Pick-up device, pick-up system and pick-up method for shell-shaped dental aligners

Abstract

The application provides a picking device for a shell-shaped tooth appliance, comprising a negative pressure assembly and a picking assembly, the negative pressure assembly being in communication with the picking assembly, the picking assembly picking a shell-shaped tooth appliance to be picked up through negative pressure generated by the negative pressure assembly, the picking assembly comprising a first picking part for picking a front tooth area of the shell-shaped tooth appliance to be picked up through negative pressure, and a picking auxiliary part for picking the shell-shaped tooth appliance to be picked up in cooperation with the first picking part, the picking auxiliary part comprising a limiting part for limiting a back tooth area of the shell-shaped tooth appliance to be picked up during picking or a second picking part for picking the back tooth area of the shell-shaped tooth appliance to be picked up through negative pressure. Meanwhile, the application also provides a picking system and a picking method for a shell-shaped tooth appliance.

Description

Technical Field

[0001] This invention belongs to the field of orthodontic technology, and more specifically relates to the manufacturing technology of shell-shaped orthodontic appliances, and particularly to a pickup device, pickup system and pickup method for a shell-shaped orthodontic appliance. Background Technology

[0002] With the development and maturation of invisible orthodontic technology, and its advantages over traditional fixed braces such as convenience, aesthetics, and comfort, the use of shell-type orthodontic appliances for orthodontic treatment is becoming increasingly popular among patients. In the production of shell-type orthodontic appliances, automated production lines have become the preferred choice for manufacturers to efficiently produce them. However, in automated production, the shell-type orthodontic appliances need to be picked up and transferred between different processes. Existing shell-type orthodontic appliance picking devices sometimes fail to meet the requirements of subsequent workstations after being picked up, necessitating manual intervention and impacting production efficiency. Furthermore, during the picking process, the appliances are prone to falling out, leading to product loss during automated production, causing operational stoppages, and reducing equipment uptime. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the defects of the prior art and to provide a shell-shaped orthodontic appliance pickup device, pickup system and pickup method, which can ensure that the state of the shell-shaped orthodontic appliance after pickup meets the requirements for effective operation of subsequent processes.

[0004] The technical solution of this invention is as follows:

[0005] A pickup device for a shell-shaped orthodontic appliance includes: a negative pressure component and a pickup component, wherein the negative pressure component is connected to the pickup component, and the pickup component uses the negative pressure generated by the negative pressure component to pick up a shell-shaped orthodontic appliance to be picked up. The pickup component includes a first pickup part for picking up the anterior tooth region of the shell-shaped orthodontic appliance to be picked up using negative pressure, and a pickup auxiliary part for picking up the shell-shaped orthodontic appliance to be picked up in cooperation with the first pickup part; the pickup auxiliary part includes: a limiting part for limiting the posterior tooth region of the shell-shaped orthodontic appliance to be picked up during the pickup process, or a second pickup part for picking up the posterior tooth region of the shell-shaped orthodontic appliance to be picked up using negative pressure. The first pickup unit picks up the anterior tooth area of ​​the shell-shaped orthodontic appliance using negative pressure, while the limiting unit prevents the appliance from flipping by limiting the posterior tooth area. The cooperation of the first pickup unit and the limiting unit ensures that the appliance is picked up while preventing flipping, facilitating transfer between different workstations and ensuring the picked-up appliance meets the requirements of subsequent processing. The second pickup unit, while limiting the posterior tooth area, also picks up the appliance using negative pressure. The cooperation of the first and second pickup units improves the reliability of appliance pickup and prevents flipping, thus meeting the requirements of subsequent processing.

[0006] Furthermore, the first pickup unit includes a negative pressure suction unit, which is connected to the negative pressure component. The negative pressure suction unit includes an adsorption surface, and a negative pressure suction port is provided on the adsorption surface. During pickup, the negative pressure suction port is adsorbed on the lingual side of the anterior tooth region of the shell-shaped orthodontic appliance to be picked up.

[0007] Furthermore, the adsorption surface is inclined relative to the pickup direction, and during pickup, the adsorption surface is at least partially in contact with the lingual side of the anterior tooth region of the shell-shaped orthodontic appliance to be picked up.

[0008] Furthermore, the adsorption surface includes two adjacent first adsorption surfaces and second adsorption surfaces. During pickup, the first adsorption surface is at least partially in contact with the lingual region of the anterior portion of the shell-shaped orthodontic appliance to be picked up, near the cusp, and the second adsorption surface is at least partially in contact with the lingual region of the anterior portion of the shell-shaped orthodontic appliance to be picked up, away from the cusp.

[0009] Furthermore, at least one of the first and second adsorption surfaces is a curved surface that at least partially conforms to the lingual side of the anterior portion of the shell-shaped orthodontic appliance to be picked up, or an inclined plane that is tilted relative to the pickup direction.

[0010] Furthermore, at least one of the first adsorption surface and the second adsorption surface is an inclined plane that is tilted relative to the pickup direction. When the first adsorption surface is an inclined plane, the tilt angle of the first adsorption surface is between 30° and 60°. When the second adsorption surface is an inclined plane, the tilt angle of the second adsorption surface is between 60° and 75°. The first adsorption surface and the second adsorption surface are smoothly connected.

[0011] Furthermore, the negative pressure suction port is a through hole or mesh provided on the adsorption surface.

[0012] Furthermore, the pickup component also includes a first negative pressure connector, one end of which is connected to the negative pressure component, and the other end of which is provided with the first pickup part. The negative pressure component provides negative pressure to the first pickup part through the first negative pressure connector.

[0013] Furthermore, the second pickup unit includes a negative pressure suction component for picking up the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up. The negative pressure suction component is disposed corresponding to the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up. During the pickup process, the negative pressure suction component adsorbs at least a portion of the occlusal surface area of ​​the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up.

[0014] Furthermore, the negative pressure suction component is a suction cup, which, during the pickup process, adsorbs at least a portion of the occlusal surface area of ​​the posterior tooth region of the shell-shaped orthodontic appliance to be picked up.

[0015] Furthermore, there are two negative pressure suction components, each corresponding to the posterior tooth region of the orthodontic appliance to be retrieved. Furthermore, the two negative pressure suction components respectively adsorb the two opposing molars in the posterior tooth region of the orthodontic appliance to be retrieved.

[0016] Furthermore, the pickup component also includes a second negative pressure connector, one end of which is connected to the negative pressure component, and the other end of which is provided with the second pickup part. The negative pressure component provides negative pressure to the second pickup part through the second negative pressure connector.

[0017] Furthermore, the pickup assembly also includes a second pickup mounting base and a position adjustment device. The second pickup is mounted on the second pickup mounting base via the second negative pressure connector and communicates with the negative pressure assembly. The position adjustment device adjusts the height difference between the second pickup and the first pickup in the pickup direction.

[0018] Furthermore, the pickup assembly also includes a first mounting base with a through hole. The first negative pressure connector passes through the through hole and is fixedly connected to the first mounting base. The second pickup mounting base has a guide hole and is slidably connected to the first negative pressure connector through the guide hole. When the position adjustment device adjusts the height difference between the second pickup and the first pickup, the second pickup mounting base adjusts its height up and down along the first negative pressure connector through the guide hole.

[0019] Furthermore, the position adjustment device includes an adjustment component and a fastener. The adjustment component has an adjustment groove along the adjustment direction, and the fastener passes through the adjustment groove and is fixedly connected to the second pickup part mounting base.

[0020] Furthermore, the adjusting component includes a fixed end and an adjusting end, the fixed end being fixedly installed on the side of the first mounting base facing the first pickup part, and the adjusting groove being disposed on the adjusting end.

[0021] Furthermore, the adjusting member has a waist hole along the height adjustment direction, the waist hole forming the adjusting groove, and the fastener is a bolt, which passes through the waist hole and is fixedly connected to the auxiliary pickup part.

[0022] Furthermore, the guide hole is provided with an expansion joint for adjusting the size of the guide hole.

[0023] Furthermore, the limiting part includes a stop bar, which is provided corresponding to the occlusal surface of the posterior tooth region of the shell-shaped orthodontic appliance to be picked up. During the picking process, the stop bar is at least partially in contact with the occlusal surface of the posterior tooth region of the shell-shaped orthodontic appliance to be picked up.

[0024] Furthermore, there are two stops, which are respectively positioned on the two posterior tooth areas of the shell-shaped orthodontic appliance to be picked up.

[0025] Furthermore, the two stops are positioned to correspond to the two opposing molars in the posterior tooth region on both sides of the shell-shaped orthodontic appliance to be picked up.

