WO2020134387A1 - 壳状牙科器械附件安装系统及方法 - Google Patents

壳状牙科器械附件安装系统及方法 Download PDF

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Publication number
WO2020134387A1
WO2020134387A1 PCT/CN2019/111679 CN2019111679W WO2020134387A1 WO 2020134387 A1 WO2020134387 A1 WO 2020134387A1 CN 2019111679 W CN2019111679 W CN 2019111679W WO 2020134387 A1 WO2020134387 A1 WO 2020134387A1
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WO
WIPO (PCT)
Prior art keywords
shell
dental instrument
shaped dental
attachment
accessory
Prior art date
Application number
PCT/CN2019/111679
Other languages
English (en)
French (fr)
Inventor
徐希羊
黄雷
梁晓辉
Original Assignee
无锡时代天使医疗器械科技有限公司
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Application filed by 无锡时代天使医疗器械科技有限公司 filed Critical 无锡时代天使医疗器械科技有限公司
Priority to US17/298,933 priority Critical patent/US20220008167A1/en
Publication of WO2020134387A1 publication Critical patent/WO2020134387A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A61C7/08—Mouthpiece-type retainers or positioners, e.g. for both the lower and upper arch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/06—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/06—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation
    • B05D3/061—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation using U.V.
    • B05D3/065—After-treatment
    • B05D3/067—Curing or cross-linking the coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
    • B29C43/02—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor of articles of definite length, i.e. discrete articles
    • B29C43/18—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor of articles of definite length, i.e. discrete articles incorporating preformed parts or layers, e.g. compression moulding around inserts or for coating articles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C2202/00—Packaging for dental appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C2204/00—Features not otherwise provided for
    • A61C2204/005—Features not otherwise provided for using chip tag or any electronic identification mean, e.g. RFID

Definitions

  • the present application generally relates to an automated shell-shaped dental instrument accessory installation system and method.
  • shell-shaped dental instruments based on polymer materials are becoming more and more popular.
  • traction buckles used to hang the traction member so that the traction force acts on the corresponding part
  • double jaw plate transmit the appropriate bite force to the lower jaw through the bite slope in the posterior teeth area to adjust the position of the lower jaw
  • flat guide bite stop
  • jaw pad occlusal pad
  • the functional accessory is a hot-pressed film integrally formed on the shell-shaped dental instrument, on the one hand, the functional accessory is easily damaged in some cases, on the other hand, this may bring uncertainty to the performance of the shell-shaped dental instrument itself. If the functional accessories are made separately and then manually bonded to the shell-shaped dental instrument, the production efficiency, accuracy (including position and angle) and quality (for example, the strength of the bonding) of this solution are not guaranteed. .
  • An aspect of the present application provides a shell-shaped dental instrument accessory installation method, which includes: a control device acquires accessory installation information; and the control device uses the accessory installation information control device to fix the attachment to the shell-shaped dental instrument.
  • the attachment installation information may include the installation position and angle of the attachment on the shell-shaped dental instrument.
  • the method of installing the shell-shaped dental instrument accessory may further include: the control device controls the identity recognition device to recognize the identity of the shell-shaped dental instrument; and the control device obtains from a database based on the identity information The attachment installation information.
  • the device may mount and fix the accessory to the shell-shaped dental instrument by one of the following means: bonding and welding.
  • the device may mount and fix the accessory to the shell-shaped dental instrument in an adhesive manner.
  • the attachment may be fixed to the shell-shaped dental instrument by ultraviolet curing adhesive
  • the method may further include: the control device controls the device to the attachment or the shell-shaped dental instrument At least one of the mounting parts is dispensed; and the control device controls the device to irradiate the contact portion of the accessory and the shell-shaped dental instrument with ultraviolet rays to rapidly cure the ultraviolet curing glue.
  • the method may further include: the control device uses the accessory installation information to control the device to dock the accessory with the shell-shaped dental instrument, wherein, during the docking process, the accessory Keep stationary.
  • the shell-shaped dental instrument is in an integrated shell shape, forming a cavity for containing teeth.
  • the shell-shaped dental instrument is manufactured by a hot-press film forming process.
  • the cavity of the shell-shaped dental instrument has a geometry that repositions teeth from the first layout to the second layout.
  • a further aspect of the present application provides a shell-shaped dental instrument accessory installation system, which includes: a control device for controlling the shell-shaped dental instrument accessory installation system to fix the attachment to the shell-shaped dental instrument; and at least A manipulator, the control device is configured to control the at least one manipulator using attachment installation information, position and dock the attachment and the shell-shaped dental instrument to fix the attachment to the shell-shaped dental instrument .
