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Publication numberCN105618631 A
Publication typeApplication
Application numberCN 201610000976
Publication date1 Jun 2016
Filing date4 Jan 2016
Priority date4 Jan 2016
Also published asCN105618631B
Publication number201610000976.8, CN 105618631 A, CN 105618631A, CN 201610000976, CN-A-105618631, CN105618631 A, CN105618631A, CN201610000976, CN201610000976.8
Inventors张永德, 左思浩, 姜金刚, 王钊, 韩英帅
Applicant哈尔滨理工大学
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Bending device for orthodontic archwire bending robot
CN 105618631 A
Abstract
The invention discloses a bending device for an orthodontic archwire bending robot. The bending device is used for, in an automatic orthodontic archwire bending process, clamping an archwire, and separating a clamping end when the archwire is fed. According to the bending device, by means of forward rotation of a central elliptical hole of a clamping element, and guidance of a positioning plate, the clamping end is enabled to clamp the archwire; due to limitation of geometric shapes of the central elliptical hole of the clamping element, and the clamping end, the clamping element does not rotate any more during clamping, and wire bending is started after clamping; after bending by an angle is finished, and in the process when the bending device returns to a zero position, the clamping end is separated by means of reverse rotation of the clamping element under the driving of frictional force, and by means of a separation rod between clamping cylinders, and therefore, separation of the clamping end is realized when the archwire is fed. The bending device for the orthodontic archwire bending robot is capable of improving the accuracy of archwire bending by clamping an archwire bending point. According to the bending device for an orthodontic archwire bending robot, the clamping and separation states of the clamping end are realized by means of control of one motor, leading to simplification of the structure of the orthodontic archwire bending robot.
Claims(4)  translated from Chinese
1.一种用于正畸弓丝弯制机器人的弯制装置,由驱动机构(I)、支撑固定机构(2)、弯制机构(3)三部分组成,其特征在于:驱动机构(I)和支撑固定机构(2)用螺栓连接,弯制机构(3 )和驱动机构(I)用螺栓连接。 An orthodontic arch wire bending means for bending the robot by a drive mechanism (I), fixed support means (2), bending means (3) consists of three parts, comprising: a drive mechanism (I ) and the support fixing mechanism (2) bolted, bending mechanism (3) and a drive mechanism (I) bolted.
2.根据权利要求1所述的一种用于正畸弓丝弯制机器人的弯制装置,其特征在于:所述的驱动机构(I)包括:行星减速步进电机(1-1)、固定板(1-2)、联轴器(1-3),行星减速步进电机(1-1)、固定板(1-2 )用螺栓连接在一起,联轴器(1-3 )与行星减速步进电机(1-1)的轴用紧定螺栓连接夹紧。 2. The system of claim 1, wherein the means for bending orthodontic arch wire bending robot, characterized by: a drive mechanism (I) comprises: stepper motor planetary reducer (1-1), fixing plate (1-2), coupling (1-3), the stepping motor planetary gear (1-1), the fixed plate (1-2) bolted together, the coupling (1-3) and stepper motor planetary reducer (1-1) of the shaft adapter bolted clamp.
3.根据权利要求1所述的一种用于正畸弓丝弯制机器人的弯制装置,其特征在于:所述的支撑固定机构(2 )包括:支撑杆(2-1)、定位板(2-2),支撑杆(2-1)与固定板(1-2 )用螺栓连接,定位板(2-2)有一个U形槽,定位板(2-2)与支撑杆(2-1)用螺栓连接。 3. The bending apparatus for bending robot orthodontic archwire according to claim 1, characterized in that: the means for fixing the support (2) comprising: a support bar (2-1), the positioning plate (2-2), rod (2-1) and the fixed plate (1-2) bolted positioning plate (2-2) has a U-shaped groove, the positioning plate (2-2) and the support bar (2 -1) bolted.
4.根据权利要求1所述的一种用于正畸弓丝弯制机器人的弯制装置,其特征在于:所述的弯制机构(3)包括:推力轴承a(3-l)、摩擦圆筒(3-2)、夹紧元件(3-3)、分离杆(3-4)、摩擦圆柱(3-5),弹簧顶杆(3-6),推力轴承b(3-7)、弯制圆盘(3-8)、夹紧圆柱a(3-9)、夹紧圆柱b(3-10),推力轴承a(3-l)安装到摩擦圆筒(3-2)—端,摩擦圆筒(3-2)靠近推力轴承a(3-l)的一端与联轴器(1-4)用螺栓连接;分离杆(3-4)焊接到夹紧元件(3-3)凹槽内,夹紧元件(3-3)的中心有一个椭圆孔,夹紧元件(3-3)有两个L型台阶,两个L型台阶上面各有一个盲孔,弹簧顶杆(3-6)安装在夹紧元件(3-3)的盲孔内,摩擦圆柱(3-5)的柱面顶住弹簧顶杆(3-6),装入摩擦圆筒(3-2)内;推力轴承b(3-7)安装到摩擦圆筒(3-2)远离推力轴承a(3-l)的一端,摩擦圆筒(3-2)靠近推力轴承b(3-7)的一端与弯制圆盘(3-8)用螺栓连接;夹紧圆柱a(3-9)与夹紧圆柱b(3-10)穿过定位板(2-2)U形槽和弯制圆盘(3-8)中心圆孔,安装到夹紧元件(3-3)中心椭圆内。 4. The bending apparatus for bending robot orthodontic archwire according to claim 1, characterized in that: said bending means (3) comprising: a thrust bearing a (3-l), friction cylinder (3-2), the clamping element (3-3), the separator bar (3-4), the friction cylinder (3-5), a spring mandrel (3-6), thrust bearings b (3-7) , bending disk (3-8), the clamping cylinder a (3-9), the clamping cylinder b (3-10), the thrust bearing a (3-l) is mounted to the friction cylinder (3-2) - end, the friction cylinder (3-2) near the thrust bearing a (3-l) one end of the coupling (1-4) bolted; release lever (3-4) welded to the clamping element (3-3 ) within the recess, the clamping element (3-3) from the center of an oval hole, the clamping element (3-3) has two L-shaped stairs, two L-shaped steps above have a blind hole, the spring ram (3-6) mounted on the clamping element (3-3) of the blind hole, the friction cylinder (3-5) of the spring against the cylindrical mandrel (3-6) was charged with the friction cylinder (3-2 ) inside; thrust bearings b (3-7) mounted to the friction cylinder (3-2) end remote from the thrust bearing a (3-l), the friction cylinder (3-2) near the thrust bearings b (3-7) one end of the bending disc (3-8) bolted; clamping cylinder a (3-9) with the clamping cylinder b (3-10) through the positioning plate (2-2) U-shaped groove and bending disc (3-8) center hole mounted to the clamping element (3-3) in the center of the ellipse.
Description  translated from Chinese
一种用于正畸弓丝弯制机器人的弯制装置 Bending apparatus for orthodontic arch wire bending robot

