CN209754807U - Automatic prosthetic systems that polishes of artificial tooth - Google Patents

Abstract

The utility model discloses an artificial tooth automatic polishing repair system, which comprises a frame supporting device and an artificial tooth automatic transmission device, a parallel arm platform device, a longitudinal translation device, an artificial tooth automatic clamping device, a serial mechanical arm device, an artificial tooth collecting device and a polishing solution circulating device which are respectively arranged on the frame supporting device; the parallel arm platform device is arranged on the longitudinal translation device, and the longitudinal translation device can translate in the machine frame supporting device along the longitudinal direction; the artificial tooth automatic clamping device is arranged at the tail end of the parallel arm platform device; the serial mechanical arm device is arranged at a position opposite to the parallel arm platform device; a polishing liquid recovery end of the polishing liquid circulating device is arranged between the serial mechanical arm device and the longitudinal translation device, and a polishing liquid output end of the polishing liquid circulating device is arranged at the free end part of the serial mechanical arm device; the false tooth collecting device is arranged at the place where the false tooth automatic clamping device can reach. The system realizes automatic transmission, clamping, high-precision grinding and collection of the artificial tooth through a simple result.

Description

Automatic prosthetic systems that polishes of artificial tooth

Technical Field

The utility model relates to an artificial tooth system of polishing, especially an automatic prosthetic systems of polishing of artificial tooth.

Background

The false tooth is an important component of the oral implant technology, the production and manufacture of the false tooth need to be completed through the steps of false tooth filling, molding, grinding and polishing, etc. in the early stage, with the continuous maturity of the 3D printing technology in the dental field, the Manufacturing method and the corresponding new biological materials are also changed, the design of the tooth base, the tooth crown, the tooth bridge, the tooth cover crown, the tooth facing, the tooth inlay, etc. can be completed through the 3D printing technology, and the high-precision printing and forming of the corresponding complex structure can be realized, while the main technical forms of the current 3D printing include light curing molding (SLA), Selective Laser Sintering (SLS), Fused Deposition Molding (FDM), Layered Object Manufacturing (LOM), and inkjet printing technology, but no matter which processing method is adopted, the grinding and polishing process need to be completed before the false tooth finally enters the oral cavity of a patient, however, the existing denture polishing machine gradually has some defects along with the advance of 3D digitization process in the dental field, for example, the denture polishing machine with application number 2018203455654.1 mainly adopts a drum-type structure, although dust treatment measures are provided to reduce the damage of the denture polishing machine to the health of workers, the denture polishing degree needs to be judged according to the experience of the workers, and the consistency of the final product quality under the large-batch processing is difficult to ensure; the full-automatic denture polishing machine with application number 201320421729.7 achieves the polishing effect mainly through the extrusion friction of the grinding materials in the roller and the denture, and although the polishing efficiency is high, at present of high-precision 3D printing, the method is not sufficient in the aspect of controlling the polishing and polishing degree of the denture, and the over-polishing phenomenon is easily caused.

SUMMERY OF THE UTILITY MODEL

The invention of the utility model aims to: aiming at all or part of the problems, the automatic grinding repair system for the false tooth is provided. So as to automatically and accurately polish the false teeth.

The utility model adopts the technical scheme as follows:

An automatic artificial tooth polishing and repairing system comprises a frame supporting device, an automatic artificial tooth conveying device, a parallel arm platform device, a longitudinal translation device, an automatic artificial tooth clamping device, a serial mechanical arm device, an artificial tooth collecting device and a polishing liquid circulating device; the artificial tooth automatic transmission device, the longitudinal translation device, the serial mechanical arm device, the artificial tooth collecting device and the polishing solution circulating device are all arranged on the rack supporting device; the parallel arm platform device is arranged on the longitudinal translation device, the artificial tooth automatic clamping device is arranged at the tail end of the parallel arm platform device, the longitudinal translation device can move longitudinally in the frame supporting device, the parallel arm platform device is used for adjusting the pose of the artificial tooth automatic clamping device, and the artificial tooth automatic clamping device is used for clamping the artificial tooth transmitted by the artificial tooth automatic transmission device; the serial mechanical arm device is arranged at a position opposite to the parallel arm platform device and is used for polishing the false tooth clamped by the false tooth automatic clamping device; the polishing solution circulating device is used for circularly treating the polishing solution, a polishing solution recovery end of the polishing solution circulating device is arranged between the serial mechanical arm device and the longitudinal translation device, and a polishing solution output end of the polishing solution circulating device is arranged at the free end part of the serial mechanical arm device; the false tooth collecting device is arranged at the place where the false tooth automatic clamping device can reach.

The work flow of the system is as follows: the artificial tooth is transmitted to a to-be-polished station by the artificial tooth automatic transmission device, the parallel arm platform device and the longitudinal translation device work in a matched mode, the artificial tooth automatic clamping device is controlled to reach the artificial tooth clamping station, the artificial tooth transmitted by the artificial tooth automatic transmission device is clamped, the serial mechanical arm device polishes and repairs the artificial tooth clamped and fixed by the artificial tooth automatic clamping device, the polishing liquid circulating device supplies polishing liquid for the polishing process during the period, the recovered polishing liquid is circulated, after polishing is finished, the parallel arm platform device and the longitudinal translation device work in a matched mode, and the artificial tooth automatic clamping device is controlled to convey the artificial tooth to the artificial tooth collecting device.

Through the system of this design, can realize automatic transmission, location, polishing and the recovery to the artificial tooth, degree of automation is high, and the position of polishing is accurate, need not artifical the participation process of polishing, because the uniqueness that links up between each link for each step is all very meticulous, has improved the precision of polishing, makes the effect of polishing better (can not owe throw or cross throw).