  • control device may be a computer.
  • the attachment installation information may include the installation position and angle of the attachment on the shell-shaped dental instrument.
  • the shell-shaped dental instrument accessory installation system further includes an identity recognition device, and the control device is configured to: control the identity recognition device to recognize the identity of the shell-shaped dental instrument, and then according to the The identity of the shell-shaped dental instrument obtains the attachment installation information from the database.
  • the identification device is a two-dimensional code scanning device for scanning the two-dimensional code on the shell-shaped dental instrument.
  • the shell-shaped dental instrument accessory installation system mounts and fixes the accessory to the shell-shaped dental instrument in one of the following ways: bonding and welding.
  • the shell-shaped dental instrument accessory installation system is to fix and fix the accessory to the shell-shaped dental instrument in an adhesive manner, which further includes a dispensing device, and the control device is configured to: Controlling the dispensing device to dispense at at least one of the attachment and the attachment of the shell-shaped dental instrument.
  • the dispensing device is used to supply ultraviolet curable glue
  • the shell-shaped dental instrument accessory installation system further includes an ultraviolet light source
  • the control device is configured to: dispense and the accessory and shell after the dispensing After the docking of the shaped dental instrument, the ultraviolet light source is controlled to irradiate the attachment parts of the attachment and the shell-shaped dental instrument to rapidly cure the ultraviolet curing glue.
  • the shell-shaped dental instrument is in an integrated shell shape, forming a cavity for containing teeth.
  • the shell-shaped dental instrument is manufactured by a hot-press film forming process.
  • the cavity of the shell-shaped dental instrument has a geometry that repositions teeth from the first layout to the second layout.
  • FIG. 1 schematically shows a shell-shaped dental instrument accessory installation system in an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a method for installing an attachment of a shell-shaped dental instrument in an embodiment of the present application
  • FIG. 3 schematically shows the accessory mounting module in FIG. 1;
  • FIG. 4 schematically shows the manipulator for grabbing attachments in FIG. 1;
  • Fig. 5 schematically shows the manner of feeding accessories of the vibrating feed tray in Fig. 1.
  • One aspect of the present application provides a shell-shaped dental instrument accessory installation system and method to achieve automatic installation and fixation of the shell-shaped dental instrument accessory, thereby liberating manpower, improving efficiency, and installing quality.
  • the shell-shaped dental instrument is an integrated shell shape, forming a cavity for containing teeth.
  • the shell-shaped dental instrument can be obtained by pressing a film on a dental mold with a polymer material film using a hot-press film forming process.
  • the cavity of the shell-shaped dental instrument has a geometry to reposition teeth from the first layout to the second layout.
  • FIG. 1 schematically illustrates a shell-shaped dental instrument accessory installation system 100 according to an embodiment of the present application.
  • the shell-shaped dental instrument accessory installation system 100 includes a control device 101, a conveyor belt 103, a robot 105, and an accessory installation module 107.
  • the control device 101 is used to control the shell-shaped dental instrument accessory installation system 100 to fix the attachment to the shell-shaped dental instrument.
  • the control device 101 may be any suitable computer, such as a personal computer, a server, a smart mobile phone, a single chip microcomputer, and so on.
  • the control device 101 may be an application specific integrated circuit (Application Specific Integrated Circuits, ASICs for short), a field programmable gate array (FPGA), a microcontroller (MCU), or a digital signal processor (DSP), etc. It is the core control device.
  • ASICs Application Specific Integrated Circuits
  • FPGA field programmable gate array
  • MCU microcontroller
  • DSP digital signal processor
  • the conveyor belt 103 is used to transfer the shell-shaped dental instrument 1031 to which the accessory is to be installed to a corresponding station.
  • the manipulator 105 is used to grab the shell-shaped dental instrument from the conveyor belt 103 and send it to a specific location to fix the attachment.
  • the accessory mounting module 107 is used to cooperate with the manipulator 105 to realize the positioning and docking of the accessory and the shell-shaped dental instrument, so as to fix the attachment on the shell-shaped dental instrument grabbed by the manipulator 105.
  • FIG. 2 is a schematic flowchart of a method 200 for installing a shell-shaped dental instrument accessory in an embodiment of the present application.
  • the method 200 for installing a shell-shaped dental instrument accessory will be exemplarily described below in conjunction with the automated shell-shaped dental instrument accessory installation system 100.