技术领域 TECHNICAL FIELD

[0001] 本发明涉及一种牙齿正畸矫治器所用的弓丝弯制工具,特别是一种用于正畸弓丝弯制机器人的弯制装置。 [0001] The present invention relates to a tool for bending the arch wire orthodontic appliance used, especially for orthodontic arch wire bending robot bending apparatus.

背景技术 Background technique

[0002]随着我国社会的发展和人民生活水平的不断提高,人们越来越注重口腔健康的问题,牙齿的美观越来越受关注。 [0002] With the development of society and the improvement of people's living standards, more and more people pay attention to oral health problems, beautiful teeth growing concern. 通常,正畸治疗矫正牙齿时,矫正弓丝的弯制是根据医生的经验手工操作的,效率低,劳动强度大。 Typically, orthodontic treatment to correct teeth, correct arch wire bending is based on the experience of the doctor's operation manual, inefficient, labor-intensive. 随着机器人领域的发展,开发正畸弓丝弯制机器人来实现矫正弓丝的弯制是很好的方法。 With the development of the field of robotics, the development of orthodontic arch wire bending robot to achieve the correction of the arch wire bending is a good method. 采用机器人进行弓丝弯制加工,利用机器人的位姿精确控制能力克服手工弯制弓丝的缺点,提尚正畸弓丝的弯制精度和效率。 Drawback to using robots archwire bending processing, utilization pose precise control of the robot hand to overcome the bending arch wire, still mention orthodontic arch wire bending accuracy and efficiency.

