CN105618631B - Bending device for orthodontic archwire bending robot - Google Patents
Bending device for orthodontic archwire bending robot Download PDFInfo
- Publication number
- CN105618631B CN105618631B CN201610000976.8A CN201610000976A CN105618631B CN 105618631 B CN105618631 B CN 105618631B CN 201610000976 A CN201610000976 A CN 201610000976A CN 105618631 B CN105618631 B CN 105618631B
- Authority
- CN
- China
- Prior art keywords
- bending
- clamping
- cylinder
- archwire
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F1/00—Bending wire other than coiling; Straightening wire
-
- 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
- A61C7/02—Tools for manipulating or working with an orthodontic appliance
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.
Description
Technical field
It is particularly a kind of to be used for orthodontic bow-wire the present invention relates to the bending of arch edgewise instrument used by a kind of Tooth orthodontic correction device
Bend the bending device of robot.
Background technology
With the development and the continuous improvement of living standards of the people of Chinese society, people increasingly focus on asking for oral health
Topic, tooth it is attractive in appearance more and more concerned.Generally, during orthodontic treatment straightening of teeth, bending for utility arch is according to doctor
Experience is manual, and efficiency is low, and labour intensity is big.With the development of robot field, exploitation orthodontic bow-wire bends robot
To realize that bending for utility arch is good method.Bending of arch edgewise processing is carried out using robot, using the pose of robot
Precision controllability overcomes the shortcoming for bending arch wire by hand, and that improves orthodontic bow-wire bends precision and efficiency.
The content of the invention
The purpose of the present invention, is that the arch wire for bending precision during bending to improve that orthodontic bow-wire robot is automatic is curved
Device processed.
The present invention solve its technical problem solution be：
A kind of bending device that robot is bent for orthodontic bow-wire, by drive mechanism, support fixed mechanism, bending machine
Structure, three parts composition；Drive mechanism and support fixed mechanism are connected with, and bending mechanism and drive mechanism are connected with.
Further, its composition of described drive mechanism includes：Planetary reduction gear stepper motor, fixed plate, shaft coupling, planet
Decelerating step motor, fixed plate are bolted together, and shaft coupling is tethered with the axle of planetary reduction gear stepper motor with clamp screw
Connect clamping.
Further, described support fixed mechanism its composition includes：Support bar, location-plate, it is characterised in that：Support bar
It is connected with fixed plate, location-plate is connected with support bar.
Further, bending mechanism（3）Its composition includes：Thrust bearing a, friction cylinder）, clamping element, declutcher control lever, rub
Cylinder is wiped, spring spindle, bends disk, clamp cylinders a, clamp cylinders b at thrust bearing b, it is characterised in that：Thrust bearing a pacifies
Friction cylinder one end is attached to, friction cylinder is connected near one end of thrust bearing a with shaft coupling；Declutcher control lever is welded to folder
In tight element recess, there is an elliptical aperture at the center of clamping element, and clamping element has two L-type steps, above two L-type steps
Respectively there is a blind hole, spring spindle is arranged in the blind hole of clamping element, the cylinder of the cylinder that rubs withstands spring spindle, and loading rubs
Wipe in cylinder；Thrust bearing b is installed to the one end of friction cylinder away from thrust bearing a, and friction cylinder is close to the one of thrust bearing b
Disk is held and bends to be connected with；Clamp cylinders a and clamp cylinders b is through location-plate U-lag and bends disc centre circular hole,
It is installed to clamping element center oval interior.
The beneficial effects of the invention are as follows：
1. bending device of the invention, during automation bends, motor is rotated forward and can realized during to bending of arch edgewise
The clamping of clamp cylinders a and clamp cylinders b, improves the precision of curved silk；
2. it is of the invention it is complete control device, during automation bends, motor reversal can realize clamp cylinders a and clamping
The separation of cylinder b, feeds in order to arch wire.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of the present invention；
Accompanying drawing 2 is bending mechanism top view of the invention；
Accompanying drawing 3 is bending mechanism upward view of the invention；
In accompanying drawing, 1-1 planetary reduction gear stepper motors, 1-2 fixed plates, 1-3 shaft couplings, 2-1 support bars, 2-2 location-plates, 3-
1 thrust bearing a, 3-2 frictions cylinder, 3-3 clamping elements, 3-4 declutcher control levers, 3-5 friction cylinders, 3-6 spring spindles, 3-7 thrusts
Bearing b, 3-8 bend disk, 3-9 clamp cylinders a, 3-10 clamp cylinders b.
