CN213410825U - Cutting device for shell-shaped tooth appliance - Google Patents

Abstract

The utility model discloses a cutting equipment of ware is rescued to shelly tooth, include: the feeding device places the die set to be cut on a picking station arranged on a bearing platform of the feeding device in a mode that the dental crown of the dental jaw model faces downwards; the picking device comprises a picking part and a driving part for driving the picking part to move, and the driving part drives the picking part to move to a picking station; the picking part picks up the die set to be cut from one side opposite to the dental crown of the dental jaw model and moves the die set to the recognition area of the image recognition device, so that one side of the dental crown of the die set to be cut faces the image recognition device; the image recognition device collects a positioning mark arranged on the module to be cut, the picking device places the module to be cut on the position adjustment auxiliary device, the picking device adjusts the pose of the picking part according to the recognition result of the positioning mark, the picking device moves to enable the module to be cut to enter the cutting area of the laser cutting device, and the picking part moves relative to the laser cutting device according to the preset cutting path to finish cutting.

Description

Cutting device for shell-shaped tooth appliance

Technical Field

The utility model belongs to the technical field of the tooth is rescued, more exactly say and relate to shell form tooth and rescue ware manufacturing technology, especially relate to a cutting equipment that ware was rescued to shell form tooth.

Background

At present, in the processing process of the shell-shaped tooth appliance, procedures such as dental jaw model 3D printing, film preparation, film pressing, shell-shaped tooth appliance cutting and cleaning are generally required. In the whole preparation process, the method for identifying and positioning the dental model is manual placement and visual identification, and although automation is realized to a certain degree, manual participation is still needed in some links, for example, the case number and the patient name of the dental model need to be identified and obtained by manually placing the dental model in the positioning process.

The preparation of the existing shell-shaped dental appliance needs artificial participation, and has defects in the aspect of shell-shaped dental appliance cutting, for example, when the shell-shaped dental appliance is cut, the cutting is carried out manually, so that the production efficiency is extremely low; or when the existing mechanical cutting is adopted, the preset cutting path is often not matched with the actual cutting path of the shell-shaped tooth appliance, so that the cutting precision of the actual cutting path is insufficient, and finally the shell-shaped tooth appliance after cutting is unqualified.

How to provide a new cutting scheme in automated production, it is higher to realize cutting accuracy, reduces the defective products, the utility model provides a solution.

Disclosure of Invention

The utility model aims at overcoming the prior art defect, providing "a cutting equipment of ware is rescued to shelly tooth", solved the problem that the production of ware is rescued with cutting system cutting precision is low to current shelly tooth.

The utility model provides a technical scheme as follows:

the utility model provides a cutting equipment of ware is rescued to shelly tooth for the cutting of waiting to cut the module in the shelly tooth is rescued ware production process, it includes that tooth jaw model and hot pressing film shaping are in to wait to cut the shelly tooth and rescure the ware on the tooth jaw model, include: the device comprises a control device, a feeding device, a pickup device, an image recognition device, a position adjustment auxiliary device and a laser cutting device; the feeding device, the pickup equipment, the image recognition device and the laser cutting device are respectively in signal connection with the control device;

the die set to be cut is placed on a picking station arranged on a bearing table of the feeding device by the feeding device in a manner that the dental crown of the dental model faces downwards; the picking device comprises a picking part and a driving part for driving the picking part to move, and the driving part drives the picking part to move to the picking station; the picking part picks up the die set to be cut from the side opposite to the dental crown of the dental jaw model and moves the die set to the recognition area of the image recognition device, so that the dental crown side of the die set to be cut faces the image recognition device; the image recognition device collects a positioning mark arranged on the module to be cut, the picking equipment places the module to be cut on the position adjustment auxiliary device, the picking equipment adjusts the pose of the picking part according to the recognition result of the positioning mark, so that a first coordinate system of the module to be cut established according to the positioning mark is consistent with a second coordinate system of the picking part, the picking equipment moves to enable the module to be cut to enter a cutting area of the laser cutting device, the picking part moves relative to the laser cutting device along a cutting path preset by the module to be cut in the second coordinate system, and cutting is completed.

Preferably, the method further comprises the following steps: the conveying line is in communication connection with the control device; and the control device controls the feeding device to transfer the to-be-cut module at the feeding station of the conveying line to a picking station corresponding to a picking module picked by picking equipment.

Preferably, the feeding device further comprises a bearing and positioning module; the bearing and positioning module comprises a bracket assembly, a guide rail assembly, a clamping assembly and a driving assembly; the guide rail assembly is installed and arranged on the support assembly, the clamping assembly is arranged on the guide rail assembly, the driving assembly is connected with the clamping assembly and arranged, and the driving assembly can drive the clamping assembly to move along the guide rail assembly in a reciprocating mode.

Preferably, the bracket assembly comprises a first bracket, a second bracket and a mounting panel, and the first bracket and the second bracket respectively comprise at least two supporting rods arranged at intervals and used for supporting the mounting panel; a first rail and a second rail are respectively arranged on two opposite sides of the mounting panel, and the first rail and the second rail form the guide rail assembly.

Preferably, the method comprises the following steps: the driving assembly is a telescopic cylinder, the telescopic direction of the telescopic cylinder is consistent with the movement direction of the guide rail assembly and is close to the picking equipment, and the guide rail assembly is driven to transfer the module to be cut to the picking equipment to pick up the station corresponding to the module to be cut.

