CN105773581A - Controllable hybrid mechanism type ultrasonic tooth-cleaning robot - Google Patents
Controllable hybrid mechanism type ultrasonic tooth-cleaning robot Download PDFInfo
- Publication number
- CN105773581A CN105773581A CN201610328793.9A CN201610328793A CN105773581A CN 105773581 A CN105773581 A CN 105773581A CN 201610328793 A CN201610328793 A CN 201610328793A CN 105773581 A CN105773581 A CN 105773581A
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- CN
- China
- Prior art keywords
- connecting rod
- pin
- hooke
- hinge
- moving platform
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/20—Power-driven cleaning or polishing devices using ultrasonics
Abstract
The invention relates to a controllable hybrid mechanism type ultrasonic tooth-cleaning robot. A first connecting rod of the robot is nested on a fixed platform; a second connecting rod is connected with the first connecting rod through a first pin; a first hooke hinge is connected with the second connecting rod through a second pin; a third connecting rod is connected with the first hooke hinge through a third pin and is connected with a moving platform in a welding manner; a fourth connecting rod is nested on the fixed platform; a fifth connecting rod is connected with the fourth connecting rod through a fourth pin; and a second hooke hinge is connected with the fifth connecting rod through a fifth pin. The robot is strong in rigidity, high in stability, accuracy in positioning, good in local flexibility, more convenient in operation and simpler in step, improves the working efficiency of a dentist of cleaning teeth of a patient and lowers the fatigue degree of a medical worker.
Description
Technical field
The present invention relates to a kind of medical robot field, particularly a kind of controlled hybrid mechanism formula ultrasonic tooth machine people.
Background technology
In recent years, flourish along with China's economic, people start the health degree paying attention to health more, and the health of tooth has been increasingly becoming the emphasis that people pay close attention to.Cleaning one's teeth, popular saying is exactly toothwash, refers to the color and luster of getting rid of on tooth with the medical apparatus that cleans one's teeth, bacterial plaque also has dental calculus, and polishes its surface, to postpone the deposition of dental plaque and dental calculus.General in various big hospital is all the work using the patient that ultrasonic cavitron is vast to carry out toothwash, its operation principle is that the higher-order of oscillation produced by ultrasound wave is removed the deposit of tooth, but being all that the mode needing manually carries out cleaning one's teeth work when operating tooth-cleaning machine, this adds dentist's fussy degree operationally and degree of fatigue undoubtedly.Chinese patent 201510454143.4 discloses a kind of tooth-cleaning machine integrating and peeping function in ultrasonic scaling, polishing and oral cavity, the working method of this tooth-cleaning machine is still for the work that carries out cleaning one's teeth manually, it is therefore necessary to design the ultrasonic tooth machine people of the controlled hybrid mechanism formula that a kind of motility is high, stability is strong and work space is big.
Have not yet to see and a kind of both can guarantee that high, the overall stability of operation flexibility was strong, can guarantee that again and fast position accurately, and the innovation of the big ultrasonic tooth machine people of work space designs.
Summary of the invention
It is an object of the invention to provide the ultrasonic tooth machine people of a kind of controlled hybrid mechanism formula, both can guarantee that high, the overall stability of operation flexibility was strong, and can guarantee that again and fast position accurately, and work space is big.
