CN218356417U - End effector of dental implantation robot - Google Patents
End effector of dental implantation robot Download PDFInfo
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- CN218356417U CN218356417U CN202222165997.9U CN202222165997U CN218356417U CN 218356417 U CN218356417 U CN 218356417U CN 202222165997 U CN202222165997 U CN 202222165997U CN 218356417 U CN218356417 U CN 218356417U
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- dental implant
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Abstract
The utility model discloses an end effector of a tooth implantation robot, belonging to the technical field of medical instruments; the connecting assembly of the actuator mainly comprises an end cover, a feeding mechanism, a connecting disc and a flange disc, wherein the end cover is buckled on the flange disc to form a cavity, the connecting disc is fixed in the cavity, and the central axes of the end cover, the flange disc and the connecting disc are superposed; the feeding mechanism comprises a lead screw motor, a bearing platform and a static guide rail; a motor fixing plate and a bearing plate are respectively fixed at two ends of the static guide rail, and the motor fixing plate and the bearing plate are parallel to each other; an output screw of the screw motor penetrates through the motor fixing plate and the bearing plate and is connected with the motor fixing plate and the bearing plate through bearings; an output screw of the screw motor is provided with a movable guide rail in threaded connection with the output screw; the movable guide rail is constrained on the static guide rail and can move along the central axis of the output screw rod on the static guide rail. The utility model discloses can accelerate the speed of planting the operation to ensure the precision of planting the operation.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to end effector of a tooth implantation robot.
Background
When a doctor uses a robot to perform a planting operation, the degree of freedom of the mechanical arm determines the flexibility and accuracy of the robot during the planting operation, the requirement of the six-degree-of-freedom mechanical arm in the oral cavity of a patient for the planting operation is basically met, and the flexibility of the six-degree-of-freedom mechanical arm has obvious influence on the speed of the operation compared with the operation with complexity.
When the implant robot end effector carries out the drilling of planting point position in the implant operation, need the nimble angle according to planning before the art of dental implant cell-phone inside patient's oral cavity, drill, still need be in real time according to the small removal of patient's head, let the system carry out corresponding adjustment to the arm. However, the existing dental implant robot end effector is a six-degree-of-freedom mechanical arm, so that the angle of the robot end effector cannot be flexibly changed in the oral cavity of a patient conveniently, the head of the patient is likely to move, the system cannot flexibly adjust the mechanical arm according to the displacement of the patient, and the robot end effector is inconvenient to use and urgently needs to be improved.
SUMMERY OF THE UTILITY MODEL
To the problem that exists among the above-mentioned background art, the utility model provides a planting tooth robot end effector. The end effector can accelerate the speed of the planting operation and guarantee the precision of the planting operation.
In order to realize the purpose, the utility model discloses the technical scheme who takes does:
an end effector of a dental implant robot comprises a dental implant handpiece 1, a six-degree-of-freedom mechanical arm 5, a force feedback device 4, a clamping component 2 and a connecting component 3; the dental implant handpiece is fixed on the connecting assembly through the clamping assembly, and the connecting assembly is fixed at the output end of the six-degree-of-freedom mechanical arm through the force feedback device;
the connecting assembly mainly comprises an end cover 31, a feeding mechanism 32, a connecting disc 33 and a flange disc 34, wherein the end cover is buckled on the flange disc to form a cavity, the connecting disc is fixed in the cavity, and the central axes of the end cover, the flange disc and the connecting disc are superposed; the feeding mechanism 32 comprises a lead screw motor 321, a bearing platform 323 and a static guide rail; a motor fixing plate 322 and a bearing plate 326 are respectively fixed at two ends of the static guide rail, and the motor fixing plate and the bearing plate are parallel to each other; an output screw of the screw motor penetrates through the motor fixing plate and the bearing plate and is connected with the bearings of the motor fixing plate and the bearing plate; an output screw of the screw motor is provided with a movable guide rail in threaded connection with the output screw; the movable guide rail is constrained on the static guide rail and can move along the central axis of the output screw rod on the static guide rail;
the movable guide rail is fixed on one side of the bearing platform; the other side of the bearing platform is fixed with a clamping component; the static guide rail is tightly attached to the surface of the connecting disc, an output screw of the screw motor is parallel to the connecting disc, and the central axis of the clamping assembly is perpendicular to the connecting disc.
Further, the clamping assembly comprises a left clamp 21 and a right clamp 22; the left clamp and the right clamp are fixedly connected through a bolt.