Preferably, a plurality of support posts are provided on the mounting panel, the plurality of support posts supporting the clamping assembly; the clamping assembly comprises a clamping mechanism and a clamping driving part, and the clamping driving part drives the clamping mechanism to perform clamping/loosening operation so as to control the clamping and fixing of the die set to be cut.

Preferably, the clamping mechanism comprises a first clamping block and a second clamping block which are arranged in opposite positions, and when the first clamping block and the second clamping block are in a clamping state, a containing space capable of containing the die set to be cut is formed.

Preferably, the clamping mechanism further comprises a first membrane supporting block and a second membrane supporting block, and the first membrane supporting block and the second membrane supporting block are respectively and correspondingly arranged on the first guide rail and the second guide rail; and the clamping blocks are correspondingly arranged at the lower sides of the first clamping block and the second clamping block respectively and used for supporting the die set to be cut.

Preferably, the method further comprises the following steps: the first limiting blocks are respectively arranged on the first clamping block and the second clamping block, and the first limiting blocks are arranged at positions close to the feeding station of the conveying line; and the second limiting blocks of the first support and the second support are respectively arranged, and the second limiting blocks are adjacent to the picking station.

Preferably, the method further comprises the following steps: the first detection sensor and the second detection sensor are respectively arranged at two ends of the bracket assembly along the motion direction of the guide rail assembly, and are respectively in communication connection with the control device to detect the position information of the to-be-cut module on the clamping assembly; the first detection sensor is arranged close to the feeding station, and the second detection sensor is arranged close to the picking station.

Preferably, the clamping driving part is a parallel cylinder.

Preferably, the feeding device further comprises a turning assembly, and the turning assembly is in communication connection with the control device; the overturning assembly comprises an overturning part and a grabbing part arranged at the free end of the overturning part, and the control device controls the grabbing part to grab the to-be-cut module at the feeding station of the conveying line, then overturn the to-be-cut module to one side picked by the picking assembly through the overturning part, and place the to-be-cut module on the bearing and positioning module.

Preferably, the turning part includes: the device comprises a mounting support, a rotary cylinder, a connecting plate, a lifting cylinder and the grabbing part; the lifting cylinder is installed on the mounting support, the rotary cylinder is connected with the lifting cylinder, the connecting plate is installed on a rotating shaft of the rotary cylinder, and the grabbing portion is installed and arranged on the connecting plate and close to a feeding station of the conveying line.

Preferably, the method comprises the following steps: after the module to be cut is transferred to the feeding station on the conveying line, the control device enables the lifting cylinder to lower the grabbing part from the initial position to the set position, controls the grabbing part to grab the module to be cut, and further controls the lifting cylinder to lift the grabbing part to the initial position; the control device controls the rotary cylinder to drive the connecting plate to turn over, and the connecting plate drives the module to be cut of the grabbing part to turn over to the set position of the bearing and positioning module.

Preferably, the method further comprises the following steps: a third detection sensor and a stopping assembly arranged at a stopping position are arranged at a feeding station of the conveying line, and the third detection sensor and the stopping assembly are respectively in communication connection with the control device; when the third detection sensor detects that the die set to be cut is positioned at the feeding station, the control device controls the stop component to stop the die set to be cut at the feeding station.

Through the utility model provides a pair of cutting equipment of ware is rescued to shelly tooth can bring following at least one beneficial effect:

the utility model discloses establish the relative relation with the coordinate system of tooth jaw model and the coordinate system of picking up equipment to map tooth jaw model in cutting equipment's coordinate system, and will accomplish the cutting of shell form tooth correction ware according to the cutting route fit that identity information retrieved on the tooth jaw model of coordinate system. The accurate cutting is realized by converting coordinate systems and adjusting positioning planes; the tooth that makes its cutting out is rescued the ware and is say to orthodontic patient, and is more comfortable, and it is better to rectify the effect.

Drawings

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

FIG. 1 is a schematic view of a cutting device of a shell-shaped dental appliance according to the present invention;

fig. 2 is a schematic structural view of a cutting device of the shell-shaped tooth appliance provided by the present invention;

fig. 3 is a schematic structural view of a bearing and positioning module in the feeding device according to the present invention;

fig. 4 is a schematic structural diagram of a turning assembly in the feeding device provided by the present invention;

fig. 5 is a schematic structural diagram of an information recognition apparatus provided by the present invention;

fig. 6 is a schematic structural diagram of a laser cutting device provided by the present invention;

fig. 7 is a pickup device of the laser cutting apparatus provided by the present invention;

fig. 8 is a schematic structural diagram of a die set to be cut according to the present invention;

fig. 9 is a flowchart of an automated production system for dental appliance provided by the present invention.

Detailed Description

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

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

In the production process of the invisible shell-shaped tooth appliance, after the shell-shaped tooth appliance is prepared by adopting a hot pressing process and a film pressing process is completed, the shell-shaped tooth appliance needs to be cut from a dental model with a module to be cut through a cutting process, usually manual cutting or mechanical cutting, and the prepared shell-shaped tooth appliance pressed on the dental model is cut from the dental model so as to obtain the shell-shaped tooth appliance.

Wherein, in the mechanical cutting process, the shell-shaped tooth appliance to be cut, which comprises the dental jaw model and is pressed on the dental jaw model, is generally driven by the pickup equipment to perform relative motion with the cutting head on the cutting device, so that the cutting of the shell-shaped tooth appliance is realized. In order to realize accurate control of cutting, the cutting device or the cutting head with the cutting function therein is fixed, the picking device drives the die set to be cut to move along a certain path, and therefore cutting is a preferable scheme. It is then found necessary to convert the cutting path of the die set to be cut into the movement path of the pick-up device. The cutting path of the shell-shaped dental appliances to be cut is pre-designed using computer software according to the gum line of each appliance for each patient. The space coordinate system of the cutting path of the shell-shaped tooth appliance to be cut is generally different from the space coordinate system of the dental jaw model and the space coordinate system of the picking device, and the subsequent cutting operation is performed only by converting the path to be cut to the space coordinate system of the picking device through a certain conversion relation.

