Mounting system for dental models and bases

Abstract

A dental mold and base installation system comprises a conveying device, a transfer device, a clamping device and a control device, wherein the conveying device is used to transport a material tray, the material tray is used to load the base, the transfer device is used to transfer the material tray to a preset work station, the clamping device is used to grab the dental mold and the base, and the control device is used to adjust the clamping device to a preset clamping state to grab the dental mold and the base, and the base to be installed is transferred by the transport device in combination with the transfer device, and the installed dental mold and base are transferred, thereby realizing the transfer of the base from loading to unloading, ensuring the stability of the entire installation process, and combining the control device and the clamping device during the process, so that the disordered dental mold and base can be adjusted to a standard state that matches each other, thereby realizing the orderly assembly of the dental mold and the base, greatly saving the assembly time, and improving the production efficiency of the overall invisible braces manufacturing process.

Description

Technical Field

[0001] The present invention relates to the technical field of invisible orthodontic appliances, and in particular to a mounting system for a dental mold and a base. Background Art

[0002] The production process of invisible braces includes processes such as dental mold forming, lamination, and cutting. The cutting process must ensure cutting accuracy. In order to ensure the cutting accuracy, the dental mold after lamination (at this time, the surface of the dental mold has the invisible braces to be cut) needs to be installed on a universal base, and then placed together with the universal base on the processing position of the machine tool. The installation of the dental mold and the base is usually done manually, but the manual method is extremely inefficient. In order to improve the installation efficiency of the dental mold and the base, the installation of the dental mold and the base is achieved with the help of automated equipment. However, in the actual installation process, the dental mold and the base are in a disordered state when loading, and there is a lack of continuity between the processes of the automated equipment, which results in the dental mold and the base being unable to be installed in an assembly line mode. The installation process is time-consuming and labor-intensive, which greatly affects the progress of the entire production process.

[0003] Based on this, a dental model and base installation system is proposed to solve the above problems. Summary of the invention

[0004] Based on this, in order to solve the problem that the dental mold and the base are in a disordered state when loading in the traditional technology, and there is a lack of continuity between the processes of the automated equipment, resulting in the dental mold and the base cannot be installed in an assembly line mode, a dental mold and base installation system is provided, including a conveying device, a transfer device, a clamping device and a control device, the conveying device is used to transport the material tray, and the material tray is used to load the base; the transfer device is used to transfer the material tray to a preset workstation; the clamping device is used to grab the dental mold and the base; the control device is used to adjust the clamping device to a preset clamping state to grab the dental mold and the base, wherein the preset clamping state includes a first clamping state and a second clamping state, the control device adjusts the clamping device to the first clamping state to grab the base, and moves the base to the assembly position, the control device adjusts the clamping device to the second clamping state to grab the dental mold, and moves the dental mold to the assembly position, so that the dental mold and the base match each other. The tray is used to load multiple bases, that is, multiple bases and dental molds can be installed in one batch, which saves time and effort. The conveying device, the transfer device, the clamping device and the control device complement each other to form a streamlined installation system. The system can convey the tray of the upper material position to the first station through the conveying device, and then the clamping device and the control device act at the same time, first grab the base and the dental mold to the assembly position for matching installation, and then grab the installed dental mold and base to the tray, and then unload the tray through the conveying device to obtain the installed dental mold and base, and then complete the installation of a whole batch. Then, the upper material tray of the first station is transferred to the second station through the transfer device to receive the next batch of dental molds and bases. At the same time, the conveying device continues to transport the second batch of trays with bases to the first station. Repeating the above process can install a large number of dental molds and bases. The various devices are carried out in an orderly manner, and the disordered bases and dental molds are installed, which greatly improves the installation efficiency of the dental mold and base, which is conducive to the subsequent operation.

[0005] In one embodiment, the conveying device includes a first transport component, a second transport component, a first lifting component and a second lifting component, the preset workstation includes a first workstation and a second workstation, the first transport component is used to transport a tray with a base to be installed, wherein: the first transport component transports the tray to the first lifting component; the first lifting component transports the tray to the first workstation; the control device adjusts the clamping device to grab the base located on the first workstation to the assembly position; the control device adjusts the clamping device to grab the dental mold to the assembly position and match it with the base; the clamping device grabs the assembled dental mold and the base to the tray located at the first workstation or the second workstation; the second transport component transports the tray to the unloading position. The first transport component, the second transport component, the first lifting component and the second lifting component are used to realize the loading, unloading and lifting functions of the tray, and the transfer device is used to undertake the transfer between the first workstation and the second workstation, so as to facilitate the transfer of the installed dental mold and the base to the conveying device for unloading, and at the same time facilitate the transportation of the next batch of trays to continue the installation of the dental mold and the base. The transfer device is combined with the transportation device to realize the cyclic transportation of the dental mold and the base, which is highly practical. During the process, the control device can adjust the clamping device to grab the base in different states and the dental molds in various orientations, and adjust the two after grabbing, so that the dental mold and the base are in a state of matching each other after adjustment, solving the problem of poor installation efficiency caused by the existing dental mold and base being in a disordered state during installation.

[0006] In one embodiment, when the clamping device grabs the assembled dental mold and base to the tray of the first station, the transfer device first transfers the tray at the first station to the second station, and then the second lifting assembly transports the tray at the second station to the second transport assembly; when the clamping device grabs the assembled dental mold and base to the tray of the second station, the second lifting assembly first transports the tray at the second station to the second transport assembly, and then the transfer device transfers the tray at the first station to the second station. The first station is used to place the tray with the base to be installed, and the second station is used to place an empty tray or an empty position. The assembled dental mold and base can be placed on the tray of the first station or the second station. When placed on the tray of the first station, the second station does not need to place the tray, that is, only one tray is used for loading, transferring and unloading during the entire installation process. When placing it on the tray of the second station, it is necessary to place an empty tray on the second station in advance to place the installed dental molds and bases. Then two trays are used for transfer and loading and unloading during the entire installation process. Both placement methods can realize the transportation and unloading of installed dental molds and bases.