Specific embodiment
Concrete structure of the invention and implementation method are further illustrated below in conjunction with accompanying drawing.
Structure composition of the invention is as shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 3.Bending for robot is bent for orthodontic bow-wire
Device, is made up of drive mechanism 1, support fixed mechanism 2, the part of bending mechanism 3 three, and drive mechanism 1 and support fixed mechanism 2 are used
Bolt connection, bending mechanism 3 and drive mechanism 1 are connected with.Drive mechanism 1 includes：It is planetary reduction gear stepper motor 1-1, solid
Fixed board 1-2, shaft coupling 1-3, planetary reduction gear stepper motor 1-1, fixed plate 1-2 are bolted together, shaft coupling 1-3 and row
Star decelerating step motor 1-1 axles are connected with tight fixed bolt and clamped.Described support fixed mechanism 2 includes：Support bar 2-1, positioning
Plate 2-2, support bar 2-1 is connected with fixed plate 1-3, and location-plate 2-2 is connected with support bar 2-1, location-plate reality
Now to clamp cylinders a 3-9 and clamp cylinders b 3-10 guide effects.Bending mechanism 3 includes：Thrust bearing a 3-1, friction circle
Cylinder 3-2, clamping element 3-3, declutcher control lever 3-4, friction cylinder 3-5, spring spindle 3-6, thrust bearing b 3-7, bend disk 3-
8th, clamp cylinders a 3-9, clamp cylinders b 3-10, it is characterised in that：Thrust bearing a（3-1）It is installed to friction cylinder（3-2）One
End, rub cylinder（3-2）One end near thrust bearing a 3-1 is connected with shaft coupling 1-4；Declutcher control lever 3-4 is welded to
In clamping element 3-3 grooves, there is an elliptical aperture at the center of clamping element 3-3, and clamping element 3-3 has two L-type steps, two
Respectively there is a blind hole above L-type step, spring spindle 3-6 is arranged in the blind hole of clamping element 3-3, the post of friction cylinder 3-5
Spring spindle 3-6 is withstood in face, loads in friction cylinder 3-2；Thrust bearing b 3-7 are installed to friction cylinder 3-2 away from thrust axis
One end of a 3-1 is held, friction cylinder 3-2 is connected near one end of thrust bearing b 3-7 with disk 3-8 is bent；Clamp
Cylinder a 3-9 and clamp cylinders b 3-10 are through location-plate 2-2U shapes groove and bend disk 3-8 center holes, are installed to clamping unit
In part 3-3 centers are oval.
Its operation principle：Planetary reduction gear stepper motor 1-1 drives friction cylinder 3-2 to rotate forward and reversely rotate.Friction
When cylinder 3-2 is rotated forward, by rubbing, the frictional force between cylinder 3-5 and friction cylinder 3-2 drives clamping element 3-3 positive
Rotation, the elliptical aperture of clamping element 3-3 makes clamp cylinders a 3-9 and clamp cylinders b 3-10 in the guiding of location-plate 2-2U shape grooves
Effect is lower to be clamped, by the limit of the geometry of the elliptical aperture of clamping element 3-3, clamp cylinders a 3-9 and clamp cylinders b 3-10
System, clamping element 3-3 cannot be rotated further, and friction cylinder 3-2 overcomes frictional force to drive to bend disk and be rotated further, realize arch wire
Bend.When friction cylinder 3-2 is reversely rotated, driven by the frictional force between cylinder 3-5 and friction cylinder 3-2 that rubs and clamp unit
Part 3-3 is reversely rotated, and declutcher control lever 3-4 makes clamp cylinders a 3-9 and clamp cylinders b 3-10 under the effect of location-plate 2-2U shapes groove
Separate, realize arch wire feeding during curved silk.