However, in the actual operation at present, the shell-shaped tooth appliance to be cut and the dental jaw model are usually placed on a bearing plate, and the positioning and coordinate conversion are performed through a marking object on the bearing plate. The identification and coordinate system conversion method is to establish the space coordinate system of the dental model based on the bottom of the dental model as a reference surface. But when the tooth jaw model ejection of compact after 3D prints, because adhesion between bottom and the printing tray, solidification scheduling problem inadequately, can lead to the bottom unevenness of tooth jaw model for there is great error in the conversion relation of coordinate system in design and actual operation, and then makes the deviation appear in the design position and the actual position of each point on the cutting route, and the shell form tooth that the cutting formed rescues the ware and does not conform to the patient and wears or the designing requirement. Therefore, the design method using the bottom of the digital dental model as the reference plane of the cutting path can cause inaccurate selection of a space coordinate system of the dental model, and errors exist between the actual cutting point and each coordinate point on the path to be cut after the coordinate points are converted into the space coordinate system of the pickup device, so that the cut shell-shaped tooth appliance does not meet the standard requirement, namely, when the space coordinate system is established by using the bottom of the dental model as the reference plane, the cut shell-shaped tooth appliance is easy to fail. And the utility model discloses a carry out the conversion between the coordinate system to and the adjustment between the locating plane, make it realize accurate cutting.

Referring to fig. 1 to 9, the present invention provides an embodiment of a cutting device for a shell-shaped tooth appliance, which is used for cutting a die set to be cut in a production process of the shell-shaped tooth appliance, and comprises: a control device 10, a loading device 50, a pickup apparatus 20, an image recognition device 40, a position adjustment assisting device 90 (not shown), and a laser cutting device 30; the feeding device 50, the pickup device 20, the image recognition device 40 and the laser cutting device 30 are respectively in signal connection with the control device 10; the module 100 to be cut includes a dental model 110 having information marks and a shell-shaped dental appliance 120 to be cut, the information marks include an identity mark 112 and a positioning mark 111, and the information marks are shown in fig. 8.

The feeding device 50 places the die set 100 to be cut on a picking station arranged on a bearing table of the feeding device in a manner that a dental crown of the dental model faces downwards; the picking device 20 comprises a picking part and a driving part for driving the picking part to move, and the driving part drives the picking part to move to the picking station; the picking part picks up the die set 100 to be cut from the side opposite to the dental crown of the dental jaw model, and moves the die set to be cut into the identification area of the image identification device 40, so that the side of the dental crown of the die set to be cut faces the image identification device 40; the image recognition device collects a positioning mark arranged on the die set to be cut, the picking equipment places the die set to be cut on the position adjustment auxiliary device 90, the picking equipment adjusts the pose of the picking part according to the recognition result of the positioning mark, so that the first coordinate system of the die set to be cut established according to the positioning mark is consistent with the second coordinate system of the picking part, the picking equipment moves to enable the die set to be cut to enter the cutting area of the laser cutting device, the picking part moves relative to the laser cutting device along the preset cutting path of the die set to be cut in the second coordinate system, and the shell-shaped tooth appliance is obtained after cutting.

The control device 10 of the present invention can be any suitable computing device, such as a personal computer, a server, a Programmable Logic Controller (PLC), a single chip, a combination of a PLC and a server, etc., or an integration of a computer device, the control device 10 has functions of receiving information and sending control commands, the control device 10 can control the control device 10, the pick-up device 20, the cutting device 30, and the information recognition device 40 to execute corresponding actions in a wired or wireless communication manner to complete the cutting of the shell-shaped tooth appliance in the cutting area, before the laser cutting, a film pressing process is performed, and no matter the film pressing process or the subsequent laser marking process is performed, all data information is acquired through the identification code 112 on the dental model, and the process is shown in fig. 8; the dental jaw model is photographed through the information recognition device 40, and the cutting path of the module to be cut 100 is analyzed from the photographed image information, so that the problem solved by the utility model is how to realize accurate cutting, and the tooth corrector cut by the utility model is more comfortable and has better correction effect for orthodontic patients; in the process, the above-mentioned coordinate system needs to be established, a relative relationship is established between the coordinate system of the dental model and the coordinate system of the pickup device 20, the dental model is mapped in the coordinate system of the cutting device, and the cutting path retrieved according to the identity identification information is fitted on the dental model of the coordinate system, so that the cutting of the shell-shaped tooth appliance is completed.

The specific coordinate system is as follows: the dental model 110 of the module 100 to be cut and the plurality of positioning marks 111 are arranged thereon, when the picking device picks up the module 100 to be cut, the control device 10 controls the information recognition device 40 to obtain the positioning mark images corresponding to the positioning marks, the control device 10 analyzes the positioning mark images to obtain the positioning mark information, the positioning mark information is arranged on the same positioning plane and obtains the relative position information, and the module 100 to be cut is mapped in the first coordinate system according to the relative position information of the positioning marks.

Constructing a first coordinate system of the module to be cut 100 according to the relative position information of the positioning identifier, comprising the steps of: retrieving preset identification information on the dental model of the module to be cut 100 mapped in the first coordinate system as a first origin of the first coordinate system; and obtaining relative position information between the positioning identification information and the positioning identification information according to the position information corresponding to the first origin, and selecting any two points from the positioning identification information and the first origin to construct a first coordinate system.

