Method and equipment for assembling functional accessories of appliance

Abstract

The invention relates to the technical field of tooth orthodontics, and discloses an orthodontic appliance functional accessory assembling method and equipment, the method comprises the following steps: controlling a posture adjusting mechanism to adjust a functional accessory to a preset posture, and controlling an assembling mechanism to assemble an orthodontic appliance on the functional accessory along a preset track, so that the orthodontic appliance is assembled on the functional accessory. The functional accessory can be assembled on the appliance at a preset angle. All the processes are carried out in an automatic mode, the operation level and experience depending on workers are reduced, the production efficiency is high, and the rejection rate is low.

Description

Technical Field

[0001] The present application relates to the technical field of dental orthodontics, and in particular to a method and device for assembling functional accessories of an orthodontic appliance. Background Art

[0002] In orthodontic treatment, for certain cases that require correction of the jaw occlusion (such as Angle Class II cases), a jaw plate will be added to the jaw surface of the appliance to provide a driving force for the entire jaw to achieve the purpose of orthodontics.

[0003] Since the jaw plate is added to the jaw surface of the orthodontic appliance, it is often subjected to occlusal force during actual wearing. Therefore, in actual use, a jaw plate is a solid accessory structure, which involves how to fix the jaw plate of the solid structure to the invisible orthodontic appliance with a thin shell structure. In addition to the jaw plate, other functional accessories with specific installation angles are usually required to be connected to the invisible orthodontic appliance.

[0004] At present, the main method is to use adhesive bonding to manually bond the jaw plate and other functional accessories with specific installation angles to the reserved position of the orthodontic appliance. In actual production, it is found that the manual bonding by workers has problems such as complicated operation steps, large errors in placement and angle, poor consistency, and easy generation of bubbles. Finally, from the production data, it is low production efficiency, high scrap rate, and the effect of each final product is heavily dependent on the worker's operation level and experience. Summary of the invention

[0005] The present application discloses a method and device for assembling a functional accessory of an orthodontic appliance, which are used to assemble a functional accessory with a specific installation angle to an orthodontic appliance in an automated manner.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] In a first aspect, a method for assembling a functional accessory of an orthodontic appliance is provided, the method comprising: controlling the posture adjustment mechanism to adjust the functional accessory to a preset posture, and controlling the assembly mechanism to assemble the orthodontic appliance to the functional accessory along a preset trajectory, so that the functional accessory can be assembled to the orthodontic appliance at a preset angle. The above process is all carried out in an automated manner, reducing reliance on the worker's operating level and experience, and having high production efficiency and low scrap rate.

[0008] Optionally, the functional accessories include: a jaw plate or a traction hook.

[0009] Optionally, the jaw plate includes an upper jaw plate and a lower jaw plate, the orthodontic appliance includes an upper tooth orthodontic appliance and a lower tooth orthodontic appliance, and the posture adjustment mechanism includes a first posture adjustment mechanism and a second posture adjustment mechanism; controlling the posture adjustment mechanism to adjust the functional accessory to a preset posture, and controlling the assembly mechanism to assemble the orthodontic appliance to the functional accessory along a preset trajectory specifically includes: controlling the first posture adjustment mechanism to adjust the upper jaw plate to a first preset posture, and controlling the assembly mechanism to assemble the upper tooth orthodontic appliance to the upper jaw plate along a first preset trajectory; and / or controlling the second posture adjustment mechanism to adjust the lower jaw plate to a second preset posture, and controlling the assembly mechanism to assemble the lower tooth orthodontic appliance to the lower jaw plate along a second preset trajectory.

[0010] Optionally, controlling the first posture adjustment mechanism to adjust the maxillary plate to a first preset posture, and controlling the assembly mechanism to assemble the upper dental appliance to the maxillary plate along a first preset trajectory, specifically includes: controlling multiple first posture adjustment mechanisms to respectively adjust the corresponding maxillary plates to the first preset posture, and controlling multiple assembly mechanisms to respectively assemble the upper dental appliance to the corresponding maxillary plates; and / or, controlling the second posture adjustment mechanism to adjust the mandibular plate to a second preset posture, and controlling the assembly mechanism to assemble the lower dental appliance to the mandibular plate along a second preset trajectory, specifically includes: controlling multiple second posture adjustment mechanisms to respectively adjust the corresponding mandibular plates to the second preset posture, and controlling multiple assembly mechanisms to respectively assemble the lower dental appliance to the corresponding mandibular plates.