[0007] In one embodiment, the transfer device includes a guide assembly, a clamping assembly and a driving assembly, the driving assembly is used to drive the clamping assembly to move on the guide assembly, the clamping assembly includes a group of clamping members, and the group of clamping members move relative to each other to clamp the material tray. The guide assembly can guide the moving direction of the clamping assembly so that the clamping assembly can transfer the material tray located at the first station to the second station, a group of clamping members is used to clamp both sides of the material tray, and then the clamping assembly is moved by the driving assembly, and the material tray is driven to move together, and the clamping assembly can be made to alternate between the first station and the second station through the guide assembly and the driving assembly, thereby realizing the transfer of the material tray.

[0008] In one embodiment, a group of clamping members are connected by a connecting member, and the clamping member includes a sliding part, a driving part and a clamping part. The driving part is used to drive the clamping part to move, and the driving part is movably connected to the guide assembly through the sliding part. The clamping part is provided with a limiting part, and the tray is provided with a limiting groove corresponding to the limiting part. The connecting member enables the driving assembly to simultaneously drive the two clamping members to move on the guide assembly, and the driving part is used to realize the reciprocating movement of the clamping part, so that the clamping part can be extended and retracted. The two clamping parts are used to clamp the tray when extended, and are used to remove the tray when retracted. The operation process is simple and efficient, ensuring the stable transportation of the tray.

[0009] In one embodiment, the control device includes a first recognition model for adjusting the clamping device to a first clamping state, the first recognition model includes a first acquisition module, a second acquisition module, a first recognition module and a first execution module, the first acquisition module is used to acquire a reference image of the base; the second acquisition module is used to acquire a first real-time image of the base, and a clamping member is provided on the base; the first recognition module is used to identify and compare the reference image with the position of the clamping member on the first real-time image, and obtain a first deviation of the first real-time image relative to the reference image; the first execution module is used to adjust the clamping device to the first clamping state according to the first deviation, and grasp the base, and after grasping, the clamping device is adjusted back to the first initial state, and the base is moved to the assembly position according to the first path. The control device adjusts the clamping device to the first clamping state for grasping the base, and for adjusting the base to a standard state that can be installed with the dental model, the reference image is an artificially set upper surface image of a standard base placement state that can be installed with the dental model, and is used as a standard image for comparison, and the first real-time image is an upper surface image of the base that needs to be grasped and installed at the moment. The first recognition module is used for the first deviation between the first real-time image and the reference image. The first deviation is the position difference between the clamping part on the current base and the clamping part on the standard base that can be matched. Therefore, the first execution module is adjusted according to the first deviation, that is, the clamping device is controlled to adjust from the first initial state to the first clamping state according to the first deviation. The clamping device in the first clamping state can now grab the base. After grabbing, the clamping device returns to the first initial state again, thereby driving the base to be adjusted by the first deviation, so that the base is now in a standard state that can be installed.

[0010] In one embodiment, a positioning piece is provided at the assembly position, and a positioning hole corresponding to the positioning piece is provided on the base, so that the base can match the assembly position. The positioning piece is used to fix the adjusted base at the assembly position, and the positioning hole on the lower surface of the base can correspond to the positioning piece. When the clamping device grabs the adjusted base to the assembly position, the positioning piece is inserted into the positioning hole to achieve matching between the base and the assembly position, which is convenient for the subsequent installation of the dental model and the base.

[0011] In one embodiment, the control device further includes a second recognition model for adjusting the clamping device to a second clamping state, the second recognition model includes a third acquisition module, a second recognition module and a second execution module, the third acquisition module is used to acquire a second real-time image of the dental model, the dental model includes a first mounting member and a second mounting member; the second recognition module is used to identify and calculate the size relationship of the center of gravity coordinates of the first mounting member and the second mounting member and the dental model angle; the second execution module is used to adjust the clamping device to the second clamping state according to the size relationship of the center of gravity coordinates of the first mounting member and the second mounting member and the dental model angle, and grasp the dental model, after grasping, the clamping device is adjusted back to the second initial state, and the dental model is moved to the assembly position according to the second path, and cooperates with the base. The control device adjusts the clamping device to the second clamping state for grasping the dental model, and is used to adjust the dental model to a standard state that can be installed with the base, the second real-time image is an image of the dental model to be grasped and installed at the moment, the second real-time image is used to acquire the position of the first mounting member and the second mounting member on the dental model, and the clamping device is adjusted by the center of gravity coordinates of the first mounting member and the second mounting member and the dental model angle recognized by the second recognition module. The dental cast is grasped by grasping the second mounting part, and the orientation of the dental cast at this time is obtained by the size relationship of the center of gravity coordinates of the first mounting part and the second mounting part. At the same time, different orientations of the dental cast correspond to different dental cast angles. Therefore, the second execution module is adjusted according to the center of gravity coordinates of the second mounting part corresponding to the orientation of the dental cast and the corresponding dental cast angle, that is, the clamping device is controlled to be adjusted from the second initial state to the second clamping state. The clamping device in the second clamping state can now grasp the dental cast. After grasping, the clamping device returns to the second initial state again, thereby driving the dental cast to be adjusted by a certain deviation, so that the dental cast is now in a standard state that can be installed with the base.

[0012] In one embodiment, the dental model angle is the angle between the horizontal line and the first side line of the second mounting member rotated counterclockwise from the horizontal line, and the angle is defined as α. The clamping device is adjusted to the second clamping state according to the center of gravity coordinates of the second mounting member and the dental model angle. The clamping device locates the position of the dental model according to the center of gravity coordinates of the second mounting member, and is rotated and adjusted through the dental model angle, so that the dental models in different positions and directions can be grasped. The size relationship between the center of gravity coordinates of the first mounting member and the second mounting member includes:

[0013] When the horizontal coordinate of the center of gravity of the first mounting component is greater than the horizontal coordinate of the second mounting component, and the horizontal coordinate of the center of gravity of the first mounting component is smaller than the horizontal coordinate of the second mounting component, adjustment is performed according to the coordinate of the center of gravity of the second mounting component and the dental model angle.

[0014] When the horizontal coordinate of the center of gravity of the first mounting part is smaller than the horizontal coordinate of the second mounting part, and the horizontal coordinate of the center of gravity of the first mounting part is larger than the horizontal coordinate of the second mounting part, the adjustment is performed according to the coordinate of the center of gravity of the second mounting part and the angle of the dental model +180°. This situation is consistent with the coordinate of the second mounting part identified in the first upper right corner situation mentioned above. The coordinate of the center of gravity of the first mounting part is used as the basis for judging whether α needs to be increased by 180°. At this time, the clamping device needs to be increased by 180° for adjustment.