Further, the force feedback device 4 is fixed to the output end of the six-dof mechanical arm through a force feedback device base 42.
Further, the force feedback device 4 is an ATI six-dimensional torque sensor.
Further, the six-degree-of-freedom mechanical arm 5 is a UR5 mechanical arm.
Further, the dental implant handpiece 1 is a germany KaVo dental implant handpiece.
Furthermore, the end cover is provided with a long slot hole for the penetration of the clamping assembly; the clamping component can move up and down in the long slotted hole.
Further, the feeding mechanism is located in the cavity.
Further, the dental implant 1 drives the follower guide 325 to move uniaxially by the feeding mechanism 32.
Furthermore, the outer edges of the end cover, the connecting disc and the flange disc are fixedly connected through a bolt assembly.
The utility model adopts the beneficial effect that above-mentioned technical scheme produced lies in:
(1) The end effector of the dental implant robot in the utility model utilizes the feeding mechanism in the connecting component to increase the degree of freedom of the end effector of the dental implant robot, and assists the dental implant robot to more flexibly and freely complete the implant operation, thereby improving the effect of the implant operation; meanwhile, a force feedback device is arranged in the end effector of the dental implant robot, so that the force fed back by the end effector in the implant operation can be monitored in real time, the implant depth can be judged, the condition that the mandibular nerve or the maxillary sinus floor of a patient is damaged due to too deep depth is avoided, and the safety of the patient in the implant operation is guaranteed.
(2) The clamping component of the utility model selects the motor section which is not frequently disassembled by the dental implanting handpiece to clamp and fix, which is beneficial to the disassembly of the handpiece section of the implanting handpiece after the implanting operation so as to be convenient for cleaning and disinfection; and meanwhile, the clamping component scans a three-dimensional model of the dental implant handpiece by three-dimensional scanning, and the clamping component model can form a clamping pore canal completely consistent with the outer surface of the dental implant handpiece by utilizing Boolean operation in SolidWorks software, and the dental implant handpiece can be prevented from rotating in the clamp by the concave-convex lines consistent with the outer surface of the dental implant handpiece on the inner surface of the pore canal of the clamping component and the fastening screw which is added on the structure. The precision of the planting operation is guaranteed.
Drawings
Fig. 1 is an exploded view of the embodiment of the present invention.
Fig. 2 is an isometric view of fig. 1.
Fig. 3 is a schematic structural view of the feeding mechanism in fig. 2.
Fig. 4 is a schematic structural view of the end cap of fig. 2.
Fig. 5 is a schematic structural diagram of the connecting disc in fig. 2.
Fig. 6 is a schematic view of the flange of fig. 2.
Fig. 7 is a schematic structural view of the jig assembly of fig. 2.
Fig. 8 is a schematic view of an installation structure of the embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
An end effector of a dental implant robot comprises a dental implant handpiece 1, a six-degree-of-freedom mechanical arm 5, a force feedback device 4, a clamping component 2 and a connecting component 3; the dental implant handpiece is fixed on the connecting assembly through the clamping assembly, and the connecting assembly is fixed at the output end of the six-degree-of-freedom mechanical arm through the force feedback device;
the connecting assembly mainly comprises an end cover 31, a feeding mechanism 32, a connecting disc 33 and a flange disc 34, wherein the end cover is buckled on the flange disc to form a cavity, the connecting disc is fixed in the cavity, and the central axes of the end cover, the flange disc and the connecting disc are superposed; the feeding mechanism 32 comprises a lead screw motor 321, a bearing platform 323 and a static guide rail; a motor fixing plate 322 and a bearing plate 326 are respectively fixed at two ends of the static guide rail, and the motor fixing plate and the bearing plate are parallel to each other; an output screw of the screw motor penetrates through the motor fixing plate and the bearing plate and is connected with the motor fixing plate and the bearing plate through bearings; an output screw of the screw motor is provided with a movable guide rail in threaded connection with the output screw; the movable guide rail is constrained on the static guide rail and can move along the central axis of the output screw rod on the static guide rail;
the movable guide rail is fixed on one side of the bearing platform; the other side of the bearing platform is fixed with a clamping assembly; the static guide rail is tightly attached to the surface of the connecting disc, an output screw of the screw motor is parallel to the connecting disc, and the central axis of the clamping assembly is perpendicular to the connecting disc.