  • control device 101 may control the conveyor belt 103 to run and stop at a predetermined rhythm to sequentially perform the attachment installation operation on the shell-shaped dental instruments that reach the attachment installation station.
  • the control device 101 may control the conveyor belt 103 to run and stop at a predetermined rhythm to sequentially perform the attachment installation operation on the shell-shaped dental instruments that reach the attachment installation station.
  • the control device 101 may control an identification device (not shown) to obtain the identity information of the shell-shaped dental instrument, and then based on the The identity information acquires attachment installation information corresponding to the shell-shaped dental instrument from the database.
  • the identity recognition device may be a two-dimensional code scanning device for scanning the two-dimensional code on the shell-shaped dental instrument to extract its identity information. Under the inspiration of this application, it can be understood that the identity recognition device is not limited to the two-dimensional code scanning device.
  • the attachment installation information may include information indicating the position and direction of the attachment of the shell-shaped dental instrument, for example, it may include the coordinates and direction of the position of the attachment of the shell-shaped dental instrument.
  • the attachment installation information control device is used to install and fix the attachment to the shell-shaped dental instrument.
  • the control device 101 can control the conveyor belt 103 to stop, and then control the robot 105 to grab the shell-shaped dental instrument and send it to the accessory installation Attachment installation is performed at module 107.
  • the control device 101 uses the attachment installation information obtained in 201 to control the manipulator 105 to adjust the orientation of the shell-shaped dental instrument, to accurately position and dock the attachment and the shell-shaped dental instrument, thereby ensuring the attachment installation Precision.
  • the robot 105 needs to position the shell-shaped dental instrument when grasping it to achieve The conversion of correct coordinates (including position coordinates and angle coordinates) enables the control device 101 to accurately control the robot 105 to accurately position and dock the shell-shaped dental instruments and accessories.
  • the manipulator 105 can grab a shell-shaped dental instrument that has not yet been demolded, and locate by the positioning structure on the dental mold.
  • the manipulator 105 can grab an uncut shell-shaped dental instrument and position it by the positioning structure of the part to be cut. It can be understood that as long as the shell-shaped dental instrument can be positioned, the attachment installation information and the known relative positional relationship between the components can be used to control the installation of the attachment accurately, and the specific details will not be repeated here.
  • FIG. 3 schematically shows an accessory installation module 107 in an embodiment of the present application.
  • the accessory mounting module 107 includes a vibration feed tray 1071, a robot 1073, a cleaning device 1075, a dispensing device 1077, and curing light sources 1079a and 1079b.
  • Vibrating feed tray 1071 is used to feed the accessories.
  • Robot 1073 is used to transfer the accessories between different stations to complete the installation of the accessories.
  • the cleaning device 1075 is used to clean the accessories before the installation.
  • the dispensing device 1077 It is used to dispense glue to the attachment part of the attachment.
  • the curing light sources 1079a and 1079b are used to irradiate the contact part between the attachment and the shell-shaped dental instrument after the attachment reaches the installation position to quickly cure the glue.
  • FIG. 4 schematically shows the manipulator 1073 in one embodiment of the present application.
  • the manipulator 1073 is driven by the motor 1073a to move in a straight line.
  • An attachment housing 1073b is formed at the end of the manipulator 1073 for accommodating and positioning the attachment.
  • FIG. 5 schematically shows the cooperation between the vibration feed tray 1071 and the manipulator 1073.
  • the vibrating feeder plate 1071 includes a vibrating plate 1071a, guide rails 1071b and 1071c, wherein the first end of the guide rail 1071b is connected to the vibrating plate 1071a, and the second end of the guide rail 1071b is connected to the guide rail 1071c to convey the accessories from the vibrating plate 1071a to the guide rail 1071c . It can be understood that, in addition to the vibration feed tray, other ways of feeding the accessories can also be used.
  • attachment storage slot 1073b communicates with air extraction device 1073c, and the attachment is relied on by suction force generated by air extraction device 1073c Inhale the accessory storage slot 1073b and fix it by suction.
  • the accessory receiving slot 1073b is detachable.
  • the accessory receiving slot of the corresponding structure can be replaced to widen the application range of the shell-shaped dental instrument accessory installation system 100.
  • the cleaning device 1075, the dispensing device 1077, and the curing light sources 1079a and 1079b are laid out along the movement trajectory of the manipulator 1073.
  • the control device 101 controls its movement to the cleaning device 1075, and then controls the cleaning device 1075 to perform a cleaning operation on the attachment.
  • the cleaning device 1075 may be a plasma cleaning device, which has both cleaning and surface activation functions. It can be understood that the cleaning device 1075 may be any other suitable cleaning device.
