KR101982401B1 - Base plate for installation of robot arm - Google Patents

Abstract

The present invention relates to a base plate for mounting a robot arm, which comprises a robot arm fixing section for mounting the robot arm at a predetermined position, and a coupling element having a shape complementary to a device fixing element formed on the bottom surface of the plate for coordinate synchronization A plate mounting portion; And a connecting portion connecting the robot arm fixing portion and the plate mounting portion, wherein the connecting portion fixes the geometric positional relationship between the robot arm fixing portion and the plate mounting portion in a predetermined positional relationship.

Description

[0001] The present invention relates to a base plate for mounting a robot arm,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a base plate for mounting a robot arm, and more particularly, to a base plate for mounting a robot arm, which is advantageous for use as a medium for synchronizing a coordinate system between a robot arm and a workpiece.

An implant is an artificial tooth root made of a special material (mainly titanium or titanium alloy or porcelain) having excellent biocompatibility to the alveolar bone of a missing tooth part and is fixed by fusion with the alveolar bone tissue. It is a dental surgery procedure that makes it possible to carry out daily life with almost the same sensation as the original tooth by forming a tooth, or the artificial tooth which is thus performed.

These implants have advantages in that they do not damage the surrounding teeth except the teeth requiring the operation, have a long life span and are very similar to the natural teeth, compared with the denture or bridge method, and more recently, Has become much more popular.

The method of implanting the implant is briefly described. First, the patient's gingiva is cut to expose the alveolar bone, the position of the implant is determined on the exposed alveolar bone, and then a part of the alveolar bone Thereby forming a hole for implanting the implant. Then, a fixture is placed on the hole formed in the alveolar bone, the gingiva is covered, and the alveolar bone is sufficiently fused with the fixture and the alveolar bone to be fused for a proper period. Thereafter, the fixture is fixed and the abutment and the artificial tooth (Crown) is mounted, the implant procedure is completed. Here, according to the implant procedure, the healing abutment is placed on the fixture placed on the alveolar bone, and the gingival suture is performed and the incision is cut later.

On the other hand, in order to implant artificial root with biomechanical, histological, functional, and aesthetic superiority in implant treatment, it is necessary to perform perforation work with precise position, direction and depth. For this purpose, a surgical template called guide template A surgical guide is often used.

To create such a guide template, you need to prepare a bone model that is a book. Traditionally, impression material is used to acquire the maxillary and / or mandibular submucosa of the recipient and then plaster casts on the submucosa to mimic the shape of the maxillary and / or mandible of the recipient. In recent years, models are produced directly on 3D models based on 3D image data, such as rapid prototyping machines and 3D printers.

On the prepared oral cavity model, a tooth missing part requiring implant treatment is directly transferred. A hole is drilled in accordance with the implant operation plan, and a bushing for guiding the direction and depth of the drill is detachably fixed do.

Then, when a cured resin is applied and cured so as to enclose a fixed bushing and at least several teeth around the tooth, and a resin material is taken out from the oral cavity model by removing a member fixed with the bushing, a bushing for inducing an implant- The mounted guide template is completed.

Patent Document 1 is an invention related to a guide template registered by the present applicant and Patent Document 2 is an invention relating to a fixation pin assembly for fixing a bushing on an oral cavity model so that the bushing can be separated in a state embedded in a guide template. Patent Document 3 is a plate for coordinate synchronization for precisely drilling holes on an oral cavity model in accordance with an implant treatment plan established by using a computer program. Patent Document 4 discloses a plate for synchronizing coordinates, As a multi-axis drilling machine, applicants have filed and registered many other inventions related to guide templates.

The most important thing when creating a guide template is to drill a hole in the correct position and angle in accordance with the computed implant planning plan on the prepared oral model. The position of this hole is the point at which the artificial tooth (crown) of the implant is placed, and the angle of the hole corresponds to the direction of perforating the alveolar bone. Therefore, precise implant procedure using guide template can not be expected unless hole can be precisely machined in the oral cavity model according to the implant procedure plan.

