CN209156964U - It is a kind of spherical shape orthodontic wire bend robot - Google Patents

Abstract

The utility model discloses a kind of spherical orthodontic wires to bend robot, it is related to orthodontic wire and bends field, it includes base support, wire feeder, angle-adjusting mechanism, arch wire clamp system and wire bending machine tool arm, base support mainly plays a supportive role, arch wire is continuously sent to angle-adjusting mechanism by wire feeder, the arch wire that angle-adjusting mechanism sends wire feeder carries out the adjustment of position and posture, to avoid in bending of arch edgewise itself interference, arch wire clamp system fixes to clamp arch wire, wire bending machine tool arm is the main part of entire robot, wire bending machine tool arm uses spherical coordinate system, movement is flexible, it avoids interference with, the utility model may be implemented to bend the multi-functional bent of bending of arch edgewise, it is bent including First ray song and the second sequence, and it realizes and bends multiple songs on an arch wire, realize whole Arch wire is bent, and using the combination of spherical coordinate system and parallel institution, both ensure that the flexibility bent, and had been also ensured the rigidity of robot.

Description

It is a kind of spherical shape orthodontic wire bend robot

Technical field

The utility model, which belongs to Orthodontic Treatment apparatus field, especially one kind and is related to a kind of spherical orthodontic wire, to be bent Robot.

Background technique

Malocclusion is that a kind of teeth arrangement is uneven, the tooth jaw relationship between upperdental arch is abnormal, jawbone size and form position The mouth disease of the symptoms such as abnormal, seriously endangers the physical and mental health of the mankind.Wear corrective arch wire be malocclusion it is most commonly seen and Effective treatment method.The orthodontic wire of forming is bent by applying orthodontic force to the bracket being bonded on tooth, moves tooth Dynamic to have the function that correction, it is the key that corrective therapy that wherein orthodontic wire, which accurately bends forming,.Correction specialist is often The bending of arch edgewise training for needing the long period, it is horizontal to can be only achieved high standard orthodontic treatment.Therefore, it designs a kind of for orthodontic arch The robot that silk is bent is necessary.Robot is bent for orthodontic wire and has patent disclosed in part, but is set at present The device of meter remains yet unresolved issue.

For example, invention patent mandate notification number is 103892929 B of CN and utility model patent Authorization Notice No. is CN Orthodontic arch filament described in 203898469 U bends machine and uses Cartesian coordinate type motion mode per capita, mainly with right angle Based on the movement in three directions of coordinate, increases some freedom and supplement the corresponding curved silk operation of completion, and then complete entirely just The design of abnormal bending of arch edgewise robot motion scheme, but during actually bending, since formed part has certain sky Between structure so that biggish spatial dimension can be occupied in wire feed rotary course, so that orthodontic wire bends robot and is easy to happen Interference phenomenon, obstruction bends process, in addition, above two Cartesian coordinate type orthodontic wire bends the used bending of robot Mold can not clamp orthodontic wire, and therefore, orthodontic wire bends robot during bending so that at bending mould collet with Exist between orthodontic wire and bend gap, bends the phenomenon that gap will lead to appearance sliding warpage at orthodontic wire deformation, in turn It reduces orthodontic wire and bends the quality that robot bends orthodontic wire, so that orthodontic wire bends robot and can not bend to obtain Ideal orthodontic wire.Since Cartesian coordinate type orthodontic wire bends the structure limitation of robot, so that holding during the bending process The phenomenon that easy interference phenomenon and sliding warpage, First ray song can only be bent by causing Cartesian coordinate type orthodontic wire to bend robot It is bent with individual second sequences, it is unable to satisfy doctor and patient and requirement is bent to all second sequences songs.

Likewise, the cartesian co-ordinate type orthodontic wire that utility model patent Authorization Notice No. is 204562423 U of CN is bent Although robot can bend angle curvature radius by changing orthodontic wire, realization bends T shape song, Cartesian coordinate type The limitation that robot is still unavoidable from Cartesian coordinate type structure is bent with the orthodontic wire for bending and combining of going for a stroll, so that just Abnormal bending of arch edgewise robot can not surmount manpower and bend, and can not break through the key technology difficulty that orthodontic wire bends robot.

There are also one kind that Authorization Notice No. is 205324558 U of CN to bend robot for orthodontic wire for similar patent Bending device, which realizes clamping and feeding to orthodontic wire, but the bending device knot by the positive and negative rotation of motor Structure is complicated, and can only realize the clamping and release of orthodontic wire, can not bend complicated sequence song, the patent is compared to above two The orthodontic wire of Cartesian coordinate type bends that robot function is limited, and application range is smaller.