[0026] Furthermore, it also includes a limiting part mounting base, wherein the limiting part is fixedly installed on the same side of the limiting part mounting base, and the height difference between the limiting part and the first pickup part after the limiting part is fixed is basically consistent with the height difference between the position on the shell-shaped orthodontic appliance to be picked up that contacts the limiting part and the position on the shell-shaped orthodontic appliance to be picked up that contacts the first pickup part.

[0027] Furthermore, the picking device also includes a second mounting base connected to the robotic arm. The first mounting base and the second mounting base are spaced apart in the height direction and are fixedly connected by a slow-release connector. During the process of the shell-shaped orthodontic appliance picking device picking up the orthodontic appliance to be picked up, the first mounting base can move relative to the second mounting base, and the slow-release connector absorbs the energy generated by the relative movement.

[0028] Furthermore, the slow-release connector includes a telescopic support rod and an elastic energy storage component, wherein the elastic energy storage component absorbs energy synchronously during the compression of the support rod.

[0029] Furthermore, the elastic energy storage component is a helical spring, which is sleeved on the support rod.

[0030] A shell-shaped orthodontic appliance pickup system includes a conveying device, an identification device, a distance measuring device, a robotic arm, a control device, and the aforementioned shell-shaped orthodontic appliance pickup device. The conveying device includes a conveyor belt. The identification device, the distance measuring device, and the robotic arm are arranged sequentially along the running direction of the conveyor belt. The end of the robotic arm is fixedly connected to the pickup device. The control device is communicatively connected to the identification device, the robotic arm, and the distance measuring device.

[0031] The conveyor belt is used to transport the shell-shaped orthodontic appliance to be picked up.

[0032] The identification device acquires the second coordinate system of the shell-shaped orthodontic appliance to be picked up at the identification position on the conveyor belt and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm, and transmits it to the control device.

[0033] The distance measuring device measures the transport distance of the shell-shaped orthodontic appliance to be picked up from the identification position to the picking position of the robotic arm and transmits the distance to the control device.

[0034] The control device controls the robotic arm to drive the picking device to position and pick up the shell-shaped orthodontic appliance to be picked up, based on the second coordinate system of the shell-shaped orthodontic appliance to be picked up transmitted by the identification device, the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm, and the conveying distance transmitted by the distance measuring device.

[0035] Furthermore, during the positioning and pickup process, the first pickup unit picks up the lingual side of the middle position of the two central incisors of the shell-shaped orthodontic appliance to be picked up.

[0036] Furthermore, the identification device includes an image acquisition device located above the conveyor belt, used to acquire an image of the shell-shaped orthodontic appliance to be picked up, and based on the acquired image of the shell-shaped orthodontic appliance to be picked up, further acquire the second coordinate system of the shell-shaped orthodontic appliance to be picked up and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm.

[0037] Furthermore, the distance measuring device is an encoder.

[0038] Furthermore, the origin of the first coordinate system of the picking device is located on the rotation axis of the robotic arm.

[0039] A method for picking up a shell-shaped orthodontic appliance, applied to the shell-shaped orthodontic appliance picking system described above, includes the following steps:

[0040] The identification device acquires the second coordinate system of the shell-shaped orthodontic appliance to be picked up at the identification position and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm and transmits it to the control device.

[0041] The distance measuring device measures the transport distance of the shell-shaped orthodontic appliance to be picked up from the identification position to the picking position of the robotic arm and sends it to the control device;

[0042] The control device controls the robotic arm to drive the picking device to position and pick up the shell-shaped orthodontic appliance located at the picking position, based on the second coordinate system of the shell-shaped orthodontic appliance to be picked up transmitted by the identification device, the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm, and the conveying distance transmitted by the distance measuring device.

[0043] Furthermore, when the robotic arm drives the picking device to position and pick up the shell-shaped orthodontic appliance to be picked up at the picking position, the first picking part picks up the middle position of the two central incisors of the shell-shaped orthodontic appliance to be picked up.

[0044] Furthermore, it also includes:

[0045] The control device obtains the second relative position of the shell-shaped orthodontic appliance to be picked up and the robotic arm at the pickup position based on the first relative position of the shell-shaped orthodontic appliance to be picked up and the robotic arm transmitted by the identification device and the transport distance transmitted by the distance measuring device.

[0046] The control device acquires the first coordinate system of the picking device;

[0047] The control device obtains the second coordinate system of the shell-shaped orthodontic appliance to be picked up based on the image of the shell-shaped orthodontic appliance to be picked up transmitted by the recognition device;

[0048] The control device controls the robotic arm to drive the picking device to position and pick up the shell-shaped orthodontic appliance to be picked up at the picking position according to the second relative position, the first coordinate system and the second coordinate system. When the positioning and picking are performed, the first coordinate system and the second coordinate system coincide.

[0049] Furthermore, the first coordinate system includes a first coordinate axis and a first coordinate origin of the pickup device. The first coordinate origin is obtained based on the suction end of the first pickup unit that picks up the anterior tooth region of the shell-shaped orthodontic appliance to be picked up. The first coordinate axis is obtained based on the contact portion of the pickup auxiliary unit that contacts the posterior tooth region of the shell-shaped orthodontic appliance to be picked up and the first coordinate origin. The second coordinate system includes a second coordinate axis and a second coordinate origin of the shell-shaped orthodontic appliance to be picked up. The second coordinate origin is obtained based on the position of the anterior tooth region of the shell-shaped orthodontic appliance to be picked up by the first pickup unit. The second coordinate axis is obtained based on the position of the posterior tooth region of the shell-shaped orthodontic appliance to be picked up that contacts the contact portion of the auxiliary pickup unit and the second coordinate origin.

[0050] Furthermore, the method for obtaining the first coordinate system is as follows: taking the center of the horizontal cross-section of the suction end of the first pickup part as the first coordinate origin, selecting a contact part that contacts the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up by the pickup auxiliary part, taking the line passing through the first coordinate origin and the center of the horizontal cross-section of the contact part in the horizontal plane as the first X-axis, and taking the line passing through the first coordinate origin and perpendicular to the first X-axis in the horizontal plane as the first Y-axis; the recognition device acquires an image of the shell-shaped orthodontic appliance to be picked up, and the method for obtaining the second coordinate system is as follows: taking the midpoint of the gap between the two central incisors in the image of the shell-shaped orthodontic appliance to be picked up as the second coordinate origin, taking the line connecting the second coordinate origin and the center of the first pre-selected position of the posterior tooth area in the image of the shell-shaped orthodontic appliance to be picked up as the second X-axis, and taking the line passing through the second coordinate origin and perpendicular to the second X-axis in the horizontal plane as the second Y-axis; during pickup, the first pre-selected position of the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up contacts the contact part. The first pre-selected position can be one or more.

[0051] Furthermore, the method for obtaining the first coordinate system is as follows: taking the center of the horizontal cross-section of the suction end of the first pickup part of the pickup component as the first coordinate origin, selecting two contact parts that contact the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up by the pickup auxiliary part, taking the line in the plane parallel to the center of the horizontal cross-section of the two contact parts and passing through the first coordinate origin as the first X-axis, and taking the line in the plane passing through the first coordinate origin and perpendicular to the first X-axis as the first Y-axis; the identification device acquires the shell-shaped orthodontic appliance to be picked up. The method for obtaining the second coordinate system is as follows: the midpoint of the gap between the two central incisors in the image of the shell-shaped orthodontic appliance to be picked up is taken as the origin of the second coordinate system; a line passing through the origin of the second coordinate system and parallel to the line connecting the centers of the second pre-selected positions of the two posterior tooth regions in the image of the shell-shaped orthodontic appliance to be picked up is taken as the second X-axis; a line passing through the origin of the second coordinate system and perpendicular to the second X-axis in the plane is taken as the second Y-axis; during picking up, the second pre-selected positions of the two posterior tooth regions of the shell-shaped orthodontic appliance to be picked up are respectively in contact with the two contact parts.

[0052] The pickup device, pickup system, and pickup method for the shell-shaped orthodontic appliance provided by this invention have at least the following advantages compared with the prior art:

[0053] 1. The pickup device of the present invention, through the cooperation of the first pickup part and the pickup auxiliary part, can prevent the picked-up shell-shaped orthodontic appliance from flipping during the pickup process, and avoid the shell-shaped orthodontic appliance being unable to meet the requirements of subsequent process processing due to the flipping of the shell-shaped orthodontic appliance.

[0054] 2. The pickup device of the present invention, through the cooperation of the first pickup part and the second pickup part, can not only prevent the picked-up shell-shaped orthodontic appliance from flipping over, but also improve the reliability of pickup and avoid the appliance from falling off.

