Spherical orthodontic arch wire bending robot and use method thereof

Abstract

The invention discloses a spherical orthodontic arch wire bending robot and a use method thereof and belongs to the field of orthodontic arch wire bending. The robot comprises a base bracket, a wire feeding mechanism, an angle adjusting mechanism, an arch wire clamping mechanism and a bending wire mechanical arm; the base bracket mainly serves as a supporting function; the wire feeding mechanism continuously feeds arch wires into the angle adjusting mechanism; the angle adjusting mechanism adjusts the positions and postures of the arch wires sent by the wire feeding mechanism, so that the interference of the arch wires during arch wire bending can be avoided; the arch wire clamping mechanism fixes and clamps the arch wires; and the wire bending mechanical arm is the main part of the wholerobot; and the wire bending mechanical arm adopts a spherical coordinate system, is flexible in movement and can avoid interference. With the spherical orthodontic arch wire bending robot and the usemethod thereof of the present invention adopted, the bending of multi-functional bends during arch wire bending can be realized, wherein the multi-functional bends include first sequential bends andsecond sequential bends; a plurality of bends can be formed on one arch wire, and therefore, the bending of the whole arch wire can be realized; and the spherical coordinate system and a parallel mechanism are combined, and therefore, the flexibility of bending and the rigidity of the robot can be ensured.

Description

technical field [0001] The invention belongs to the field of oral orthodontic treatment equipment, in particular to a spherical orthodontic arch wire bending robot and a use method. Background technique [0002] Malocclusion is a kind of oral disease with irregular arrangement of teeth, abnormal relationship between teeth and jaws between the upper and lower dental arches, and abnormal size, shape and position of the jaw, which seriously endangers the physical and mental health of human beings. Wearing an orthodontic archwire is the most common and effective treatment for malocclusion. The bent orthodontic archwire exerts an orthodontic force on the brackets bonded to the teeth, so that the teeth move to achieve correction. The precise bending and shaping of the orthodontic archwire is the key to orthodontic treatment. Orthodontic specialists often need a long period of arch wire bending training to achieve a high standard of orthodontic treatment. Therefore, it is necessa...

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Problems solved by technology

[0003] For example, the orthodontic archwire bending robots described in the invention patent authorization announcement number of CN 103892929 B and the utility model patent authorization announcement number of CN203898469 U all adopt the Cartesian coordinate movement mode, mainly moving in three directions of the Cartesian coordinates. Based on this, some degrees of freedom are added to complete the corresponding bending operation, and then the design of the motion scheme of the entire orthodontic archwire bending robot is completed. However, in the actual bending process, due to the certain spatial structure of the formed part, the feeding The wire will occupy a large space during the rotation process, which makes the orthodontic archwire bending robot prone to interference and hinders the bending process. The mold cannot clamp the orthodontic archwire. Therefore, during the bending process of the orthodontic archwire bending robot, there is a bending gap between the chuck of the bending mold and the orthodontic archwire. The bending gap will cause the orthodontic archwire Sliding and warping occurs at the deformed part, which further reduces the quality of the orthodontic archwire bending robot, making it impossible for the orthodontic archwire bending robot to bend the ideal orthodontic archwire

Due to the structural limitations of the Cartesian coordinate orthodontic archwire bending robot, it is easy to interfere and slip and warp during the bending process, so that the Cartesian coordinate orthodontic archwire bending robot can only bend the first sequence Curves and individual second-sequence tunes, which cannot meet the requirements of doctors and patients for all second-sequence tunes

[0004] Similarly, although the Cartesian coordinate type orthodontic archwire bending robot whose utility model patent authorization announcement number is CN 204562423 U can bend the T-shaped bend by changing the radius of curvature of the orthodontic archwire bending angle, the Cartesian coordinate The orthodontic archwire bending robot combined with the traditional bending method still cannot avoid the limitations of the Cartesian coordinate structure, so that the orthodontic archwire bending robot cannot surpass the manual bending, and cannot break through the orthodontic archwire bending robot. Key Technical Difficulties

[0005] A similar patent also has a bending device for an orthodontic archwire bending robot with the authorized announcement number CN 205324558 U. This patent realizes the clamping and feeding of the orthodontic archwire through the positive and negative rotation of the motor , but the bending device has a complex structure, and can only realize the clamping and loosening of the orthodontic archwire, and cannot bend complex sequence curves. Compared with the above two rectangular coordinate-type orthodontic archwire bending robots, this patent Limited functions, small scope of application

[0006] A comprehensive analysis of the existing orthodontic arch wire bending robots can only achieve the bending of the first sequence of bows and a few simple second sequence of bending, while dental wire bending technicians can flexibly bend such as Omega, Arch wires with special shapes such as T-shaped curves, teardrop curves, and box-shaped curves are used for clinical treatment. In addition, dental wire bending technicians can bend personalized orthodontic arch wires according to the actual conditions of different patients. Orthodontic archwires need to contain one or more special functional curves of the second and third sequences, with different structural complexity, including various types and numbers of the second and third sequences of curves, and in bending personalized orthodontics When archwire is used, the bending space is narrow, which makes the orthodontic archwire robot prone to interference problems during the bending process. Therefore, the development of orthodontic archwire robot technology is restricted.

In addition, in the actual arch wire bending process, the bending mold used by the rectangular coordinate orthodontic arch wire bending robot cannot clamp the orthodontic arch wire so that a bending gap is generated during the bending process, resulting in slippage and warping. This kind of bending method also causes the bent orthodontic archwire to be in the cantilever beam state, which affects the bending accuracy of the orthodontic archwire bending robot. By comparing the above-mentioned existing Cartesian coordinate formula Orthodontic archwire robot, designed a spherical orthodontic archwire bending robot

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