发明内容 SUMMARY

[0003]本发明的目的,是为了提高正畸弓丝机器人自动弯制过程中的弯制精度的弓丝弯制装置。 [0003] The present invention is to improve the orthodontic arch wire bending robot automatically during the bending precision archwire bending apparatus.

[0004]本发明解决其技术问题的解决方案是: [0004] The present invention solves the technical solution to the problem is:

一种用于正畸弓丝弯制机器人的弯制装置,由驱动机构、支撑固定机构、弯制机构,三部分组成;驱动机构和支撑固定机构用螺栓连接,弯制机构和驱动机构用螺栓连接。 One kind of bending apparatus orthodontic arch wire bending robot used by the drive mechanism, supporting and fixing mechanism, bending mechanism consists of three parts; a drive mechanism and a support fixing mechanism bolted, bending mechanism and a drive mechanism with bolts connection.

[0005]进一步的,所述的驱动机构其组成包括:行星减速步进电机、固定板、联轴器,行星减速步进电机、固定板用螺栓连接在一起,联轴器与行星减速步进电机的轴用紧定螺栓连接夹紧。 [0005] Further, the driving mechanism of the composition comprising: a planetary gear stepper motor fixing plate, couplings, planetary gear stepper motor, a fixing plate bolted together, coupling and planetary reduction step motor shaft adapter bolted clamp.

[0006]进一步的,所述的支撑固定机构其组成包括:支撑杆、定位板,其特征在于:支撑杆与固定板用螺栓连接,定位板与支撑杆用螺栓连接。 [0006] Further, the support mechanism fixing said composition which comprises: support bar, positioning plate, characterized in that: support bar bolted to the fixed plate, the positioning plate and the support bar bolted.

[0007]进一步的,弯制机构(3)其组成包括:推力轴承a、摩擦圆筒)、夹紧元件、分离杆、摩擦圆柱,弹簧顶杆,推力轴承b、弯制圆盘、夹紧圆柱a、夹紧圆柱b,其特征在于:推力轴承a安装到摩擦圆筒一端,摩擦圆筒靠近推力轴承a的一端与联轴器用螺栓连接;分离杆焊接到夹紧元件凹槽内,夹紧元件的中心有一个椭圆孔,夹紧元件有两个L型台阶,两个L型台阶上面各有一个盲孔,弹簧顶杆安装在夹紧元件的盲孔内,摩擦圆柱的柱面顶住弹簧顶杆,装入摩擦圆筒内;推力轴承b安装到摩擦圆筒远离推力轴承a的一端,摩擦圆筒靠近推力轴承b的一端与弯制圆盘用螺栓连接;夹紧圆柱a与夹紧圆柱b穿过定位板U形槽和弯制圆盘中心圆孔,安装到夹紧元件中心椭圆内。 [0007] Further, bending means (3) which consists of: a thrust bearing a, the friction cylinder), the clamping element, separating the rod, the friction cylinder, plunger spring, a thrust bearing B, bending disc clamp a cylinder, the clamping cylinder B, characterized by: a thrust bearing is mounted to one end of the cylinder friction, the friction cylinder is close to one end of a thrust bearing couplings with bolts; release lever welded to the clamping member grooves, clamp tight central element has an oval hole, the clamping element has two L-shaped stairs, two L-shaped steps above have a blind hole, the spring ram mounted in a blind hole clamping elements, friction cylinder cylinder top live spring ejector, loaded into the friction cylinder; b mounted to one end of the thrust bearing friction cylinder away from a thrust bearing, the friction cylinder near one end of the thrust bearing b bending disc bolted; and a clamping cylinder clamping cylinder b through the positioning plate U-shaped groove and bending the disk center hole, mounted in the center of the ellipse clamping element.

[0008]本发明的有益效果是: [0008] The beneficial effects of the present invention are:

1.本发明的弯制装置,在自动化弯制过程中,电机正转可以实现对弓丝弯制时的夹紧圆柱a和夹紧圆柱b的夹紧,提高弯丝的精度; Bending apparatus 1. The present invention, in the automated bending process, the motor is transferred can be achieved on a clamping cylinder when the arch wire bending and clamping clamping cylinder b, improve the accuracy of bent wire;

2.本发明的完治装置,在自动化弯制过程中,电机反转可以实现夹紧圆柱a和夹紧圆柱b的分离,以便于弓丝进给。 Kanji apparatus according to the present invention, the automated bending process, reverse the motor can achieve a clamping cylinder and clamping cylinder b separated so as to arch wire feed.