Even if a hole is machined by a machining device capable of numerical control, there is a problem to be solved first. This means that the coordinate information of the machining plan stored in digital data on a computer program must be synchronized with the coordinate information of the machining apparatus in the real world. If the two coordinate systems are not synchronized, that is, if the coordinate system in the virtual space in which the machining plan is established and the coordinate system of the actual machining apparatus are not uniformly determined to be in a predetermined coordinate relationship, then the hole is machined according to the computationally- It can not be said that it is impossible.

The invention of Patent Document 3 relates to a plate for coordinate synchronization which is a kind of medium created to solve the problem of coordinate synchronization. However, the plate for coordinate synchronization provides a reference point that enables synchronization of the heterogeneous coordinate system, but this alone does not solve the problem. The physical positional relationship that can be known or measured through the coordinate synchronization plate should be set between the different coordinate systems.

In order to establish a three-dimensional relationship between the orthodontic model, the coordinate system in the virtual space in which the machining plan is established, and the coordinate system of the actual machining apparatus, it is complicated and involves several stages of coordinate synchronization. Therefore, There is a need.

Korean Patent No. 10-1039287 (issued on June 7, 2011) Korean Patent No. 10-0993666 (published Nov. 10, 2010) Korean Registered Patent No. 10-1353335 (published on Jan. 17, 2014) Korean Patent No. 10-1344472 (published on December 24, 2013)

It is an object of the present invention to provide a means for simply establishing a three-dimensional relationship between an oral model as an object to be processed, a coordinate system on a virtual space in which a machining plan is established, and a coordinate system of an actual machining apparatus.

The present invention relates to a base plate for mounting a robot arm, which comprises a robot arm fixing section for mounting the robot arm at a predetermined position, a plate A mounting portion; And a connecting portion connecting the robot arm fixing portion and the plate mounting portion, wherein the connecting portion fixes the geometric positional relationship between the robot arm fixing portion and the plate mounting portion in a predetermined positional relationship.

In one embodiment of the present invention, the robot arm fixing portion, the plate mounting portion, and the connecting portion are all integrally made.

The plate mounting portion is provided with a plurality of vacuum suction holes.

The plurality of vacuum suction holes include cut-off suction holes arranged around the coordinate synchronization plate when the plate for coordinate synchronization is coupled to the plate mounting portion.

It is preferable that the cut-off suction holes are arranged around the periphery of the plate for coordinate synchronization.

The plurality of vacuum suction holes include fixing suction holes arranged on the bottom surface of the coordinate synchronization plate when the plate for coordinate synchronization is coupled to the plate mounting portion.

The fixing suction hole may be disposed so as to be surrounded by the engaging element.

In addition, the robot arm fixing portion may include a side expanding portion extending outwardly from an extension of the connection portion.

The robot arm fixing part and the connection part may be a web structure in which a plurality of ribs are connected to each other.

The base plate for mounting a robot arm according to the present invention having the above-described structure functions as a medium in which the coordinate data of the implant operation plan established on the computer-readable form is synchronized with the robot arm through the oral model, the plate for coordinate synchronization, To allow easy and accurate machining of the oral cavity as planned.

In addition, the base plate for mounting a robot arm of the present invention quickly collects cuttings during machining by using vacuum, contributes to maintenance of hygiene and cleanliness, and firmly fixes the coordinate synchronization plate, thereby improving the reliability of machining accuracy It has the advantage of achieving.

1 is a view showing an example of a six-degree-of-freedom robot arm provided on a base plate for mounting a robot arm according to the present invention.
FIG. 2 is a diagram showing an upper surface (a) and a lower surface (b) of a plate for coordinate synchronization developed by the present applicant.
Fig. 3 is a bottom view of the oral cavity model coupled to the plate for coordinate synchronization of Fig. 2; Fig.
FIG. 4 is a diagram showing a geometrical connection relationship between a robot arm centered on a base plate for mounting a robot arm, a plate for coordinate synchronization, and an oral cavity model. FIG.
5 is a perspective view showing a top surface of a base plate for mounting a robot arm according to the present invention.
6 is a perspective view showing the bottom surface of the base plate for mounting the robot arm of Fig. 5;
7 is a view showing an example of a robot arm work bench to which a base plate for installing a robot arm of the present invention is applied.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. And when a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; or " connected ", as long as the elements are intervened and indirectly " connected ", " coupled "

1 is a block diagram of an apparatus for manufacturing a guide template, more specifically a robot arm 100 capable of numerical control for machining a hole according to an implant procedure plan established on a computational basis for the oral cavity model 300 (hereinafter referred to as "Quot; robot arm ").