[0055] 3. By making the adsorption surface of the first pickup part at least partially fit with the lingual side of the anterior tooth region of the shell-shaped orthodontic appliance to be picked up, the present invention can play a preliminary guiding role when picking up the shell-shaped orthodontic appliance, limiting the flipping of the picked-up shell-shaped orthodontic appliance. On the other hand, it can increase the contact area between the negative pressure suction part and the picked-up shell-shaped orthodontic appliance, thereby improving the suction effect.

[0056] 4. The present invention adjusts the relative height of the first pickup part and the auxiliary pickup part by means of a position adjustment device, thereby compensating for errors in the processing and theoretical design of the shell-shaped orthodontic appliance, and further effectively preventing the shell-shaped orthodontic appliance from flipping over. Attached Figure Description

[0057] Figure 1This is a schematic diagram of the assembly of the pickup device of the shell-shaped orthodontic appliance of the present invention, in Embodiment 1.

[0058] Figure 2 This is an exploded view of Embodiment 1 of the pickup device for the shell-shaped orthodontic appliance of the present invention;

[0059] Figure 3 This is another exploded schematic diagram of the pickup device of the shell-shaped orthodontic appliance of the present invention;

[0060] Figure 4 This is a schematic diagram of the negative pressure suction section of the pickup device of the shell-shaped orthodontic appliance of the present invention, in embodiment 1.

[0061] Figure 5 This is a schematic diagram of the assembly of the pickup device of the shell-shaped orthodontic appliance of the present invention, in embodiment 2.

[0062] Figure 6 This is a schematic diagram of the pickup system of the shell-shaped orthodontic appliance of the present invention.

[0063] Figure 7 This is a schematic diagram of the pickup system of the shell-shaped orthodontic appliance of the present invention;

[0064] Figure 8 This is a flowchart of the method for picking up the shell-shaped orthodontic appliance of the present invention. Detailed Implementation

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0066] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0067] The inventors of this application have discovered that in the automated production process of shell-shaped orthodontic appliances, in order to facilitate the transfer of shell-shaped orthodontic appliances between different processes, it is necessary to pick up and transfer the shell-shaped orthodontic appliances. Existing shell-shaped orthodontic appliance picking devices do not position and / or limit the shell-shaped orthodontic appliances during the picking process, resulting in inaccurate picking positions or easy deflection of the shell-shaped orthodontic appliances. Consequently, the state of the shell-shaped orthodontic appliances after picking up cannot meet the requirements for effective operation at subsequent workstations. Furthermore, existing shell-shaped orthodontic appliance picking devices only use a single picking part to pick up the shell-shaped orthodontic appliances, resulting in poor picking reliability and easy drop of the shell-shaped orthodontic appliances during the picking and transfer process.

[0068] The following is a further description of specific embodiments:

[0069] Example 1

[0070] This invention provides a pickup device for a shell-shaped orthodontic appliance, including a pickup component 500 and a negative pressure component (not shown). The pickup component 500 is connected to and maintains communication with the negative pressure component. The pickup component 500 completes the pickup of a shell-shaped orthodontic appliance (not shown) by using the negative pressure generated by the negative pressure component. It should be noted that the negative pressure component is not the key point of this invention. The negative pressure component is simply connected to the pickup component 500 with negative pressure to provide negative pressure to the pickup component 500. The negative pressure component can be a negative pressure machine, a suction fan, etc. in the prior art, which will not be described in detail here.

[0071] The pickup assembly 500 includes: a first pickup part 1 for picking up the anterior tooth region of the shell-shaped orthodontic appliance to be picked up using negative pressure, and a pickup auxiliary part that cooperates with the first pickup part 1 to pick up the shell-shaped orthodontic appliance to be picked up. In this embodiment, the pickup auxiliary part may include: a second pickup part 2 for picking up the posterior tooth region of the shell-shaped orthodontic appliance to be picked up using negative pressure. In the pickup process, the second pickup part 2 in this embodiment can cooperate with the first pickup part 1, and the two pickup parts can pick up the shell-shaped orthodontic appliance together, which can prevent the picked-up shell-shaped orthodontic appliance from flipping over, so that the state of the shell-shaped orthodontic appliance after pickup can meet the requirements of subsequent processing. At the same time, compared with the prior art that only uses one pickup part to pick up the shell-shaped orthodontic appliance, the reliability of pickup can be improved and the appliance can be avoided from falling off.

[0072] Reference Figure 1-4In one embodiment, the first pickup unit 1 may include a negative pressure suction unit 12, which is connected to the negative pressure assembly. The negative pressure suction unit 12 may include an adsorption surface 121, on which a negative pressure suction port 120 is provided. During pickup, the negative pressure suction port 120 adsorbs onto the lingual side of the anterior tooth region of the shell-shaped orthodontic appliance to be picked up. By making the adsorption surface 121 at least partially adhere to the lingual side of the anterior tooth region of the shell-shaped orthodontic appliance to be picked up, it can play a preliminary guiding role while picking up the shell-shaped orthodontic appliance, limiting the flipping of the appliance. Furthermore, it can increase the adsorption area between the negative pressure suction unit 12 and the shell-shaped orthodontic appliance to be picked up, thereby improving the suction effect.

[0073] In one embodiment, the adsorption surface 12 may be inclined relative to the pickup direction. During pickup, the adsorption surface at least partially contacts the lingual side of the anterior portion of the shell-shaped orthodontic appliance to be picked up. The pickup direction refers to the direction in which the pickup component 500 moves downward toward the shell-shaped orthodontic appliance to pick it up when it is positioned above the occlusal surface of the appliance. Specifically... Figure 3 The direction indicated by P is the picking direction.

[0074] The adsorption surface 121 can be a single unit or formed by sequentially splicing together two or more different adsorption surfaces. Based on the shape of the lingual side of the anterior portion of the shell-shaped orthodontic appliance to be picked up, in order to better fit the adsorption surface 121 with the lingual side of the anterior portion of the shell-shaped orthodontic appliance to be picked up, in some embodiments, the adsorption surface 121 may include at least two adjacent first adsorption surfaces 1211 and second adsorption surfaces 1212. During pickup, the first adsorption surface 1211 is at least partially fitted with the lingual side of the anterior portion of the shell-shaped orthodontic appliance near the cusp, and the second adsorption surface 1212 is at least partially fitted with the lingual side of the anterior portion of the shell-shaped orthodontic appliance away from the cusp.

[0075] In one embodiment, at least one of the first adsorption surface 1211 and the second adsorption surface 1212 is a curved surface that at least partially conforms to the lingual side of the anterior portion of the shell-shaped orthodontic appliance to be picked up, or an inclined plane that is tilted relative to the pickup direction.

[0076] In one embodiment, at least one of the first adsorption surface 1211 and the second adsorption surface 1212 is an inclined plane relative to the pickup direction. When the first adsorption surface 1211 is an inclined plane, the inclination angle α of the first adsorption surface can be between 30° and 60°. When the second adsorption surface 1212 is an inclined plane, the inclination angle β of the second adsorption surface 1212 can be between 60° and 75°. The first adsorption surface 1211 and the second adsorption surface 1212 are smoothly connected. By setting the angles of the first adsorption surface 1211 and the second adsorption surface 1212, the shape of the adsorption surface 121 is substantially fitted with the shape of the lingual surface of the central incisor of the orthodontic appliance to be picked up. This allows the negative pressure suction port 120 to stably pick up the lingual portions of the two central incisors of the orthodontic appliance to be picked up. That is, the negative pressure suction port 120 can adsorb at the middle position of the orthodontic appliance to be picked up, which improves the stability of the suction compared to adsorbing at other positions of the orthodontic appliance. In one embodiment, when the first adsorption surface 1211 and / or the second adsorption surface 1212 are inclined planes, their tilt angles α and β can be adjusted according to the adsorption position of the negative pressure suction port 120 on the shell-shaped orthodontic appliance to be picked up, so that the adsorption surface 12 can better fit the adsorption position.

[0077] In one embodiment, the negative pressure suction port 120 is a through hole or mesh provided on the adsorption surface 12. A through hole refers to a single opening on the adsorption surface 12 serving as the negative pressure suction port 120. In a specific embodiment, the mesh can be formed by a grid structure, which can be strip-shaped or mesh-shaped. Under the same negative pressure, compared to a through hole, using a mesh for the negative pressure suction port 120 reduces the actual adsorption area between the negative pressure suction port 120 and the shell-shaped orthodontic appliance to be picked up, thereby increasing the suction force.