  • control device 101 controls the robot 1073 to move to the dispensing device 1077, and then controls the dispensing device 1077 to dispense the accessory.
  • the control device 101 controls the manipulator 1073 to move to the curing light sources 1079a and 1079b, and controls the manipulator 105 to send the shell-shaped dental instruments to the curing light sources 1079a and 1079b, so that the attachment is placed against the shell-shaped dental instrument to install the attachment
  • the glue is quickly cured, thereby fixing the attachment on the shell-shaped dental instrument to complete the installation of the attachment.
  • a force may be applied by the manipulator 105 to make the attachment tightly against the shell-shaped dental instrument to ensure the firmness of the bonding.
  • ultraviolet curing glue may be used to bond the attachment and the shell-shaped dental instrument, and the curing light sources 1079a and 1079b may be ultraviolet light sources.
  • the attachment in addition to bonding and fixing, can also be fixed on the shell-shaped dental instrument by welding, such as ultrasonic welding, laser welding, electrothermal fusion welding, friction welding, pulse welding, and infrared welding.
  • welding such as ultrasonic welding, laser welding, electrothermal fusion welding, friction welding, pulse welding, and infrared welding.
  • the attachment When docking the attachment with the shell-shaped dental instrument, the attachment can be kept fixed, and the robot can be controlled to move the shell-shaped dental instrument to dock. In yet another embodiment, the shell-shaped dental instrument can be kept fixed, and the robot can be controlled to move the attachment for docking. In yet another embodiment, the robot can be controlled to move the attachment and the shell-shaped dental instrument for docking.
  • the various diagrams may show exemplary architectures or other configurations of the disclosed methods and systems, which help to understand the features and functions that may be included in the disclosed methods and systems.