Furthermore, the rack supporting device is composed of an upper top plate, a middle layer plate, a lower bottom plate and a supporting frame; the upper top plate, the middle layer plate and the lower bottom plate are all horizontally arranged, and the support frame connects the upper top plate, the middle layer plate and the lower bottom plate into a whole; the denture automatic conveying device is arranged on the upper top plate, the longitudinal translation device is arranged on the middle layer plate, the polishing solution recycling end of the polishing solution circulating device is arranged on the middle layer plate, and the denture collecting port of the denture collecting device is arranged on the middle layer plate.

The scheme is more reasonable in setting of all the parts, the space is reasonably arranged due to the fact that the parts are matched conveniently, the space utilization rate is improved, and the system structure is simple.

Furthermore, above-mentioned artificial tooth automatic conveying device includes the transmission device shell, this transmission device shell is the design of indent type, in the transmission device shell, is provided with transmission device, and the design has artificial tooth bearing mechanism on this transmission device, on the transmission device shell, has seted up material loading mouth and feed opening, and transmission device is used for driving artificial tooth bearing mechanism motion to carry the feed opening from the material loading mouth with the artificial tooth that artificial tooth bearing mechanism bore.

Through above-mentioned structure, the user only needs add the artificial tooth of treating polishing from the material loading mouth, and the system is automatic carries this artificial tooth to the feed opening to carry out subsequent polishing procedure, need not the user and fix each artificial tooth to the station of treating polishing.

Further, the parallel arm platform device comprises a first flat plate, a second flat plate and three pairs of push rod systems arranged between the first flat plate and the second flat plate; the group of push rod systems comprise a first universal hinge, a first hinge seat, a servo motor, a sleeve, a push rod, a second universal hinge and a second hinge seat; the first hinge seat is fixed on the first flat plate, one end of the first universal hinge is connected with the first hinge seat, the other end of the first universal hinge is connected with one end of the push rod, the other end of the push rod is sleeved in the sleeve and can slide in the sleeve, the bottom end of the sleeve is connected with one end of the second universal hinge, the other end of the second universal hinge is connected with the second hinge seat, the second hinge seat is fixed on the second flat plate, and the servo motor and the sleeve are integrally arranged to drive the push rod in the sleeve to move; the first flat plate is provided with a connecting mechanism for fixing the artificial tooth automatic clamping device; the second plate is provided with a mounting mechanism for mounting on the longitudinal translation device.

Through the cooperation of three groups of push rod systems, the automatic clamping device for the false tooth can be flexibly controlled in space, and further more operable space is provided for polishing operation of the false tooth. Meanwhile, the position of the artificial tooth automatic clamping device can be finely adjusted through the cooperation of the three groups of push rod systems, so that the artificial tooth can be finely ground.

Further, the false tooth automatic clamping device comprises a driver A, a shell and a cover plate; the driver A is fixed at the bottom of the shell, the cover plate is fixed at the top of the shell, and a cavity is formed by the driver A, the cover plate and the shell; the cavity is internally provided with a transmission mechanism A and an artificial tooth clamping mechanism, the driver A, the transmission mechanism A and the artificial tooth clamping mechanism are sequentially connected, and the driver A drives the artificial tooth clamping mechanism to clamp or loosen through the transmission mechanism A; the false tooth clamping mechanism is arranged on the cover plate and can move on the cover plate; the false tooth clamping mechanism extends out of the cavity to clamp the false tooth; and a sensor is arranged on the outer end face of the cover plate and corresponds to the position for receiving the false teeth, and the output end of the sensor is connected with the control end of the driver A. To activate actuator a upon sensing receipt of a denture.

The automatic denture clamping device realizes automatic clamping of the denture conveyed by the automatic denture conveying device through the trigger mechanism. The artificial tooth is not required to be clamped and installed manually, and the automation degree is high.

Furthermore, the longitudinal translation device comprises a driver B, a transmission mechanism B, a sliding block and a guide rail, wherein the driver B, the transmission mechanism B and the sliding block are sequentially connected, the top end of the sliding block is used for fixing the parallel arm platform device, the driver B and the guide rail are both fixed on the rack supporting device, and the driver B drives the sliding block to slide on the guide rail through the transmission mechanism B.

The top end of the sliding block is fixed with the parallel arm platform device, and the movable position of the parallel arm platform device is controlled through the driver B. The guide rail is convenient for fixing the moving path of the sliding block, and simultaneously, the friction force applied to the sliding process of the sliding block is also reduced.

Furthermore, the serial mechanical arm device consists of a base, a rotating arm A, a rotating arm B, a rotating arm C and a polishing head; the base is fixed on the frame supporting device and is opposite to the longitudinal translation device; the rotating arm A is fixed on the base, the rotating arm B is arranged at the free end of the rotating arm A, the rotating arm C is arranged at the free end of the rotating arm B, and the free end of the rotating arm C is connected with the polishing head; the rotating plane of the free end of the rotating arm A is vertical to the surface of the base, and the rotating flat sheet of the free end of the rotating arm B is nonparallel and nonperpendicular to the rotating plane of the free end of the rotating arm A.

The structure of the serial mechanical arm device has 4 degrees of freedom, wherein the degree of freedom of each rotating arm is matched to enable the polishing head to perform circular motion around the false tooth, and therefore all-dimensional fine polishing of the false tooth is achieved.

Furthermore, the polishing liquid circulating device comprises a small pump, an open groove, a filter, a medium-sized pipeline, a small pipeline, a pipeline fixing clamp and a pipeline adapter, wherein the open groove is arranged on the frame supporting device and is connected in series between the mechanical arm device and the longitudinal translation device, and the medium-sized pipeline connects the open groove, the small pump and the filter one by one to form a passage; the pipeline adapter is used as an adapter of the small pipeline and the medium pipeline; the pipeline fixing clamp is used for fixing the small pipeline at the end part of the free end of the serial mechanical arm device.