[0078] In one embodiment, the pickup component 500 may further include: a first negative pressure connector 3, one end of which is connected to the negative pressure component, and the other end of which is provided with a first pickup part 1, wherein the negative pressure component provides negative pressure to the first pickup part 1 through the first negative pressure connector 3.

[0079] In one embodiment, the first negative pressure connector 3 may include a connecting pipe 31 and a negative pressure connector 32. One end of the connecting pipe 31 is connected to the first pickup part 1, and the other end is connected to one end of the negative pressure connector 32. The other end of the negative pressure connector 32 is connected to the negative pressure assembly. In another embodiment, the first negative pressure connector 3 may also be directly connected to the negative pressure assembly through the connecting pipe 31. Other structures are not listed here.

[0080] In one embodiment, the second pickup unit 2 may include a negative pressure suction component 21 for picking up the posterior tooth region of the shell-shaped orthodontic appliance to be picked up. The negative pressure suction component 21 is disposed corresponding to the posterior tooth region of the shell-shaped orthodontic appliance to be picked up. During the pickup process, the negative pressure suction component 21 adsorbs at least a portion of the occlusal surface of the posterior tooth region of the shell-shaped orthodontic appliance to be picked up. In one embodiment, a suction cup may be used as the negative pressure suction component 21. During the pickup process, the suction cup adsorbs at least a portion of the occlusal surface of the posterior tooth region of the shell-shaped orthodontic appliance to be picked up. In one embodiment, the negative pressure suction component 21 may also adopt a structure similar to the negative pressure suction unit 12 in the first pickup unit 1. Other structures will not be listed here.

[0081] In one embodiment, two negative pressure suction components 21 are respectively positioned corresponding to the posterior tooth areas on both sides of the shell-shaped orthodontic appliance to be picked up. In another embodiment, the number of negative pressure suction components 21 may be one, three, etc., and other quantities are not listed here. In one embodiment, the two negative pressure suction components 21 may each be positioned corresponding to the two opposing molars of the shell-shaped orthodontic appliance to be picked up. In yet another embodiment, the two negative pressure suction components 21 may also each be positioned corresponding to the two non-opposing molars of the shell-shaped orthodontic appliance to be picked up.

[0082] In one embodiment, the pickup component 500 may further include: a second negative pressure connector 4, one end of which is connected to the negative pressure component, and the other end of which is provided with the second pickup part 2, wherein the negative pressure component provides negative pressure to the second pickup part 2 through the second negative pressure connector 4.

[0083] In one embodiment, the pickup assembly 500 may further include: a second pickup mounting base 5 and a position adjustment device 6. The second pickup 2 is mounted on the second pickup mounting base 5 via the second negative pressure connector 4 and communicates with the negative pressure assembly. The position adjustment device 6 adjusts the height difference between the second pickup 2 and the first pickup 1 in the pickup direction. In the practical application of the pickup device for the shell-shaped orthodontic appliance, on the one hand, there are errors in the processing and theoretical design of the shell-shaped orthodontic appliance; on the other hand, since the shell-shaped orthodontic appliance is a personalized product, there are certain differences between shell-shaped orthodontic appliances corresponding to different jaw models. This invention uses the position adjustment device 6 to adjust the height difference between the second pickup 2 and the first pickup 1 in the pickup direction, which can compensate for the errors in the processing and theoretical design of the shell-shaped orthodontic appliance or the personalized differences between different shell-shaped orthodontic appliances, thereby further and effectively preventing the shell-shaped orthodontic appliance from flipping. In addition, for cases where the subsequent process does not require the state of the shell-shaped orthodontic appliance, the position adjustment device 6 can be used to maintain a height difference between the first pickup part 1 and the second pickup part 2 to achieve a better suction effect, thereby further improving the suction success rate.

[0084] In one embodiment, the pickup assembly 500 may further include: a first mounting base 7, the first mounting base 7 having a through hole, the first negative pressure connector 3 passing through the through hole and fixedly connected to the first mounting base; a second pickup mounting base 5 having a guide hole, the second pickup mounting base 5 being slidably connected to the first negative pressure connector 3 through the guide hole; when the position adjustment device 6 adjusts the height difference between the second pickup part 2 and the first pickup part 1, the second pickup mounting base 5 slides up and down along the first negative pressure connector 3 through the guide hole to adjust its height. In a specific embodiment, the second pickup mounting base 5 is slidably connected to the connecting pipe 31 of the first negative pressure connector 3 through the guide hole; the connecting pipe 31 passes through a through on the first mounting base 7 and is connected to the negative pressure connector 32; the negative pressure connector 31 is fixedly connected to the side of the first mounting base 7 away from the first pickup part 1. The second pickup mounting base 5 is slidably connected to the first negative pressure connector 3 through the guide hole, which can provide better guidance and support for the movement of the second pickup mounting base 5. Of course, in some embodiments, the second pickup mounting base 5 may not be connected to the first negative pressure connector 3.

[0085] In one embodiment, the position adjustment device 6 may include an adjustment member 61 and a fastener (not shown in the figure). The adjustment member 61 has an adjustment groove 6121 along the adjustment direction, and the fastener passes through the adjustment groove and is fixedly connected to the second pickup part mounting base. In another embodiment, the position adjustment device 6 may also employ a telescopic rod, with one end connected to the second pickup part mounting base 5 and the other end connected to the first mounting base 7. The height difference between the second pickup part 2 and the first pickup part 1 is adjusted by the telescopic movement of the telescopic rod. Other structures of the position adjustment device 6 are not listed here.

[0086] In one embodiment, the adjusting member 61 may include a fixed end 611 and an adjusting end 612. The fixed end 611 is fixedly installed on the side of the first mounting base 4 facing the first pickup part 1, and the adjusting groove 6121 is disposed on the adjusting end 612. In a specific embodiment, the adjusting member 61 may have a waist hole along the height adjustment direction, the waist hole forming the adjusting groove 6121, and the fastener is a bolt, which passes through the waist hole and is fixedly connected to the auxiliary pickup part.

[0087] In one embodiment, the guide hole is provided with an expansion joint 51 for adjusting the size of the guide hole. In a specific embodiment, the expansion joint 51 is tightened by a locking screw (not shown), and the cooperation between the expansion joint 51 and the locking screw enables locking and sliding between the second pickup mounting base 5 and the connecting pipe 31.

[0088] In one embodiment, the pickup assembly 500 may further include a second mounting base 8 connected to a robotic arm (not shown in the figure). The first mounting base 7 and the second mounting base 8 are spaced apart in the height direction and fixedly connected by a slow-release connector 9. During the process of the shell-shaped orthodontic appliance pickup device picking up the orthodontic appliance to be picked up, the first mounting base 7 can move relative to the second mounting base 8, and the slow-release connector 9 absorbs the energy generated by the relative movement. During the process of the robotic arm driving the pickup assembly 500 downward to pick up the shell-shaped orthodontic appliance to be picked up, when the pickup assembly 500 contacts the shell-shaped orthodontic appliance to be picked up, the slow-release connector 9 can buffer the impact force generated when the pickup assembly 500 contacts the shell-shaped orthodontic appliance to be picked up, preventing damage to the pickup assembly 500 or the shell-shaped orthodontic appliance due to excessive impact force.

[0089] In one embodiment, the slow-release connector 9 may include a telescopic support rod 91 and an elastic energy storage component 92, wherein the elastic energy storage component 92 absorbs energy synchronously during the compression of the support rod 91. In another embodiment, the slow-release connector 9 may also be a hydraulic damper; other structures of the slow-release connector 9 are not listed here. In one specific embodiment, the elastic energy storage component 92 may be a helical spring, which is sleeved on the support rod 91. In one specific embodiment, there are two slow-release connectors 9, symmetrically arranged on the first mounting base 7 and the second mounting base 8.

[0090] In this embodiment, the shell-shaped orthodontic appliance pickup device, through the cooperation of the first pickup part 1 and the second pickup part 2, can prevent the picked-up shell-shaped orthodontic appliance from flipping over, so that the state of the picked-up shell-shaped orthodontic appliance can meet the requirements of subsequent processing; on the other hand, it can improve pickup reliability and prevent the appliance from falling off.

[0091] Example 2

[0092] This invention provides a pickup device for a shell-shaped orthodontic appliance. The difference between this embodiment and Embodiment 1 is that the pickup auxiliary part in this embodiment includes a limiting part 202. In the pickup process, the limiting part 202 can cooperate with the first pickup part 1. The first pickup part 1 picks up the shell-shaped orthodontic appliance to be picked up. While the first pickup part 1 is picking it up, the limiting part 202 can prevent the picked-up shell-shaped orthodontic appliance from flipping over, thus ensuring that the state of the picked-up shell-shaped orthodontic appliance meets the requirements of subsequent processing.