  • the claimed content is not limited to the exemplary architecture or configuration shown, but the desired features can be implemented with various alternative architectures and configurations.
  • the order of the blocks presented here should not be limited to the various embodiments implemented in the same order to perform the described functions, unless clearly indicated in the context .

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  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Epidemiology (AREA)
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  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
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Abstract

一种壳状牙科器械（1031）附件安装方法，其包括：控制装置（101）获取附件安装信息；以及控制装置（101）利用附件安装信息控制设备把附件安装固定于壳状牙科器械（1031）。

Description

壳状牙科器械附件安装系统及方法 技术领域
本申请总体上涉及自动化的壳状牙科器械附件安装系统及方法。
背景技术
由于美观、便捷以及利于清洁等优点，基于高分子材料的壳状牙科器械(如隐形矫治器以及保持器等)越来越受欢迎。
在利用壳状牙科器械进行牙齿正畸或正颌治疗的方案中，有时会利用功能性附件来增强矫治效果。常见的功能性附件包括牵引扣(用于悬挂牵引件，使得牵引力作用在相应的部位)、双颌板(通过位于后牙区的咬合斜面将适宜的咬合力传递到下颌，以调整下颌的位置)、平导板(bite stop)以及颌垫(occlusal pad)等。
若功能性附件是热压膜一体形成于壳状牙科器械上，一方面，在一些情况下功能性附件容易损坏，另一方面，这可能对壳状牙科器械本身的性能带来不确定性。若功能性附件是单独制作，再以人工粘接到壳状牙科器械上，这种方案的制作效率、精度(包括位置和角度)和质量(例如，粘接的牢固程度)都得不到保障。
鉴于以上，有必要提供一种新的壳状牙科器械附件安装系统和方法。
发明内容
本申请的一方面提供了一种壳状牙科器械附件安装方法，其包括：控制装置获取附件安装信息；以及所述控制装置利用所述附件安装信息控制设备把附件安装固定于壳状牙科器械。
在一些实施方式中，所述附件安装信息可以包括所述附件在所述壳状牙科器械上的安装位置和角度。
在一些实施方式中，所述壳状牙科器械附件安装方法还可以包括：所述控制装置控制身份识别装置识别所述壳状牙科器械的身份；以及所述控制装置基于所述身份信息从数据库获取所述附件安装信息。
在一些实施方式中，所述设备可以通过以下手段之一将所述附件安装固定于所述壳状牙科器械：粘接以及焊接。
在一些实施方式中，所述设备可以粘接的方式将所述附件安装固定于所述壳状牙科器械。
在一些实施方式中，所述附件可以紫外线固化胶粘接固定于所述壳状牙科器械，所述方法还可以包括：所述控制装置控制所述设备在所述附件或所述壳状牙科器械至少之一的安装部点胶；以及所述控制装置控制所述设备对所述附件与所述壳状牙科器械的接触部分进行紫外线照射，以使所述紫外线固化胶迅速固化。
在一些实施方式中，所述方法还可以包括：所述控制装置利用所述附件安装信息控制所述设备将所述附件与所述壳状牙科器械进行对接，其中，在对接过程中所述附件保持固定不动。
在一些实施方式中，所述壳状牙科器械为一体的壳状，形成容纳牙齿的空腔。
在一些实施方式中，所述壳状牙科器械是以热压膜成型工艺制作获得。
在一些实施方式中，所述壳状牙科器械的所述空腔具有将牙齿从第一布局重新定位到第二布局的几何形态。
本申请的又一方面提供了一种壳状牙科器械附件安装系统，其包括：控制装置，用于控制所述壳状牙科器械附件安装系统，以将附件安装固定于壳状牙科器械；以及至少一个机械手，所述控制装置被配置成：利用附件安装信息控制所述至少一个机械手，将所述附件和壳状牙科器械进行定位和对接，以将所述附件安 装固定于所述壳状牙科器械。
在一些实施方式中，所述控制装置可以是计算机。
在一些实施方式中，所述附件安装信息可以包括所述附件在所述壳状牙科器械上的安装位置和角度。
在一些实施方式中，所述的壳状牙科器械附件安装系统还包括身份识别装置，所述控制装置被配置成：控制所述身份识别装置识别所述壳状牙科器械的身份，再根据所述壳状牙科器械的身份从数据库获取所述附件安装信息。
在一些实施方式中，所述身份识别装置是二维码扫描装置，用于扫描壳状牙科器械上的二维码。
