316) and be fixed on the web joint (305) on this axis of guide bearing (316), described support section comprises motor fixing plate (312), location rolling bearing units (314), top board (322), support plate (324) and bearing plate (320), described bearing plate (320) is connected with the base (201) in light path adjusting module (11) by screw, described support plate (324) one end is fixed on this bearing plate (320), described support plate (324) other end is fixed with top board (322) by screw, described upset stepper motor (325) passes to moment of torsion by the connection minor axis (315) of described location rolling bearing units (314) supporting by shaft coupling (313), and then the rotation of drive axis of guide bearing (316) and web joint (305), thereby drive universal stage (301) rotation being fixed on this web joint (305), realizing upset regulates.
10. contactless tooth jaw medical 3 D automatic measurement equipment according to claim 8 or claim 9, wherein, the described adjustment structure that horizontally rotates comprises power unit, gear unit, support unit and linkage unit, wherein, described power unit comprises horizontal stepper motor (326), gear unit comprises shaft coupling (329), connect minor axis (332) and on lift (330), universal stage (301) by screw (331) with on lift (330) and be connected, support unit comprises that motor connects platform (328) and upper supporting plate (306), described motor connects platform (328) one end and is connected with stepper motor (326) by screw (334), the other end connects the upper supporting plate (306) on upset governor motion by screw (333), horizontal stepper motor (326) is passed to moment of torsion to connect minor axis (332) by shaft coupling (329), and then on driving, lift the rotation of (330) and universal stage (301), thereby realize the adjusting that horizontally rotates of universal stage (301).
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| CN201420113637.7U CN203732042U (en) | 2014-03-13 | 2014-03-13 | Non-contact tooth and jaw medical three-dimension automated measuring device |
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| CN201420113637.7U CN203732042U (en) | 2014-03-13 | 2014-03-13 | Non-contact tooth and jaw medical three-dimension automated measuring device |
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| CN203732042U true CN203732042U (en) | 2014-07-23 |
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| CN106109045A (en) * | 2016-08-30 | 2016-11-16 | 成都尽知致远科技有限公司 | A kind of automatic measurement equipment of contactless tooth jaw medical 3 D scanning |
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| CN106510099A (en) * | 2016-12-30 | 2017-03-22 | 哈尔滨福特威尔科技有限公司 | Full-automatic complete shoe tree three-dimensional data measuring device and method |
| CN107084683A (en) * | 2017-05-03 | 2017-08-22 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of device for being used to measure the leaf hole morpheme parameter of aero-engine |
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| CN111457860A (en) * | 2020-04-17 | 2020-07-28 | 常州云鲲光电科技发展有限公司 | Three-dimensional scanning device with changeable measuring range |
| CN112857182A (en) * | 2021-01-11 | 2021-05-28 | 无锡工艺职业技术学院 | Part contour detection device for factory automation processing |
| CN113834446A (en) * | 2021-11-25 | 2021-12-24 | 南京万生华态科技有限公司 | Acquisition device and acquisition method for fringe projection image |
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