The existing orthodontic wire of comprehensive analysis bend robot be only able to achieve First ray it is bowed bend it is simple with minority Second sequence is bent to be bent, and the curved silk technician of dentistry according to many years clinical experience can dexterity bend that such as Omega is bent, T-type There is the arch wire of special shape to be used for clinical treatment for song, tear song, box loop etc., in addition, the curved silk technician of dentistry can be according to not With the actual conditions of patient, personalized orthodontic wire is bent, personalized orthodontic wire needs comprising one or more second, The specific function of third sequence is bent, complex degree of structure difference, the type comprising second, third sequence song and number multiplicity, and And when bending personalized orthodontic wire, curved silk narrow space, so that orthodontic wire robot is easy to produce during the bending process Therefore raw interference problem constrains the development of orthodontic wire robot technology.In addition, during practical bending of arch edgewise, right angle The used bending mould that co-ordinate-type orthodontic wire bends robot can not clamp orthodontic wire and make during bending, and generate Gap is bent, the generation of sliding warping phenomenon is resulted in, it is such to bend mode also the orthodontic wire bent is caused to be in cantilever Beam-like state, affect that orthodontic wire bends robot bends precision, passes through the correction of the above-mentioned existing Cartesian coordinate type of comparison Arch wire robot devises a kind of spherical orthodontic wire and bends robot.

Summary of the invention

In view of the above-mentioned problems, the technical problem to be solved by the present invention is to provide a kind of spherical orthodontic wires to bend machine People.

A kind of spherical orthodontic wire of the utility model bends robot, it includes base support, wire feeder, angle tune The outside in the left side of base support, angle is bolted in complete machine structure, arch wire clamp system and wire bending machine tool arm, wire feeder Degree adjustment mechanism is bolted on the inside in the left side of base support, and arch wire clamp system is connected in angle-adjusting mechanism Top, wire bending machine tool arm are located at the middle section of the left and right sides of base support, and are connected on base support by bearing.

Preferably, the wire feeder include wire feeder rack, wire feeding motor, initiative compression roller, by dynamic pressure roller and Wire feed shell, wire feed shell are connected in wire feeder rack by bolt, and wire feeding motor is connected in wire feeder by bolt In rack, initiative compression roller is fixedly connected with wire feeding motor by axis, by dynamic pressure roller by axis connection in wire feeder rack, wire feed Motor is fixedly connected with initiative compression roller by shaft coupling, and wire feeding motor rotation drives initiative compression roller rotation, to drive by dynamic pressure Arch wire is sent into angle-adjusting mechanism by roller rotation by initiative compression roller and by the frictional force between dynamic pressure roller.

Preferably, the angle-adjusting mechanism includes angle adjustment platform I, angle adjustment platform II, angle adjustment Platform III, angle platform II linear motor, angle platform III linear motor, there are four recessed balls in the front of angle adjustment platform I Joint, and four recessed ball-joints are cooperatively connected with the convex ball-joint in the left end of four angle platform II linear motors respectively, angle The reverse side of platform II is adjusted there are four recessed ball-joint, and four recessed ball-joints respectively with four angle platform II linear motors The convex ball-joint of right end is cooperatively connected, and is constituted I grade parallel connection platforms with this, and angle adjusts recessed ball-joint there are four the fronts of platform II, And four recessed ball-joints are cooperatively connected with the convex ball-joint in the left end of four angle platform III linear motors respectively, angle adjustment The reverse side of platform III is there are four recessed ball-joint, and four recessed ball-joints right side with four angle platform III linear motors respectively Hold convex ball-joint to be cooperatively connected, II grade parallel connection platforms constituted with this, thus angle adjust platform I, angle platform II linear motor, Angle adjustment platform II, angle platform III linear motor and angle adjustment platform III constitute two parallel institutions and are connected on Angle-adjusting mechanism together, the arch wire that angle-adjusting mechanism sends wire feeder carry out the adjustment of position and posture, thus Avoid in bending of arch edgewise the interference of itself.

Preferably, the arch wire clamp system includes clamping head shell, separate type collet, electromagnet inner ring, electromagnetism Iron outer ring, electromagnet pedestal and flexible hose are fixedly connected with clamping head shell, electromagnet in the end of angle adjustment platform III Pedestal, electromagnet outer ring, separate type collet and clamping head shell they on same axis, electromagnet outer ring is connected in electromagnetism On iron pedestal, electromagnet inner ring is embedded in the inside of electromagnet outer ring, and electromagnet inner ring contacts but not with the end of separate type collet It squeezes, clamping head shell and separate type collet contact with each other but do not squeeze, after electromagnet outer ring is powered, in the effect of magnetic force Under, electromagnet inner ring is pushed to the movement of clamping head shell direction, is acted on by the transmitting of power, separate type collet is pushed away by electromagnet inner ring To clamping head shell direction, and since clamping head shell and the conical surface of separate type collet contact with each other, so that separate type collet presss from both sides Tightly, one end of flexible hose is fixedly attached to electromagnet pedestal, and the other end is fixedly attached to wire feeder rack, and plays guarantor The effect of shield and support arch wire.