在一些实施方式中，所述的壳状牙科器械附件安装系统是以以下方式之一将所述附件安装固定于所述壳状牙科器械：粘接和焊接。
在一些实施方式中，所述的壳状牙科器械附件安装系统是以粘接方式将所述附件安装固定于所述壳状牙科器械，它还包括点胶装置，所述控制装置被配置成：控制所述点胶装置在所述附件和壳状牙科器械至少之一的安装部位点胶。
在一些实施方式中，所述点胶装置用于供应紫外固化胶，所述壳状牙科器械附件安装系统还包括紫外光源，所述控制装置被配置成：在完成点胶以及所述附件和壳状牙科器械的对接后，控制所述紫外光源照射所述附件和壳状牙科器械的安装部位，以使紫外固化胶迅速固化。
在一些实施方式中，所述壳状牙科器械为一体的壳状，形成容纳牙齿的空腔。
在一些实施方式中，所述壳状牙科器械是以热压膜成型工艺制作获得。
在一些实施方式中，所述壳状牙科器械的所述空腔具有将牙齿从第一布局重新定位到第二布局的几何形态。
附图说明
以下将结合附图及其详细描述对本申请的上述及其他特征作进一步说明。应当理解的是，这些附图仅示出了根据本申请的若干示例性的实施方式，因此不应被视为是对本申请保护范围的限制。除非特别指出，附图不必是成比例的，并且其中类似的标号表示类似的部件。
图1示意性地展示了本申请一个实施例中的壳状牙科器械附件安装系统；
图2为本申请一个实施例中的壳状牙科器械附件安装方法的示意性流程图；
图3示意性地展示了图1中的附件安装模块；
图4示意性地展示了图1中的用于抓取附件的机械手；以及
图5示意性地展示了图1中的震动供料盘供料附件的方式。
具体实施方式
以下的详细描述中引用了构成本说明书一部分的附图。说明书和附图所提及的示意性实施方式仅仅出于是说明性的目的，并非意图限制本申请的保护范围。在本申请的启示下，本领域技术人员能够理解，可以采用许多其他的实施方式，并且可以对所描述实施方式做出各种改变，而不背离本申请的主旨和保护范围。应当理解的是，在此说明并图示的本申请的各个方面可以按照很多不同的配置来布置、替换、组合、分离和设计，这些不同配置都在本申请的保护范围之内。
本申请的一方面提供了一种壳状牙科器械附件安装系统及方法，以实现壳状牙科器械附件的自动化安装固定，从而解放人力、提高效率和安装质量。
壳状牙科器械为一体的壳状，形成容纳牙齿的空腔。在一个实施例中，壳状牙科器械可以高分子材料膜片利用热压膜成型工艺在牙模上压膜获得。在一个实施例中，壳状牙科器械的空腔具有将牙齿从第一布局重新定位到第二布局的几何 形态。
请参图1，示意性地展示了本申请一个实施例中的壳状牙科器械附件安装系统100。
壳状牙科器械附件安装系统100包括控制装置101、传送带103、机械手105以及附件安装模块107。
控制装置101用于控制壳状牙科器械附件安装系统100将附件固定安装到壳状牙科器械上。在一个实施例中，控制装置101可以是任何适用的计算机，例如个人计算机、服务器、智能移动电话、单片机等等。在又一实施例中，控制装置101可以是以专用集成电路(Application Specific Integrated Circuits，简称ASICs)、现场可编程门阵列(FPGA)、微控制器(MCU)或数字信号处理器(DSP)等为核心的控制装置。
传送带103用于把待安装附件的壳状牙科器械1031传送到相应的工位。机械手105用于从传送带103上抓取壳状牙科器械，并将其送到特定的位置进行附件的固定安装。附件安装模块107用于和机械手105配合，实现附件和壳状牙科器械的定位和对接，以将附件固定安装在机械手105所抓取的壳状牙科器械上。
请参图2，为本申请一个实施例中壳状牙科器械附件安装方法200的示意性流程图。以下结合自动化壳状牙科器械附件安装系统100，对壳状牙科器械附件安装方法200进行示例性地说明。
在201中，获取附件安装信息。
在一个实施例中，控制装置101可以控制传送带103按预定的节奏运行和停止，以依次对到达附件安装工位的壳状牙科器械进行附件安装的操作。在本申请的启示下，可以理解，壳状牙科器械的送料方式有很多选择，并不限于传送带形式。
在一个实施例中，当一个待安装附件的壳状牙科器械到达附件安装工位时，控制装置101可以控制身份识别装置(图中未示)获取该壳状牙科器械的身份信 息，然后基于该身份信息从数据库获取与该壳状牙科器械对应的附件安装信息。在一个实施例中，身份识别装置可以是二维码扫描装置，用于扫描壳状牙科器械上的二维码，以提取其身份信息。在本申请的启示下，可以理解，身份识别装置并不限于二维码扫描装置。
在一个实施例中，附件安装信息可以包括表示壳状牙科器械上安装附件的位置和方向的信息，例如，它可以包括壳状牙科器械上安装附件的位置的坐标以及方向。
在203中，利用附件安装信息控制设备将附件安装固定于壳状牙科器械。
请再参图1，当一个待安装附件的壳状牙科器械到达附件安装工位时，控制装置101可以控制传送带103停止，然后控制机械手105抓取该壳状牙科器械并将其送至附件安装模块107处进行附件安装操作。其中，在进行附件安装操作时，控制装置101利用在201中获得的附件安装信息控制机械手105调整壳状牙科器械的方位，进行附件和壳状牙科器械的精确定位和对接，从而保障附件安装的精度。