[0015] When the horizontal coordinate of the center of gravity of the first mounting component is greater than the horizontal coordinate of the second mounting component, and the horizontal coordinate of the center of gravity of the first mounting component is greater than the horizontal coordinate of the second mounting component, adjustment is performed according to the coordinate of the center of gravity of the second mounting component and the dental model angle.

[0016] When the horizontal coordinate of the center of gravity of the first mounting part is smaller than the horizontal coordinate of the second mounting part, and the horizontal coordinate of the center of gravity of the first mounting part is smaller than the horizontal coordinate of the second mounting part, the adjustment is performed according to the coordinate of the center of gravity of the second mounting part and the angle of the dental model +180°. This situation is consistent with the coordinate of the second mounting part identified in the third lower right corner case mentioned above. The coordinate of the center of gravity of the first mounting part is used as the basis for judging whether α needs to be increased by 180°. At this time, the clamping device needs to be increased by 180° for adjustment.

[0017] In one embodiment, the first mounting member and the second mounting member are provided with clamping holes corresponding to the clamping members, so that the dental model can match the base. The clamping holes correspond to the clamping members, and the clamping members are embedded in the clamping holes to achieve matching installation between the dental model and the base.

[0018] The dental cast and base installation system in one embodiment of the present invention transfers the base to be installed and the installed dental cast and base through a transportation device combined with a transfer device, thereby realizing the transfer of the base from loading to unloading, ensuring the stability of the entire installation process. During this period, the control device and the clamping device are combined, so that the disordered dental cast and base can be adjusted to a standard state that matches each other, thereby realizing the orderly assembly of the dental cast and the base, greatly saving the assembly time, and improving the production efficiency of the overall invisible braces manufacturing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the installation system of the dental model and the base in one embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the installation process of the installation system of the dental model and the base in one embodiment of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a material tray in a mounting system of a dental mold and a base in one embodiment of the present invention;

[0022] Figure 4 It is a structural schematic diagram of a first lifting assembly or a second lifting assembly in a mounting system of a dental mold and a base in one embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of the installation process of a dental cast and a base in a dental cast and base installation system in one embodiment of the present invention;

[0024] Figure 6 It is a structural schematic diagram of a transfer device in a dental model and a base installation system in one embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of a module of a control device in a dental model and base installation system in one embodiment of the present invention;

[0026] Figure 8 A first reference image of a base in a mounting system of a dental model and a base in an embodiment of the present invention;

[0027] Fig. 9 It is a structural schematic diagram of a dental cast in a dental cast and base installation system in one embodiment of the present invention;

[0028] Fig.10 It is a schematic diagram of the center of gravity coordinates and dental model angles of four dental model orientations in the second real-time image in the dental model and base installation system in one embodiment of the present invention;

[0029] Fig.11 It is a schematic diagram of adding a preset position to the installation system of the dental model and the base in one embodiment of the present invention;

[0030] Fig.12 It is the second reference image of the base in the installation system of the dental model and the base in one embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0037] See also Figure 1 , Figure 1 The overall structural diagram of the dental model and base installation system in one embodiment of the present invention is shown. The dental model and base installation system provided in one embodiment of the present invention includes a conveying device 100, a transfer device 200, a clamping device 300 and a control device 400. The conveying device 100 is used to transport a material tray 501, and the material tray 501 is used to load a base 502; the transfer device 200 is used to transfer the material tray 501 to a preset station; the clamping device 300 is used to grab the dental model 503 and the base 502; the control device 400 Used to adjust the clamping device 300 to a preset clamping state to grasp the dental mold 503 and the base 502, wherein the preset clamping state includes a first clamping state and a second clamping state. The control device 400 adjusts the clamping device 300 to the first clamping state to grasp the base 502, and moves the base 502 to the assembly position 603. The control device 400 adjusts the clamping device 300 to the second clamping state to grasp the dental mold 503, and moves the dental mold 503 to the assembly position 506, so that the dental mold 503 and the base 502 match each other.

[0038] In some embodiments, the entire installation system is set on the frame 600, and the conveying device 100 and the transfer device 200 serve as the transmission line of the installation system, connecting the upper material position 105 and the lower material position 106, and play the role of transportation and transfer.

[0039] In some embodiments, the control device 400 is connected to the execution device 900, and the driving end of the execution device 900 is connected to the clamping device 300. The control device 400 controls, adjusts and drives the clamping device 300 through the execution device 900 to grab the base 502 and the dental mold 503 respectively, so that the two are matched and installed. The execution device 900 can be a robot, a mechanical arm, etc. It is known to those skilled in the art that the control device 400 can also control the transportation device 100 and the transfer device 200 in this embodiment to operate. The devices have strong continuity and cooperate with each other, which greatly saves the operation time between each process, thereby ensuring that the entire installation process is carried out in an orderly manner.

[0040] See also Figure 2 , Figure 2The schematic diagram of the installation process of the installation system of the dental mold and the base in one embodiment of the present invention is shown. The conveying device 100 includes a first transport component 101, a second transport component 102, a first lifting component 103 and a second lifting component 104. The preset workstations include a first workstation 601 and a second workstation 602. The first transport component 101 and the second transport component 102 are both conveyor belts for transporting the material tray 501. The first end of the first transport component 101 is the upper material position 105, and the first end of the second transport component 102 is the lower material position 106. The first lifting component 103 and the second lifting component 104 are both lifting modules, which can drive the material tray 501 to move upward or downward. The lower position of the first lifting component 103 is the second end of the first transport component 101, and the lower position of the second lifting component 104 is the second end of the second transport component 102. The upper positions of the first lifting 103 and the second lifting 104 are the first workstation 601 and the second workstation 602, wherein the entire installation and transportation process is as follows:

[0041] S1. Transport the material tray 501 to the first lifting assembly 103 through the first transport assembly 101.