nullThe present invention is achieved through the following technical solutions above-mentioned purpose: a kind of series-parallel connection controllable-mechanism type ultrasonic tooth machine people，The first connecting rod of this robot is nested on fixed platform，Second connecting rod is connected with first connecting rod by the first pin，First Hooke's hinge is connected with second connecting rod by the second pin，Third connecting rod is connected by the 3rd pin and the first Hooke's hinge，Third connecting rod is connected with moving platform by welding，Fourth link is nested on fixed platform，5th connecting rod is connected with fourth link by the 4th pin，Second Hooke's hinge is connected by the 5th pin and the 5th connecting rod，Six-bar linkage is by being connected by the 6th pin and the second Hooke's hinge，Six-bar linkage is connected with moving platform by welding，Seven-link assembly is nested on fixed platform，8th connecting rod is connected by the 7th pin and seven-link assembly，3rd Hooke's hinge is connected with second connecting rod by the 8th pin，9th connecting rod is connected by the 9th pin and the 3rd Hooke's hinge，9th connecting rod is connected with moving platform by welding，Fixed support is connected with moving platform by bolt，Swinging mounting is connected with fixed support by the tenth pin，Working end output point is connected with swinging mounting by the 11st pin，Sensor is arranged on working end output point.
Described first connecting rod, fourth link, seven-link assembly are connected by cylindrical pair with fixed platform, facilitate organisation operations.
Described moving platform has circular trough, facilitates fixed support to weld with moving platform.
Described moving platform upper edge has three circular troughs, facilitates third connecting rod, six-bar linkage and the 9th connecting rod to weld with it.
Described first connecting rod, fourth link and seven-link assembly are nested in the relation of three mutual Cheng Chuizhi of guide rail of fixed platform.
The present invention has the prominent advantages that:
1, this hybrid mechanism that robot adopts parallel connection platform and serial mechanism to be serially connected that cleans one's teeth, the stability with parallel institution is high, and the advantage that rigidity is strong also has the feature that serial mechanism motility is high simultaneously.
2, owing to adopting series-parallel hybrid mechanism, so its moving platform can realize any translation in space, working end output point adopts serial mechanism can present close to hemispherical work space, and its positioning precision is high, improves patient's being accurately positioned in the process of cleaning one's teeth.
3, this robot that cleans one's teeth can pass through the sensor acquisition tooth form data feedback on working end in PLC, by PLC, signal is processed, output signal is fed back to working end output point, reaches the effect automatically cleaned one's teeth, it is possible to be more convenient, carry out cleaning one's teeth work for patient for greater flexibility.
Accompanying drawing explanation
Fig. 1 is the structural representation of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Fig. 2 is the close-up schematic view of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Fig. 3 is bolt 29 schematic diagram of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Fig. 4 is another close-up schematic view of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Fig. 5 is the schematic diagram of three soldering openings on the moving platform of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Fig. 6 is the working state schematic representation of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Fig. 7 is another working state schematic representation of the ultrasonic tooth machine people of controlled hybrid mechanism formula of the present invention.
Figure is labeled as: third connecting rod 1, first Hooke's hinge 2, 3rd pin 3, second pin 4, first connecting rod 5, second connecting rod 6, first pin 7, fixed platform 8, moving platform 9, 6th pin 10, six-bar linkage 11, second Hooke's hinge 12, 5th connecting rod 13, 5th pin 14, 4th pin 15, fourth link 16, 9th pin 17, 9th connecting rod 18, 3rd Hooke's hinge 19, 8th connecting rod 20, 8th pin 21, 7th pin 22, seven-link assembly 23, fixed support 24, tenth pin 25, 11st pin 26, working end output point 27, swinging mounting 28, bolt 29, first welding hole 30, second welding hole 31, 3rd welding hole 32, sensor 33.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme is further described.