Further, the clamping assembly comprises a left clamp 21 and a right clamp 22; the left clamp and the right clamp are fixedly connected through bolts.
Further, the force feedback device 4 is fixed to the output end of the six-dof mechanical arm through a force feedback device base 42.
Further, the force feedback device 4 is an ATI six-dimensional torque sensor.
Further, the six-degree-of-freedom mechanical arm 5 is a UR5 mechanical arm.
Further, the dental implant handpiece 1 is a germany KaVo dental implant handpiece.
Furthermore, the end cover is provided with a long slot hole for the penetration of the clamping assembly; the clamping component can move up and down in the long slotted hole.
Further, the feeding mechanism is located in the cavity.
Further, the dental implant 1 drives the follower guide 325 to move uniaxially by the feeding mechanism 32.
Furthermore, the outer edges of the end cover, the connecting disc and the flange disc are fixedly connected through a bolt assembly.
The following is a more specific example:
referring to fig. 1 to 8, the present embodiment is directed to a dental implant robot end effector including: the dental implant handpiece comprises a dental implant handpiece 1, a clamping component 2, a connecting component 3, a force feedback device 4 and a six-degree-of-freedom mechanical arm 5, wherein the dental implant handpiece 1 is fixed on the clamping component 2, the clamping component 2 is fixed on the connecting component 3, the connecting component 3 is fixed on the force feedback device 4, and the force feedback device 4 is fixed at the tail end of the 5 six-degree-of-freedom mechanical arm.
Specifically, the clamping assembly 2 is provided with a left clamp 21 and a right clamp 22, wherein the side walls of the left clamp 21 and the right clamp 22 are provided with four through holes 23, the bottom of the left clamp 21 is provided with four through holes 24, the four through holes 23 on the side walls of the left clamp 21 and the right clamp 22 are aligned and screwed in the set screws for fixation, and the four through holes 24 at the bottom of the left clamp 21 and the right clamp 22 are screwed in the set screws for fixation through the bearing platform 323 of the alignment feeding mechanism 32.
The connecting assembly 3 is provided with an end cover 31, a feeding mechanism 32, a connecting disc 33 and a flange 34. The feeding mechanism 32 is provided with a lead screw motor 321, a motor fixing plate 322, a bearing platform 323, a base 324, a movable guide rail 325 and a bearing plate 327. Lead screw motor 321 is connected on motor fixed plate 322, the output lead screw of 321 is connected on bearing platform 323's the screw hole and the lead screw motor, and bearing plate 327 passes through holding screw and is fixed in base 324 bottom, wherein, there are four symmetry through-holes in base 324 bottom to pass through holding screw and be fixed in the middle part of connection pad 33 on leaning on four symmetry through-holes 331 of lower position, the top of end cover 31 is provided with oval through-hole 311, dental implant 1 end passes oval through-hole 311, end cover 31 bottom is provided with four symmetry through-holes, four symmetry through-holes 331 in the top of connection pad 33 are fixed in on four symmetry through-holes 341 on ring flange 34 top through holding screw alignment, four symmetry through-holes of the base 324 of feed mechanism 32 are fixed in the middle part of connection pad 33 and lean on four through-holes 331 of lower position through holding screw alignment, four symmetry through-holes in end cover 31 bottom are fixed in the alignment of connection pad 33 top on four symmetry through-holes through holding screw. The four symmetrical through holes 341 at the bottom of the flange plate 34 are aligned and fixed on the four symmetrical through holes 411 at the top of the force feedback device 4 by the set screws. Utilize lead screw motor 321 among the feed mechanism 32 drive the load-bearing platform along base up-and-down motion for dental implant cell-phone 1 carries out single-axis motion according to moving guide rail 325, increases a degree of freedom on this basis of the six degrees of freedom that six degrees of freedom arms 5 possess, has further promoted dental implant cell-phone 1 and has planted the operation in the narrow oral cavity of patient more nimble, in order to obtain best operation effect.
The overall length 98mm of the feeding mechanism 32 is larger than the diameter 75mm of the top of the six-degree-of-freedom mechanical arm 5, the diameter 118mm of the flange plate 34 is larger than the diameter 98mm of the feeding mechanism 32, the connecting assembly 3 and the force feedback device 4 form effective connection, contain and protect the feeding mechanism 32, and the overall stability of the end effector is guaranteed.