[0042] See also Figure 3 , Figure 3 The schematic diagram of the structure of the material tray in the installation system of the dental model and the base in one embodiment of the present invention is shown. Specifically, a plurality of bases 502 can be placed on the material tray 501. In this embodiment, nine bases 502 are placed, and the lower part of the base 502 is provided with a positioning hole 502b (see Fig.12 ), a first limit pin 501b corresponding to the positioning hole 502b is provided on the material tray 501, and the base 502 and the material tray 501 are fixed by the first limit pin 501b and the positioning hole 502b. The AGV trolley sends the material tray 501 with the base 502 to the upper material position 105, and transports it through the first transport component 101. The first transport component 101 transports the material tray 501 to the first lifting component 103.

[0043] S2. Transport the material tray 501 to the first workstation 601 via the first lifting assembly 103 .

[0044] See also Figure 4 , Figure 4The schematic diagram of the structure of the first lifting assembly or the second lifting assembly in the installation system of the dental mold and the base in one embodiment of the present invention is shown. Specifically, the first workstation 601 is located above the first lifting assembly 103, and the first lifting assembly 103 realizes the lifting and lowering of the lifting module by a motor or a cylinder (those skilled in the art know that the second lifting assembly has the same structure as the first lifting assembly). The first lifting assembly 103 is provided with a placement rack 107, and the placement rack 107 is provided with a second limit pin 108. The material tray 501 is provided with a limit hole 501c corresponding to the second limit pin 108. When the first transport assembly 101 transports the material tray 501 to the position of the first lifting assembly 103, the second limit pin 108 and the limit hole 501c are used to fix the material tray 501 to the placement rack 107, thereby ensuring the stable rise of the material tray 501.

[0045] S3. Adjust the clamping device 300 through the control device 400 to grab the base 502 located at the first workstation to the assembly position 603.

[0046] See also Figure 5 , Figure 5 The schematic diagram of the installation process of the dental model and the base in the dental model and base installation system in one embodiment of the present invention is shown. Specifically, the control device 400 includes a first recognition model 700 for adjusting the clamping device 300 to the first clamping state, and the first recognition model 700 includes a first acquisition module 701, a second acquisition module 702, a first recognition module 703 and a first execution module 704. The control device 400 is used to control and adjust the clamping device 300 and drive the base 502 and the dental model 503 to move through the execution device 900. The movable end of the execution device 900 is provided with a support frame 401, and the clamping device 300 is arranged on the support frame 401. This step uses the first recognition model 700 to enable the execution device 900 to adjust the clamping device 300 to the first clamping state, thereby adjusting the disordered base 502 to the standard state, so that the base 502 can be positioned at the assembly position 603, and can be matched with the dental model 503.

[0047] S4, adjusting the clamping device 300 to grab the dental model 503 to the assembly position through the control device 400, and matching it with the base 502. A dental model loading position 604 is provided on the frame for placing the dental model to be installed.

[0048] In some embodiments, specifically, the control device 400 further includes a second recognition model 800 for adjusting the clamping device 300 to the second clamping state, and the second recognition model 800 includes a third acquisition module 801, a second recognition module 802, and a second execution module 803. This step uses the second recognition model 800 to enable the execution device 900 to adjust the clamping device 300 to the second clamping state, thereby adjusting the dental mold 503 in any orientation to a standard state, so that the dental mold 503 can be matched with the base 502, and the installation of the dental mold 503 and the base 502 is achieved by pressing the dental mold 503 down onto the base 502.

[0049] See again Figure 1 S5. Grab the assembled dental model 503 and the base 502 by the clamping device 300 and place them on the tray 501 located at the first station 601 or the second station 602. In this embodiment, the assembled dental model 503 and the base 502 can be placed in the first station 601 or the second station 602. Both methods can realize the transportation of the base 502 and the dental model 503. The second station 602 is above the second lifting assembly 103. The second station 602 is set to facilitate the transfer of the assembled dental model 503 and the base 502.

[0050] ① When the clamping device 300 grabs the assembled dental mold 503 and the base 502 to the tray 501 of the first station 601, the second station 602 does not need to place the tray 501, that is, the second station 6025 is an empty position, and the clamping device 300 grabs the assembled dental mold 503 and the base 502 to one of the empty spaces on the tray 501 of the first station, and then repeats S3 and S4 until all nine bases 502 on the tray 501 of the first station are installed with the dental mold 503. At this time, the tray 501 of the first station is loaded with the installed dental mold 503 and the base 502.

[0051] S51, first transfer the material tray 501 located at the first station 601 to the second station 602 through the transfer device 200. The second lifting assembly 104 is located at the upper position, and the transfer device 200 moves the material tray 501 horizontally to the second station 602 and the material tray 501 falls on the second lifting assembly 104, while the first lifting assembly 103 moves downward to transport the next batch of material trays 501 with the base 502 to be installed, and then the transfer device 200 returns to the position of the first station 601 to transfer the next batch of material trays 501 with the installed base 502 and dental molds 503.

[0052] S52, transport the tray 501 at the second station 602 to the second transport assembly 102 through the second lifting assembly 104. The second lifting assembly 104 is located at the upper position to carry the tray 501 at the second station 602, and at this time, the second lifting assembly 104 moves downward to transfer the tray 501 to the second transport assembly 102.

[0053] ② When the clamping device 300 grabs the assembled dental mold 503 and the base 502 to the tray 501 of the second station 602, there is an empty tray 501 placed on the second station 602. The clamping device 300 grabs the assembled dental mold 503 and the base 502 to one of the empty places on the tray of the second station 602, and then repeats S3 and S4 until the nine positions on the tray of the second station 602 are filled with the installed dental molds 503 and the base 502. At the same time, the bases 502 at the nine positions on the tray 501 of the first station are gradually grabbed away until the tray 501 of the first station is an empty tray.

[0054] S51, first transport the material tray 501 located at the second station 602 to the second transport assembly 102 through the second lifting assembly 104. The second lifting assembly 104 is used to move the material tray 501 filled with the installed dental molds 503 and the base 502 on the second station 602 downward.

[0055] S52, the material tray 501 at the first station 601 is then transferred to the second station 602 by the transfer device 200. After the second lifting assembly 104 moves down to the lower position to transfer the material tray 501 to the second transport assembly 102, the second lifting assembly 104 moves up to the upper position, and the transfer device 200 moves the empty material tray 501 at the first station 601 horizontally to the second station 602 and drops it on the second lifting assembly 104, and the first lifting assembly 103 moves down to move up the next batch of material trays 501 with the base 502 to be installed, and then the transfer device 200 returns to the position of the first station 601 to transfer the next batch of material trays 501 with the installed base 502 and dental molds 503.