附图说明 BRIEF DESCRIPTION

[0009]附图1为本发明的结构示意图; [0009] FIG. 1 a schematic view of the structure of the present invention;

附图2为本发明的弯制机构俯视图; Figure 2 of the present invention, a plan view of the bending mechanism;

附图3为本发明的弯制机构仰视图; Bending mechanism Fig. 3 a bottom view of the present invention;

附图中,1-1行星减速步进电机、1-2固定板、1-3联轴器、2-1支撑杆、2-2定位板、3-1推力轴承a、3-2摩擦圆筒、3-3夹紧元件、3-4分离杆、3-5摩擦圆柱,3-6弹簧顶杆,3-7推力轴承b、3-8弯制圆盘、3-9夹紧圆柱a、3-10夹紧圆柱b。 Drawings, stepper motor planetary reducer 1-1, 1-2 fixing plate, couplings 1-3, 2-1 rod, positioning plate 2-2, 3-1 thrust bearings a, 3-2 friction circle cylinder, clamping elements 3-3, 3-4 release lever, the friction cylinder 3-5, 3-6 spring jack, 3-7 thrust bearing b, 3-8 bending disc, a cylindrical clamp 3-9 3-10 clamping cylinder b.

具体实施方式 detailed description

[0010]以下结合附图进一步说明本发明的具体结构及实施方式。 [0010] The following description of the drawings further specific structure of the present invention and the embodiments.

[0011]本发明的结构组成如附图1、附图2、附图3所示。 [0011] The composition of the present invention as the structure of Figure 1, Figure 2, shown in Figure 3. 用于正畸弓丝弯制机器人的弯制装置,由驱动机构1、支撑固定机构2、弯制机构3三部分组成,驱动机构I和支撑固定机构2用螺栓连接,弯制机构3和驱动机构I用螺栓连接。 Means for bending orthodontic arch wire bending robot 1 by the drive mechanism, supporting and fixing mechanism 2, the bending mechanism 3 is composed of three parts, the drive mechanism and the support I bolted fixing mechanism 2, 3 and the bending drive mechanism I bolted bodies. 驱动机构I包括:行星减速步进电机1-1、固定板1-2、联轴器1-3,行星减速步进电机1-1、固定板1-2用螺栓连接在一起,联轴器1-3与行星减速步进电机1-1轴用紧定螺栓连接夹紧。 I drive mechanism comprising: a planetary gear stepper motor 1-1, 1-2 fixing plate, couplings 1-3, 1-1 stepper motor planetary reducer, fixing plate connected together by bolts 1-2, coupling 1-3 and 1-1 axis stepper motor planetary gear set with a tight grip bolted. 所述的支撑固定机构2包括:支撑杆2-1、定位板2-2,支撑杆2-1与固定板1-3用螺栓连接,定位板2-2与支撑杆2-1用螺栓连接,定位板实现对夹紧圆柱a 3-9和夹紧圆柱b 3-10导向作用。 Said support fixing mechanism 2 comprising: a support bar 2-1, the positioning plate 2-2, 2-1 strut bolted to the fixed plate 1-3, 2-2 and the positioning plate bolted to the support rods 2-1 , to achieve a 3-9 alignment plate and clamping cylinder b 3-10 Guidance to the clamping cylinder. 弯制机构3包括:推力轴承a 3_1、摩擦圆筒3-2、夹紧元件3-3、分离杆3-4、摩擦圆柱3-5,弹簧顶杆3_6,推力轴承b 3-7、弯制圆盘3- 3 bending mechanism comprising: a thrust bearing a 3_1, 3-2 friction cylinder, clamping elements 3-3, 3-4 release lever, the friction cylinder 3-5, the spring ram 3_6, thrust bearings b 3-7, bend system disk 3-