Acquiring preset positioning information from the positioning plane information as an original point O of a first coordinate system of the module to be cut 100, and constructing the first coordinate system XOY of the module to be cut 100 by taking the connecting line direction of the original point O and any one of the positioning identification information points as the X-axis direction, the direction perpendicular to the X-axis in the positioning plane as the Y-axis direction, and the normal direction of the original point O in the positioning plane as the Z-axis direction.

The transformation relationship comprises: acquiring a second coordinate system of the pick-up device 20 during the cutting movement; mapping the origin position information of the first coordinate system and the origin position information of the second coordinate system to map the origin position of the first coordinate system at the origin position of the second coordinate system; taking the mapped origin position as the origin positions of the first coordinate system and the second coordinate system, and obtaining the axis coordinate position relation between coordinate axes; the axial coordinate position relationship of the first coordinate system with respect to the second coordinate system is set as conversion information.

When acquiring the conversion information, firstly, the vertical distance from the selected positioning identifier to the set position is detected by the distance sensor, and the conversion relation is adjusted according to the vertical distance of each identifier, which is specifically as follows:

the control device 10 controls the pick-up device 20 to rotate an angle a around the Z axis, an angle B around the Y axis and an angle C around the X axis of the first coordinate system of the module 100 to be cut, respectively, so that the three perpendicular distances are equal; wherein, the rotation angles (A, B, C) are corresponding conversion information.

In the cutting apparatus of the middle shell-shaped dental appliance of the present invention, the information recognition device 40 is composed of a camera 41, a distance sensor 42, a mounting bracket 43 and a positioning auxiliary component 44, and the camera 41, the distance sensor 42 and the positioning auxiliary component 44 are respectively mounted on the mounting bracket 43 and are disposed opposite to the pickup apparatus 20. After the control device 10 controls the pickup device 20 to pick up the die set 100 to be cut, and controls the camera 41 to acquire the image of the die set 100 to be cut, and analyzes the image to extract the positioning identifier; the control device 10 controls the distance sensor 42 to acquire the vertical distance of the positioning mark to the pickup apparatus 20.

An example is provided here for illustration: as shown with reference to FIG. 8;

the picking device 20 picks the opposite side of the dental crown of the module 100 to be cut, the camera 41 on the information recognition device 40 takes a picture of the module 100 to be cut, the positioning marks M1, M2 and MN on the dental model are recognized, a plurality of positioning marks are arranged on the dental model, in the embodiment, 3 points are used for explaining, meanwhile, an information part is arranged on the dental model, a hollow code is arranged on the information part and represents the identity mark of the dental model, and the hollow code is identity mark information after being analyzed; after photographing according to the positioning marks M1, M2 and M3, obtaining a preset positioning mark M1 from M1, M2 and M3, placing the dental model on a position adjusting auxiliary device (not shown), adjusting the position of the picking device 20 for grabbing the module 100 to be cut according to the three positioning mark control devices 10 of M1, M2 and M3, and adjusting the central position of the grabbing part 820 of the module 100 to be cut grabbed by the picking device 20 and the preset positioning mark M1 of the dental model to form a certain relative relationship; the adjusted picking device 20 picks the device to be cut again from the position adjustment auxiliary device according to the adjusted direction; the control device 10 controls the camera 41 to shoot the three positioning identifiers of M1, M2 and M3 again, the picture is analyzed, the three positioning identifiers of M1, M2 and M3 obtained through analysis on the same positioning plane are correspondingly used as position information, M1 is used as an origin O of a first coordinate system, the equivalent position relation between M1 and M2 and M3 is obtained, a connecting line between M1 and M2 is used as an X axis, a connecting line between M1 and M3 is used as a Y axis, or a connecting line between M1 and M2 is used as an X axis, and a line perpendicular to the X axis of the same positioning plane of the origin M1 from M1 to M2 and M3 is used as a Y axis; and constructing a first coordinate system XOY of the module to be cut 100 by taking the normal direction of the positioning plane of the origin O as the Z-axis direction.

The utility model discloses in picking up equipment 20 specifically indicates the manipulator, snatchs the shell form tooth of waiting to cut through the manipulator and rescues the ware, and picking up equipment 20 self has a space coordinate system, and this space coordinate system is the second coordinate system that picking up equipment 20 corresponds, and this second coordinate system is known.

According to the first coordinate system of the module to be cut 100, the relative positions of the module to be cut 100 and the picking device 20 are adjusted, so that the conversion relation between the first coordinate system of the module to be cut 100 and the second coordinate system of the picking device 20 meets a preset threshold value. The relative position between the module to be cut 100 and the picking apparatus 20 is adjusted according to the first coordinate system of the module to be cut 100, so that the spatial coordinate system of the picking apparatus 20 and the spatial coordinate system of the module to be cut 100 satisfy the conversion relationship after the picking apparatus 20 picks up the module to be cut 100. Specifically, the picking angle of the picking apparatus 20 is adjusted, so that the conversion relationship between the coordinate system of the adjusted picking apparatus 20 and the first coordinate system of the module 100 to be cut satisfies the predetermined threshold.