[0056] S6. The material tray 501 located at the lower position of the second lifting assembly 104 is transported to the unloading position 106 by the second transport assembly 102, thereby completing the installation and transportation of the dental mold and the base.

[0057] See 6, Figure 6The schematic diagram of the structure of the transfer device in the installation system of the dental mold and the base in one embodiment of the present invention is shown. The transfer device 200 includes a guide assembly 201, a clamping assembly and a driving assembly 202. The driving assembly 202 is used to drive the clamping assembly to move on the guide assembly 201. The clamping assembly includes a group of clamping members 203. The group of clamping members 203 move relative to each other to clamp the material tray 501. The transfer device 200 is used to move the material tray 501 of the first station 601 to the second station 602. In this embodiment, the first station 601 is located on the right and the second station 602 is located on the left. The guide assembly 201 is parallel to the line between the first station 601 and the second station 602. The guide assembly 201 is specifically a linear guide rail. The guide assembly 201 includes two linear guide rails, which are arranged on both sides of the first station 601 and the second station 602. The clamping assembly is used to clamp the material tray 501 on the first station 601 to the second station 602, and the driving assembly 202 is used to realize the reciprocating movement of the clamping assembly on the guide assembly 201. In this embodiment, the driving assembly 202 is a linear sliding module. Of course, other structures can also be used as the driving assembly 202, such as a screw, a motor, a cylinder, hydraulics, etc. The driving assembly 202 is arranged on one side of one of the guide rails and is parallel to the guide rail.

[0058] In some embodiments, a group of clamping members 203 are connected by a connecting member 204. The clamping members 203 include a sliding portion 203a, a driving portion 203b and a clamping portion 203c. The driving portion 203b is used to drive the clamping portion 203c to move. The driving portion 203b is movably connected to the guide assembly 201 through the sliding portion 203a. The clamping portion 203c is provided with a limiting portion 205. The material tray 501 is provided with a limiting groove 501a corresponding to the limiting portion 205. There are two clamping members 203, which are respectively located on two guide rails. The connecting member 204 is U-shaped, with an opening facing the second station 602. A clamping member 203 is connected to both ends of the connecting member 204. The connecting member 204 is used to connect the two clamping members 203 together. The connecting member 204 is connected to the driving assembly 202 through a connecting plate 206, so that the driving assembly 202 can drive the two clamping members 203 at the same time. The driving part 203b is arranged above the sliding part 203a, and the clamping part 203c is arranged on one side of the driving part 203b. The sliding part 203a enables the driving part 203b to slide on the guide assembly 201. The driving part 203b is used to realize the extension and retraction of the clamping part 203c. In this embodiment, the driving part 203b is specifically a cylinder, and the extension and retraction of the clamping part 203c can also be realized by hydraulic means. The connecting line of the two driving parts 203b is perpendicular to the connecting line of the first station 601 and the second station 602, which is used to realize the relative movement of the two clamping parts 203c. The clamping part 203c can be in the shape of a plate / block / sheet. A limiting portion 205 is provided on the side of the clamping portion 203c away from the driving portion 203b. The limiting portion 205 can be a protrusion, and there are two of them. Limiting grooves 501a for the limiting portion to be embedded are provided on both sides of the material tray 501. When the driving portion 203b drives the clamping portion 203c to move relatively to the limiting portion 205 corresponding to the limiting groove 501a, the driving component 202 can drive the entire clamping component and drive the material tray 501 to move horizontally together, thereby realizing the transportation function of the material tray 501.

[0059] See also Figure 7 , Figure 7 The schematic diagram of the module of the control device in the installation system of the dental model and the base in one embodiment of the present invention is shown. In some embodiments, S3 specifically includes: S31. First, the first reference image of the base 502 is obtained by the first acquisition module 701. First, the coordinate system of the execution device 900 is established, and the swing state of the base 502 is artificially set. This state is a standard state that can be assembled. The base 502 is photographed by the shooting device to obtain a first reference image. The first reference image is an image of the upper surface 502c of the base 502. The clamping piece 502a on the base 502 is used as a photographing mark point, and the position of the mark point in the reference image is calculated, which is used for the subsequent standard image as a comparison (see Figure 8 ).

[0060] S32, the first real-time image of the base 502 is acquired through the second acquisition module 702, and the base 502 is provided with a clamping member 502a. The coordinate system of the first camera is established according to the coordinate system of the execution device 900, and the first real-time image of the base 502 to be assembled is acquired through the first camera 402, and the first camera 402 is arranged on the support frame 401. The control device 400 controls the execution device 900 to drive the clamping device 300 to move above the base 502 to be assembled, and takes a picture of the base 502 to obtain a first real-time image, which is an image of the base 502 in a disordered state. The adjustment amount of the clamping device 300 can be obtained by acquiring the first real-time image of the base 502.

[0061] S33, then the first recognition module 703 recognizes and compares the positions of the clamping member 502a on the first reference image and the first real-time image, and obtains a first deviation of the first real-time image relative to the first reference image. The first recognition module 703 is a trained convolutional neural network model. Of course, the first recognition module 703 can also use other models as long as it can recognize and compare images. The first recognition module 703 is used to obtain the first deviation and send the deviation value to the first execution module 704. Then, the first execution module 704 adjusts the posture of the clamping device 300 through the execution device 900.

[0062] S34, finally, the first execution module 704 adjusts the clamping device 300 to the first clamping state according to the first deviation, and grabs the base 502. After grabbing, the clamping device 300 is adjusted back to the first initial state, and the base 502 is moved to the assembly position according to the first path. The first deviation is the adjustment amount between the first clamping state and the first initial state. The execution device 900 drives the clamping device 300 to adjust from the first initial state to the first clamping state, which is used to locate and grab the base 502. A clamping surface corresponding to the clamping device 300 is provided on the outer side of the base 502. When the clamping device 300 is adjusted from the first initial state to the first clamping state according to the first deviation, the clamping device 300 can be positioned on the clamping surface of the base 502, which ensures the operation accuracy of the clamping device 300 grabbing the base 502, which is conducive to the smooth progress of the entire grabbing process. The purpose of adjusting the clamping device 300 back to the first initial state after grasping the base 502 is to adjust the base 502 to the standard state identical to the reference image, and then the execution device 900 drives the clamping device 300 to move the base 502 to the assembly position 603 along the first path manually set. At this time, the base 502 can match the assembly position 603 and can also match the dental model 503.