由于每个壳状牙科器械的形状尺寸几乎都不相同，而对壳状牙科器械进行附件安装时需要进行精确定位，因此，机械手105在抓取壳状牙科器械时需要对其进行定位，以实现正确的坐标(包括位置坐标和角度坐标)转换，使得控制装置101能够精确控制机械手105把壳状牙科器械和附件进行精确定位和对接。在一个实施例中，机械手105可以抓取仍未脱模的壳状牙科器械，靠牙模上的定位结构进行定位。在一个实施例中，机械手105可以抓取未经裁剪的壳状牙科器械，靠待裁去部分的定位结构进行定位。可以理解，只要能够对壳状牙科器械进行定位，就能够利用附件安装信息以及各部件之间已知的相对位置关系控制设备进行精确地附件安装，其中的具体细节此处不再赘述。
请参图3，示意性地展示了本申请一个实施例中的附件安装模块107。
附件安装模块107包括震动供料盘1071、机械手1073、清洗装置1075、点胶装置1077、以及固化光源1079a和1079b。
震动供料盘1071用于附件的供料，机械手1073用于把附件在不同的工位之间转移以最终完成附件安装，清洗装置1075用于在附件安装之前对其进行清洗，点胶装置1077用于往附件的安装部位点胶，固化光源1079a和1079b用于在附件到达安装位置后对附件和壳状牙科器械的接触部进行照射使胶水快速固化。
请参图4，示意性地展示了本申请一个实施例中的机械手1073。
机械手1073由电机1073a驱动沿直线运动。机械手1073末端形成有附件收容槽1073b，用于容纳和定位附件。
请参图5，示意性地展示了震动供料盘1071与机械手1073之间的配合。
震动供料盘1071包括震动盘1071a、导轨1071b和1071c，其中，导轨1071b的第一端与震动盘1071a连接，其第二端与导轨1071c连接，以将来自震动盘1071a的附件输送至导轨1071c。可以理解，除了震动供料盘，还可采用其他方式进行附件的送料。
当传感器(图中未示)检测到有附件被传送到导轨1071c时，控制装置101控制滑块1071d把附件推到导轨1071c一端的通孔1071e处，使得该附件从通孔1071e掉落至机械手1073的附件收容槽1073b内。为使附件易于从通孔1071e落入附件收容槽1073b以及为进一步加强附件在附件收容槽1073b内的固位，附件收容槽1073b与抽气装置1073c连通，依靠抽气装置1073c产生的吸力将附件吸入附件收容槽1073b并将其吸附固定。
在一个实施例中，附件收容槽1073b是可拆卸的，需要安装不同形状的附件时，可以更换相应结构的附件收容槽，以拓宽壳状牙科器械附件安装系统100的应用范围。
请再参图3，清洗装置1075、点胶装置1077以及固化光源1079a和1079b沿机械手1073的运动轨迹布局。当机械手1073抓取附件之后，控制装置101控制其运动至清洗装置1075处，然后控制清洗装置1075对该附件进行清洗操作。在一个实施例中，清洗装置1075可以是等离子清洗装置，其同时具有清洁和表 面活化的作用。可以理解，清洗装置1075可以是任何其他适用的清洗装置。
附件清洗完毕后，控制装置101控制机械手1073运动至点胶装置1077处，然后控制点胶装置1077在附件上点胶。
点胶完毕后，控制装置101控制机械手1073运动至固化光源1079a和1079b处，并且控制机械手105把壳状牙科器械送至固化光源1079a和1079b处，使得附件抵靠在壳状牙科器械安装该附件的位置，通过固化光源1079a和1079b的照射，使得胶水迅速固化，从而将该附件固定在该壳状牙科器械上，完成附件的安装。
在一个实施例中，在附件与壳状牙科器械接触等待胶水固化的过程中，可以通过机械手105施加一个力，使得附件紧紧抵靠于壳状牙科器械，以保障粘接的牢固程度。
在一个实施例中，可以采用紫外线固化胶来粘接附件和壳状牙科器械，固化光源1079a和1079b可以是紫外光源。
在本申请的启示下，可以理解，可以对以上实施例中的很多部分进行修改或替换。
例如，除了粘接固定的方式，还可以焊接的方式将附件安装固定在壳状牙科器械上，如超声波焊接、激光焊接、电热熔融焊接、摩擦焊接、脉冲焊接以及红外线焊接等焊接方式。
在将附件与壳状牙科器械进行对接时，可以使附件保持固定，控制机械手移动壳状牙科器械进行对接。在又一实施例中，可以使壳状牙科器械保持固定，控制机械手移动附件进行对接。在又一实施例中，可以控制机械手移动附件和壳状牙科器械进行对接。
尽管在此公开了本申请的多个方面和实施例，但在本申请的启发下，本申请的其他方面和实施例对于本领域技术人员而言也是显而易见的。在此公开的各个方面和实施例仅用于说明目的，而非限制目的。本申请的保护范围和主旨仅通过 后附的权利要求书来确定。
同样，各个图表可以示出所公开的方法和系统的示例性架构或其他配置，其有助于理解可包含在所公开的方法和系统中的特征和功能。要求保护的内容并不限于所示的示例性架构或配置，而所希望的特征可以用各种替代架构和配置来实现。除此之外，对于流程图、功能性描述和方法权利要求，这里所给出的方框顺序不应限于以同样的顺序实施以执行所述功能的各种实施例，除非在上下文中明确指出。