The above design can simultaneously recover, filter and supply the polishing liquid. The conversion of the pipeline model can increase the pressure of the output grinding fluid. In the process of polishing, can polish down the artificial tooth piece from the artificial tooth, if these pieces remain on the artificial tooth, can influence polishing effect, through the output of high pressure polishing liquid, can wash these pieces well, and then improve the washing effect, avoid the process of polishing to receive external (if the piece of polishing) interference.

Further, the false tooth collecting device comprises an air cylinder B, a collecting tank door plate, a false tooth collecting tank and a connecting rod; the false tooth collecting tank is arranged on the frame supporting device and between the serial mechanical arm device and the longitudinal translation device, the collecting tank door plate is arranged at the top of the false tooth collecting tank, and the cylinder B is connected to the collecting tank door plate through a connecting rod and used for driving the collecting tank door plate to open or close the false tooth collecting tank.

The design has good sealing effect on the false tooth collecting tank, and can effectively prevent noninductive impurities from entering the false tooth collecting tank to pollute the false tooth.

Further, the system also comprises a denture handle, the tail end of the denture handle is used for fixing the denture to be polished, and the head of the denture handle is used for being clamped by the denture automatic clamping device; the cross section of the head part of the artificial tooth handle part is shaped like an inferior arc.

The matched false tooth handle part is convenient for clamping and fixing the false tooth and is also convenient for determining the pose of the false tooth.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

1. The system of this design can realize automatic conveying, centre gripping, polishing and follow-up collection to the artificial tooth, and the in-process need not artifical the participation, strictly carries out according to the procedure that sets for, and degree of automation is high, polishes efficiently. The structure and the position relation among all parts are designed, so that the grinding precision is higher.

2. The cooperation between this design longitudinal translation device and parallel arm platform device can carry out nimble control to the artificial tooth position, and the mechanical arm device of establishing ties is provided with a plurality of degrees of freedom, through three's cooperation, can realize polishing to complicated artificial tooth's all-round, high accuracy.

3. This design can realize the recovery of polishing solution and recycle, has retrencied polishing solution recovery unit's structure, has improved material utilization.

4. The false tooth handle with the inferior arc-shaped section is used in the design, so that the uniqueness of the automatic clamping pose of the false tooth can be ensured, and further the lower tool point and the subsequent polishing path can be conveniently determined.

Drawings

Fig. 1 is an overall structural view of an automatic denture grinding and repairing system designed by the invention.

Fig. 2 is a structural view of the automatic denture transfer device.

Fig. 3 is a cross-sectional view of fig. 2.

Fig. 4 is a view taken longitudinally from fig. 2.

FIG. 5 is one embodiment of a V-shaped chute configuration.

Fig. 6 is a block diagram of the parallel arm stage assembly and the longitudinal translation assembly.

Fig. 7 is an external structure view of the automatic denture holding apparatus.

Fig. 8 is an internal structure view of the automatic denture holding apparatus.

Fig. 9 is a top view of the automatic denture holding apparatus.

Fig. 10 is a structural view of a serial robot device and a polishing liquid circulating device.

Fig. 11 is a structural view of the denture collecting device.

Fig. 12 is a structural view of a denture handle.

FIG. 13 is a view of a model of a universal bamboo joint pipe.

In the figure, 1 is a rack supporting device, 11-an upper top plate, 12-a supporting frame, 13-a middle plate, 14-a lower bottom plate, 131-an inner sliding groove formed on the middle plate, 2-a false tooth automatic transmission device, 21-a long waist type shell, 22-a cylinder A, 23-an upper cover plate, 24-a vertical door plate, 25-a transmission belt, 26-a door shaft, 27-a feeding door plate, 28-a vertical shaft A, 29-a motor A, 210-a belt wheel A, 211-a belt wheel B, 212-a vertical shaft B, 213-a support B, 214-a support A, 215-a support C, 216-V type sliding groove, 217-sliding groove adjusting piece, 218 step bulge, 219-V type inclined clamping groove, 3-parallel arm platform device, 31-Y type flat plate, 32-a first hinge seat, 33-a first universal hinge, 34-a push rod, 35-a sleeve, 36-a servo motor, 37-a diamond flat plate, 38-second universal hinge, 4-longitudinal translation device, 41-motor C, 42-guide a, 43-guide B, 44-slide a, 45-slide B, 46-slide, 47-lead screw B, 48-support D, 5-denture automatic gripping device, 51-motor B, 52-cylindrical housing, 53-cylindrical cover plate, 54-jaw a, 55-jaw B, 56-jaw C, 57-lead screw a, 58-fixed shaft, 59-three-sided gear, 510-gear support, 511-cylindrical gear, 512-rack, 513-sealing plate, 514-pressure sensor, 515-support E, 6-series mechanical arm device, 61-base, 62-rotary arm a, 63-rotary arm B, 64-rotary arm C, 65-sanding head, 7-sanding liquid circulation device, 71-conduit clamp B, 72-conduit clamp a, 73-small conduit, 74-open groove, 75-medium pipeline, 76-filter, 77-small pump, 78-pipeline adapter, 8-false tooth collecting device, 81-cylinder B, 82-connecting rod, 83-trapezoidal door plate, 84-false tooth collecting groove, 831-lug on trapezoidal door plate, 91-false tooth handle head, 92-false tooth handle tail end and 93-false tooth.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example one