As shown in Figures 1 to 7, controlled hybrid mechanism formula ultrasonic tooth machine people of the present invention, concrete structure and annexation be:
nullFirst connecting rod 5 is nested on fixed platform 8，Second connecting rod 6 is connected with first connecting rod 5 by the first pin 7，First Hooke's hinge 2 is connected with second connecting rod 6 by the second pin 4，Third connecting rod 1 is connected with the first Hooke's hinge 2 by the 3rd pin 3，Third connecting rod 1 is connected with moving platform 9 by welding，Fourth link 16 is nested on fixed platform 8，5th connecting rod 13 is connected with fourth link 16 by the 4th pin 15，Second Hooke's hinge 12 is connected with the 5th connecting rod 13 by the 5th pin 14，Six-bar linkage 11 is connected with the second Hooke's hinge 12 by the 6th pin 10，Six-bar linkage 11 is connected with moving platform 9 by welding，Seven-link assembly 23 is nested on fixed platform 8，8th connecting rod 20 is connected with seven-link assembly 23 by the 7th pin 22，3rd Hooke's hinge 19 is connected with the 8th connecting rod 20 by the 8th pin 21，9th connecting rod 18 is connected with the 3rd Hooke's hinge 19 by the 9th pin 17，9th connecting rod 18 is connected with moving platform 9 by welding，Fixed support 24 is connected with moving platform 9 by bolt 29，Swinging mounting 28 is connected with fixed support 24 by the tenth pin 25，Working end output point 27 is connected 28 by the 11st pin 26 with swinging mounting，Sensor 33 is arranged on working end output point 27.
The operation principle of the present invention is:
Whole fixed platform 8 has the driving in three directions, and driving pair is all translation pair, and three translation directions present space and are mutually perpendicular to relation.When first connecting rod 5 moves, it will driving second connecting rod 6 by the first pin 7, second connecting rod 6 drives the first Hooke's hinge 2 and third connecting rod 1 by the second pin 4.Moving platform 9 can be done, along first connecting rod 5, the direction translated and be moved.Moving platform 9 can drive the connecting rod of all the other two side chains and pin to make corresponding motion in dynamic process, wherein one article of side chain is to be nested on fixed platform 8 by seven-link assembly 23,8th connecting rod 20 is connected with seven-link assembly 23 by the 7th pin 22,3rd Hooke's hinge 19 is connected with the 8th connecting rod 20 by the 8th pin 21,9th connecting rod 18 is connected with the 3rd Hooke's hinge 19 by the 9th pin 17,9th connecting rod 18 is connected with moving platform 9 by welding, the side chain formed.Another side chain is to be nested on fixed platform 8 by fourth link 16,5th connecting rod 13 is connected with fourth link 16 by the 4th pin 15, second Hooke's hinge 12 is connected with the 5th connecting rod 13 by the 5th pin 14, six-bar linkage 11 is connected with the second Hooke's hinge 12 by the 6th pin 10, and six-bar linkage 11 is connected to form with moving platform 9 by welding.In like manner, if fourth link 16 and seven-link assembly 23 also can drive moving platform 9 to present corresponding movement when translating along fixed platform 8 guide rail.Moving platform 9 motion of whole parallel institution is arbitrary translation in space.Being separately installed with driving on the swinging mounting 27 of the serial mechanism on moving platform 9 and working end output point 27, driving pair is revolute pair, and is provided with sensor 33 on working end output point 27.nullOn moving platform, 9 are connected with fixed support 24 by welding，On fixed support, 24 are connected be connected with swinging mounting 28 by the tenth pins 25，Working end output point 27 is connected with swinging mounting 28 by the 11st pin 26，Serial mechanism has two drive parts，One is swinging mounting 28，Another is working end output point 27，Swinging mounting 28 can rotate around fixed support 24，Working end output point 27 28 can carry out the Plane Rotation relative to swinging mounting 28 on swinging mounting，When patient lie on oral cavity combined therapy desks and magnify be ready for cleaning one's teeth time，Sensor 33 on working end output point 27 detects the tooth form data input signal as PLC of patient，Then pass through PLC to be processed to signal control each driving，Working end output point 27 is allowed automatically to make corresponding action by program，On working end output point 27, produce the ultrasound wave higher-order of oscillation start to carry out cleaning one's teeth work for patient simultaneously.