[0011] Optionally, before controlling the assembly mechanism to assemble the corrector onto the functional accessory along a preset trajectory, the method further includes: controlling the loading mechanism to transfer the functional accessory from the posture adjustment mechanism to the loading position of the workstation switching mechanism, and controlling the workstation switching mechanism to switch the functional accessory to the assembly position.

[0012] Optionally, before the control of the loading mechanism to transfer the functional accessory from the posture adjustment mechanism to the loading position of the workstation switching mechanism, it also includes: controlling the visual recognition mechanism to identify the functional accessory with the preset posture, and feeding back the coordinates of the functional accessory with the preset posture to the loading mechanism.

[0013] Optionally, the posture adjustment mechanism includes a drive assembly and a material tray, and the material tray has a contour structure that matches the functional accessory; controlling the posture adjustment mechanism to adjust the functional accessory to a preset posture specifically includes: controlling the drive assembly to drive the material tray to vibrate so that the functional accessory matches the contour structure and adjusts to the preset posture.

[0014] Optionally, the work station switching mechanism has a contoured groove matching the shape of the functional accessory; the control of the loading mechanism to transfer the functional accessory from the posture adjustment mechanism to the loading position of the work station switching mechanism specifically includes: controlling the loading mechanism to transfer the functional accessory from the posture adjustment mechanism to the contoured groove.

[0015] Optionally, the profiling groove is connected to a vacuum pumping mechanism; the method further comprises: controlling the vacuum pumping mechanism to keep the profiling groove in a vacuum state.

[0016] Optionally, the workstation switching mechanism includes a turntable, a swing arm or an assembly line body.

[0017] Optionally, assembling the corrector to the functional accessory specifically includes: welding the functional accessory to the corrector, or bonding the functional accessory to the corrector.

[0018] In a second aspect, a device for assembling a functional accessory of an orthodontic appliance is provided, the device comprising: a control unit, a posture adjustment mechanism and an assembly mechanism; the control unit is used to control the posture adjustment mechanism to adjust the functional accessory to a preset posture, and control the assembly mechanism to assemble the orthodontic appliance to the functional accessory along a preset trajectory.

[0019] The advantages of the functional accessory assembly device of the orthodontic appliance and the functional accessory assembly method of the orthodontic appliance over the prior art are the same, and will not be described in detail here.

[0020] Optionally, the functional accessories include: a jaw plate or a traction hook.

[0021] Optionally, the jaw plate includes an upper jaw plate and a lower jaw plate, the orthodontic appliance includes an upper dental appliance and a lower dental appliance, and the posture adjustment mechanism includes a first posture adjustment mechanism and a second posture adjustment mechanism; the control unit is specifically used to: control the first posture adjustment mechanism to adjust the upper jaw plate to a first preset posture, and control the assembly mechanism to assemble the upper dental appliance to the upper jaw plate along a first preset trajectory; and / or, control the second posture adjustment mechanism to adjust the lower jaw plate to a second preset posture, and control the assembly mechanism to assemble the lower dental appliance to the lower jaw plate along a second preset trajectory.

[0022] Optionally, the control unit is specifically used to: control the multiple first posture adjustment mechanisms to adjust the corresponding maxillary plates to the first preset posture, and control the multiple assembly mechanisms to assemble the upper dental appliances to the corresponding maxillary plates; and / or control the multiple second posture adjustment mechanisms to adjust the corresponding mandibular plates to the second preset posture, and control the multiple assembly mechanisms to assemble the lower dental appliances to the corresponding mandibular plates.