[0063] In some embodiments, S4 specifically includes: S41, first the third acquisition module 801 acquires the second real-time image of the dental mold 503, the dental mold 503 includes a first mounting member 503a and a second mounting member 503b. The second real-time image of the dental mold 503 to be assembled is acquired by the first camera 402, the execution device 900 drives the clamping device 300 to move above the dental mold 503 to be assembled, and the dental mold 503 is photographed to obtain the second real-time image, the second real-time image is an image of the dental mold 503 in a disordered state, and the adjustment amount of the clamping device 300 can be obtained by acquiring the second real-time image of the dental mold 503.

[0064] See also Fig. 9 , Fig. 9 A schematic diagram of the structure of a dental mold in a dental mold and base installation system in an embodiment of the present invention is shown. The dental mold 503 is U-shaped opening. Since most of the dental mold 503 is an arc-shaped structure, and the arc-shaped structure is difficult to serve as a force point / surface for the clamping device 300 to grasp the dental mold 503, a first mounting member 503a and a second mounting member 503b are arranged on the dental mold 503, that is, the dental mold 503 includes a main body 503c, a first mounting member 503a and a second mounting member 503b, the first mounting member 503a is located on the side of the main body facing away from the U-shaped opening, and the second mounting member 503b is located on the side of the main body facing the U-shaped opening, and the first mounting member 503a and the second mounting member 503b are both in the shape of a plate / block, and the first mounting member 503a and the second mounting member 503b can assist the clamping device 300 to grasp the dental mold 503 to the assembly position for matching with the base 502.

[0065] S42, the second recognition module 802 is used to identify and calculate the size relationship between the center of gravity coordinates of the first mounting member 503a and the second mounting member 503b and the angle of the dental model 503. The second recognition module 802 is a trained convolutional neural network model. The second mounting member 503b is rectangular, the first mounting member 503a is arc-shaped, and the coordinate system position of the dental model 503 includes the center of gravity coordinates of the first mounting member 503a and the second mounting member 503b and the corresponding angle of the dental model 503. Using the coordinate system established by the first camera 402, the second recognition module 802 identifies the second mounting member 503b and the first mounting member 503a, calculates the center of the horizontal and vertical coordinates of the second mounting member 503b and the first mounting member 503a as their respective centers of gravity, and calculates the angle of the dental model 503 at this time, and sends the center of gravity coordinates of the second mounting member 503b and the angle of the dental model 503 to the second execution module 803, and then the second execution module 803 adjusts the position and posture of the clamping device 300 according to the coordinates and angle.

[0066] S43, finally, through the second execution module 803, according to the size relationship between the center of gravity coordinates of the first mounting member 503a and the second mounting member 503b and the angle of the dental model 503, the clamping device 300 is adjusted to the second clamping state, and the dental model 503 is grasped. After grasping, the clamping device 300 is adjusted back to the second initial state, and the dental model 503 is moved to the assembly position according to the second path, and cooperates with the base 502. The execution device 900 drives the clamping device 300 to adjust from the second initial state to the second clamping state, and can grasp the dental model 503 in any direction. The grasping of the dental model 503 is achieved by grasping both sides of the second mounting member 503b, that is, it can be positioned at the position of the second mounting member 503b in any direction. Adjustment to the second clamping state is achieved through the center-of-gravity coordinates of the second mounting member 503b and the angle of the dental model 503: calculating the center-of-gravity coordinates of the second mounting member 503b is used to control the clamping device 300 to position the second mounting member 503b of the dental model 503; calculating the angle of the dental model 503 is used to control the orientation of the second mounting member 503b when the clamping device 300 is adjusted to the dental model 503; calculating the center-of-gravity coordinates of the first mounting member 503a is used as a basis for whether the angle of the dental model 503 needs to be increased by 180°. Under the coordinates of the first camera 402, after the dental mold 503 is rotated 180°, the center of gravity coordinates of the second mounting member 503b are consistent with those before the rotation. However, in actual production, the orientation of the dental mold 503 affects the effect of pressing down on the base 502. Therefore, the center of gravity coordinates of the first mounting member 503a for identifying the dental mold 503 are added as a basis for judging whether to increase 180°. The purpose of adjusting the clamping device 300 back to the second initial state after grabbing the dental mold 503 is to adjust the dental mold 503 to a standard state that can correspond to the base 502. After the clamping device 300 drives the dental mold 503 to adjust back to the second initial state, the execution device 900 drives the clamping device 300 to move the dental mold 503 to the assembly position 603 according to the artificially set second path. At this time, the dental mold 503 can just match the base 502.

[0067] In some embodiments, the assembly position 603 is provided with a positioning member, and the positioning hole 502b on the base 502 corresponds to the positioning member, so that the base 502 can match the assembly position 603. The positioning member can be a positioning pin. When the base 502 is adjusted by the clamping device 300, the positioning member can correspond to the positioning hole 502b. When the actuator 900 moves the base 502 until the positioning member is built into the positioning hole 502b, the base 502 is matched with the assembly position (see Fig.12 ).

[0068] See also Fig.10 , Fig.10The figure shows the centroid coordinates of four dental model orientations and the dental model angle diagram of the second real-time image in the dental model and base installation system in one embodiment of the present invention. The dental model 503 angle is the angle between the horizontal line rotated counterclockwise to the first side line of the second mounting member 503b and the horizontal line, and the angle is defined as α. The dental model 503 angle is the difference between the dental model 503 and the standard state at this time. The difference is the angle adjustment amount between the second initial state and the second clamping state. The centroid coordinates of the second mounting member 503b are set to (X 1 , Y 1 ), the center of gravity coordinates of the first mounting member 503a are (X 2 , Y 2 ), the magnitude relationship between the center of gravity coordinates of the first mounting member 503a and the second mounting member 503b includes:

[0069] (1) When the horizontal coordinate X of the center of gravity of the first mounting member 503a is 2 Greater than the horizontal coordinate X of the center of gravity of the second mounting member 503b 1 , and the vertical coordinate Y of the center of gravity of the first mounting member 503a 2 smaller than the vertical coordinate Y of the center of gravity of the second mounting member 503b 1 , it is considered that the first mounting member 503a is at the upper right corner of the second mounting member 503b, and the center of gravity coordinates of the second mounting member 503b and α are sent to the second execution module 803, and then the execution device 900 performs the operation according to the center of gravity coordinates (X 1 , Y 1 ) and α adjust the clamping device 300 to the second clamping state.