As shown in fig. 1, the present embodiment discloses an automatic denture polishing and repairing system, which includes a frame supporting device 1, an automatic denture conveying device 2, a parallel arm platform device 3, a longitudinal translation device 4, an automatic denture clamping device 5, a serial mechanical arm device 6, a denture collecting device 8 and a polishing solution circulating device 7. The rack supporting device 1 comprises an upper top plate 11, a middle layer plate 13, a lower bottom plate 14 and a supporting frame 12, wherein the upper top plate 11, the middle layer plate 13 and the lower bottom plate 14 are all horizontally arranged, and the supporting frame 12 connects the upper top plate 11, the middle layer plate 13 and the lower bottom plate 14 into a whole; the artificial tooth automatic conveying device 2 is arranged on the upper top plate 11, the longitudinal translation device 4 is arranged on the middle layer plate 13, the parallel arm platform device 3 is arranged on the longitudinal translation device 4, the artificial tooth automatic clamping device 5 is arranged at the tail end of the parallel arm platform device 3, the serial mechanical arm device 6 is arranged on the middle layer plate 13 and is opposite to the parallel arm platform device 3, the polishing liquid recovery end of the polishing liquid circulating device 7 is arranged on the middle layer plate 13, the polishing liquid output end is arranged at the free end part of the serial mechanical arm device 6 at the position between the serial mechanical arm device 6 and the longitudinal translation device 4, and the artificial tooth collection port of the artificial tooth collection device 8 is arranged on the middle layer plate 13. In one embodiment, the denture collecting device 8 and the polishing solution circulating device 7 are both disposed on the lower plate 14.

Example two

As shown in fig. 2 to 4, the present embodiment discloses the structure of the automatic denture transfer device 2 described above. The device comprises a long waist type shell 21, an upper cover plate 23, a transmission belt 25, a motor A29, a belt wheel A210, a belt wheel B211, a support A214, a support B213, a support C215, a vertical shaft A28, a vertical shaft B212, an air cylinder A22, a V-shaped chute 216, a chute adjusting piece 217, a vertical door plate 24, a feeding door plate 27 and a door shaft 26. The long waist type shell 21 is fixed on the upper top plate 11 of the frame supporting device 1, the upper cover plate 23 is fixed on the top of the long waist type shell 21, the motor A29 is fixed on one side of the upper cover plate 23, the support A214 is opposite to one side of the bottom of the inner cavity of the long waist type shell 21 fixed on the motor A29, the vertical shaft A28 passes through the belt wheel A210 to fix the belt wheel A210 between the motor A29 and the support A214, the vertical shaft A28 can rotate in the support A214, the support B213 is fixed on the other side of the upper cover plate 23, the support C215 is opposite to the other side of the bottom of the inner cavity of the long waist type shell 21 fixed on the support B213, the vertical shaft B212 passes through the belt wheel B211 to fix the belt wheel B211 between the support B213 and the support C215, the vertical shaft B212 can rotate in the support B213 and the support C215, the transmission belt 25, be provided with artificial tooth bearing mechanism on the transmission band 25 for bear the artificial tooth and along with the transmission band 25 is with moving, has seted up spout opening and material loading mouth on the long waist type shell 21 lateral wall, and material loading door plant 27 articulates in the material loading mouth department of long waist type shell 21 through door-hinge 26, and vertical door plant 24 and cylinder A22 set up in spout opening department, vertical door plant 24 with cylinder A22 is connected, and vertical door plant 24 can be along vertical direction activity under cylinder A22's drive, cylinder A22 is fixed in on the long waist type shell 21 lateral wall, V type spout 216 passes through spout adjusting part 217 is fixed in long waist type shell 21 spout opening department. In one embodiment, the upper top plate 11 of the stand support device 1 serves as an upper cover plate 23 of the automatic denture transfer device 2.

In one embodiment, the automatic denture transfer device 2 includes a long waist-shaped housing 21, an upper cover plate 23, a transfer belt 25, a motor a 29, a pulley a 210, a pulley B211, a support a 214, a support B213, a support C215, a vertical shaft a 28, a vertical shaft B212, a cylinder a22, a V-shaped chute 216, a chute adjuster 217, a vertical door plate 24, a loading door plate 27, and a door shaft 26. The shell is fixed on an upper top plate 11 of the frame supporting device 1, the upper cover plate 23 is fixed on the top of the long waist type shell 21, the motor A29 is fixed on one side of the upper cover plate 23, the support A214 is just opposite to one side of the motor A29 fixed on the bottom of the inner cavity of the long waist type shell 21, the vertical shaft A28 passes through the belt pulley A210 to fix the belt pulley A210 between the motor A29 and the support A214, the support B213 is fixed on the other side of the upper cover plate 23, the support C215 is just opposite to the other side of the support B213 fixed on the bottom of the inner cavity of the long waist type shell 21, the vertical shaft B212 passes through the belt pulley B211 to fix the belt pulley B211 between the support B213 and the support C215, the inner side of the transmission belt 25 is in contact with the teeth of the belt pulley A210 and the belt pulley B211, V, be provided with ladder protrusion 218 all around along the transmission band 25, seted up spout opening and material loading mouth on the long waist type shell 21 lateral wall, material loading door plant 27 articulates in the material loading mouth department of long waist type shell 21 through door-hinge 26, and vertical door plant 24 and cylinder A22 set up in spout opening department, vertical door plant 24 with cylinder A22 is connected, cylinder A22 is fixed in on the long waist type shell 21 lateral wall, as shown in fig. 1 and 5, V type spout 216 passes through spout adjusting part 217 is fixed in long waist type shell 21 spout department.

When the denture handles are placed into the corresponding V-shaped inclined clamping grooves 219 by the feeding gate plate 27, the bottoms of the denture handles contact the stepped protrusions 218 on the inner wall of the long-waist-shaped shell 21 due to gravity, and the denture handles can stably move along with the transmission belt 25 due to line contact and low friction. Before the denture to be polished reaches the chute opening, the vertical door plate 24 rises under the action of the air cylinder A22, the chute opening is opened, and the denture slides out through the V-shaped chute 216 which is smoothly connected with the chute opening. Thus, the denture is automatically transferred from the feeding port to the V-shaped chute 216 by the denture automatic transfer device 2.