[0023] Optionally, it also includes a loading mechanism and a workstation switching mechanism; the control unit is also used to: before controlling the assembly mechanism to assemble the orthodontic appliance to the functional accessory along a preset trajectory, control the loading mechanism to transfer the functional accessory from the posture adjustment mechanism to the loading position of the workstation switching mechanism, and control the workstation switching mechanism to switch the functional accessory to the assembly position.

[0024] Optionally, it also includes a visual recognition mechanism; the control unit is also used to: before the control feeding mechanism transfers the functional accessory from the posture adjustment mechanism to the loading position of the workstation switching mechanism, control the visual recognition mechanism to identify the functional accessory with the preset posture, and feed back the coordinates of the functional accessory with the preset posture to the feeding mechanism.

[0025] Optionally, the posture adjustment mechanism includes a drive assembly and a material tray, and the material tray has a contour structure that matches the functional accessory; the control unit is specifically used to: control the drive assembly to drive the material tray to vibrate so that the functional accessory matches the contour structure and adjusts to the preset posture.

[0026] Optionally, the station switching mechanism has a contoured groove matching the shape of the functional accessory; and the control unit is specifically used to control the feeding mechanism to transfer the functional accessory from the posture adjustment mechanism to the contoured groove.

[0027] Optionally, a vacuum pumping mechanism is further included, and the profiling groove is connected to the vacuum pumping mechanism; the control unit is also used to control the vacuum pumping mechanism to keep the profiling groove in a vacuum state.

[0028] Optionally, the workstation switching mechanism includes a turntable, a swing arm or an assembly line body.

[0029] Optionally, assembling the corrector to the functional accessory specifically includes: welding the functional accessory to the corrector, or bonding the functional accessory to the corrector. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the three-dimensional structure of the functional accessory assembly device of the orthodontic appliance provided in an embodiment of the present application;

[0031] Figure 2 express Figure 1 A top view of the functional attachment assembly device of the appliance shown;

[0032] Figure 3 express Figure 1 A schematic diagram of the structure of the middle station switching mechanism 30;

[0033] Figure 4 A schematic diagram showing the positional relationship between the jaw plate and the appliance in the method for assembling the functional attachment of the appliance provided in an embodiment of the present application;

[0034] Figure 5 express Figure 4 Schematic diagram of the structure of the maxillary plate a;

[0035] Figure 6 express Figure 4 Schematic diagram of the structure of the mandibular plate b. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. Among them, the expressions "A and / or B" in the embodiments of the present application refer to the three situations including A, B, and A and B.

[0037] Combination Figure 1 and Figure 2 :

[0038] The method for assembling the functional accessory of the orthodontic appliance provided in the embodiment of the present application includes: controlling the posture adjustment mechanism 10 to adjust the functional accessory to a preset posture, and controlling the assembly mechanism 40 to assemble the orthodontic appliance to the functional accessory along a preset trajectory, thereby enabling the functional accessory to be assembled to the orthodontic appliance at a preset angle. The above process is carried out in an automated manner, without over-reliance on the worker's operating level and experience, with high production efficiency and low scrap rate. Among them, the low scrap rate is reflected in the fact that the docking angle between the orthodontic appliance and the jaw plate is more precise, which reduces the probability of defects such as bubbles and suspension.

[0039] Furthermore, in the above process, the functional attachment is fixed, and the assembly mechanism 40 carries the appliance close to the functional attachment. When curing is performed later, the irradiation position of the curing light is fixed, and the work of adjusting the angle is completed by the assembly mechanism 40. However, if the position of the appliance is fixed, and the assembly mechanism 40 carries the functional attachment close to the appliance, due to the complex shape of the appliance, the position and angle of the functional attachment (such as the jaw plate) of each case are different. When the curing light is curing, it is necessary to constantly change the irradiation position and angle, which increases the difficulty of the process. Furthermore, after carrying the appliance to assemble with the functional attachment, the assembly mechanism 40 can continue to carry the appliance for subsequent cutting, demolding and other work without switching between the functional attachment and the appliance. Among them, cutting refers to cutting and separating the appliance from the dental mold inside it, and demolding refers to removing the dental mold from the appliance.