[0093] Reference Figure 5 In one embodiment, the pickup assembly 500 may further include a limiting part mounting base 205, wherein the limiting part 202 is fixedly mounted on the same side of the limiting part mounting base 205, and the height difference between the limiting part 202 and the first pickup part after the limiting part 202 is fixed is substantially the same as the height difference between the position on the shell-shaped orthodontic appliance to be picked up that contacts the limiting part and the position on the shell-shaped orthodontic appliance to be picked up that contacts the first pickup part.

[0094] In one embodiment, the limiting part 202 may include a stop bar 2021, which is disposed corresponding to the occlusal surface of the posterior teeth of the orthodontic appliance to be picked up. During the picking process, the stop bar 2021 is at least partially in contact with the occlusal surface of the posterior teeth of the orthodontic appliance to be picked up. The contact between the stop bar 2021 and the occlusal surface of the posterior teeth of the orthodontic appliance to be picked up prevents the orthodontic appliance from flipping over.

[0095] In one embodiment, there may be two stop bars 2021, each corresponding to the occlusal surfaces of the posterior teeth on both sides of the shell-shaped orthodontic appliance to be retrieved. In a specific embodiment, the two stop bars 2021 are respectively positioned on the occlusal surfaces of the two opposing molars in the posterior teeth on both sides of the shell-shaped orthodontic appliance to be retrieved. In yet another embodiment, the number of stop bars 2021 may be one, three, or other numbers, which will not be listed here.

[0096] In one embodiment, the stop bar 2021 can be detachably connected to the limiting part mounting base 205, thereby facilitating the cleaning and replacement of the stop bar 2021. In a specific embodiment, the stop bar 2021 is cylindrical, and slots 2022 are respectively provided on the stop bar 2021. Since the outer surface of the cylinder is smooth, damage to the stop bar 2021 during contact can be avoided, and the slots 2022 facilitate the disassembly and installation of the cylindrical stop bar 2021. In another embodiment, the stop bar 2021 can also be integrally formed with the limiting part mounting base 205.

[0097] In one embodiment, the limiting part mounting base 205 is provided with a second guide hole, and the second guide hole has an expansion joint 2051 for adjusting the size of the second guide hole. The limiting part mounting base 205 is slidably connected to the connecting pipe 31 through the second guide hole. In one embodiment, the pickup assembly 500 may further include a position adjustment device. Figure 5 (Not shown in the image, but the same as in Embodiment 1), the limiting part 205 and the first picking part are adjusted by a position adjustment device. Figure 5 (Unlabeled, same as in Example 1) The height difference in the height direction is such that after the limiting part 202 is fixed, the height difference between the limiting part and the first picking part is basically consistent with the height difference between the position on the shell-shaped orthodontic appliance to be picked up that contacts the limiting part and the position on the shell-shaped orthodontic appliance to be picked up that contacts the first picking part. This can prevent the shell-shaped orthodontic appliance from flipping after being picked up, thus avoiding affecting the subsequent process operation.

[0098] In this embodiment, the shell-shaped orthodontic appliance pickup device, through the cooperation of the first pickup part and the limiting part 2, can pick up the shell-shaped orthodontic appliance to be picked up, and at the same time prevent the shell-shaped orthodontic appliance from flipping over after pickup, so that the state of the shell-shaped orthodontic appliance after pickup can meet the requirements of subsequent process processing.

[0099] Example 3

[0100] Reference Figure 6-7This invention provides a shell-shaped orthodontic appliance pickup system, including a control device 100, a conveying device 101, an identification device 102, a distance measuring device 103, a robotic arm 104, and a shell-shaped orthodontic appliance pickup device 105. In this embodiment, the shell-shaped orthodontic appliance pickup device 105 adopts the shell-shaped orthodontic appliance pickup device of Example 1. The conveying device 101 includes a conveyor belt 1011 for conveying the shell-shaped orthodontic appliance (not shown) to be picked up; the identification device 102, the distance measuring device 103, and the robotic arm 104 are arranged sequentially along the running direction of the conveyor belt 1011; the control device 100 is communicatively connected to the identification device 102, the robotic arm 104, and the distance measuring device 103.

[0101] The identification device 102 acquires the second coordinate system of the shell-shaped orthodontic appliance to be picked up on the conveyor belt 1011 at the identification position, and the first position information of the second origin of the second coordinate system in the coordinate system of the robotic arm 104, and transmits it to the control device 100. The identification position is any position on the conveyor belt 1011 where the identification device 102 can identify the shell-shaped orthodontic appliance to be picked up.

[0102] The distance measuring device 103 is used to measure the conveying distance of the shell-shaped orthodontic appliance to be picked up from the identification position to the picking position of the robotic arm 104 on the conveyor belt 1011 and transmit the distance to the control device 100. The picking position of the robotic arm 104 is any position within the picking range of the shell-shaped orthodontic appliance that the robotic arm 104 on the conveyor belt 1011 can drive the picking device 105 to pick it up.

[0103] The control device 100 controls the robotic arm 104 to drive the picking device 105 to position and pick up the shell-shaped orthodontic appliance according to the second coordinate system of the shell-shaped orthodontic appliance to be picked up transmitted by the identification device 102 and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm 104, and the conveying distance transmitted by the distance measuring device 103.

[0104] In one specific implementation, during positioning and pickup, the first pickup unit 1 can pick up the lingual side of the two central incisors in the middle position of the shell-shaped orthodontic appliance to be picked up, which can improve pickup stability compared to other pickup positions. Of course, in another specific implementation, the pickup position of the first pickup unit 1 on the shell-shaped orthodontic appliance to be picked up can be adjusted according to the actual situation, and there is no limitation here.

[0105] In one embodiment, the identification device 102 may include an image acquisition device 1021, located above the conveyor belt, for acquiring an image of the shell-shaped orthodontic appliance to be picked up, and further acquiring, based on the acquired image of the shell-shaped orthodontic appliance, the second coordinate system of the shell-shaped orthodontic appliance to be picked up and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm 104. In a specific embodiment, the identification device may also include a support 1022 and a light source 1023, one end of the support 1022 being fixed to the ground, and the other end of the support 1022 being used to mount the light source 1023 and the image acquisition device 1021.

[0106] In one embodiment, the distance measuring device 103 is an encoder; in another embodiment, the distance measuring device 103 can be any device capable of measuring the conveying distance of an object on a conveyor belt, such as a sensor.

[0107] In one embodiment, the origin of the first coordinate system of the pickup device 105 is located on the rotation axis of the robotic arm 104, thereby facilitating the control device 100 to control the robotic arm 104 to drive the pickup device 105 to pick up the shell-shaped orthodontic tooth to be picked up. In another embodiment, the positional relationship between the origin of the first coordinate system of the pickup device 105 and the robotic arm 104 can be adjusted as needed, and is not limited herein.

[0108] In one embodiment, during positioning and pickup, the first pickup unit 1 of the pickup device 105 can pick up the middle position of the two central incisors of the shell-shaped orthodontic appliance to be picked up. Simultaneously, the second pickup unit 2 of the pickup device 105 can pick up the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up. Multi-point pickup improves pickup stability. In a specific embodiment, the first pickup unit 1 of the pickup device 105 can pick up the middle position of the two central incisors of the shell-shaped orthodontic appliance to be picked up, and the two negative pressure suction components 21 of the pickup device 105 can pick up the posterior tooth areas on both sides of the shell-shaped orthodontic appliance to be picked up. By using the first pickup unit 1 and the two negative pressure suction components 21 to perform three-point positioning and pickup of the shell-shaped orthodontic appliance to be picked up, the center of gravity of the shell-shaped orthodontic appliance to be picked up is placed within the triangular area enclosed by the lines connecting the three suction positions sequentially, thereby improving the suction stability of the shell-shaped orthodontic appliance.

[0109] In this embodiment, the control device 100 can be any suitable processing device, such as a personal computer, server, programmable logic controller (PLC), microcontroller, or a combination of PLC and server, or an integration of computer devices. The control device 100 has functions such as receiving information and sending control commands. The control device 100 can control the identification device 102, distance measuring device 103, and robotic arm 104 to perform corresponding actions through wired or wireless communication to complete the positioning and pickup of the shell-shaped orthodontic appliance to be picked up.