EXAMPLE III

The present embodiment discloses the structure of the parallel arm stage device 3 described above. It includes a first plate, a second plate and three pairs of push rod systems arranged between the first plate and the second plate. Wherein, a group of push rod systems comprises a first universal hinge 33, a first hinge seat 32, a servo motor 36, a sleeve 35, a push rod 34, a second universal hinge 38 and a second hinge seat. The first hinge seat 32 is fixed on the first flat plate, one end of the first universal hinge 33 is connected with the first hinge seat 32, the other end of the first universal hinge is connected with one end of the push rod 34, the other end of the push rod 34 is sleeved in the sleeve 35 and can slide in the sleeve 35, the bottom end of the sleeve 35 is connected with one end of the second hinge, the other end of the second hinge is connected with the second hinge seat, the second hinge seat is fixed on the second flat plate, and the servo motor 36 and the sleeve 35 are integrally arranged to drive the push rod 34 in the sleeve 35 to move. The three pairs of pusher systems form a structure similar to a Stewart platform. The first plate is provided with a connecting mechanism for fixing the artificial tooth automatic clamping device 5. The second plate is provided with mounting means for mounting on the longitudinal translation means 4.

In one embodiment, as shown in fig. 6, the parallel arm platform assembly 3 includes a Y-shaped plate 31, a diamond-shaped plate 37, and three pairs of pusher systems disposed therebetween. Wherein, each group of push rod system comprises a first universal hinge 33, a first hinge seat 32, a servo motor 36, a sleeve 35, a push rod 34, a second universal hinge 38 and a second hinge seat. The first hinge seat 32 is fixed on the Y-shaped flat plate 31, one end of a first universal hinge 33 is connected with the first hinge seat 32, the other end of the first universal hinge 33 is connected with one end of a push rod 34, the other end of the push rod 34 is sleeved in a sleeve 35 and can slide in the sleeve 35, the bottom end of the sleeve 35 is connected with one end of a second universal hinge 38, the other end of the second universal hinge 38 is connected with the second hinge seat, the second hinge seat is fixed on a rhombic flat plate 37, and a servo motor 36 and the sleeve 35 are integrally arranged to drive the push rod 34 in the sleeve 35 to move. In one embodiment, the servo motor 36 is connected to the second universal hinge 38 after being connected to the sleeve 35 by a connecting piece. A through hole is arranged in the middle of the Y-shaped flat plate 31 in a penetrating way to accommodate the artificial tooth automatic clamping device 5; the Y-shaped plate 31 is provided with 4 through holes for fixing the automatic denture holding device 5. The diamond shaped plate 37 is of annular design to increase its rigidity while reducing its mass. The end face of the rhombic plate 37 is provided with a mounting plate which is provided with 4 through holes for fixing to the longitudinal translation device 4 by external means such as bolts. In one embodiment, the diamond shaped plate 37 is positioned at an obtuse angle to the mounting plate on the side of the Y-shaped plate 31.

Example four

The embodiment discloses the structure of the automatic denture holding device 5. The device comprises a driver A, a shell and a cover plate; the driver A is fixed at the bottom of the shell, the cover plate is fixed at the top of the shell, and a cavity is formed by the driver A, the cover plate and the shell; the cavity is internally provided with a transmission mechanism A and an artificial tooth clamping mechanism, the driver A, the transmission mechanism A and the artificial tooth clamping mechanism are sequentially connected, and the driver A drives the artificial tooth clamping mechanism to clamp or loosen through the transmission mechanism A; the false tooth clamping mechanism is arranged on the cover plate and can move on the cover plate; the denture holding mechanism extends outside the cavity to hold a denture. And a sensor is arranged on the outer end face of the cover plate and corresponds to the position for receiving the false teeth, and the output end of the sensor is connected with the control end of the driver so as to start the driver A when sensing the arrival of the sense teeth.

As shown in fig. 7 to 9, in one embodiment, the automatic denture holding device 5 includes a motor B51, a cylindrical housing 52, a cylindrical cover plate 53, a jaw a 54, a jaw B55, a jaw C56, a lead screw a57, a fixed shaft 58, a triple gear 59, a gear holder 510, a spur gear 511A, a spur gear 511B, a spur gear 511C, a rack a, a rack B, a rack C, a sealing plate 513, an abutment E515, and a pressure sensor 514; the motor B51 is fixed at the bottom of the cylindrical shell 52, the cylindrical cover plate 53 is fixed at the top of the cylindrical shell 52, the support E515 is fixed on the inner end face of the cylindrical cover plate 53, the lead screw A57 is arranged between the motor B51 and the support E515, and the lead screw A57 penetrates through a central threaded hole of the three-sided gear 59; the number of the fixed shafts 58 is three, every two of the fixed shafts are fixed at 120 degrees on the inner end face of the cylindrical cover plate 53 and penetrate through the unthreaded hole on the outer side of the flange plate at the end part of the three-side gear 59; the three racks 512 are arranged in the sliding groove of the inner end face of the cylindrical cover plate 53 in a 120-degree manner; the gear bracket 510 is arranged on the inner end face of the cylindrical cover plate 53, two cylindrical gears are arranged on the gear bracket 510 at an angle of 120 degrees, and the three cylindrical gears 511 are respectively meshed with one face of the three-face gear 59 and one rack 512; the three racks 512 are respectively connected with the three clamping jaws in a one-to-one correspondence manner; the sealing plate 513 is fixed on the outer end face of the cylindrical cover plate 53, the pressure sensor 514 is arranged at the bottom of the inner cavity of the outer end face of the sealing plate 513, and the output end of the pressure sensor 514 is connected with the power supply control end of the motor B51. The clamping jaw A54, the clamping jaw B55 and the clamping jaw C56 are all provided with a corner round hole, and the design can realize self-centering clamping when clamping a denture end handle.

Outside the cylindrical housing 52, there is provided a mounting portion by which the automatic denture holding device 5 can be integrally mounted to the end of the parallel arm platform assembly 3 (i.e., on the Y-shaped platform). In one embodiment, outside the cylindrical housing 52, a flange is provided, which is designed concentrically with the cylindrical housing 52. The denture automatic-holding device 5 is fixed to the connection mechanism of the Y-shaped platform of the parallel arm platform device 3 through a flange.