[0040] The functional attachments are attachments with specific installation angles, which need to be fixedly connected to the braces and have certain functions. The function can be to act as a point of force for the braces and exert a force in a certain direction on the braces. The braces refer to a thin shell structure that is mounted on the teeth and is used to play an orthodontic role in the user's tooth arrangement.

[0041] For example, in a specific embodiment, the functional accessory may include: a jaw plate T or a traction hook. When the assembly surfaces of the two jaw plates T are respectively assembled on the corresponding jaw surfaces of the posterior teeth area of ​​the appliance, when occluding, the two jaw plates T contact each other through their respective contact bevels (refer to the contact bevel S1 of the maxillary plate a and the contact bevel S2 of the mandibular plate b in the following text), thereby transmitting a suitable occlusal force to the mandible to adjust the position of the mandible. This requires that the contact bevels of the two jaw plates T are arranged relative to each other, and thus, a specific assembly angle is required. The traction hook is fixedly assembled on the lingual side or labial side of the appliance as a traction point for pulling the braces in a certain direction. Different cases have different force directions, and the opening direction of the traction hook is also different. Therefore, it also has a specific assembly angle so that the opening of the traction hook faces the direction required by the case.

[0042] The assembly mechanism 40 may be a six-axis robot with a sufficiently high degree of freedom, and the six-axis robot may absorb the appliance through a suction cup carrier 41 at the end.

[0043] In a specific embodiment, reference Figure 4, the jaw plate T includes a maxillary plate a and a mandibular plate b, the orthodontic appliance includes an upper tooth orthodontic appliance 01 and a lower tooth orthodontic appliance 02, the maxillary plate a posture adjustment mechanism 10 includes a first posture adjustment mechanism 11 and a second posture adjustment mechanism 12; the step controls the posture adjustment mechanism 10 to adjust the functional accessory to a preset posture, and controls the assembly mechanism 40 to assemble the orthodontic appliance to the functional accessory along a preset trajectory, specifically including: controlling the first posture adjustment mechanism 11 to adjust the maxillary plate a to a first preset posture, and controlling the assembly mechanism 40 to assemble the upper tooth orthodontic appliance 01 to the maxillary plate a along the first preset trajectory; and / or, controlling the second posture adjustment mechanism 12 to adjust the mandibular plate b to a second preset posture, and controlling the assembly mechanism 40 to assemble the lower tooth orthodontic appliance 02 to the mandibular plate b along the second preset trajectory. As described above, the first posture adjustment mechanism 11 can be used to assemble the maxillary plate a to the upper appliance 01 at a specific angle, and the second posture adjustment mechanism 12 can be used to assemble the mandibular plate b to the lower appliance 02 at a specific angle, so as to facilitate the synchronous assembly of the upper appliance 01 and the lower appliance 02 in pairs, and then package them together in pairs when cutting materials, without the need to assemble them separately, and then find a pair for the two later, thereby improving efficiency. However, it is also possible to assemble only the maxillary plate a and the upper appliance 01, or only the mandibular plate b and the lower appliance 02, and then pair and package the upper appliance 01 with the corresponding lower appliance 02, so as to achieve the installation of the maxillary plate a and the mandibular plate b at a specific angle.