[0070] (2) When the horizontal coordinate X of the center of gravity of the first mounting member 503a is 2 is smaller than the horizontal coordinate X of the center of gravity of the second mounting member 503b 1 , and the vertical coordinate Y of the center of gravity of the first mounting member 503a 2 Greater than the vertical coordinate Y of the center of gravity of the second mounting member 503b 1 , it is considered that the first mounting member 503a is at the lower left corner of the second mounting member 503b, and the center of gravity coordinates of the second mounting member 503b and α+180° are sent to the second execution module 803, and then the execution device 900 performs the operation according to the center of gravity coordinates (X 1 , Y 1 ) and α+180° to adjust the clamping device 300 to the second clamping state.

[0071] (3) When the horizontal coordinate X of the center of gravity of the first mounting member 503a is 2 Greater than the horizontal coordinate X of the center of gravity of the second mounting member 503b 1 , and the vertical coordinate Y of the center of gravity of the first mounting member 503a 2Greater than the vertical coordinate Y of the center of gravity of the second mounting member 503b 1 , it is considered that the first mounting member 503a is at the lower right corner of the second mounting member 503b, and the center of gravity coordinates of the second mounting member 503b and α are sent to the second execution module 803, and then the execution device 900 performs the operation according to the center of gravity coordinates (X 1 , Y 1 ) and α adjust the clamping device 300 to the clamping state.

[0072] (4) When the horizontal coordinate X of the center of gravity of the first mounting member 503a is 2 is smaller than the horizontal coordinate X of the center of gravity of the second mounting member 503b 1 , and the vertical coordinate Y of the center of gravity of the first mounting member 503a 2 smaller than the vertical coordinate Y of the center of gravity of the second mounting member 503b 1 , it is considered that the first mounting member 503a is at the upper left corner of the second mounting member 503b, and the center of gravity coordinates of the second mounting member 503b and α+180° are sent to the second execution module 803, and then the execution device 900 performs the operation according to the center of gravity coordinates (X 1 , Y 1 ) and α+180° to adjust the clamping device 300 to the clamping state.

[0073] In some embodiments, the first mounting member 503a and the second mounting member 503b are provided with clamping holes corresponding to the clamping member 502a, so that the dental model 503 can match the base 502. There are three clamping members 502a, and the corresponding clamping holes are also three, two on the second mounting member 503b and one on the first mounting member 503a, and the clamping holes are used to engage with the clamping member 502a to achieve matching of the dental model 503 and the base 502.

[0074] See also Fig.11 , Fig.11 The schematic diagram of the installation of adding a preset position in the method for installing a dental model and a base in one embodiment of the present invention is shown. Before the base 502 is grasped to the assembly position 603 by the clamping device 300, it also includes: S7, after the control device 400 adjusts the clamping device 400 to grasp the base 502 and returns to the first initial state (S3), the control device 400 controls the clamping device 300 to grasp the base 502 to the preset position 605. In order to further ensure the adjustment accuracy of the clamping device 300, the preset position 605 is set before the base 502 reaches the assembly position 603, and the clamping device 300 is further adjusted, which is conducive to improving the matching accuracy of the base 502. Therefore, the steps of the method for installing the dental model and the base are S3→S7→S4.

[0075] In some embodiments, the process of gripping the base 502 through the preset position 605 by the clamping device 300 specifically includes the following steps:

[0076] S71, obtaining a second reference image of the base 502 (see Fig.12 ).

[0077] According to the established coordinate system of the execution device 900, the base 502 is photographed by a shooting device to obtain a second reference image, which is an image of the lower surface 502d of the base 502. The positioning point 502e on the base 502 is used as a photographing mark point, and the position of the mark point in the second reference image is calculated, which is used as a standard image for comparison later.

[0078] S72 , obtaining a third real-time image of the base 502 .

[0079] The third real-time image is acquired at a preset position 605. A second camera is arranged at the preset position 605. The execution device 900 drives the clamping device 300 to pass through the preset position 605 before reaching the assembly position 603. When passing through the preset position 605, the second camera takes a picture of the bottom of the base 502 to obtain a third real-time image. The third real-time image is an image of the base 502 after adjustment by the clamping device 300. Acquiring the third real-time image of the base 502 can obtain a further adjustment amount of the clamping device 300 based on the first initial state, and the adjustment amount can make the position of the base 502 at this time closer to the standard state.

[0080] S73: Identify and compare the second reference image and the third real-time image through a third identification module to obtain a second deviation of the third real-time image relative to the second reference image.

[0081] The third recognition module is a trained convolutional neural network model. The third recognition module is used to obtain the second deviation and send the deviation value to the third execution module. Then the third execution module adjusts the posture of the clamping device again through the execution device 900. Of course, if the clamping device 300 and the base 502 in the first initial state are already able to accurately match the dental model 503, then the second deviation obtained through the preset position 605 is zero.

[0082] S74. Finally, the third execution module adjusts the first initial state of the clamping device 300 to the third clamping state according to the second deviation, and moves the base 502 from the preset position 605 to the assembly position 603 along the third path, so that the base 502 and the assembly position 603 match each other.

[0083] In some embodiments, the second deviation is the adjustment amount between the first initial state and the third clamping state. The actuator 900 drives the clamping device to adjust from the first initial state to the third clamping state to compensate for the slight deviation between the first initial state and the standard state of the base 502. The actuator 900 drives the clamping device 300 to move the base 502 to the assembly position 603 along the artificially set third path.