Preferably, the wire bending machine tool arm includes spherical housing, arc-shaped guide rail, arc shaped slider, large arm, forearm, pass Section rotate steering wheel, arch wire manipulator, wire bending pliers rotating electric machine, wire bending pliers rotate driving gear, wire bending pliers rotates driven gear, curved Silk pincers rotational shell, wire bending pliers clamping motor, wire bending pliers gripping cams, activity clamp handle, fixed clamp handle, spherical housing driving tooth Wheel, spherical housing driven gear, spherical housing rotating electric machine, spherical housing rotating electric machine drive spherical housing driving gear, ball Shape shell driving gear is meshed with spherical housing driven gear, and spherical housing driven gear and spherical housing pass through welding manner It is fixedly connected, so that spherical housing can be along axial-rotation, arc-shaped guide rail is solid along the warp direction of the inner surface of spherical housing Fixed, arc shaped slider and arc-shaped guide rail cooperation are slided, and by the fixed large arm of welding manner on arc shaped slider, forearm and large arm can edges Slide axially, the end of forearm be connected with arch wire manipulator and can by joint rotate steering wheel control arch wire manipulator it is opposite Forearm completes rotation, and wire bending pliers rotary electric machine drives wire bending pliers rotation driving gear, engages with wire bending pliers rotation driven gear, from And wire bending pliers rotational shell is driven axially to rotate along it, the curved silk of rotation for realizing activity clamp handle and fixed clamp handle moves, curved silk It clamps clamping motor and drives wire bending pliers gripping cams, displacement caused by the different radius of turn of pincers gripping cams has driven adjustable clamp Motion of handle, to realize the clamping of arch wire.

The utility model has the following beneficial effects:

1, the orthodontic wire of the utility model bends the mode that robot is combined using spherical coordinates and parallel institution, Wherein wire feeder is made of with angle-adjusting mechanism parallel institution, so that arch wire robot is when meeting rigidity requirement It can move flexibly, wire bending machine tool arm is made of spherical coordinate system, compared to rectangular coordinate system, moves more flexible and can have The generation for avoiding interference with problem of effect.

2, the wire feeder of the utility model is to drive initiative compression roller to drive by dynamic pressure roller by wire feeding motor, finally will Arch wire is sent to angle adjusting mechanism, wherein arch wire is imported into arch wire clamp system as conduit and support by flexible hose, , it can be achieved that Quick-clamped to arch wire with the inner ring of clamping electromagnet and outer ring.

3, the angular adjustment part of the angle-adjusting mechanism of the utility model is together in series by two parallel institutions, not only Response is rapid, adjustment flexibly, and meets certain mechanism rigidity.

4, the wire bending machine tool arm of the utility model is by the way of spherical coordinate system, by mechanical arm body far from arch wire center, Molding arch wire is avoided and bends to interfere.

5, the clamping mode of the wire bending machine tool hand of the utility model is utilized caused by the different radius of turn of cam Displacement can make its Quick-clamped and self-locking, to drive adjustable clamp motion of handle, realize the folder of activity clamp handle and fixed clamp handle Tightly.

Detailed description of the invention:

The present invention is described in detail by the following detailed description and drawings for ease of explanation,.

Fig. 1 is the overall structure diagram of the utility model；

Fig. 2 is the overall structure perspective view of the utility model；

Fig. 3 is the wire feeder schematic diagram of the utility model；

Fig. 4 is the adjustment mechanism schematic diagram of the utility model；

Fig. 5 is the arch wire clamp system perspective view of the explosion of the utility model；

Fig. 6 is the wire bending machine tool arm appearance diagram of the utility model；

Fig. 7 is the wire bending machine tool arm cross-sectional view of the utility model；

Fig. 8 is the wire bending machine tool arm schematic internal view of the utility model；

Fig. 9 is the wire bending machine tool hand perspective view of the explosion of the utility model.

In figure: 1, base support；2, wire feeder；2-1, wire feeder rack；2-2, wire feeding motor；2-3, it actively presses Roller；2-4, by dynamic pressure roller；2-5, wire feed shell；3, angle-adjusting mechanism；3-1, angle adjust platform I；3-2, angle adjustment are flat Platform II；3-3, angle adjust platform III；3-4, angle platform II linear motor；3-5, angle platform III linear motor；4-1, Clamping head shell；4-2, separate type collet；4-3, electromagnet inner ring；4-4, electromagnet outer ring；4-5, electromagnet pedestal； 4-6, Flexible hose；5, wire bending machine tool arm；5-1, spherical housing；5-2, arc-shaped guide rail；5-3, arc shaped slider；5-4, large arm；It is 5-5, small Arm；5-6, joint rotate steering wheel；5-7, arch wire manipulator；5-8, wire bending pliers rotating electric machine；5-9, wire bending pliers rotate driving gear； 5-10, wire bending pliers rotate driven gear；5-11, wire bending pliers rotational shell；5-12, wire bending pliers clamping motor；5-13, wire bending pliers folder Tight cam；5-14, activity clamp handle；5-15, fixed clamp handle；5-16, spherical housing driving gear；5-17, spherical housing passive tooth Wheel；5-18, spherical housing rotating electric machine.