[0044] In a specific embodiment, the steps of controlling the first posture adjustment mechanism 11 to adjust the maxillary plate a to a first preset posture, and controlling the assembly mechanism 40 to assemble the upper dental appliance 01 on the maxillary plate a along a first preset trajectory specifically include: controlling multiple first posture adjustment mechanisms 11 to adjust the corresponding maxillary plates a to the first preset posture respectively, controlling the assembly mechanism 40 to assemble the upper dental appliance 01 on the corresponding maxillary plate a respectively, and multiple models of maxillary plates a are simultaneously adjusted in posture by the corresponding first posture adjustment mechanism 11 respectively, and are respectively connected to the corresponding upper dental appliance 01 by the corresponding assembly mechanism 40 in a specific manner. Angle assembly; and / or, controlling the second posture adjustment mechanism 12 to adjust the mandibular plate b to the second preset posture, controlling the assembly mechanism 40 to assemble the lower tooth appliance 02 to the mandibular plate b along the second preset trajectory, specifically including: controlling multiple second posture adjustment mechanisms 12 to adjust the corresponding mandibular plates b to the second preset posture, controlling the assembly mechanism 40 to assemble the lower tooth appliance 02 to the corresponding mandibular plate b, and multiple models of mandibular plates b are simultaneously adjusted in posture by the corresponding second posture adjustment mechanism 12, and are respectively assembled with the corresponding lower tooth appliance 02 at a specific angle by the corresponding assembly mechanism 40. When the maxillary plate a and the mandibular plate b are assembled at the same time, the two can share the same assembly mechanism 40 to reduce costs.

[0045] In a specific embodiment, before the step of controlling the assembly mechanism 40 to assemble the appliance to the functional accessory along the preset trajectory, the step further includes: controlling the feeding mechanism 20 to transfer the functional accessory from the posture adjustment mechanism 10 to the loading position P1 of the station switching mechanism 30, and controlling the station switching mechanism 30 to switch the functional accessory to the assembly position P3. The loading operation of the functional accessory of the feeding mechanism 20 is performed at the loading position P1, and the assembly operation of the appliance and the functional accessory is performed at the assembly position P3. Different operations are performed at different stations, so as to provide sufficient operating space for equipment for different operations.

[0046] In a specific embodiment, before the step of controlling the feeding mechanism 20 to transfer the functional accessory from the posture adjustment mechanism 10 to the feeding position P1 of the workstation switching mechanism 30, it also includes: controlling the visual recognition mechanism 50 to identify the functional accessory with a preset posture, and feeding back the coordinates of the functional accessory with a preset posture to the feeding mechanism 20, so as to provide a basis for the feeding mechanism 20 to pick up the functional accessory with a preset posture, so as to improve the efficiency and accuracy of picking up the functional accessory. Specifically, the visual recognition mechanism 50 can be controlled to continuously obtain the image information of the functional accessory on the posture adjustment mechanism 10, and the obtained image information is compared with the standard image information. When the deviation value of the two is less than the threshold, it is determined that the functional accessory has the above-mentioned preset posture. In the above, the functional accessory with a preset posture can be identified with a higher efficiency. For example, the visual recognition mechanism 50 may include a first visual recognition mechanism 51 located above the first posture adjustment mechanism 11 and a second visual recognition mechanism 52 located above the second posture adjustment mechanism 12, which respectively identify the postures of the functional accessories in the first posture adjustment mechanism 11 and the second posture adjustment mechanism 12.

[0047] In a specific embodiment, the posture adjustment mechanism 10 includes a drive component and a tray, and the tray has a contour structure that matches the functional accessory; the step of controlling the posture adjustment mechanism 10 to adjust the functional accessory to a preset posture specifically includes: controlling the drive component to drive the tray to vibrate so that the functional accessory matches the contour structure and adjusts to the preset posture. After the functional accessory contacts the contour structure, under the vibration of the tray, it will continuously adapt to the contour structure through its own surface. When the degree of adaptation is high enough, the functional accessory is adjusted to the preset posture. The above process of adjusting the posture of the functional accessory is efficient, low-cost, and the posture adjustment is accurate.