The illustrated robot arm 100 is a robot arm 100 having six degrees of freedom in which the six degrees of freedom are defined by a rotation-tilting-tilting-rotation-tilting-rotation (RTTRTR) &Quot; and " " The term " tilting " refers to a movement in which the arms are connected to each other by a pivoting movement at a joint, It means movement that can change inside.

The structure of the robot arm 100 shown in Fig. 1 will be described in more detail. However, in the detailed description, the structure of the motor serving as the power source of the rotation and tilting motions, and the structure of the sensor for grasping the current position are already well-known structures, and thus will not be described.

The base 110 rotates 360 degrees about the vertical axis (Z-axis). The first arm 120 connected to the base 110 performs a tilting movement in the vertical direction in which the height of the base 110 is changed (a rotation movement about a rotation axis on the XY plane perpendicular to the Z axis) The second arm 130 connected to the first arm 120 can also be tilted in the same direction as the first arm 120.

The third arm 140 is rotated 360 degrees on a plane perpendicular to the longitudinal direction of the second arm 130 and the fourth arm 150 is tilted about an axis perpendicular to the rotation axis of the third arm 140 Exercise. The work end 160 connected to the distal end of the fourth arm 150 may be rotated 360 degrees on a plane perpendicular to the longitudinal direction of the fourth arm 150, And an appropriate working tool 170 is mounted.

The robot arm 100 having such a structure is a structure suitable for machining the object to be processed arranged on the front side from above. In particular, the oral cavity model 300 having the present invention as a movable object has a horseshoe shape. In order to process holes at an arbitrary angle while following the horseshoe-shaped dental arch, it is called " rotation-tilting-tilting-rotation-tilting- (RTTRTR) " in the order of 6 degrees of freedom.

The work tool 170 mounted on the work end 160 located at the distal end of the robot arm 100 is typically a drill bit. The drill bit is a cutting tool for drilling holes and is well suited for drilling holes in the oral cavity model 300. If necessary, other machining can be performed in addition to the hole machining. In this case, a suitable tool may be used. For example, a milling cutter may be used when the surface is required, and a laser cutter or the like may be mounted on the work end 160 when cutting is required.

FIG. 2 shows an embodiment of the coordinate synchronization plate 200. The coordinate synchronization plate 200 may be a medium for synchronizing the xy coordinate system. For details of the coordinate synchronization plate 200, refer to Patent Document 3. Briefly, three small cylindrical projections are formed on the plate-shaped body 210 of the coordinate synchronization plate 200. These three cylindrical projections serve as a fixture for the object fixation element 220, i.e., the oral cavity model 300, and serve as a marker for setting the reference coordinate system.

It is sufficient to determine one reference plane and one reference point on the reference plane to determine the spatial geometric three-axis coordinate system. When two orthogonal coordinate axes (for example, X and Y axes) are set for a reference point on one reference plane and the remaining coordinate axes (Z axis) orthogonal to the two coordinate axes are determined, three coordinate axes and their origin Is determined. The circle with three points on the circumference of the center for each of the three object fixation elements 220 on the plate 200 for coordinate synchronization is set as one. That is, the plane and the center formed by the circle form one immediate reference plane and one reference point on the reference plane, whereby the coordinate system of the coordinate synchronization plate 200 is determined as one.