For example, after the grabbing angle of the picking apparatus 20 is adjusted, the origin of the first coordinate system of the module to be cut 100 coincides with the origin of the coordinate system adjusted by the picking apparatus 20, or satisfies a predetermined displacement relationship. The method specifically comprises the following steps:

the utility model discloses in, specifically accessible following step: obtain the parameter of waiting to adjust of picking up equipment 20, this parameter of waiting to adjust can be set for according to actual conditions, for example, the parameter of waiting to adjust can be the measurement angle, can be the measuring distance, the utility model discloses an in each embodiment, the parameter of waiting to adjust of picking up equipment 20 is preferred measuring distance.

The control device 10 controls the pickup device 20 to drive the module to be cut 100 to rotate in the first coordinate system plane of the module to be cut 100; and respectively measuring the vertical distances from at least three positioning marks to the preset calibration point of the second coordinate system of the pickup device 20 in the rotation process of the pickup device 20, and acquiring three vertical distances, wherein the three vertical distances are used as parameters to be adjusted of the pickup device 20.

For example, during the rotation of the pickup device 20, the distance sensors 42 may be used to measure the vertical distances from at least three positioning marks to the predetermined calibration points of the second coordinate system of the pickup device 20, or laser ranging may be used to measure the vertical distances from at least three positioning marks to the predetermined calibration points of the second coordinate system of the pickup device 20, and the specific measurement manner may be selected according to actual needs.

The control device 10 controls the pickup device 20 to rotate to adjust the parameter to be adjusted, so that the adjusted parameter meets the preset condition, and the origin of the coordinate system adjusted by the pickup device 20 coincides with the origin of the first coordinate system of the module 100 to be cut through rotation compensation, or meets the predetermined displacement relationship.

Taking the measured distance as a parameter to be adjusted, and the preset condition is that the three vertical distances are respectively equal, further controlling the pickup device 20 to rotate to adjust the parameter to be adjusted, specifically comprising the following steps:

controlling the pickup device 20 to rotate an angle a around the Z axis of the first coordinate system of the module 100 to be cut, obtaining three vertical distances to be adjusted after the pickup device 20 rotates, and determining whether the three vertical distances are equal, if not, controlling the pickup device 20 to rotate an angle B around the Y axis, obtaining three vertical distances to be adjusted after the pickup device 20 rotates, and determining whether the three vertical distances are equal, if not, controlling the pickup device 20 to rotate an angle C around the X axis, obtaining three vertical distances to be adjusted after the pickup device 20 rotates, and determining whether the three vertical distances are equal, if the three vertical distances are equal, outputting the rotation angles (a, B, C), and if not, re-obtaining from the angle a.

In the above process of acquiring the rotation angles (a, B, C), the pickup device 20 is controlled to rotate around the Z axis, around the Y axis, and around the X axis in a cyclic manner until the three positioning marks are perpendicular to the predetermined calibration point of the second coordinate system of the pickup device 20, where the rotation angles (a, B, C) are the corresponding conversion information.

There is no front-back limitation in the above-mentioned process of obtaining the angle, and the pickup device 20 may be controlled to rotate around the X axis first, and then the pickup device 20 may be controlled to rotate around the Y axis.

Further, after the picking angle of the picking device 20 is adjusted, the coordinate system of the picking device 20 after adjustment coincides with the first coordinate system of the module 100 to be cut. The preset cutting path of the die set 100 to be cut is converted into the moving path of the pickup device 20 at the time of cutting according to the conversion information.

Before conversion, the preset cutting path is stored in a database, only the retrieval is needed according to the identity information, before the appliance is produced, the digital dental model is obtained in modes of oral scanning and the like, and the preset cutting path is obtained according to the digital dental model and the oral information of an orthodontic patient.

The identity representation information comprises an ID number of the dental model, a matched preset cutting path is called through the ID number, for example, coding information (for example, two-dimensional code information, hollow coding information and the like) is arranged on the dental model, and the identity representation information of the dental model is obtained through recognizing the coding information. After the preset cutting path is obtained, the coordinates of each point on the preset cutting path are converted into corresponding point coordinates when the pickup device 20 performs cutting operation according to the conversion information, and the corresponding point coordinates jointly form a movement path during the cutting operation.

The cutting mode of the shell-shaped tooth appliance can adopt laser cutting or mechanical cutting, wherein when the laser cutting is adopted, the Z axis in the coordinate of each point on the preset cutting path is consistent with the laser direction according to the conversion information; and when mechanical cutting is adopted, the Z axis in the coordinate of each point on the preset cutting path is consistent with the axial direction of the cutting head in the mechanical cutting according to the conversion information. In addition to converting the Z axis in the coordinates of each point on the preset cutting path according to the conversion information, the X axis and the Y axis in the coordinates of each point on the preset cutting path need to be converted into the traveling coordinates of the pickup device 20 according to the conversion information.

The utility model discloses in, because the highly customized characteristic of ware itself is rescued to shelly tooth, the tooth jaw model that the time corresponds is rescued to each patient's difference, it is probably different to rescure the ware, moreover the tooth jaw model of different diseases also is the difference very different with rescuring the ware, there is big little, there is the height to have low, there is rotation big to have and rotates for a short time, therefore, each is waited the shelly tooth of cutting and is rescued the ware and all go on once corresponding modeling and check-up process before the cutting, make the cutting quality that each shelly tooth was rescued the ware obtain corresponding guarantee.