Specific embodiment:

In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit model of the invention It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, it is of the invention to avoid unnecessarily obscuring Concept.

Embodiment 1: shown in as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, present embodiment is used Following technical scheme:

It is a kind of spherical shape orthodontic wire bend robot, it include base support 1, wire feeder 2, angle-adjusting mechanism 3, bow Silk clamp system 4 and wire bending machine tool arm 5, the wire feeder 2 are bolted in the outside in the left side of base support 1, Angle-adjusting mechanism 3 is bolted on the inside in the left side of base support 1, and arch wire clamp system 4 is connected in angle adjustment The top of mechanism 3, wire bending machine tool arm 5 are located at the middle section of the left and right sides of base support 1, and are connected to bottom by bearing On seat support 1.

Further, the wire feeder 2 include wire feeder rack 2-1, wire feeding motor 2-2, initiative compression roller 2-3, It is connected on wire feeder rack 2-1 by dynamic pressure roller 2-4 and wire feed shell 2-5, wire feed shell 2-5 by bolt, wire feeding motor 2-2 is connected on wire feeder rack 2-1 by bolt, and initiative compression roller 2-3 is fixedly connected with wire feeding motor 2-2 by axis, quilt Dynamic pressure roller 2-4 is connected in wire feeder rack 2-1, wire feeding motor 2-2 and initiative compression roller 2-3 by the way that shaft coupling is fixed by axis connection Connect, wire feeding motor 2-2 rotation drives initiative compression roller 2-3 rotation, rotated to drive by dynamic pressure roller 2-4, by initiative compression roller 2-3 and Arch wire is sent into angle-adjusting mechanism 3 by the frictional force between dynamic pressure roller 2-4.

Further, the angle-adjusting mechanism 3 includes angle adjustment platform I3-1, angle adjustment platform II3-2, angle Degree adjustment platform III3-3, angle platform II linear motor 3-4, angle platform III linear motor 3-5, angle adjust platform I3- There are four recessed ball-joints in 1 front, and four recessed ball-joints are convex with the left end of four angle platform II linear motor 3-4 respectively Ball-joint is cooperatively connected, and angle adjusts the reverse side of platform II3-2 there are four recessed ball-joint, and four recessed ball-joints are respectively with four The convex ball-joint of the right end of a angle platform II linear motor 3-4 is cooperatively connected, and is constituted I grades of parallel connection platforms with this, angle adjustment is flat The front of platform II3-2 there are four recessed ball-joint, and four recessed ball-joints respectively with four angle platform III linear motor 3-5 The convex ball-joint in left end be cooperatively connected, angle adjusts the reverse side of platform III3-3, and there are four recessed ball-joints, and four recessed balls close Section is cooperatively connected with the convex ball-joint of the right end of four angle platform III linear motor 3-5 respectively, and it is flat to be constituted II grades of parallel connections with this Platform, therefore angle adjustment platform I3-1, angle platform II linear motor 3-4, angle adjustment platform II3-2, angle platform III are straight Line motor 3-5 and angle adjustment platform III3-3 constitute the angle-adjusting mechanism 3 that two parallel institutions are cascaded, angle The arch wire that degree adjustment mechanism 3 sends wire feeder 2 carries out the adjustment of position and posture, to avoid in bending of arch edgewise itself Interference.

Further, the arch wire clamp system 4 is including in clamping head shell 4-1, separate type collet 4-2, electromagnet 4-3, electromagnet outer ring 4-4, electromagnet pedestal 4-5 and flexible hose 4-6 are enclosed, is fixed in the end of angle adjustment platform III3-3 Connect clamping head shell 4-1, electromagnet pedestal 4-5, electromagnet outer ring 4-4, separate type collet 4-2 and clamping head shell 4-1 it On same axis, electromagnet outer ring 4-4 is connected on electromagnet pedestal 4-5, and electromagnet inner ring 4-3 is outside the electromagnet Enclose the inside of 4-4, electromagnet inner ring 4-3 contact with the end of separate type collet 4-2 but do not squeeze, clamping head shell 4-1 with divide It contacts with each other but does not squeeze from formula collet 4-2, after electromagnet outer ring 4-4 is powered, under the magnetic force, electromagnet inner ring 4- 3 are pushed to the movement of the clamping head direction shell 4-1, are acted on by the transmitting of power, separate type collet 4-2 is pushed to by electromagnet inner ring 4-3 The direction clamping head shell 4-1, and since clamping head shell 4-1 and the conical surface of separate type collet 4-2 contact with each other, thus separate type Collet 4-2 is clamped, and one end of flexible hose 4-6 is fixedly attached to electromagnet pedestal 4-5, and the other end is fixedly attached to wire feeder Rack 2-1, and play the role of protection and support arch wire.