除非另外明确指出，本文中所使用的术语和短语及其变体均应解释为开放式的，而不是限制性的。在一些实例中，诸如“一个或多个”、“至少”、“但不限于”这样的扩展性词汇和短语或者其他类似用语的出现不应理解为在可能没有这种扩展性用语的示例中意图或者需要表示缩窄的情况。

Claims (21)

  1. 一种壳状牙科器械附件安装方法，其包括：
    控制装置获取附件安装信息；以及
    所述控制装置利用所述附件安装信息控制设备把附件安装固定于壳状牙科器械。
  2. 如权利要求1所述的壳状牙科器械附件安装方法，其特征在于，所述附件安装信息包括所述附件在所述壳状牙科器械上的安装位置和角度。
  3. 如权利要求1所述的壳状牙科器械附件安装方法，其特征在于，它还包括：
    所述控制装置控制身份识别装置扫描所述壳状牙科器械以获得其身份信息；以及
    所述控制装置基于所述身份信息从数据库获取所述附件安装信息。
  4. 如权利要求1所述的壳状牙科器械附件安装方法，其特征在于，所述设备是通过以下手段之一将所述附件安装固定于所述壳状牙科器械：粘接以及焊接。
  5. 如权利要求4所述的壳状牙科器械附件安装方法，其特征在于，所述设备是以粘接的方式将所述附件安装固定于所述壳状牙科器械。
  6. 如权利要求5所述的壳状牙科器械附件安装方法，其特征在于，所述附件是以紫外线固化胶粘接固定于所述壳状牙科器械，所述方法还包括：
    所述控制装置控制所述设备在所述附件或所述壳状牙科器械至少之一的安装部点胶；以及
    所述控制装置控制所述设备对所述附件与所述壳状牙科器械的接触部分进行紫外线照射，以使所述紫外线固化胶迅速固化。
  7. 如权利要求5所述的壳状牙科器械附件安装方法，其特征在于，所述方法还包括：所述控制装置利用所述附件安装信息控制所述设备将所述附件与所述壳状牙科器械进行对接，其中，在对接过程中所述附件保持固定不动。
  8. 如权利要求1所述的壳状牙科器械附件安装方法，其特征在于，所述壳状牙科器械为一体的壳状，形成容纳牙齿的空腔。
  9. 如权利要求8所述的壳状牙科器械附件安装方法，其特征在于，所述壳状牙科器械是以热压膜成型工艺制作获得。
  10. 如权利要求8所述的壳状牙科器械附件安装方法，其特征在于，所述壳状牙科器械的所述空腔具有将牙齿从第一布局重新定位到第二布局的几何形态。
  11. 一种壳状牙科器械附件安装系统，其包括：
    控制装置，用于控制所述壳状牙科器械附件安装系统，将附件安装固定于壳状牙科器械；以及
    至少一个机械手，所述控制装置被配置成：利用附件安装信息控制所述至少一个机械手，将所述附件和壳状牙科器械进行定位和对接，从而将所述附件安装固定于所述壳状牙科器械。
  12. 如权利要求11所述的壳状牙科器械附件安装系统，其特征在于，所述控制装置是计算机。
  13. 如权利要求11所述的壳状牙科器械附件安装系统，其特征在于，所述附件安装信息包括所述附件在所述壳状牙科器械上的安装位置和角度。
  14. 如权利要求11所述的壳状牙科器械附件安装系统，其特征在于，它还包括身份识别装置，所述控制装置被配置成：控制所述身份识别装置识别所述壳状牙科器械的身份，再根据所述壳状牙科器械的身份从数据库获取所述附件安装信息。
  15. 如权利要求11所述的壳状牙科器械附件安装系统，其特征在于，所述身份识别装置是二维码扫描装置，用于扫描壳状牙科器械上的二维码。
  16. 如权利要求11所述的壳状牙科器械附件安装系统，其特征在于，它是以以下方式之一将所述附件安装固定于所述壳状牙科器械：粘接和焊接。
  17. 如权利要求16所述的壳状牙科器械附件安装系统，其特征在于，它是以 粘接方式将所述附件安装固定于所述壳状牙科器械，它还包括点胶装置，所述控制装置被配置成：控制所述点胶装置在所述附件和壳状牙科器械至少之一的安装部位点胶。
  18. 如权利要求17所述的壳状牙科器械附件安装系统，其特征在于，所述点胶装置用于供应紫外固化胶，所述壳状牙科器械附件安装系统还包括紫外光源，所述控制装置被配置成：在完成点胶以及所述附件和壳状牙科器械的对接后，控制所述紫外光源照射所述附件和壳状牙科器械的安装部位，以使紫外固化胶迅速固化。
  19. 如权利要求11所述的壳状牙科器械附件安装系统，其特征在于，所述壳状牙科器械为一体的壳状，形成容纳牙齿的空腔。
  20. 如权利要求19所述的壳状牙科器械附件安装系统，其特征在于，所述壳状牙科器械是以热压膜成型工艺制作获得。
  21. 如权利要求19所述的壳状牙科器械附件安装系统，其特征在于，所述壳状牙科器械的所述空腔具有将牙齿从第一布局重新定位到第二布局的几何形态。
PCT/CN2019/111679 2018-12-26 2019-10-17 壳状牙科器械附件安装系统及方法 WO2020134387A1 (zh)

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