As shown with reference to FIG. 7; the utility model discloses pick up equipment and be a sucking disc manipulator (not shown), the concrete structure of constituteing this manipulator is: the device comprises a clamping plate 210 and a flange 220 connected to the tail end of a mechanical arm, a conductive slip ring 230 and a first connecting plate 240 connected to the flange 220, a second connecting plate 250 connected to the lower part of the first connecting plate, a T-shaped connecting plate 260 arranged below the second connecting plate 250, a bottom plate 270 and a rotary air cylinder 280 arranged below the T-shaped connecting plate 260, a light source mounting plate 280 arranged below the second connecting plate 250, a light source 290 arranged below the light source mounting plate 280, four connecting shafts 251 and transparent plates 252 arranged on the bottom plate 270, a transparent sucker mounting plate 283 arranged on the connecting shafts 251, a sucker 2831 arranged on the sucker mounting plate 283, a rotary air cylinder 280 arranged on the T-shaped connecting plate 260, a limiting block 2611 arranged on the rotary air cylinder, and a calibration block 2821 arranged on the transparent.

Refer to fig. 2, fig. 3; in the cutting system of the present invention, in addition to the control device 10, the pickup device 20, the cutting device 30, the information recognition device 40, and the die set 100 to be cut; the automatic feeding device further comprises a feeding device 50 and a conveying line 60, wherein the feeding device 50 and the conveying line 60 are respectively in communication connection with the control device 10; the control device 10 controls the feeding device 50 to transfer the die set 100 to be cut at the feeding station of the conveying line 60 to the station corresponding to the picking device 20 for picking up the die set 100 to be cut. The loading device 50 comprises a bearing and positioning module 70; the carrying and positioning module 70 includes a bracket assembly 710, a guide rail assembly 720, a clamping assembly 730 and a driving assembly 733; the guide rail assembly 720 is installed on the bracket assembly 710, the clamping assembly 730 is installed on the guide rail assembly 720, the driving assembly 733 is connected with the clamping assembly 730, and the driving assembly 733 can drive the clamping assembly 730 to reciprocate along the guide rail assembly 720.

The rack assembly 710 includes a first rack 711, a second rack 712, and a mounting panel 713, the first rack 711 and the second rack 712 supporting the mounting panel 713; a first guide rail 721 and a second guide rail 722 (not shown) are respectively disposed at opposite sides of the mounting panel 713, and the first guide rail 721 and the second guide rail 722 form a guide rail assembly 720.

The driving assembly 733 is a telescopic cylinder, the telescopic direction of the telescopic cylinder is consistent with the moving direction of the guide rail assembly 720 and is arranged adjacent to the picking device 20, and the guide rail assembly 720 is driven to transfer the module 100 to be cut to the picking device 20 to pick up the station corresponding to the module 100 to be cut.

A plurality of support posts 7131 are provided on the mounting panel 713, the plurality of support posts 7131 supporting the clamping assembly 730; the clamping assembly 730 includes a clamping mechanism 731 and a clamping driving part 732, and the clamping driving part 732 drives the clamping mechanism 731 to perform a clamping/unclamping operation to control clamping and fixing of the die set 100 to be cut.

The clamping mechanism 731 includes a first clamping block 7311 and a second clamping block 7312 disposed at opposite positions, and forms a receiving space for receiving the die set 100 to be cut when the first clamping block 7311 and the second clamping block 7312 are in a clamped state, and operates in a moving direction along the guide rail assembly 720.

The clamping mechanism 731 further comprises a first module supporting block 7313 to be cut and a second module supporting block 7314 to be cut, and the first module supporting block 7313 to be cut and the second module supporting block 7314 to be cut are correspondingly arranged on the first guide rail 721 and the second guide rail 722 respectively; and are respectively and correspondingly disposed at the lower sides of the first clamping block 7311 and the second clamping block 7312, for supporting the die set 100 to be cut.

A first stopper (not shown) respectively provided on the first clamping block 7311 and the second clamping block 7312, the first stopper being provided adjacent to the feeding station of the conveyor line 60; and a second stopper 760 provided to the first bracket 711 and the second bracket 712, respectively, the second stopper 760 being adjacent to the picking station.

The bracket assembly 710 is respectively provided with a first detection sensor 740 and a second detection sensor 750 which are arranged at two ends along the movement direction of the guide rail assembly 720, the first detection sensor 740 and the second detection sensor 750 are respectively in communication connection with the control device 10, and the position information of the module group 100 to be cut on the clamping assembly 730 is detected; the first detecting sensor 740 is disposed adjacent to the loading station, and the second detecting sensor 750 is disposed adjacent to the picking station.

In the present invention, the clamping driving part 732 is a parallel cylinder.

Referring to fig. 4, the feeding device 50 further includes a turning assembly 80, and the turning assembly 80 is communicatively connected to the control device 10; the turning assembly 80 comprises a turning part 810 and a grabbing part 820 arranged at the free end of the turning part 810, and the control device 10 controls the grabbing part 820 to grab the die set 100 to be cut at the feeding station of the conveying line 60, then turns the die set 100 to be cut to the side picked by the picking assembly through the turning part 810, and places the die set on the bearing and positioning die set 70.

The turning part 810 includes: a mounting bracket 811, a rotary cylinder 812, a connecting plate 813, a lifting cylinder 814, and a grasping portion 820; the lifting cylinder 814 is installed on the installation support 811, the rotating cylinder 812 is connected with the lifting cylinder 814, the connecting plate 813 is installed on the rotating shaft of the rotating cylinder 812, and the grabbing part 820 is installed on the connecting plate 813 and is arranged adjacent to the feeding station of the conveying line 60.

After the module to be cut 100 is transferred to the feeding station on the conveying line 60, the control device 10 raises the cylinder to lower the gripping part 820 from the initial position to the set position, controls the gripping part 820 to grip the module to be cut 100, and further controls the lifting cylinder to lift the gripping part 820 to the initial position; the control device 10 controls the rotating cylinder 812 to drive the connecting plate 813 to turn over, and the connecting plate 813 drives the module to be cut 100 of the grabbing part 820 to turn over to the set position of the bearing and positioning module 70.