Claims (2)
1. a kind of bending device that robot is bent for orthodontic bow-wire, by drive mechanism（1）, support fixed mechanism（2）, bend
Mechanism（3）Three parts constitute, it is characterised in that：Drive mechanism（1）With support fixed mechanism（2）It is connected with, bending mechanism
（3）And drive mechanism（1）It is connected with；Described drive mechanism（1）Including：Planetary reduction gear stepper motor（1-1）, fixed plate
（1-2）, shaft coupling（1-3）, planetary reduction gear stepper motor（1-1）, fixed plate（1-2）It is bolted together, shaft coupling（1-
3）With planetary reduction gear stepper motor（1-1）Axle with tight fixed bolt connect clamp；Described bending mechanism（3）Including：Thrust axis
Hold a（3-1）, friction cylinder（3-2）, clamping element（3-3）, declutcher control lever（3-4）, friction cylinder（3-5）, spring spindle（3-6）,
Thrust bearing b（3-7）, bend disk（3-8）, clamp cylinders a（3-9）, clamp cylinders b（3-10）, thrust bearing a（3-1）Peace
It is attached to friction cylinder（3-2）One end, rub cylinder（3-2）Near thrust bearing a（3-1）One end connected with bolt with shaft coupling
Connect；Declutcher control lever（3-4）It is welded to clamping element（3-3）In groove, clamping element（3-3）Center have an elliptical aperture, clamp
Element（3-3）There are two L-type steps, respectively there is a blind hole, spring spindle above two L-type steps（3-6）It is first installed in clamping
Part（3-3）Blind hole in, rub cylinder（3-5）Cylinder withstand spring spindle（3-6）, load friction cylinder（3-2）It is interior；Thrust
Bearing b（3-7）It is installed to friction cylinder（3-2）Away from thrust bearing a（3-1）One end, rub cylinder（3-2）Near thrust axis
Hold b（3-7）One end with bend disk（3-8）It is connected with；Clamp cylinders a（3-9）With clamp cylinders b（3-10）Through calmly
Position plate（2-2）U-lag and bend disk（3-8）Center hole, is installed to clamping element（3-3）In center is oval.
2. a kind of bending device that robot is bent for orthodontic bow-wire according to claim 1, it is characterised in that：It is described
Support fixed mechanism（2）Including：Support bar（2-1）, location-plate（2-2）, support bar（2-1）With fixed plate（1-2）Use bolt
Connection, location-plate（2-2）There are a U-lag, location-plate（2-2）With support bar（2-1）It is connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000976.8A CN105618631B (en) | 2016-01-04 | 2016-01-04 | Bending device for orthodontic archwire bending robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000976.8A CN105618631B (en) | 2016-01-04 | 2016-01-04 | Bending device for orthodontic archwire bending robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105618631A CN105618631A (en) | 2016-06-01 |
| CN105618631B true CN105618631B (en) | 2017-05-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610000976.8A Expired - Fee Related CN105618631B (en) | 2016-01-04 | 2016-01-04 | Bending device for orthodontic archwire bending robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105618631B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742894A (en) * | 2018-06-16 | 2018-11-06 | 哈尔滨理工大学 | A kind of orthodontic wire bends robot and curved silk movement mapping model method for building up |
| US10217237B1 (en) | 2018-06-21 | 2019-02-26 | 3D Med Ag | Systems and methods for forming a desired bend angle in an orthodontic appliance |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060240125A1 (en) * | 2005-04-21 | 2006-10-26 | Astrup Arne V | Composition for affecting weight loss |
| US7240528B2 (en) * | 2004-11-22 | 2007-07-10 | Lingualcare, Inc. | Method and device for shaping an orthodontic archwire |
| CN201253269Y (en) * | 2008-09-24 | 2009-06-10 | 东南大学 | Orthodontic bow-wire bending device |
| US8266940B2 (en) * | 2009-05-04 | 2012-09-18 | Orametrix, Inc. | Apparatus and method for customized shaping of orthodontic archwires and other medical devices |
| CN202162308U (en) * | 2011-06-23 | 2012-03-14 | 广州瑞通生物科技有限公司 | Individuation arch wire bent clamp |
| CN103892929B (en) * | 2014-03-27 | 2016-08-24 | 哈尔滨理工大学 | Orthodontic arch filament bends robot |
| CN104546161A (en) * | 2014-12-19 | 2015-04-29 | 上海埃蒙迪材料科技股份有限公司 | Process and device for forming NiTi Dimple orthodontic tooth arch wire |
| CN204562423U (en) * | 2015-01-29 | 2015-08-19 | 哈尔滨理工大学 | Cartesian co-ordinate type orthodontic bow-wire bends robot |
| CN205324558U (en) * | 2016-01-04 | 2016-06-22 | 哈尔滨理工大学 | A curved system device that is used for curved system robot of just abnormal arch wire |
-
2016
- 2016-01-04 CN CN201610000976.8A patent/CN105618631B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN105618631A (en) | 2016-06-01 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20170524 Termination date: 20200104 |