[0110] The shell-shaped orthodontic appliance pickup system in this embodiment, through the cooperation of the control device 100, the conveying device 101, the identification device 102, the distance measuring device 103, the robotic arm 104, and the shell-shaped orthodontic appliance pickup device 105, can accurately position and pick up the shell-shaped orthodontic appliance to be picked up. At the same time, it can prevent the shell-shaped orthodontic appliance from flipping after pickup, so that the state of the shell-shaped orthodontic appliance after pickup can meet the requirements of subsequent processing, and can improve the suction stability and prevent the shell-shaped orthodontic appliance from falling.

[0111] Example 4

[0112] This invention provides a shell-shaped orthodontic appliance pickup system, including a control device 100, a conveying device 101, an identification device 102, a distance measuring device 103, a robotic arm 104, and a shell-shaped orthodontic appliance pickup device 105. The difference between this embodiment and Embodiment 3 is that, in this embodiment, the shell-shaped orthodontic appliance pickup device 105 is the same as that used in Embodiment 2.

[0113] In one embodiment, during positioning and pickup, the first pickup part 1 of the pickup device 105 picks up the middle position of the two central incisors of the shell-shaped orthodontic appliance to be picked up, and the limiting part 202 of the pickup device 105 contacts and limits the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up. In a specific embodiment, during positioning and pickup, the first pickup part 1 of the pickup device 105 picks up the middle position of the two central incisors of the shell-shaped orthodontic appliance to be picked up, and the two stop bars 2021 of the pickup device 105 contact the posterior tooth areas on both sides of the shell-shaped orthodontic appliance to be picked up.

[0114] The shell-shaped orthodontic appliance pickup system in this embodiment, through the cooperation of the control device 100, the conveying device 101, the identification device 102, the distance measuring device 103, the robotic arm 104, and the shell-shaped orthodontic appliance pickup device 105, can accurately position and pick up the shell-shaped orthodontic appliance to be picked up, while preventing the shell-shaped orthodontic appliance from flipping after pickup, so that the state of the shell-shaped orthodontic appliance after pickup can meet the requirements of subsequent process processing.

[0115] Example 5

[0116] This invention provides a method for picking up a shell-shaped orthodontic appliance, applicable to the shell-shaped orthodontic appliance picking system in Embodiment 3 or Embodiment 4. Its flowchart is shown below. Figure 8 As shown, the specific steps include:

[0117] S1: The identification device 102 acquires the second coordinate system of the shell-shaped orthodontic appliance to be picked up at the identification position and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm 104 and transmits it to the control device 100.

[0118] S2: The distance measuring device 103 measures the transport distance of the shell-shaped orthodontic appliance to be picked up from the identification position to the picking position of the robotic arm 104 and sends it to the control device 100.

[0119] S3: The control device 100 controls the robotic arm 104 to drive the picking device 105 to position and pick up the shell-shaped orthodontic appliance to be picked up at the picking position.

[0120] In step S1, the identification device 102 acquires the first position information of the second coordinate system of the shell-shaped orthodontic appliance to be picked up at the identification position and the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm 104, and transmits it to the control device 100. In one embodiment, the second coordinate system includes the second coordinate axis and the second coordinate origin of the shell-shaped orthodontic appliance to be picked up. The second coordinate origin is obtained based on the position where the anterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up is picked up by the first picking part 1, and the second coordinate axis is obtained based on the position where the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up contacts the contact part of the auxiliary picking part and the second coordinate origin. Specifically, the contact part of the auxiliary picking part is the second picking part 2 or the limiting part 202. In one embodiment, the contact part is the negative pressure suction assembly 21 or the stop bar 2021.

[0121] In one embodiment, the identification device 102 acquires an image of the shell-shaped orthodontic appliance to be picked up. The midpoint of the gap between the two central incisors in the image of the shell-shaped orthodontic appliance to be picked up is used as the second coordinate origin. The line connecting the second coordinate origin and the center of the first pre-selected position of the posterior tooth region in the image of the shell-shaped orthodontic appliance to be picked up is used as the second X-axis. A line passing through the second coordinate origin and perpendicular to the second X-axis in the horizontal plane is used as the second Y-axis. During pickup, the first pre-selected position of the posterior tooth region of the shell-shaped orthodontic appliance to be picked up comes into contact with the contact portion of the auxiliary pickup part.

[0122] In step S2, the distance measuring device 103 measures the transport distance of the shell-shaped orthodontic appliance to be picked up from the identification position to the picking position of the robotic arm 104 and sends it to the control device 100. In one specific implementation, when the identification device 102 transmits the second coordinate system of the shell-shaped orthodontic appliance to be picked up and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm 104 to the control device 100, the control device 100 sends the target distance to be transported from the identification position to the picking range of the shell-shaped orthodontic appliance to be picked up to the distance measuring device 3. The distance measuring device 3 starts to measure the actual transport distance of the shell-shaped orthodontic appliance to be picked up in real time. When the actual transport distance reaches the target distance, the shell-shaped orthodontic appliance to be picked up enters the picking range of the robotic arm 104. The distance measuring device 3 sends the actual measured transport distance of the shell-shaped orthodontic appliance to be picked up from the identification position to the picking position of the robotic arm 104 to the control device 100.

[0123] In step S3, the control device 100 controls the robotic arm 104 to drive the pickup device 105 to position and pick up the shell-shaped orthodontic appliance to be picked up at the pickup position. Specifically, the control device 100 controls the robotic arm 104 to drive the pickup device 105 to position and pick up the shell-shaped orthodontic appliance to be picked up at the pickup position based on the second coordinate system of the shell-shaped orthodontic appliance to be picked up transmitted by the identification device 102, the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the robotic arm 104, and the conveying distance transmitted by the distance measuring device 103.

[0124] In one embodiment, the control device 100 calculates the second position information of the second origin of the second coordinate system of the shell-shaped orthodontic appliance to be picked up in the coordinate system of the robotic arm 104 based on the first position information of the second coordinate system of the shell-shaped orthodontic appliance to be picked up in the coordinate system of the robotic arm 104 transmitted by the identification device 102 and the transport distance transmitted by the distance measuring device 103; the control device 100 acquires the first coordinate system of the picking device 105; the control device 105 controls the robotic arm 104 to drive the picking device 105 to position and pick up the shell-shaped orthodontic appliance to be picked up in the picking position based on the second position information, the first coordinate system and the second coordinate system, wherein the first coordinate system and the second coordinate system coincide during positioning and picking up. Specifically, the pickup device 105 has its own spatial coordinate system, which is the first coordinate system corresponding to the pickup device 105. The position information of the pickup device 105 in the coordinate system of the robotic arm 104 is known. The control device 100 can acquire the position information of the first coordinate system and the first coordinate origin of the first coordinate system in the coordinate system of the robotic arm 104 in real time. Then, the control device 100 can acquire the horizontal displacement and rotation angle of the robotic arm 104, i.e., the pickup path of the robotic arm 104 in the horizontal plane, corresponding to the first coordinate system of the pickup device 105 and the second coordinate system of the shell-shaped orthodontic appliance to be picked up. As for the vertical movement distance of the robotic arm 104, it can be a fixed value preset in the control device 100 at the beginning, or it can be obtained by real-time measurement using a distance sensor or laser rangefinder during pickup. This embodiment does not limit the method of acquiring the vertical movement distance of the robotic arm 104.

[0125] In one embodiment, the first coordinate origin of the first coordinate system of the pickup device 105 is located on the rotation axis of the robotic arm 104. The horizontal displacement of the robotic arm 104 is the displacement difference between the first coordinate origin and the second coordinate origin when the shell-shaped orthodontic appliance to be picked up is in the pickup position. The rotation angle is the rotation angle of the first coordinate system corresponding to the first coordinate system axis coinciding with the second coordinate system axis after the first coordinate origin and the second coordinate origin coincide. That is, by setting the first coordinate origin of the first coordinate system of the pickup device 105 on the rotation axis of the robotic arm 104, it is convenient to obtain the pickup path of the robotic arm 104 in the horizontal plane during the positioning and pickup process.

[0126] In one embodiment, the first coordinate system of the pickup device 105 includes a first coordinate axis and a first coordinate origin. The first coordinate origin is obtained based on the suction end of the first pickup unit 1 that suctions the anterior tooth region of the shell-shaped orthodontic tooth to be picked up. The first coordinate axis is obtained based on the contact portion of the pickup auxiliary unit that contacts the posterior tooth region of the shell-shaped orthodontic tooth to be picked up, and the first coordinate origin. In one embodiment, the suction end of the first pickup unit 1 is a negative pressure suction unit 12.