Further, the wire bending machine tool arm 5 include spherical housing 5-1, it is arc-shaped guide rail 5-2, arc shaped slider 5-3, big Arm 5-4, forearm 5-5, joint rotate steering wheel 5-6, arch wire manipulator 5-7, wire bending pliers rotating electric machine 5-8, wire bending pliers rotation are actively Gear 5-9, wire bending pliers rotation driven gear 5-10, wire bending pliers rotational shell 5-11, wire bending pliers clamping motor 5-12, wire bending pliers folder Tight cam 5-13, activity clamp handle 5-14, fixed clamp handle 5-15, spherical housing driving gear 5-16, spherical housing driven gear 5- 17, spherical housing rotating electric machine 5-18, spherical housing rotating electric machine 5-18 drive spherical housing driving gear 5-16, spherical housing Driving gear 5-16 is meshed with spherical housing driven gear 5-17, and spherical housing driven gear 5-17 and spherical housing 5-1 are logical It crosses welding manner to be fixedly connected, so that spherical housing 5-1 can be along axial-rotation, arc-shaped guide rail 5-2 is along spherical housing 5-1's The warp direction of inner surface is fixed, and arc shaped slider 5-3 and arc-shaped guide rail 5-2 cooperation are slided, and passes through welding on arc shaped slider 5-3 Mode fixes large arm 5-4, and forearm 5-5 can slide axially with large arm 5-4, in end and the arch wire manipulator 5-7 phase of forearm 5-5 It connects and arch wire manipulator 5-7 can be controlled by joint rotate steering wheel 5-6 and complete to rotate relative to forearm 5-5, wire bending pliers rotation electricity Machine 5-8 drives wire bending pliers rotation driving gear 5-9, engages with wire bending pliers rotation driven gear 5-10, so that wire bending pliers be driven to revolve Turn shell 5-11 and axially rotated along it, the curved silk of rotation for realizing activity clamp handle 5-14 and fixed clamp handle 5-15 moves, wire bending pliers Clamping motor 5-12 drives wire bending pliers gripping cams 5-13, is displaced band caused by pincers gripping cams 5-13 different radiuss of turn Activity clamp handle 5-14 movement is moved, to realize the clamping of wire bending pliers.

Embodiment 2: spherical orthodontic wire bends the initial power-on position of robot；

Device according to the embodiment 1, when spherical orthodontic wire, which bends robot, is in initial power-on state, angle Degree adjustment platform I3-1, angle adjustment platform II3-2 and angle adjustment platform III3-3 are parallel to each other and perpendicular to horizontal line, Angle platform II linear motor 3-4, angle platform III linear motor 3-5 are in contraction state；Platform III3-3 is adjusted in angle Clamping head shell 4-1, the separate type collet 4-2 of end contact with each other but do not compress, electromagnet inner ring 4-3 and separate type collet 4-2 contacts with each other but does not compress, and electromagnet outer ring 4-5 is in off-position, clamping head shell 4-1 and separate type collet 4-2's The conical surface contacts with each other but does not compress, and is now in relaxation state；Arc-shaped guide rail 5-2 is in the position of the surface perpendicular to horizontal plane It sets, arc shaped slider 5-3 is in the center of arc-shaped guide rail 5-3, and forearm 5-5 is located in large arm 5-4, does not stretch out, in forearm The arch wire manipulator 5-7 of the end of 5-5 is in radius of turn maximum position perpendicular to horizontal plane, wire bending pliers gripping cams 5-13, The relatively fixed clamp handle 5-15 of activity clamp handle 5-14 opens.

Embodiment 3: spherical orthodontic wire bends the specific embodiment that robot completes curved silk task；

Device according to the embodiment 1, when curved silk doctor needs orthodontic wire to bend, by arch wire from wire feed It is sent to initiative compression roller 2-3 after shell 2-5 and is compressed between dynamic pressure roller 2-4, wire feeding motor 2-2 drives initiative compression roller 2-3 band It moves by dynamic pressure roller 2-4, so that arch wire is sent into flexible hose 4-6 and reaches clamping head shell 4-1；When on the 4-4 of electromagnet outer ring After electricity, electromagnet inner ring 4-3 is moved to the direction clamping head shell 4-1, to push separate type collet 4-2 to clamping head shell 4- 1, and since the conical surface of clamping head shell 4-1 and separate type collet 4-2 contact with each other extrusion fit, thus separate type collet 4-2 It clamps, wherein flexible hose 4-6 plays the role of protection and support arch wire；Spherical housing rotating electric machine 5-18 drives spherical outer Shell driving gear 5-16, spherical housing driving gear 5-16 are meshed with spherical housing driven gear 5-17, and spherical housing is passive Gear 5-17 is fixedly connected with spherical housing 5-1 by welding manner, so that spherical housing 5-1 can be along axial-rotation, arc Shape guide rail 5-2 is fixed along the warp direction of the inner surface of spherical housing 5-1, and arc shaped slider 5-3 and arc-shaped guide rail 5-2 cooperation are slided It is dynamic, by welding manner fixed large arm 5-4, forearm 5-5 and large arm 5-4 along the half of axis spherical housing 5-1 on arc shaped slider 5-3 The sliding of diameter direction is connected with arch wire manipulator 5-7 and can be controlled by joint rotate steering wheel 5-6 in the end of forearm 5-5 and bends Silk manipulator 5-7 completes to rotate relative to forearm 5-5, and by certain adjustment, wire bending machine tool arm 5 is in curved silk position；Wire bending pliers Clamping motor 5-12 drives wire bending pliers gripping cams 5-13, wire bending pliers gripping cams 5-13 to rotate to least radius and drives adjustable clamp The relatively fixed clamp handle 5-15 of handle 5-14 is clamped, and wire bending pliers rotary electric machine 5-8 drives wire bending pliers rotation driving gear 5-9 and curved silk Pincers rotation driven gear 5-10 engagement realizes activity clamp handle so that wire bending pliers rotational shell 5-11 be driven axially to rotate along it The curved silk of rotation of 5-14 and fixed clamp handle 5-15 moves.