Fig. 3 shows an example of the oral cavity model 300 fixed on the plate 200 for coordinate synchronization. Holes 310 corresponding to the three object fixing elements 220 of the coordinate synchronization plate 200 are formed on the flat bottom surface of the oral cavity model 300. The oral cavity model 300 is made based on the plate 200 for coordinate synchronization when it is manufactured, so that a hole 310 corresponding to the three object fixing elements 220 is provided from the beginning.

Based on the image data obtained by 3D scanning the oral cavity model 300, an implant treatment plan is established on a computer-generated image. The scanning data naturally includes three holes 310. That is, it means that one spatial coordinate system can be determined with reference to the circular plane determined by the three holes 310 as the same principle as the coordinate data of the oral cavity model 300 included in the scanning data.

As a result, by using the coordinate synchronization plate 200 as an intermediary, it is possible to synchronize the heterogeneous coordinate system, which has different standards, irrespective of the coordinate system of the program for the implantation procedure plan itself.

FIG. 4 shows a general configuration in which the robot arm 100, the plate 200 for coordinate synchronization, and the oral cavity model 300 are disposed on the base plate 1000 for installing a robot arm according to the present invention. The detailed configuration of the robot arm mounting base plate 1000 will be described later with reference to FIGS. 5 and 6. Here, the role of the robot arm mounting base plate 1000 in terms of coordinate synchronization will be described.

The robot arm mounting base plate 1000 roughly includes a robot arm fixing portion 1100, a plate mounting portion 1200, and a connection portion 1300. The robot arm 100 is securely fixed through the fastening holes 1110 provided in the robot arm fixing portion 1100 when the base plate 1000 for mounting the robot arm is taken as a reference. The robot arm fixing part 1100 is connected to the plate mounting part 1200 by a connection part 1300. The connection part 1300 is formed by connecting the robot arm fixing part 1100 and the plate mounting part 1200 with a predetermined Fix to one positional relationship. The above-described coordinate synchronization plate 200 is detachably mounted on the plate mounting portion 1200.

The robot arm 100 is installed at a predetermined position on the robot arm mounting base plate 1000 by the fastening holes 1110 and is positioned between the robot arm fixing portion 1100 and the plate mounting portion 1200 The geometric positional relationship is fixed to one and the plate 200 for coordinate synchronization is mounted in a fixed position and direction with respect to the engaging element 1210 on the upper surface of the plate mounting portion 1200. This means that the three-dimensional positional relationship of the plate 200 for coordinate synchronization with respect to the robot arm 100, more specifically, with respect to the workpiece 170 at the end of the robot arm 100, is uniformly determined.

The oral cavity model 300 has three holes 310 provided in the bottom face of the oral cavity model 300 inserted in the object fixing element 220 of the plate 200 for coordinate synchronization, The spatial coordinate system of the oral cavity model 300, which is determined from the shape of the three holes 310 included, can be grasped by a program for computational implant plan planning. That is, the coordinate data (drilling processing data) for the implantation plan established on the computer can be transplanted into the spatial coordinate system of the oral cavity model 300.

As a result, the coordinate data for the implantation plan established on a computer basis includes the oral cavity model 300, the plate 200 for coordinate synchronization, the plate mounting portion 1200, the connecting portion 1300, the robot arm fixing portion 1100, The robot arm 100 can be numerically controlled so that it is possible to precisely process the oral cavity model 300 according to the implantation procedure plan established on the basis of the numerical value.

As described above, if the plate for coordinate synchronization 200 is a medium for synchronizing the coordinate data for the implantation plan established in a computational manner with respect to the oral cavity model 300 and the plate 200 for coordinate synchronization, The arm mounting base plate 1000 may be defined as a medium that synchronizes the coordinate system of the robot arm 100 with the plate 200 for coordinate synchronization.

As described above, the base plate 1000 for mounting a robot arm according to the present invention is a first function to synchronize the coordinate system of the robot arm 100 with the plate 200 for coordinate synchronization, and further includes some additional functions .

5 and 6, a base plate 1000 for mounting a robot arm according to the present invention will be described in detail.