[0127] In one embodiment, the method for obtaining the first coordinate system of the pickup device 105 is as follows: taking the center of the horizontal cross-section of the suction end of the first pickup part 1 as the first coordinate origin, selecting a contact part where the pickup auxiliary part contacts the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up, taking a line in the horizontal plane passing through the first coordinate origin and the center of the horizontal cross-section of the contact part as the first X-axis, and taking a line in the horizontal plane passing through the first coordinate origin and perpendicular to the first X-axis as the first Y-axis. In one embodiment, the horizontal cross-section of the suction end of the first pickup part 1 is the mounting bottom surface of the negative pressure suction part 12.

[0128] The position information of the pickup device 105 in the coordinate system of the robotic arm 104 can be obtained and stored in the control device 100 using any method in the prior art. In one embodiment, the position information of the pickup device 105 in the coordinate system of the robotic arm 104 can be preset and stored in the control device, and the pickup device 105 can be installed on the free end of the robotic arm according to the preset position information. In another embodiment, the position information of the pickup device 105 in the coordinate system of the robotic arm 104 can also be obtained after the pickup device is installed. For example, in a specific embodiment, the auxiliary pickup unit includes a second pickup unit 2, which includes two negative pressure suction components 21. The position information of the pickup device 105 in the coordinate system of the robotic arm 104 can be obtained using the following method:

[0129] Take three sets of horizontal projection images of the first pickup part 1 and the two negative pressure suction components 21 of the pickup device 105 when the robotic arm 104 is at different rotation angles, and print the three sets of projection images at different positions on the same paper at a 1:1 scale as calibration blocks.

[0130] The calibration block is transported to the identification position of the identification device 102 via the conveyor belt 1011. The identification device 102 identifies the position information of the center of each projection image on the calibration block in the coordinate system of the robotic arm 104 and transmits it to the control device 100. The center of the projection image of the first picking unit 1 corresponds to the first coordinate origin of the first coordinate system of the picking device 105.

[0131] The conveyor belt 1011 transports the calibration block to the pickup position of the robotic arm 104. The distance measuring device 103 records the transport distance of the calibration block from the identification position to the pickup position and sends it to the control device 100. Then, the teaching pendant controls the robotic arm 104 to align the first pickup part 1 and the two negative pressure suction components 21 with each set of projection images on the calibration block and records the corresponding horizontal displacement and rotation angle of the robotic arm 104 and sends it to the control device 100.

[0132] Based on the position information of the center of each projection image on the calibration block in the coordinate system of the robotic arm 104, the conveying distance of the calibration block from the identification position to the picking position, and the horizontal displacement and rotation angle of the robotic arm 104 corresponding to the alignment of the first picking part 1 and the two negative pressure suction components 21 with each set of projection images on the calibration block, the control device 100 calculates and stores the position information of the picking device 105 in the coordinate system of the robotic arm 104.

[0133] The shell-shaped orthodontic appliance picking method in this embodiment can accurately locate and pick up the shell-shaped orthodontic appliance to be picked up, and at the same time prevent the shell-shaped orthodontic appliance from flipping over after picking up, so that the state of the shell-shaped orthodontic appliance after picking up can meet the requirements of subsequent process.

[0134] Example 6

[0135] This invention provides a method for picking up a shell-shaped orthodontic appliance, which is applied to the shell-shaped orthodontic appliance picking system in Embodiment 3 or Embodiment 4. The difference between this embodiment and Embodiment 5 is that it provides another method for obtaining the first coordinate system of the picking device 105 and the second coordinate system of the shell-shaped orthodontic appliance to be picked up.

[0136] In one embodiment, the method for obtaining the first coordinate system is as follows: taking the center of the horizontal cross-section of the suction end of the first pickup part of the pickup component as the origin of the first coordinate system, selecting two contact parts of the pickup auxiliary part that contact the posterior tooth area of ​​the shell-shaped orthodontic appliance to be picked up, taking a line in the plane parallel to the center of the horizontal cross-section of the two contact parts and passing through the origin of the first coordinate system as the first X-axis, and taking a line in the plane passing through the origin and perpendicular to the first X-axis as the first Y-axis. Specifically, the contact part of the auxiliary pickup part is a second pickup part 2 or a limiting part 202. In one embodiment, the two contact parts are two negative pressure suction components 21 or two stop bars 2021.

[0137] The identification device 102 acquires an image of the shell-shaped orthodontic appliance to be picked up. The method for acquiring the second coordinate system is as follows: the midpoint of the gap between the two central incisors in the image of the shell-shaped orthodontic appliance to be picked up is taken as the origin of the second coordinate system; a line passing through the origin and parallel to the line connecting the centers of the second pre-selected positions of the two posterior tooth areas in the image of the shell-shaped orthodontic appliance to be picked up is taken as the second X-axis; and a line passing through the origin of the second coordinate system and perpendicular to the second X-axis in the plane is taken as the second Y-axis. During pickup, the second pre-selected positions of the two posterior tooth areas of the shell-shaped orthodontic appliance to be picked up are in contact with the two contact parts respectively.

[0138] The shell-shaped orthodontic appliance picking method in this embodiment can accurately locate and pick up the shell-shaped orthodontic appliance to be picked up, and at the same time prevent the shell-shaped orthodontic appliance from flipping over after picking up, so that the state of the shell-shaped orthodontic appliance after picking up can meet the requirements of subsequent process.

[0139] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. These embodiments can be combined in any way, but the present invention is not limited to the above embodiments or combinations thereof. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A picking device of a shell-shaped dental appliance, comprising a negative pressure assembly and a picking assembly, the negative pressure assembly being in communication with the picking assembly, the picking assembly picking up a shell-shaped dental appliance to be picked up through negative pressure generated by the negative pressure assembly, characterized in that: The picking assembly comprises a first picking part for picking the anterior region of the shell-shaped dental appliance to be picked by negative pressure, and a picking auxiliary part for picking the shell-shaped dental appliance to be picked in cooperation with the first picking part, wherein the picking auxiliary part comprises a limiting part for limiting the posterior region of the shell-shaped dental appliance to be picked during picking or a second picking part for picking the posterior region of the shell-shaped dental appliance to be picked by negative pressure. The first picking part comprises a negative pressure suction part in communication with the negative pressure assembly, wherein the negative pressure suction part comprises a suction surface provided with a negative pressure suction port, and the negative pressure suction port is adsorbed on the lingual side of the anterior region of the shell-shaped dental appliance to be picked during picking. The suction surface is obliquely arranged relative to the picking direction, and the suction surface at least partially adheres to the lingual side of the anterior region of the shell-shaped dental appliance to be picked during picking. The suction surface comprises at least two adjacent first and second suction surfaces, and the first suction surface at least partially adheres to the area close to the cusp of the lingual side of the anterior region of the shell-shaped dental appliance to be picked, and the second suction surface at least partially adheres to the area away from the cusp of the lingual side of the anterior region of the shell-shaped dental appliance to be picked. At least one of the first and second suction surfaces is a curved surface or an inclined plane oblique to the picking direction. At least one of the first and second suction surfaces is an inclined plane oblique to the picking direction, wherein the inclination angle of the first suction surface is between 30° and 60° when the first suction surface is an inclined plane, and the inclination angle of the second suction surface is between 60° and 75° when the second suction surface is an inclined plane, and the first and second suction surfaces are smoothly connected.

2. The picking device of a shell-shaped dental appliance according to claim 1, characterized in that: The negative pressure suction port is a through hole or a mesh hole provided on the suction surface.

3. The shell-like toothed appliance pickup device of claim 1, wherein: The first negative pressure connecting piece is in communication with the negative pressure assembly at one end and provided with the first picking part at the other end, and the negative pressure assembly provides negative pressure to the first picking part through the first negative pressure connecting piece.

4. The picking device of a shell-shaped dental appliance according to any one of claims 1-3, characterized in that: The second picking part comprises a negative pressure suction assembly for picking the posterior region of the shell-shaped dental appliance to be picked, and the negative pressure suction assembly is arranged corresponding to the posterior region of the shell-shaped dental appliance to be picked, and at least part of the occlusal surface area of the posterior region of the shell-shaped dental appliance to be picked is adsorbed by the negative pressure suction assembly during picking.

5. The picking device of a shell-like tooth appliance according to claim 4, characterized in that: The negative pressure suction assembly is a suction disc, and at least part of the occlusal surface area of the posterior region of the shell-shaped dental appliance to be picked is adsorbed by the suction disc during picking.

6. The picking device of a shell-like tooth appliance according to claim 4, characterized in that: The negative pressure suction assembly is two, and is arranged corresponding to the two posterior regions of the shell-shaped dental appliance to be picked.