In the initial state, the abutment E515 of the automatic denture holding device 5 is located at the free end of the V-shaped chute 216, and the pressure sensor 514 determines whether a denture is delivered from the V-shaped chute 216, and further determines whether to start the motor B51; when the motor B51 is turned on, the face gear 59 is driven by the lead screw a57 to move. When the three-face gear 59 moves away from the motor B51, the three cylindrical gears 511 transmit the movement to the three racks 512 at the same time, all the racks 512 move outwards, and the clamping jaw A54, the clamping jaw B55 and the clamping jaw C56 realize the loosening action. Similarly, when the three-sided gear 59 moves towards the direction close to the motor B51, the three cylindrical gears 511 transmit the movement to the three racks 512, and all the racks 512 move inwards at the moment, so that the clamping jaw a 54, the clamping jaw B55 and the clamping jaw C56 realize a clamping action.

EXAMPLE five

The present embodiment discloses the structure of the longitudinal translation means 4 described above. The parallel arm platform device comprises a driver B, a transmission mechanism B, a sliding block and a guide rail, wherein the driver B, the transmission mechanism B and the sliding block are sequentially connected, the top end of the sliding block is used for fixing the parallel arm platform device 3, the driver B and the guide rail are both fixed on a frame supporting device 1, and the driver B drives the sliding block to slide on the guide rail through the transmission mechanism B. The driver B is disposed on the upper top plate 11, the middle layer plate 13 or the lower bottom plate 14 of the rack support device 1.

As shown in fig. 6, in one embodiment, the longitudinal translation device 4 includes a slide 46, a lead screw B47, a guide rail a 42, a guide rail B43, a slider a 44, a slider B45, a motor C41, and a support D48. The top end of the sliding plate 46 is used for connecting the parallel arm platform device 3, the bottom of the sliding plate 46 is fixedly connected with a sliding block A44 and a sliding block B45, a lead screw B47 penetrates through the sliding plate 46, two ends of the lead screw B47 are respectively connected with a motor C41 and a support D48, the lead screw B47 can rotate in the support D48, two guide rails are arranged in parallel with the lead screw B47, the two sliding blocks are respectively arranged on the two guide rails, and the motor C41, the support D48, the guide rail A42 and the guide rail B43 are all arranged on the middle layer plate 13 of the rack supporting device. The motor C41 drives the lead screw B47 to rotate, and the slide plate 46 can move along the axial direction of the lead screw B47 through force conversion.

EXAMPLE six

As shown in fig. 10, the present embodiment discloses the structure of the tandem arm device 6. The tandem robot arm is comprised of a base 61, a boom A62, a boom B63, a boom C64, and a sanding head 65. The base 61 is used to fix the serial robot arm assembly 6, and in one embodiment, the base 61 is fixed on the middle deck 13 of the gantry support apparatus 1 at a position opposite to the longitudinal translation apparatus 4. The rotating arm A62 is fixed on the base 61, the rotating arm B63 is arranged at the free end (rotatable end) of the rotating arm A62, the rotating arm C64 is arranged at the free end of the rotating arm B63, and the free end of the rotating arm C64 is connected with a polishing head 65; the rotation plane of the free end of the rotating arm A62 is vertical to the surface of the base 61, and the rotation flat sheet of the free end of the rotating arm B63 is not parallel and is not vertical to the rotation plane of the free end of the rotating arm A62. This allows the sanding head 65 to move circumferentially around the denture to sand its entire circumference.

In one embodiment, swivel arm A62 is 'L' shaped and swivel arm B63 is a conical cone with the free end on the side of the cone.

The tandem mechanical arm has 4 rotational degrees of freedom which are respectively the rotational degree of freedom of the polishing head 65, the rotational degree of freedom of the rotating arm A62, the rotational degree of freedom of the rotating arm B63 and the rotational degree of freedom of the rotating arm C64; the rotational degree of freedom of the polishing head 65 is used for polishing and trimming the false tooth, and the remaining three degrees of freedom are used for adjusting the pose of the polishing head 65.

EXAMPLE seven

The present embodiment discloses the structure of the above-described polishing liquid circulation device 7. It includes a mini pump 77, an open tank 74, a filter 76, a midrange pipe 75, a mini pipe 73, a pipe clamp and a pipe adapter 78. The open slot 74 is disposed on the middle layer plate 13 of the rack support device 1 at a position between the serial mechanical arm device 6 and the longitudinal translation device 4, specifically between the lead screw B47 of the longitudinal translation device 4 and the base 61 of the serial mechanical arm device 6 based on the above embodiment; the medium-sized pipeline 75 connects the open grooves 74, the small pumps 77 and the filters 76 one by one to form a passage; a pipe adapter 78 serves as an adapter for the small pipe 73 and the medium pipe 75; the pipe fixing clip is used to fix the small pipe 73 at the end of the free end of the tandem arm unit 6.

In one embodiment, as shown in fig. 10, the grinding fluid circulation device 7 includes a small pump 77, an open tank 74, a filter 76, a medium pipe 75, a small pipe 73, a pipe clamp a 72, a pipe clamp B71, and a pipe adapter 78. The open slot 74 is arranged at a position between the serial mechanical arm device 6 and the longitudinal translation device 4 and is designed into a whole with the middle layer plate 13 of the rack support device 1; the pipeline adapter 78 is arranged on the middle layer plate 13, the filter 76 is fixed on the lower bottom plate 14 of the frame supporting device 1, and the middle pipeline 75 connects the open groove 74, the mini-pump 77, the filter 76 and the pipeline adapter 78 one by one to form a passage; the other end of the pipeline connector is connected with a small pipeline 73; the pipeline fixing clamp A72 fixes the small pipeline 73 on the rotating arm A62 of the serial mechanical arm device 6, and the pipeline fixing clamp B71 fixes the free end of the small pipeline 73 on the rotating arm C64 of the serial mechanical arm device 6; the free end of the mini-tube 73 is facing the location of the object to be sanded. As shown in FIG. 13, the small duct 73, in one embodiment, is a cardan bamboo joint pipe (commonly referred to as a machine tool cooling pipe) to facilitate the orientation of the nozzle.