8、夹紧圆柱a 3-9、夹紧圆柱b 3-10,其特征在于:推力轴承a(3-l)安装到摩擦圆筒(3-2) —端,摩擦圆筒(3-2)靠近推力轴承a 3-1的一端与联轴器1-4用螺栓连接;分离杆3-4焊接到夹紧元件3-3凹槽内,夹紧元件3-3的中心有一个椭圆孔,夹紧元件3-3有两个L型台阶,两个L型台阶上面各有一个盲孔,弹簧顶杆3-6安装在夹紧元件3-3的盲孔内,摩擦圆柱3-5的柱面顶住弹簧顶杆3-6,装入摩擦圆筒3-2内;推力轴承b 3-7安装到摩擦圆筒3-2远离推力轴承a 3-1的一端,摩擦圆筒3-2靠近推力轴承b 3-7的一端与弯制圆盘3-8用螺栓连接;夹紧圆柱a 3-9与夹紧圆柱b 3-10穿过定位板2-2U形槽和弯制圆盘3-8中心圆孔,安装到夹紧元件3-3中心椭圆内。 8, the clamping cylinder a 3-9, a clamping cylinder b 3-10, characterized in that: the thrust bearing a (3-l) is mounted to the friction cylinder (3-2) - end, the friction cylinder (3-2 release lever 3-4 3-3 welded to the inner clamping element recess, the clamping element 3-3 center has an oval hole;) near the end of the thrust bearing and coupling a 3-1 1-4 bolted 3-3 there are two L-shaped steps, the above steps two L-shaped clamping elements each have a blind hole, a spring mounted on the push rod clamping element 3-6 3-3 blind hole, a cylindrical friction 3-5 3-6 against the spring ram cylinder, loaded into the friction cylinder 3-2; thrust bearing is mounted to the friction cylinder b 3-7 3-2 3-1 away from the end of a thrust bearing, the friction cylinder 3 -2 near one end of the thrust bearing b bending disc bolted 3-8 3-7; clamping cylinder clamping cylinder with a 3-9 b 3-10 through the positioning plate-shaped grooves and bending 2-2U disc center hole 3-8, 3-3 mounted in the center of the clamping element ellipse.

[0012]其工作原理:行星减速步进电机1-1带动摩擦圆筒3-2正向旋转和反向旋转。 [0012] The working principle: planetary gear stepper motor driven friction cylinder 1-1 3-2 forward rotation and reverse rotation. 摩擦圆筒3-2正向旋转时,通过摩擦圆柱3-5与摩擦圆筒3-2之间的摩擦力带动夹紧元件3-3正向旋转,夹紧元件3-3的椭圆孔使夹紧圆柱a 3-9和夹紧圆柱b 3-10在定位板2-2U形槽的导向作用下夹紧,由夹紧元件3-3的椭圆孔、夹紧圆柱a 3-9和夹紧圆柱b 3-10的几何形状的限制,夹紧元件3-3无法继续转动,摩擦圆筒3-2克服摩擦力带动弯制圆盘继续转动,实现弓丝弯制。 Friction cylinder is rotated forward 3-2, 3-5 by friction cylinder and cylinder friction between the friction clamping elements led 3-2 3-3 forward rotation, the clamping element 3-3 oval hole so clamping cylinder and clamping cylinder a 3-9 b 3-10 under the guiding role of the positioning plate 2-2U shaped groove clamped by the clamping element oval hole 3-3, the clamping cylinder and a 3-9 clip b tight cylindrical geometry restrictions 3-10, can not continue to turn the clamping elements 3-3, 3-2 friction cylinder driven bending overcome the friction disc continues to rotate, to achieve the arch wire bending. 摩擦圆筒3-2反向旋转时,通过摩擦圆柱3-5与摩擦圆筒3-2之间的摩擦力带动夹紧元件3-3反向旋转,分离杆3-4在定位板2-2U形槽作用下使夹紧圆柱a 3_9和夹紧圆柱b 3-10分离,实现弯丝时弓丝进给。 When the reverse rotation friction cylinder 3-2, 3-5 by friction cylinder barrel and the friction between the friction 3-2 3-3 reverse rotation driven clamping element, the positioning plate separator bar 3-4 2- 2U-groove action clamping cylinder and clamping cylinder a 3_9 b 3-10 separation, the realization of curved arch wire when the wire feed.

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Classifications
International ClassificationA61C7/02, B21F1/00
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