7. The picking device of a shell-like dental appliance according to claim 6, characterized in that: The two negative pressure suction assemblies are arranged corresponding to the two opposite molars of the shell-shaped dental appliance to be picked.

8. The picking device of the shell-like tooth appliance of claim 4, wherein: The second negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the second picking part at the other end.

9. The picking device of a shell-like tooth appliance according to claim 8, characterized in that: The second picking part is installed on the second picking part mounting base and is communicated with the negative pressure assembly through the second negative pressure connecting piece.

10. The picking device of a shell-like tooth appliance according to claim 9, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

11. The picking device of a shell-like tooth appliance according to claim 10, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

12. The picking device of a shell-like tooth appliance according to claim 11, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

13. The picking device of a shell-like tooth aligner according to claim 12, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

14. The picking device of a shell-like tooth appliance according to claim 13, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

15. The picking device of a shell-like tooth appliance according to any one of claims 1-3, wherein: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

16. The picking device of a shell-like tooth appliance according to claim 15, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

17. The picking device of a shell-like tooth appliance according to claim 16, characterized in that: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end.

18. The picking device of a shell-like tooth appliance of claim 10, wherein: The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. 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The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is provided with the first picking part at the other end. The first negative pressure connecting piece is communicated with the negative pressure assembly at one end and is 19. The picking device of a shell-like tooth aligner according to claim 18, characterized in that: The slow-release connector comprises a telescopic support rod and an elastic energy storage component, which synchronously absorbs energy during compression of the support rod.

20. The picking device of a shell-like tooth appliance according to claim 19, characterized in that: The elastic energy storage component is a spiral spring, which is sleeved on the support rod.

21. A pick-up system for a shell-like dental appliance, characterized by: The picking device comprises a conveying device, an identification device, a distance measuring device, a mechanical arm, a control device and the shell-shaped dental appliance of any one of claims 1-20, the conveying device comprises a conveying belt, the identification device, the distance measuring device and the mechanical arm are sequentially arranged along the running direction of the conveying belt, the end of the mechanical arm is fixedly connected with the picking device, and the control device is in communication connection with the identification device, the mechanical arm and the distance measuring device respectively. The conveying belt is used for conveying the shell-shaped dental appliance to be picked up. The identification device acquires the second coordinate system of the shell-shaped dental appliance to be picked up in the identification position on the conveying belt and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the mechanical arm and transmits the first position information to the control device. The distance measuring device measures the conveying distance of the shell-shaped dental appliance to be picked up from the identification position to the picking position of the mechanical arm and transmits the conveying distance to the control device. The control device controls the mechanical arm to drive the picking device to positionally pick up the shell-shaped dental appliance to be picked up according to the second coordinate system of the shell-shaped dental appliance to be picked up and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the mechanical arm transmitted by the identification device and the conveying distance transmitted by the distance measuring device.

22. The shell-like tooth aligner pickup system of claim 21, wherein: When positionally picking up, the first picking part picks up the lingual side of the middle position of the two central incisors of the shell-shaped dental appliance to be picked up.

23. The shell-like tooth aligner pickup system of claim 21, wherein: The identification device comprises an image acquisition device, which is located above the conveying belt and is used for acquiring the image of the shell-shaped dental appliance to be picked up and further acquiring the second coordinate system of the shell-shaped dental appliance to be picked up and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the mechanical arm based on the acquired image of the shell-shaped dental appliance to be picked up.

24. The shell-like tooth aligner pickup system of claim 21, wherein: The distance measuring device is an encoder.

25. The shell-like tooth aligner pickup system of claim 21, wherein: The first coordinate origin of the first coordinate system of the picking device is located on the rotation axis of the mechanical arm.

26. A method of picking up a shell-like dental appliance, characterized by The picking system applied to the shell-shaped dental appliance of any one of claims 21-25 comprises the following steps: The identification device acquires the second coordinate system of the shell-shaped dental appliance to be picked up in the identification position and the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the mechanical arm and transmits the first position information to the control device; The distance measuring device measures the conveying distance of the shell-shaped dental appliance to be picked up from the identification position to the picking position of the mechanical arm and transmits the conveying distance to the control device; and The control device controls the mechanical arm to drive the picking device to positionally pick the shell-shaped dental appliance to be picked up at the picking position according to the second coordinate system of the shell-shaped dental appliance to be picked up transmitted by the identification device, the first position information of the second coordinate origin of the second coordinate system in the coordinate system of the mechanical arm, and the conveying distance transmitted by the distance measuring device.

27. The method of picking up a shell-like dental appliance of claim 26, wherein: When positionally picking, the first picking part picks the middle positions of the two central incisors of the shell-shaped dental appliance to be picked up.

28. The method of picking up a shell-like dental appliance of claim 26, wherein, Further comprising: The control device acquires the first coordinate system of the picking device; The control device acquires the second position information of the second coordinate origin of the second coordinate system of the shell-shaped dental appliance to be picked up at the picking position in the coordinate system of the mechanical arm according to the first position information and the conveying distance transmitted by the distance measuring device; The control device controls the mechanical arm to drive the picking device to positionally pick the shell-shaped dental appliance to be picked up at the picking position according to the second position information, the first coordinate system and the second coordinate system, and when positionally picking, the first coordinate system and the second coordinate system coincide.

29. The shell-shaped dental appliance picking method according to claim 28, wherein: The first coordinate system comprises a first coordinate axis and a first coordinate origin of the picking device, the first coordinate origin is obtained based on the suction end of the first picking part for suctioning the anterior tooth area of the shell-shaped dental appliance to be picked up, and the first coordinate axis is obtained based on the contact part of the picking auxiliary part for contacting the posterior tooth area of the shell-shaped dental appliance to be picked up and the first coordinate origin; The second coordinate system comprises a second coordinate axis and a second coordinate origin of the shell-shaped dental appliance to be picked up, the second coordinate origin is obtained based on the position of the anterior tooth area of the shell-shaped dental appliance to be picked up being suctioned by the first picking part, and the second coordinate axis is obtained based on the position of the posterior tooth area of the shell-shaped dental appliance to be picked up being contacted by the contact part of the auxiliary picking part and the second coordinate origin; When positionally picking, the first coordinate origin coincides with the second coordinate origin, and the first coordinate axis coincides with the second coordinate axis.

30. The shell-shaped dental appliance picking method according to claim 29, wherein: The first coordinate system is acquired by taking the center of the horizontal section of the suction end of the first picking part as the first coordinate origin, selecting one contact part of the picking auxiliary part contacting the posterior tooth area of the shell-shaped dental appliance to be picked up, and taking a line in the horizontal plane passing through the center of the horizontal section of the one contact part and the first coordinate origin as the first X axis, and taking a line in the horizontal plane passing through the first coordinate origin and perpendicular to the first X axis as the first Y axis. The recognition device acquires an image of the shell-shaped dental appliance to be picked up, and the second coordinate system is acquired by: taking the midpoint of the gap between the two central incisors in the image of the shell-shaped dental appliance to be picked up as the second coordinate origin, taking the line connecting the second coordinate origin and the center of the first preselected position of the posterior tooth region in the image of the shell-shaped dental appliance to be picked up as the second X axis, and taking the line passing through the second coordinate origin and perpendicular to the second X axis in the horizontal plane as the second Y axis. When picking up, the first preselected position of the posterior tooth region of the shell-shaped dental appliance to be picked up is in contact with the one contact part.

31. The shell-shaped dental appliance picking-up method according to claim 29, characterized in that: The first coordinate system is acquired by: taking the center of the horizontal section of the suction end of the first picking-up part of the picking-up assembly as the first coordinate origin, selecting two contact parts where the picking-up auxiliary part is in contact with the posterior tooth region of the shell-shaped dental appliance to be picked up, and taking the line parallel to the line connecting the centers of the horizontal sections of the two contact parts and passing through the first coordinate origin in the horizontal plane as the first X axis, and taking the line passing through the origin and perpendicular to the first X axis in the horizontal plane as the first Y axis. The recognition device acquires an image of the shell-shaped dental appliance to be picked up, and the second coordinate system is acquired by: taking the midpoint of the gap between the two central incisors in the image of the shell-shaped dental appliance to be picked up as the second coordinate origin, taking the line connecting the second coordinate origin and the center of the first preselected position of the posterior tooth region in the image of the shell-shaped dental appliance to be picked up as the second X axis, and taking the line passing through the second coordinate origin and perpendicular to the second X axis in the horizontal plane as the second Y axis. When picking up, the first preselected position of the posterior tooth region of the shell-shaped dental appliance to be picked up is in contact with the one contact part.

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