Referring to fig. 1, a third detection sensor 610 and a stopping assembly 620 arranged at the stopping position are arranged at the feeding station of the conveying line 60, and the third detection sensor 610 and the stopping assembly 620 are respectively connected with the control device 10 in a communication way; when the third detecting sensor 610 detects the die set 100 to be cut at the feeding station, the control device 10 controls the stopping component 620 to stop the die set 100 to be cut at the feeding station.

Referring to fig. 1-9, the specific operation of the laser cutting system of the present invention includes the following:

the control device 10 controls the conveying line 60 to convey the die set 100 to be cut to the position below the grabbing part 820 of the overturning part 810, the third detection sensor (correlation sensor) 610 senses the die set 100 to be cut, and the control device 10 controls the stopping component 620 to stop the die set 100 to be cut from moving.

The control device 10 controls the driving assembly 814 to extend downward for a certain distance, the suction cup 820 contacts the module to be cut 100, the control device 10 controls the suction cup 820 to suck the membrane part of the module to be cut 100, then controls the driving assembly 814 to retract upward, controls the rotating cylinder 812 to rotate upward for 180 degrees, and controls the back surface of the module to be cut 100 to fall on the first module to be cut support block 7313 and the second module to be cut support block 7314 of the module to be cut 100 after the module to be cut 100 is turned over for 180 degrees.

The correlation sensor 740 detects the module to be cut 100, the control device 10 controls the parallel clamping cylinder 732 to be closed, the first clamping block 7311 and the first clamping block 7312 clamp the module to be cut 100, the cylinder 733 horizontally extends to push the module to be cut 100 clamping assembly 730 connected with the cylinder to drive the module to be cut 100 to slide forwards on the first module to be cut supporting block 7313 and the second module to be cut supporting block 7314 for a certain distance, the control device 10 controls the parallel clamping cylinder 732 to be opened, the first clamping block 7311 and the first clamping block 7312 release the module to be cut 100, and the cylinder 733 horizontally retracts to pull the module to be cut 100 clamping assembly 730 connected with the cylinder to return to the initial position.

The correlation sensor 750 detects the module 100 to be cut, the control device 10 controls the pick-up device pick-up part to move the suction cup 2831 to the surface of the module 100 to be cut, and after the suction cup 2831 is controlled to suck the module 100 to be cut, the rotating cylinder 261 drives the limiting block 2611 to rotate to the lower side of the bottom plate 270, so that the module 100 to be cut is prevented from falling. The picking part is controlled to move the module to be cut 100 to the CCD camera 41, the light source camera 41 is controlled to be turned on, the identity is photographed and read, the character string information contained in the identity is analyzed, and the origin point coordinate of the module to be cut 100 is analyzed.

The control device 10 controls the pick-up to move the die set 100 to be cut to the distance sensor 42, and moves the die set 100 to be cut three times, and the distance sensor 42 measures the distance from the die set 100 to be cut to different positions on the surface three times. The system determines the cutting path information of the dental model according to the central coordinate, the three distance data and the identity.

The control device 10 controls the pick-up part of the pick-up device to move the die set 100 to be cut to the laser cutting device 30, and controls the pick-up part to move to finish cutting the outline of the dental model according to the cutting information (path to be cut) of the outline of the dental model of the die set 100 to be cut. Referring to fig. 6, the laser cutting apparatus 30 includes a bracket 32 and a laser generator 31 mounted on the bracket 32.

The control device 10 controls the pickup part of the pickup device 20 to move the membrane to the laser generator 31 of the laser cutting device, and controls the pickup part of the pickup device to move to complete the cutting of the appliance according to the cutting information of the outline of the dental model.

After the cutting is completed, the control device 10 controls the picking device 20 to place the cut product to the discharging end 90 of the conveying line 60, and then the next process is performed.

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

Claims (16)

1. The utility model provides a cutting equipment of ware is rescued to shelly tooth for the cutting of waiting to cut the module in the shelly tooth is rescued ware production process, it is in including the tooth jaw model and the hot pressing film shaping that are provided with the information sign to wait to cut the shelly tooth on the tooth jaw model and rescues ware, its characterized in that includes: the device comprises a control device, a feeding device, a pickup device, an image recognition device, a position adjustment auxiliary device and a laser cutting device; the feeding device, the pickup equipment, the image recognition device and the laser cutting device are respectively in signal connection with the control device;

the feeding device is used for placing the die set to be cut on a picking station of the feeding device in a mode that the dental crown of the dental jaw model faces downwards;

the picking device comprises a picking part and a driving part for driving the picking part to move, and the driving part drives the picking part to move to the picking station; the picking part picks up the die set to be cut from the side opposite to the dental crown of the dental jaw model and moves the die set to the recognition area of the image recognition device, so that the dental crown side of the die set to be cut faces the image recognition device; the image recognition device collects a positioning mark arranged on the module to be cut, the picking equipment places the module to be cut on the position adjustment auxiliary device, the picking equipment adjusts the pose of the picking part according to the recognition result of the positioning mark, so that a first coordinate system of the module to be cut established according to the positioning mark is consistent with a second coordinate system of the picking part, the picking equipment moves to enable the module to be cut to enter a cutting area of the laser cutting device, the picking part moves relative to the laser cutting device along a cutting path preset by the module to be cut in the second coordinate system, and cutting is completed.