The robot arm mounting base plate 1000 includes the robot arm fixing portion 1100, the plate mounting portion 1200 and the connecting portion 1300 and is fixed to the robot arm fixing portion 1100 by the connecting portion 1300 The geometric positional relationship between the plate mounting portions 1200 is fixed in a single positional relationship. The robot arm fixing part 1100, the plate mounting part 1200 and the connecting part 1300 may be configured to be assembled, and after the fixed installation, the connecting part 1300 may be separated and reused for another installation . However, since the geometric positional relationship between the robot arm fixing part 1100 and the plate mounting part 1200 may be slightly changed as the use time increases, the robot arm fixing part 1100, the plate mounting part 1200, and the connection part 1300 It is more preferable to make all of them as an integral structure.

Here, the plate mounting portion 1200 is provided with a plurality of vacuum suction holes 1220. A vacuum is formed around the vacuum suction hole 1220 by the operation of the vacuum suction device 20 when the vacuum suction holes 1220 are connected to a separate vacuum suction device 20 do. The vacuum suction holes 1220 are functionally distinguished into two types. One is a cut-in suction hole 1222 and the other is a suction hole 1224 for fixing.

The cutting suction holes 1222 are vacuum suction holes 1220 arranged around the coordinate synchronization plate 200 when the plate 200 for coordinate synchronization is coupled to the plate mounting portion 1200. The cutting dust suction holes 1222 are formed in the work hole 170 of the robot arm 100 such as a hole for suctioning the cutting powder generated when the drill bit is cut in the oral cavity model 300, to be. In particular, since the robot arm 100 for processing the oral cavity model 300 can be used in a dental hospital equipped with a cavity, it is very important for the sanitary and cleanliness to remove the cut immediately after processing. For effective suction of the cuttings, it is preferable that the cutting suction holes 1222 are arranged around the periphery of the plate 200 for coordinate synchronization.

The fixing suction hole 1224 is a vacuum suction hole 1220 disposed on the bottom surface of the coordinate synchronization plate 200 when the plate 200 for coordinate synchronization is coupled to the plate mounting portion 1200. The plate 200 for coordinate synchronization is made in such a structure that the hole 310 formed in its bottom face is detachably fitted to the corresponding engaging element 1210 of the plate mounting portion 1200. The plate 200 for coordinate synchronization is mounted by the three engaging elements 1210 without any fluctuation but the plate 200 for coordinate synchronization is rotated by the cutting force acting when the plate 200 is machined into the workpiece 170 of the robot arm 100 ) May be shaken or dislodged. However, fixing using a clamp-like mechanism is complicated in structure, inconvenient to use, and hinders the suction of cuttings.

Therefore, the present invention includes a configuration in which the plate 200 for coordinate synchronization also adds a clamping force with a vacuum pressure in consideration of using the vacuum suction device 20, and this configuration is the fixing suction hole 1224. The vacuum suction hole 1220 has a larger diameter than the cut-off portion suction hole 1222 which is used for suctioning the cut-off portion in order to apply the vacuum pressure over a large area.

In the illustrated embodiment, the fixing suction holes 1224 are formed as a single unit, but it is also possible to arrange a plurality of suction holes 1224 in a plurality of units. It is preferable that the fixing suction hole 1224 is disposed in the center thereof so as to be surrounded by the engaging element 1210 so as to catch the central portion of the plate 200 for coordinate synchronization.

Further, the base plate 1000 for mounting the robot arm of the present invention is configured to secure a sufficient structural strength while maintaining a compact design. To this end, the robot arm fixing portion 1100 includes a side extending portion 1120 extended outwardly from the extension of the connection portion 1300. Although the robot arm fixing portion 1100 is relatively fixed by the connecting portion 1300 and the plate mounting portion 1200 in the front-rear direction (the direction in which the connection portion extends), the contact area in the lateral direction is relatively small, It can fall. When the robot arm 100 is operated, vibration may be generated in a portion having a weak fixing force. In order to compensate for this, a side extending portion 1120 is added to both sides of the robot arm fixing portion 1100.

6, the inside of the robot arm fixing part 1100 and the connection part 1300 are configured as a web structure in which a plurality of ribs 1400 are connected. The plurality of ribs 1400 connected to each other contributes to improving the structural strength while improving the light absorbing ability.