Embodiment 4: spherical orthodontic wire is bent during robot is bent to the specific embodiment of the adjustment of arch wire；

Device according to the embodiment 1, when wire bending machine tool arm 5 is completed once after bending, to need to bow arch wire Silk clamped position and angle are once adjusted, and wire bending pliers clamping motor 5-12 drives wire bending pliers gripping cams 5-13 at this time, Wire bending pliers gripping cams 5-13 rotates to the relatively fixed clamp handle 5-15 of maximum radius location drive activity clamp handle 5-14 and unclamps, forearm 5-5 is retracted with respect to large arm 5-4；Electromagnet outer ring 4-4 power-off, separate type collet 4-2 is relaxed, so that arch wire is relaxed；Wire feed Motor 2-2 drives initiative compression roller 2-3 that arch wire is re-fed into certain distance by dynamic pressure roller 2-4 to drive；On the 4-4 of electromagnet outer ring Electricity, arch wire are clamped；Pass through the distance group stretched out to angle platform II linear motor 3-4, angle platform III linear motor 3-5 It closes, the angle of angle adjustment platform I3-1, angle adjustment platform II3-2 and angle adjustment platform III3-3 is had adjusted, to adjust The angle of whole angle adjustment platform 3, and then adjust angle of the arch wire relative to wire bending machine tool arm 5 is avoided interference with this；Pass through The position and attitude of some column adjustment wire bending machine tool arms 5, then carries out bending arch wire.

The working principle of the present embodiment is as follows: when doctor needs orthodontic wire to bend, arch wire is from wire feed shell 2-5 After be sent to initiative compression roller 2-3 and compressed by dynamic pressure roller 2-4, wire feeding motor 2-2 drives initiative compression roller 2-3 to drive by dynamic pressure roller 2- 4, so that arch wire is sent into flexible hose 4-6 and reaches clamping head shell 4-1；After when electromagnet outer ring, 4-4 is powered on, in electromagnet Circle 4-3 is moved to the direction clamping head shell 4-1, to push separate type collet 4-2 to clamping head shell 4-1, and due to clamping The conical surface of head shell 4-1 and separate type collet 4-2 contacts with each other extrusion fit, so that separate type collet 4-2 is clamped；By diagonal The adjustment of the shift length of platform II linear motor 3-4 and angle platform III linear motor 3-5 is spent to control angle-adjusting mechanism 3 position and posture；Spherical housing rotating electric machine 5-18 drives spherical housing driving gear 5-16, spherical housing driving gear 5- 16 are meshed with spherical housing driven gear 5-17, and spherical housing driven gear 5-17 and spherical housing 5-1 pass through welding manner It is fixedly connected, so that spherical housing 5-1 can be along axial-rotation, warp of the arc-shaped guide rail 5-2 along the inner surface of spherical housing 5-1 Line direction is fixed, and arc shaped slider 5-3 and arc-shaped guide rail 5-2 cooperation are slided, fixed big by welding manner on arc shaped slider 5-3 Arm 5-4, forearm 5-5 and large arm 5-4 are slided along the radial direction of axis spherical housing 5-1, mechanical in the end of forearm 5-5 and arch wire Hand 5-7 be connected and can be controlled by joint rotate steering wheel 5-6 arch wire manipulator 5-7 it is opposite uh, 5-5 completes rotation, is come with this Adjust position and the posture of wire bending machine tool arm 5；Wire bending pliers clamping motor 5-12 drives wire bending pliers gripping cams 5-13, wire bending pliers folder Tight cam 5-13 rotates to the relatively fixed clamp handle 5-15 of least radius drive activity clamp handle 5-14 and clamps, wire bending pliers rotary electric machine 5- 8 drive wire bending pliers rotation driving gear 5-9, it is engaged with wire bending pliers rotation driven gear 5-10, to drive wire bending pliers rotation outer Shell 5-11 is axially rotated along it, and the curved silk of rotation for realizing activity clamp handle 5-14 and fixed clamp handle 5-15 moves.