2. The cutting apparatus of a shell-shaped dental appliance of claim 1, further comprising: the conveying line is in communication connection with the control device; and the feeding device transfers the module to be cut at the feeding station of the conveying line to the picking station corresponding to the module to be cut picked by the picking equipment.

3. The shell-shaped dental appliance cutting apparatus of claim 2, wherein the loading device comprises a load-bearing positioning module; the bearing and positioning module comprises a bracket assembly, a guide rail assembly, a clamping assembly and a driving assembly; the guide rail assembly is installed and arranged on the support assembly, the clamping assembly is arranged on the guide rail assembly, the driving assembly is connected with the clamping assembly and arranged, and the driving assembly can drive the clamping assembly to move along the guide rail assembly in a reciprocating mode.

4. The cutting apparatus of a shell-shaped dental appliance of claim 3, wherein the bracket assembly comprises a first bracket, a second bracket and a mounting panel, the first bracket and the second bracket each comprising at least two support bars spaced apart for supporting the mounting panel; a first rail and a second rail are respectively arranged on two opposite sides of the mounting panel, and the first rail and the second rail form the guide rail assembly.

5. The cutting apparatus of a shell-shaped dental appliance of claim 4, comprising: the driving assembly is a telescopic cylinder, the telescopic direction of the telescopic cylinder is consistent with the movement direction of the guide rail assembly and is close to the picking equipment, and the guide rail assembly is driven to transfer the module to be cut to the picking equipment to pick up the station corresponding to the module to be cut.

6. The cutting apparatus of a shell-shaped dental appliance of claim 5, wherein a plurality of support posts are provided on the mounting panel, the plurality of support posts supporting the clamping assembly;

the clamping assembly comprises a clamping mechanism and a clamping driving part, and the clamping driving part drives the clamping mechanism to perform clamping/loosening operation so as to control the clamping and fixing of the die set to be cut.

7. The cutting apparatus of a shell-shaped dental appliance as claimed in claim 6, wherein the clamping mechanism comprises a first clamping block and a second clamping block arranged in opposing positions to form a receiving space for receiving the die set to be cut when the first clamping block and the second clamping block are in a clamped state.

8. The cutting apparatus for a shell-shaped dental appliance of claim 7, wherein the clamping mechanism further comprises a first membrane tray and a second membrane tray, the first membrane tray and the second membrane tray being respectively and correspondingly disposed on the first rail and the second rail; and the clamping blocks are correspondingly arranged at the lower sides of the first clamping block and the second clamping block respectively and used for supporting the die set to be cut.

9. The cutting apparatus of a shell-shaped dental appliance of claim 8, further comprising: the first limiting blocks are respectively arranged on the first clamping block and the second clamping block, and the first limiting blocks are arranged at positions close to the feeding station of the conveying line;

and the second limiting blocks of the first support and the second support are respectively arranged, and the second limiting blocks are adjacent to the picking station.

10. The cutting apparatus of a shell-shaped dental appliance of claim 6, further comprising: the first detection sensor and the second detection sensor are respectively arranged at two ends of the bracket assembly along the motion direction of the guide rail assembly, and are respectively in communication connection with the control device to detect the position information of the to-be-cut module on the clamping assembly; the first detection sensor is arranged close to the feeding station, and the second detection sensor is arranged close to the picking station.

11. The shell-shaped dental appliance cutting device of claim 10, wherein the clamp drive is a parallel cylinder.

12. The shell-shaped dental appliance cutting apparatus of claim 10, wherein the loading device further comprises an inversion assembly, the inversion assembly being communicatively coupled to the control device; the overturning assembly comprises an overturning part and a grabbing part arranged at the free end of the overturning part, and the control device controls the grabbing part to grab the to-be-cut module at the feeding station of the conveying line, then the to-be-cut module is overturned to one side, picked up by the picking assembly, through the overturning part and placed on the bearing and positioning module.

13. The shell-shaped dental appliance cutting apparatus of claim 12, wherein the inverting portion comprises: the device comprises a mounting support, a rotary cylinder, a connecting plate, a lifting cylinder and the grabbing part;

the lifting cylinder is installed on the mounting support, the rotary cylinder is connected with the lifting cylinder, the connecting plate is installed on a rotating shaft of the rotary cylinder, and the grabbing portion is installed and arranged on the connecting plate and close to a feeding station of the conveying line.

14. The shell-shaped dental appliance cutting apparatus of claim 13, comprising: after the module to be cut is transferred to the feeding station on the conveying line, the control device controls the lifting cylinder to lower the grabbing part from the initial position to the set position, controls the grabbing part to grab the module to be cut, and further controls the lifting cylinder to lift the grabbing part to the initial position; the control device controls the rotary cylinder to drive the connecting plate to turn over, and the connecting plate drives the module to be cut of the grabbing part to turn over to the set position of the bearing and positioning module.

15. The shell-shaped dental appliance cutting apparatus of claim 14, further comprising: a third detection sensor and a stopping assembly arranged at a stopping position are arranged at a feeding station of the conveying line, and the third detection sensor and the stopping assembly are respectively in communication connection with the control device; when the third detection sensor detects that the die set to be cut is positioned at the feeding station, the control device controls the stop component to stop the die set to be cut at the feeding station.

16. The cutting apparatus for a shell-shaped dental appliance as claimed in any one of claims 1 to 15, wherein the information recognition means comprises: a camera for images, a distance sensor, a mounting bracket and a positioning auxiliary component; the camera, the distance sensor and the positioning auxiliary assembly are respectively arranged on the mounting bracket and are arranged in the opposite direction of the picking-up equipment.

Images