Fig. 7 shows an embodiment of a robot arm worktable 1 to which a base plate 1000 for installing a robot arm of the present invention is applied. A robot arm mounting base plate 1000 is fixed to the upper surface of the table 10, and a robot arm 100 is provided thereon. The robot arm worktable 1 can be constructed more compactly by providing the base plate 1000 for installing the robot arm in the diagonal direction of the upper surface of the table 10. [

The table 10 can be configured to be movable, or fixed, as shown in the drawing. The mobile robot arm worktable 1 can be stored in a dead space when not in use, which is useful for utilizing a narrow space.

In the middle of the table 10, the aforementioned vacuum suction device 20 is disposed below the plate mounting portion 1200, and a storage box 30 capable of storing various tools and fixtures is provided in the remaining space. At the lowest position, a robot arm controller 40 having a weight is disposed to balance the overall weight of the robot arm worktable 1.

Although not shown in the drawing, a signal cable for receiving coordinate data (drilling processing data) for the implantation plan established in a computational manner via the robot arm controller 40 and transmitting a signal for monitoring the processing status It is connected to the computer. And various operations such as controlling the robot arm 100 through the display of the computer can be performed.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof, . Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

The present invention is suitable for use in setting the robotic arm for machining the oral cavity model to the correct position for manufacturing the guide template.

1: Robot arm work table 10: Table
20: vacuum suction device 30: storage box
40: Robot arm controller 100: Robot arm
110: base 120: first arm
130: second arm 140: third arm
150: fourth arm 160: working stage
170: Work center 200: Plate for coordinate synchronization
210: body 220: object fixing element
230: Instrument Fixing Element 300: Oral Model
310: hole corresponding to the object fixing element
1000: Base plate for installation of robot arm
1100: robot arm fixing portion 1110: fastening hole
1120: side extension part 1200: plate mounting part
1210: Coupling element 1220: Vacuum suction hole
1222: Cutting-in suction hole 1224: Fixing suction hole
1300: connection part 1400: rib

Claims (9)

A robot arm fixing unit for mounting the robot arm at a predetermined position;
A plate mounting portion including a coupling element having a shape complementary to at least three or more apparatus fixing elements formed on the bottom surface of the plate for coordinate synchronization; And
And a connecting portion connecting the robot arm fixing portion and the plate mounting portion,
Wherein the connecting portion fixes the geometric positional relationship between the robot arm fixing portion and the plate mounting portion in a predetermined one positional relationship and thereby engages with at least three or more object fixing elements provided on the upper surface of the coordinate synchronizing plate A first coordinate system determined by complementary holes of the object to be processed, a second coordinate system determined by at least three or more device fixing elements formed on the bottom surface of the coordinate synchronization plate or a coupling element of the plate mounting portion, And a third coordinate system of the robot arm installed at a predetermined position of the fixed portion are synchronized with each other. The method according to claim 1,
Wherein the robot arm fixing part, the plate mounting part, and the connection part are all integrally formed. The method according to claim 1,
Wherein the plate mounting portion is provided with a plurality of vacuum suction holes. The method of claim 3,
Wherein the plurality of vacuum suction holes include cut-off suction holes arranged around the coordinate synchronization plate when the plate for coordinate synchronization is coupled to the plate mounting portion. 5. The method of claim 4,
Wherein the cutting suction holes are arranged around the periphery of the coordinate synchronization plate. The method of claim 3,
Wherein the plurality of vacuum suction holes include fixing suction holes disposed on a bottom surface of the coordinate synchronization plate when the coordinate synchronization plate is coupled to the plate mounting portion. The method according to claim 6,
And the fixing suction hole is disposed so as to be surrounded by the coupling element. The method according to claim 1,
Wherein the robot arm fixing portion includes a side extension extending outwardly from an extension of the connection portion. 9. The method of claim 8,
Wherein the robot arm fixing part and the connecting part are a web structure in which a plurality of ribs are connected to each other.

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