Example eight

The present embodiment discloses the structure of the above-described denture collecting device 8. The device comprises a cylinder B81, a collecting tank door plate, a false tooth collecting tank 84 and a connecting rod 82; the denture collecting groove 84 is arranged on the frame supporting device 1 and between the serial mechanical arm device 6 and the longitudinal translation device 4, the collecting groove door plate is arranged at the top of the denture collecting groove 84, and the cylinder B81 is connected to the collecting groove door plate through the connecting rod 82 and is used for driving the collecting groove door plate to open or close the denture collecting groove 84.

As shown in fig. 11, in one embodiment, a denture collecting opening is formed in the middle plate 13 of the frame support device 1 at a position between the serial mechanical arm device 6 and the longitudinal translation device 4. The denture collecting device 8 comprises an air cylinder B81, a trapezoidal door panel 83, a denture collecting groove 84 and a connecting rod 82, the denture collecting groove 84 is arranged right below the denture collecting port, the trapezoidal door panel 83 is arranged above the denture collecting groove 84 and can slide in an inner sliding groove 131 formed beside the denture collecting port and on the middle layer plate 13, two side surfaces of the trapezoidal door panel 83 are respectively provided with a convex block 831, two side surfaces of the inner sliding groove 131 are respectively provided with a strip-shaped groove corresponding to the convex block 831, and each convex block 831 is arranged in the corresponding strip-shaped groove; the connecting rod 82 connects the cylinder B81 and the trapezoidal door panel 83 into a whole along the opening direction of the inner chute 131, and the cylinder B81 is disposed on the lower bottom plate 14 of the rack support device 1. In one embodiment, the denture collecting opening is formed next to the open groove 74 of the polishing liquid circulating device 7, the upper surface of the trapezoidal door plate 83 is inclined and inclined toward the open groove 74, and the inclined end of the trapezoidal door plate 83 is continuous with the side of the open groove 74 or extends into the open groove 74 when the denture collecting groove 84 is closed by the trapezoidal door plate 83. A buffer mechanism is provided on the inner surface of the denture collecting groove 84. In one embodiment, a sponge is placed at the bottom of the denture collecting groove 84 to reduce the impact on the dentures when they are placed. In another embodiment, a cleaning fluid is also provided within denture collecting groove 84 to clean the polished dentures.

Example nine

Based on the above embodiment, as shown in fig. 12, the system further includes a denture handle, the denture handle end 92 is used for fixing the denture 93 to be polished, and the denture automatic clamping device 5 clamps the head 91 of the denture handle when clamping the denture 93. In one embodiment, the cross section of the false tooth handle head 91 is in a shape of a 'minor arc' so as to be clamped and fixed, the false tooth automatic clamping device 5 clamps the minor arc-shaped handle head 91, and because the false tooth 93 is relatively static to the handle, the pose of the false tooth 93 can be uniquely confirmed, so that the grinding point can be determined and the subsequent grinding path can be planned. The end 92 of the denture stem is threaded to screw into and engage the bottom of the denture.

During the operation of the system, the denture handle and the denture are integrated, namely, the denture handle and the denture 93 are connected together during the process of conveying the denture 93 by the denture automatic conveying device 2, the process of clamping the denture 93 by the denture automatic clamping device 5 and the process of collecting the denture 93 by the denture collecting device 8.

Example ten

Based on the above embodiment, the present embodiment discloses another automatic denture polishing and repairing system, which is characterized in that: the denture automatic conveying device 2 in this embodiment is provided with a plurality of chute openings on the long-waist-shaped housing 21, each chute opening is provided with a V-shaped chute 216, a cylinder and a vertical door plate 24 which are matched with each other, and a set of denture automatic clamping device 5, a parallel arm platform device 3, a serial mechanical arm device 6 and a longitudinal translation device 4 are arranged corresponding to each chute opening. Each set of devices can share one set of false tooth collecting device 8 and polishing solution circulating device 7, or false tooth collecting device 8 and polishing solution circulating device 7 can be respectively arranged at the corresponding positions of each set of devices.

Note that, the suffix name A, B, C … … and the like mentioned in the present application is only for convenience of distinguishing the device type, and does not limit the type of each device. The term "longitudinal" in the present invention refers to a direction "transverse" to the horizontal direction of the side of the parallel arm platform device.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An automatic artificial tooth polishing and repairing system is characterized by comprising a frame supporting device, an automatic artificial tooth conveying device, a parallel arm platform device, a longitudinal translation device, an automatic artificial tooth clamping device, a serial mechanical arm device, an artificial tooth collecting device and a polishing solution circulating device; the artificial tooth automatic transmission device, the longitudinal translation device, the serial mechanical arm device, the artificial tooth collecting device and the polishing solution circulating device are all arranged on the rack supporting device; the parallel arm platform device is arranged on the longitudinal translation device, the artificial tooth automatic clamping device is arranged at the tail end of the parallel arm platform device, the longitudinal translation device can translate in the frame supporting device along the longitudinal direction, the parallel arm platform device is used for adjusting the pose of the artificial tooth automatic clamping device, and the artificial tooth automatic clamping device is used for clamping the artificial tooth transmitted by the artificial tooth automatic transmission device; the serial mechanical arm device is arranged at a position opposite to the parallel arm platform device and is used for polishing the false tooth clamped by the false tooth automatic clamping device; the polishing solution circulating device is used for circularly treating the polishing solution, a polishing solution recovery end of the polishing solution circulating device is arranged between the serial mechanical arm device and the longitudinal translation device, and a polishing solution output end of the polishing solution circulating device is arranged at the free end part of the serial mechanical arm device; the false tooth collecting device is arranged at the place where the false tooth automatic clamping device can reach.