[0084] In some embodiments, the third real-time image of the base 502 is the lower surface 502d corresponding to the assembly position 603, and a positioning point 502e is provided on the lower surface 502d. The third real-time image is used to obtain the position of the positioning point 502e, and then compare it with the position of the positioning point 502e on the second reference image. When the clamping device moves the base 502 to pass the preset position 605, the second camera can take a picture of the lower surface 502d of the base 502. The positioning point 502e is set on the lower surface of the base 502. The positioning point 502e is used to adjust the base 502 again. The number of positioning points 502e can be set to multiple. In this embodiment, the number of positioning points 502e is three. Therefore, the third real-time image and the second reference image are compared through the position of the positioning point 502e to obtain the second deviation based on the positioning point 502e.

[0085] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A dental model and base mounting system, It is characterized in that include: A conveying device for transporting a material tray, wherein the material tray is used to load the base; Transfer device, used to transfer the tray to the preset station; A clamping device, used for grasping the dental model and the base; and a control device, used for adjusting the clamping device to a preset clamping state to grab the dental model and the base, wherein the preset clamping state includes a first clamping state and a second clamping state, the control device adjusts the clamping device to the first clamping state to grab the base, and moves the base to an assembly position, the control device adjusts the clamping device to the second clamping state to grab the dental model, and moves the dental model to the assembly position, so that the dental model and the base match each other; The control device also includes a second recognition model for adjusting the clamping device to a second clamping state, the second recognition model including: A third acquisition module, used to acquire a second real-time image of the dental cast, wherein the dental cast includes a first mounting member and a second mounting member; A second recognition module is used to recognize and calculate the size relationship between the center of gravity coordinates of the first mounting member and the second mounting member and the angle of the dental model; A second execution module is used to adjust the clamping device to a second clamping state according to the size relationship between the center of gravity coordinates of the first mounting member and the second mounting member and the angle of the dental model, and to grab the dental model. After grabbing, the clamping device is adjusted back to the second initial state, and the dental model is moved to the assembly position according to the second path to cooperate with the base; The dental model angle is the angle between the horizontal line and the first side line of the second mounting member rotated counterclockwise from the horizontal line. The magnitude relationship between the center of gravity coordinates of the first mounting member and the second mounting member includes: When the horizontal coordinate of the center of gravity of the first mounting part is greater than the horizontal coordinate of the center of gravity of the second mounting part, and the vertical coordinate of the center of gravity of the first mounting part is less than the vertical coordinate of the center of gravity of the second mounting part, adjustment is performed according to the coordinate of the center of gravity of the second mounting part and the angle of the dental model; When the horizontal coordinate of the center of gravity of the first mounting part is smaller than the horizontal coordinate of the center of gravity of the second mounting part, and the vertical coordinate of the center of gravity of the first mounting part is larger than the vertical coordinate of the center of gravity of the second mounting part, adjustment is performed according to the coordinate of the center of gravity of the second mounting part and the dental model angle +180°; When the horizontal coordinate of the center of gravity of the first mounting member is greater than the horizontal coordinate of the center of gravity of the second mounting member, and the vertical coordinate of the center of gravity of the first mounting member is greater than the vertical coordinate of the center of gravity of the second mounting member, adjustment is performed according to the coordinate of the center of gravity of the second mounting member and the angle of the dental model; When the horizontal coordinate of the center of gravity of the first mounting component is smaller than the horizontal coordinate of the center of gravity of the second mounting component, and the vertical coordinate of the center of gravity of the first mounting component is smaller than the vertical coordinate of the center of gravity of the second mounting component, adjustment is performed according to the coordinate of the center of gravity of the second mounting component and the dental model angle +180°.

2. The dental model and base mounting system according to claim 1, It is characterized in that The conveying device includes a first transport assembly, a second transport assembly, a first lifting assembly and a second lifting assembly, and the preset workstation includes a first workstation and a second workstation, wherein: The first transport component transports the material tray to the first lifting component; The first lifting assembly transports the material tray to the first workstation; The control device adjusts the clamping device to grab the base located on the first station to the assembly position; The control device adjusts the clamping device to grab the dental model to the assembly position and match it with the base; The clamping device grabs the assembled dental mold and base and places them on a tray located at the first station or the second station; The second transport component transports the material tray to a material unloading position.

3. The dental model and base mounting system according to claim 2, It is characterized in that When the clamping device grabs the assembled dental mold and the base to the tray of the first station, the transfer device first transfers the tray located at the first station to the second station, and then the second lifting assembly transports the tray located at the second station to the second transport assembly; when the clamping device grabs the assembled dental mold and the base to the tray of the second station, the second lifting assembly first transports the tray located at the second station to the second transport assembly, and then the transfer device transfers the tray located at the first station to the second station.

4. The dental model and base mounting system according to claim 1, It is characterized in that The transfer device includes a guide assembly, a clamping assembly and a driving assembly, wherein the driving assembly is used to drive the clamping assembly to move on the guide assembly, and the clamping assembly includes a group of clamping members, and a group of the clamping members move relative to each other to clamp the material tray.

5. The dental model and base mounting system according to claim 4, It is characterized in that A group of the clamping parts are connected by a connecting part, and the clamping parts include a sliding part, a driving part and a clamping part. The driving part is used to drive the clamping part to move, and the driving part is movably connected to the guide assembly through the sliding part. A limiting part is provided on the clamping part, and a limiting groove corresponding to the limiting part is provided on the material tray.

6. The dental model and base mounting system according to claim 1, It is characterized in that The control device comprises a first recognition model for adjusting the clamping device to a first clamping state, wherein the first recognition model comprises: A first acquisition module, used to acquire a reference image of the base; A second acquisition module, used to acquire a first real-time image of the base, wherein the base is provided with a clamping member; A first recognition module, used for recognizing and comparing the position of the clamping member on the reference image and the first real-time image, to obtain a first deviation of the first real-time image relative to the reference image; The first execution module is used to adjust the clamping device to a first clamping state according to the first deviation and grasp the base. After grasping, the clamping device is adjusted back to a first initial state and the base is moved to an assembly position along a first path.

7. The dental model and base mounting system according to claim 6, It is characterized in that The assembly position is provided with a positioning piece, and the base is provided with a positioning hole corresponding to the positioning piece, so that the base can match the assembly position.

8. The dental model and base mounting system according to claim 6, It is characterized in that The first mounting member and the second mounting member are provided with clamping holes corresponding to the clamping member, so that the dental model can match with the base.

Images