The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention have appended claims and its Equivalent thereof.

Claims (4)

1. a kind of spherical shape orthodontic wire bends robot, it includes base support (1), wire feeder (2), angle-adjusting mechanism (3), arch wire clamp system (4) and wire bending machine tool arm (5), it is characterised in that: the wire feeder (2) is bolted The outside in the left side of base support (1), angle-adjusting mechanism (3) are bolted on the inside in the left side of base support (1), Arch wire clamp system (4) is connected in the top of angle-adjusting mechanism (3), and wire bending machine tool arm (5) is located at the left and right of base support (1) The middle section of two sides, and be connected on base support (1) by bearing；The wire feeder (2) includes wire feeder Rack (2-1), wire feeding motor (2-2), initiative compression roller (2-3), by dynamic pressure roller (2-4) and wire feed shell (2-5), wire feed shell (2-5) is connected on wire feeder rack (2-1) by bolt, and wire feeding motor (2-2) is connected in wire feeder machine by bolt On frame (2-1), initiative compression roller (2-3) is fixedly connected with wire feeding motor (2-2) by axis, passes through axis connection by dynamic pressure roller (2-4) At wire feeder rack (2-1), wire feeding motor (2-2) is fixedly connected with initiative compression roller (2-3) by shaft coupling, wire feeding motor (2-2) rotation drive initiative compression roller (2-3) rotation, thus drive by dynamic pressure roller (2-4) rotate, by initiative compression roller (2-3) and by Arch wire is sent into angle-adjusting mechanism (3) by the frictional force between dynamic pressure roller (2-4)；The angle-adjusting mechanism (3) includes Angle adjust platform I(3-1), angle adjust platform II(3-2), angle adjust platform III(3-3), angle platform II straight-line electric Machine (3-4), angle platform III linear motor (3-5), angle adjust platform I(3-1) front there are four recessed ball-joint, and Four recessed ball-joints are cooperatively connected with the convex ball-joint in the left end of four angle platform II linear motors (3-4) respectively, angle adjustment Platform II(3-2) reverse side there are four recessed ball-joint, and four recessed ball-joints respectively with four angle platform II linear motors The convex ball-joint of the right end of (3-4) is cooperatively connected, and is constituted I grade parallel connection platforms, angle adjustment platform II(3-2 with this) front have four A recessed ball-joint, and left end convex ball-joint of four recessed ball-joints respectively with four angle platform III linear motors (3-5) is matched Close connection, angle adjusts platform III(3-3) reverse side there are four recessed ball-joint, and four recessed ball-joints respectively with four angles The convex ball-joint of right end for spending platform III linear motor (3-5) is cooperatively connected, and is constituted II grades of parallel connection platforms, therefore angle tune with this Flatten platform I(3-1), angle platform II linear motor (3-4), angle adjust platform II(3-2), angle platform III linear motor (3-5) and angle adjust platform III(3-3) constitute the angle-adjusting mechanism (3) that two parallel institutions are cascaded, angle The arch wire that degree adjustment mechanism (3) sends wire feeder (2) carries out the adjustment of position and posture, to avoid in bending of arch edgewise The interference of itself.

2. a kind of spherical orthodontic wire according to claim 1 bends robot, it is characterised in that: the arch wire clamps Mechanism (4) includes clamping head shell (4-1), separate type collet (4-2), electromagnet inner ring (4-3), electromagnet outer ring (4-4), electricity Magnet pedestal (4-5) and flexible hose (4-6), angle adjust platform III(3-3) end be fixedly connected with clamping head shell (4-1), electromagnet pedestal (4-5), electromagnet outer ring (4-4), separate type collet (4-2) and clamping head shell (4-1) they On same axis, electromagnet outer ring (4-4) is connected on electromagnet pedestal (4-5), and electromagnet inner ring (4-3) is embedded in electromagnet The inside of outer ring (4-4), electromagnet inner ring (4-3) are contacted with the end of separate type collet (4-2) but are not squeezed, clamping head shell (4-1) and separate type collet (4-2) contact with each other but do not squeeze, after electromagnet outer ring (4-4) is powered, in the effect of magnetic force Under, electromagnet inner ring (4-3) is pushed to the movement of the clamping head shell direction (4-1), is acted on by the transmitting of power, separate type collet (4- 2) direction clamping head shell (4-1) is pushed to by electromagnet inner ring (4-3), and due to clamping head shell (4-1) and separate type collet The conical surface of (4-2) contacts with each other, so that separate type collet (4-2) clamps, one end of flexible hose (4-6) is fixedly attached to electromagnetism Iron pedestal (4-5), the other end are fixedly attached to wire feeder rack (2-1), and play the role of protection and support arch wire.