2. The automated denture grinding repair system according to claim 1, wherein said frame support means is comprised of an upper top plate, a middle plate, a lower base plate and a support frame; the upper top plate, the middle layer plate and the lower bottom plate are all horizontally arranged, and the support frame connects the upper top plate, the middle layer plate and the lower bottom plate into a whole; the denture automatic conveying device is arranged on the upper top plate, the longitudinal translation device is arranged on the middle layer plate, the polishing solution recycling end of the polishing solution circulating device is arranged on the middle layer plate, and the denture collecting port of the denture collecting device is arranged on the middle layer plate.

3. The automatic artificial tooth polishing and repairing system according to claim 1 or 2, wherein the automatic artificial tooth conveying device comprises a conveying device housing, the conveying device housing is of a concave design, a conveying mechanism is arranged in the conveying device housing, an artificial tooth bearing mechanism is designed on the conveying mechanism, a feeding opening and a discharging opening are formed in the conveying device housing, and the conveying device is used for driving the artificial tooth bearing mechanism to move so as to convey the artificial tooth carried by the artificial tooth bearing mechanism from the feeding opening to the discharging opening.

4. The automated denture grinding repair system according to claim 1 or 2, wherein said parallel arm platform assembly comprises a first plate, a second plate and three pairs of pusher systems disposed therebetween; the group of push rod systems comprise a first universal hinge, a first hinge seat, a servo motor, a sleeve, a push rod, a second universal hinge and a second hinge seat; the first hinge seat is fixed on the first flat plate, one end of the first universal hinge is connected with the first hinge seat, the other end of the first universal hinge is connected with one end of the push rod, the other end of the push rod is sleeved in the sleeve and can slide in the sleeve, the bottom end of the sleeve is connected with one end of the second universal hinge, the other end of the second universal hinge is connected with the second hinge seat, the second hinge seat is fixed on the second flat plate, and the servo motor and the sleeve are integrally arranged to drive the push rod in the sleeve to move; the first flat plate is provided with a connecting mechanism for fixing the artificial tooth automatic clamping device; the second plate is provided with a mounting mechanism for mounting on the longitudinal translation device.

5. The automated denture abrasive repair system according to claim 1 or 2, wherein said automated denture holding device comprises a drive a, a housing and a cover plate; the driver A is fixed at the bottom of the shell, the cover plate is fixed at the top of the shell, and a cavity is formed by the driver A, the cover plate and the shell; the cavity is internally provided with a transmission mechanism A and an artificial tooth clamping mechanism, the driver A, the transmission mechanism A and the artificial tooth clamping mechanism are sequentially connected, and the driver A drives the artificial tooth clamping mechanism to clamp or loosen through the transmission mechanism A; the false tooth clamping mechanism is arranged on the cover plate and can move on the cover plate; the false tooth clamping mechanism extends out of the cavity to clamp the false tooth; and a sensor is arranged on the outer end face of the cover plate and corresponds to the position for receiving the false teeth, and the output end of the sensor is connected with the control end of the driver A so as to start the driver A when sensing that the sense teeth come.

6. The automatic artificial tooth grinding and repairing system according to claim 1 or 2, wherein the longitudinal translation device comprises a driver B, a transmission mechanism B, a sliding block and a guide rail, the driver B, the transmission mechanism B and the sliding block are connected in sequence, the top end of the sliding block is used for fixing the parallel arm platform device, the driver B and the guide rail are both fixed on the frame supporting device, and the driver B drives the sliding block to slide on the guide rail through the transmission mechanism B.

7. The automatic prosthetic tooth polishing system according to claim 1 or 2, wherein the serial mechanical arm device is composed of a base, a rotating arm a, a rotating arm B, a rotating arm C and a polishing head; the base is fixed on the frame supporting device and is opposite to the longitudinal translation device; the rotating arm A is fixed on the base, the rotating arm B is arranged at the free end of the rotating arm A, the rotating arm C is arranged at the free end of the rotating arm B, and the free end of the rotating arm C is connected with the polishing head; the rotating plane of the free end of the rotating arm A is vertical to the surface of the base, and the rotating flat sheet of the free end of the rotating arm B is nonparallel and nonperpendicular to the rotating plane of the free end of the rotating arm A.

8. The automatic denture grinding repair system according to claim 1 or 2, wherein the grinding fluid circulating device comprises a small pump, an open groove, a filter, a medium pipeline, a small pipeline, a pipeline fixing clamp and a pipeline adapter, the open groove is arranged on the frame supporting device and between the serial mechanical arm device and the longitudinal translation device, and the medium pipeline connects the open groove, the small pump and the filter one by one to form a passage; the pipeline adapter is used as an adapter of the small pipeline and the medium pipeline; the pipeline fixing clamp is used for fixing the small pipeline at the end part of the free end of the serial mechanical arm device.

9. The automated denture polishing repair system according to claim 1 or 2, wherein said denture collecting device comprises a cylinder B, a collecting tank door plate, a denture collecting tank and a connecting rod; the false tooth collecting tank is arranged on the frame supporting device and between the serial mechanical arm device and the longitudinal translation device, the collecting tank door plate is arranged at the top of the false tooth collecting tank, and the cylinder B is connected to the collecting tank door plate through a connecting rod and used for driving the collecting tank door plate to open or close the false tooth collecting tank.

10. the denture automatic grinding repair system according to claim 1 or 2, further comprising a denture handle, the end of the denture handle is used for fixing the denture to be ground, and the head of the denture handle is used for being clamped by the denture automatic clamping device; the cross section of the head part of the artificial tooth handle part is shaped like an inferior arc.