The force feedback device 4 is provided with a force feedback device main body 41 and a force feedback device base 42, wherein the top of the force feedback device main body 41 is provided with four symmetrical through holes 411, the bottom of the force feedback device is provided with a plurality of symmetrical through holes 412, the outer wall and the bottom of the force feedback device base 42 are provided with a plurality of groups of symmetrical through holes, the four symmetrical through holes 412 at the bottom of the force feedback device main body are aligned and fixed on the plurality of symmetrical through holes of the force feedback device base 42 through set screws, and the plurality of through holes at the bottom of the force feedback device base 42 are aligned and fixed on the plurality of symmetrical through holes 51 at the top of the six-degree-of-freedom mechanical arm 5 through set screws. The force feedback device 4 is used for monitoring the force fed back by the end effector in the implantation operation in real time, so that the implantation depth is judged, the phenomenon that the mandibular nerve or the maxillary sinus floor of a patient is damaged due to too deep depth is avoided, and the safety of the patient in the implantation operation is guaranteed.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. An end effector of a tooth implantation robot comprises a dental implant handpiece (1), a six-degree-of-freedom mechanical arm (5) and a force feedback device (4), and is characterized by further comprising a clamping component (2) and a connecting component (3); the dental implant handpiece is fixed on the connecting assembly through the clamping assembly, and the connecting assembly is fixed at the output end of the six-degree-of-freedom mechanical arm through the force feedback device;
the connecting assembly mainly comprises an end cover (31), a feeding mechanism (32), a connecting disc (33) and a flange disc (34), wherein the end cover is buckled on the flange disc to form a cavity, the connecting disc is fixed in the cavity, and the central axes of the end cover, the flange disc and the connecting disc are superposed; the feeding mechanism (32) comprises a lead screw motor (321), a bearing platform (323) and a static guide rail; a motor fixing plate (322) and a bearing plate (326) are respectively fixed at two ends of the static guide rail, and the motor fixing plate and the bearing plate are parallel to each other; an output screw of the screw motor penetrates through the motor fixing plate and the bearing plate and is connected with the motor fixing plate and the bearing plate through bearings; an output screw of the screw motor is provided with a movable guide rail in threaded connection with the output screw; the movable guide rail is constrained on the static guide rail and can move along the central axis of the output screw on the static guide rail;
the movable guide rail is fixed on one side of the bearing platform; the other side of the bearing platform is fixed with a clamping assembly; the static guide rail is tightly attached to the surface of the connecting disc, an output lead screw of the lead screw motor is parallel to the connecting disc, and the central axis of the clamping assembly is perpendicular to the connecting disc.
2. An end effector of a dental implant robot according to claim 1, characterized in that said gripping assembly comprises a left clamp (21) and a right clamp (22); the left clamp and the right clamp are fixedly connected through a bolt.
3. An end effector of a dental implant robot according to claim 1, characterized in that the force-feedback device (4) is fixed to the output of a six-degree-of-freedom robot arm by means of a force-feedback device mount (42).
4. An end effector of a dental implant robot according to claim 1, characterized in that said force feedback device (4) is an ATI six-dimensional torque sensor.
5. An end effector of a dental implant robot according to claim 1, characterized in that said six degree of freedom robot arm (5) is a UR5 robot arm.
6. An end effector for a dental implant robot according to claim 1, characterized in that the dental implant handpiece (1) is a german KaVo dental implant handpiece.
7. The end effector of a dental implant robot according to claim 1, wherein the end cap is provided with a slotted hole for the passage of the clamping assembly; the clamping component can move up and down in the long slotted hole.
8. The end effector of a dental implant robot according to claim 1, wherein the feed mechanism is located within the cavity.
9. An end effector of a dental implant robot according to claim 1, characterized in that the dental implant handpiece (1) is driven by a feed mechanism (32) to move a follower guide (325) in a single axis.
10. The end effector of a dental implant robot according to claim 1, wherein outer edges of the end cap, the connecting plate and the flange are fixedly connected by a bolt assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222165997.9U CN218356417U (en) | 2022-08-17 | 2022-08-17 | End effector of dental implantation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222165997.9U CN218356417U (en) | 2022-08-17 | 2022-08-17 | End effector of dental implantation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218356417U true CN218356417U (en) | 2023-01-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222165997.9U Active CN218356417U (en) | 2022-08-17 | 2022-08-17 | End effector of dental implantation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218356417U (en) |
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2022
- 2022-08-17 CN CN202222165997.9U patent/CN218356417U/en active Active
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