3. a kind of spherical orthodontic wire according to claim 1 bends robot, it is characterised in that: the wire bending machine tool Arm (5) includes spherical housing (5-1), arc-shaped guide rail (5-2), arc shaped slider (5-3), large arm (5-4), forearm (5-5), joint rotation Come about machine (5-6), arch wire manipulator (5-7), wire bending pliers rotating electric machine (5-8), wire bending pliers rotation driving gear (5-9), curved silk Pincers rotation driven gear (5-10), wire bending pliers rotational shell (5-11), wire bending pliers clamping motor (5-12), wire bending pliers gripping cams (5-13), activity clamp handle (5-14), fixed clamp handle (5-15), spherical housing driving gear (5-16), spherical housing driven gear (5-17), spherical housing rotating electric machine (5-18), spherical housing rotating electric machine (5-18) drive spherical housing driving gear (5- 16), spherical housing driving gear (5-16) is meshed with spherical housing driven gear (5-17), spherical housing driven gear (5- 17) it is fixedly connected with spherical housing (5-1) by welding manner, so that spherical housing (5-1) can be along axial-rotation, arc Guide rail (5-2) is fixed along the warp direction of the inner surface of spherical housing (5-1), and arc shaped slider (5-3) is matched with arc-shaped guide rail (5-2) Sliding is closed, fixed large arm (5-4) by welding manner on arc shaped slider (5-3), forearm (5-5) and large arm (5-4) can be along axis To sliding, it is connected with arch wire manipulator (5-7) and can be controlled by joint rotate steering wheel (5-6) in the end of forearm (5-5) Arch wire manipulator (5-7) is completed to rotate relative to forearm (5-5), and wire bending pliers rotating electric machine (5-8) drives wire bending pliers to rotate driving tooth Wheel (5-9) is engaged with wire bending pliers rotation driven gear (5-10), so that wire bending pliers rotational shell (5-11) be driven axially to turn along it Dynamic, the curved silk of rotation for realizing activity clamp handle (5-14) and fixed clamp handle (5-15) moves, wire bending pliers clamping motor (5-12) band Dynamic wire bending pliers gripping cams (5-13), the generated displacement of the different radius of turn of wire bending pliers gripping cams (5-13) have driven work Caliper handle (5-14) movement, to realize the clamping of arch wire.

4. a kind of spherical orthodontic wire according to claim 1 bends robot, it is characterised in that: when doctor needs correction When bending of arch edgewise, arch wire is sent to initiative compression roller (2-3) after wire feed shell (2-5) and is compressed by dynamic pressure roller (2-4), wire feed electricity Machine (2-2) drives initiative compression roller (2-3) to drive by dynamic pressure roller (2-4), so that arch wire is sent into flexible hose (4-6) and reaches folder Tight head shell (4-1)；After when electromagnet outer ring, (4-4) is powered on, electromagnet inner ring (4-3) is transported to the clamping head shell direction (4-1) It is dynamic, to separate type collet (4-2) be pushed to clamping head shell (4-1), and due to clamping head shell (4-1) and separate type collet The conical surface of (4-2) contacts with each other extrusion fit, so that separate type collet (4-2) clamps；By to angle platform II linear motor The adjustment of the shift length of (3-4) and angle platform III linear motor (3-5) come control angle-adjusting mechanism (3) position and Posture；Spherical housing rotating electric machine (5-18) drives spherical housing driving gear (5-16), spherical housing driving gear (5-16) It is meshed with spherical housing driven gear (5-17), spherical housing driven gear (5-17) and spherical housing (5-1) pass through welding Mode is fixedly connected, so that spherical housing (5-1) can be along axial-rotation, arc-shaped guide rail (5-2) is along spherical housing (5-1) The warp direction of inner surface is fixed, and arc shaped slider (5-3) and arc-shaped guide rail (5-2) cooperation are slided, and is led on arc shaped slider (5-3) It crossing welding manner and fixes large arm (5-4), forearm (5-5) and large arm (5-4) are slided along the radial direction of axis spherical housing (5-1), It is connected in the end of forearm (5-5) with arch wire manipulator (5-7) and arch wire machinery can be controlled by joint rotate steering wheel (5-6) Hand (5-7) is completed to rotate relative to forearm (5-5), and position and the posture of wire bending machine tool arm (5) are adjusted with this；Wire bending pliers clamps electricity Machine (5-12) drives wire bending pliers gripping cams (5-13), and wire bending pliers gripping cams (5-13) rotate to least radius and drive adjustable clamp Handle (5-14) relatively fixed clamp handle (5-15) clamps, and wire bending pliers rotating electric machine (5-8) drives wire bending pliers to rotate driving gear (5- 9) it, is engaged with wire bending pliers rotation driven gear (5-10), so that wire bending pliers rotational shell (5-11) is driven axially to rotate along it, it is real The curved silk of rotation for having showed activity clamp handle (5-14) and fixed clamp handle (5-15) moves.