Claims (5)
- null1. a controlled hybrid mechanism formula ultrasonic tooth machine people，It is characterized in that，The first connecting rod of this robot is nested on fixed platform，Second connecting rod is connected with first connecting rod by the first pin，First Hooke's hinge is connected with second connecting rod by the second pin，Third connecting rod is connected by the 3rd pin and the first Hooke's hinge，Third connecting rod is connected with moving platform by welding，Fourth link is nested on fixed platform，5th connecting rod is connected with fourth link by the 4th pin，Second Hooke's hinge is connected by the 5th pin and the 5th connecting rod，Six-bar linkage is by being connected by the 6th pin and the second Hooke's hinge，Six-bar linkage is connected with moving platform by welding，Seven-link assembly is nested on fixed platform，8th connecting rod is connected by the 7th pin and seven-link assembly，3rd Hooke's hinge is connected with second connecting rod by the 8th pin，9th connecting rod is connected by the 9th pin and the 3rd Hooke's hinge，9th connecting rod is connected with moving platform by welding，Fixed support is connected with moving platform by welding，Swinging mounting is connected with fixed support by the tenth pin，Working end output point is connected with swinging mounting by the 11st pin，Sensor is arranged on working end output point.
- 2. controlled hybrid mechanism formula ultrasonic tooth machine people according to claim 1, it is characterised in that first connecting rod, fourth link and seven-link assembly are nested in three guide rails of fixed platform and are in vertical relation.
- 3. controlled hybrid mechanism formula ultrasonic tooth machine people according to claim 1, it is characterised in that described first connecting rod, fourth link, seven-link assembly are connected with fixed platform by cylindrical pair.
- 4. controlled hybrid mechanism formula ultrasonic tooth machine people according to claim 1, it is characterised in that described moving platform has circular trough, it is simple to fixed support welds with moving platform.
- 5. controlled hybrid mechanism formula ultrasonic tooth machine people according to claim 1, it is characterised in that described moving platform upper edge has three circular troughs, it is simple to third connecting rod, six-bar linkage and the 9th connecting rod weld with it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328793.9A CN105773581A (en) | 2016-05-17 | 2016-05-17 | Controllable hybrid mechanism type ultrasonic tooth-cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610328793.9A CN105773581A (en) | 2016-05-17 | 2016-05-17 | Controllable hybrid mechanism type ultrasonic tooth-cleaning robot |
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| CN105773581A true CN105773581A (en) | 2016-07-20 |
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| CN201610328793.9A Pending CN105773581A (en) | 2016-05-17 | 2016-05-17 | Controllable hybrid mechanism type ultrasonic tooth-cleaning robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5515478A (en) * | 1992-08-10 | 1996-05-07 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
| EP1743594A1 (en) * | 2005-07-14 | 2007-01-17 | Yechiel Cohen | Computer-Controlled Dental Treatment System And Method |
| KR20130123192A (en) * | 2012-05-02 | 2013-11-12 | 조선대학교산학협력단 | Robot system for dental implantology and dental implantology procedure using the same |
| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN105395295A (en) * | 2015-11-24 | 2016-03-16 | 张海钟 | Robot system for treating oral cavity and teeth |
| CN205614662U (en) * | 2016-05-17 | 2016-10-05 | 广西大学 | Controllable formula ultrasonic scaler of series -parallel connection mechanism ware people |
-
2016
- 2016-05-17 CN CN201610328793.9A patent/CN105773581A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5515478A (en) * | 1992-08-10 | 1996-05-07 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
| EP1743594A1 (en) * | 2005-07-14 | 2007-01-17 | Yechiel Cohen | Computer-Controlled Dental Treatment System And Method |
| KR20130123192A (en) * | 2012-05-02 | 2013-11-12 | 조선대학교산학협력단 | Robot system for dental implantology and dental implantology procedure using the same |
| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN105395295A (en) * | 2015-11-24 | 2016-03-16 | 张海钟 | Robot system for treating oral cavity and teeth |
| CN205614662U (en) * | 2016-05-17 | 2016-10-05 | 广西大学 | Controllable formula ultrasonic scaler of series -parallel connection mechanism ware people |
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Application publication date: 20160720 |
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