[0048] In a specific embodiment, the station switching mechanism 30 has a contoured groove that matches the shape of the functional attachment, Figure 3, the station switching mechanism 30 is provided with a first profiling groove 31u matching the shape of the upper jaw plate a, and a second profiling groove 32u matching the shape of the lower jaw plate b, wherein the station switching mechanism 30 can be fixed with a first carrier 31 and a second carrier 32 respectively, the first profiling groove 31u is located on the first carrier 31, and the second profiling groove 32u is located on the second carrier 32; controlling the feeding mechanism 20 to transfer the functional accessory from the posture adjustment mechanism 10 to the loading position P1 of the station switching mechanism 30 specifically includes: controlling the feeding mechanism 20 to transfer the functional accessory from the posture adjustment mechanism 10 to the profiling groove. When the functional accessory falls into the profiling groove and vibrates in the profiling groove, the corresponding surface of the functional accessory will gradually match the inner surface of the profiling groove to gradually reach a preset posture. For example, the feeding mechanism 20 can be controlled to transfer the upper jaw plate a from the first posture adjustment mechanism 11 to the first profiling groove 31u, and / or, the lower jaw plate b can be transferred from the second posture adjustment mechanism 12 to the second profiling groove 32u. The loading mechanism 20 may be a four-axis robot.

[0049] Continue to refer Figure 3 In a specific embodiment, the profiling groove can be connected to the vacuum pumping mechanism 35; the method further includes: controlling the vacuum pumping mechanism 35 to keep the profiling groove in a vacuum state. Thus, negative pressure is provided to fix the functional accessories, preventing the functional accessories from moving or even falling off when the workstation is switched. In addition, a rotating air pipe connector can be provided on the workstation switching mechanism 30 to realize the continuous rotation of multiple air paths of different vacuum pumping mechanisms 35, thereby reducing the occurrence of air pipe entanglement.

[0050] In a specific embodiment, the workstation switching mechanism 30 may include a turntable 31, which is rotated by a driving mechanism such as a servo motor 33; the workstation switching mechanism 30 may also include a swing arm or an assembly line body, which is driven by the driving mechanism to swing the swing arm or drive the assembly line body to flow, thereby realizing workstation switching.

[0051] In a specific embodiment, the step of assembling the brace to the functional attachment specifically includes: welding the functional attachment to the brace, such as ultrasonic welding, laser welding, electric heat melting welding, friction welding, pulse welding, infrared welding, etc., to firmly fix the functional attachment to the brace; or, bonding the functional attachment to the brace to ensure a firm connection and not easily damage the thin shell structure of the brace. Specifically, glue can be applied to the functional attachment first, for example, by Figure 2 The three-axis dispensing robot for the maxillary plate (reference Figure 5 ) in the first glue groove U1 and / or the lower jaw plate (reference Figure 6) in the second glue groove U2 at the glue dispensing position P2. When bonding the jaw plate, the position of the jaw plate to be bonded can be known based on the 3D data of the teeth of the case, and converted into a preset trajectory of the assembly mechanism 40 through an algorithm. The assembly mechanism 40 moves the grasped appliance with the dental mold to the assembly position P3, aligns the position and presses down.

[0052] The pre-curing lamp 70 is used to perform preliminary curing and positioning of the glue between the bonded functional accessories and the corresponding orthodontic appliance at the assembly position P3. The pre-curing time can be between 25 seconds and 25 seconds, specifically 15 seconds, 20 seconds and 25 seconds, and then the subsequent light curing, cutting and demoulding processes are carried out. In addition, by adopting an automated bonding process, the glue dispensing amount and glue dispensing position can be controlled more accurately.

[0053] The turntable 31 has a material loading position P1, a glue dispensing position P2 and an assembly position P3, and a material discharging position P4, which is used to provide a temporary storage position for functional accessories that fail to bond. The material loading position P1, the glue dispensing position P2, the assembly position P3 and the material discharging position P4 can be arranged at intervals of 90 degrees.

[0054] After completing the above assembly steps, the assembly mechanism 40 can transfer the orthodontic appliance to a material unloading mechanism (such as a material unloading line 60) for unloading, so as to flow to the next process (such as the light curing, cutting and demolding mentioned above).

[0055] Based on the same inventive concept, the embodiment of the present application also provides an assembly device for functional accessories of an orthodontic appliance, which includes: a control unit, a posture adjustment mechanism 10 and an assembly mechanism 40; the control unit is used to control the posture adjustment mechanism 10 to adjust the functional accessory to a preset posture, and control the assembly mechanism 40 to assemble the orthodontic appliance to the functional accessory along a preset trajectory. The above processes are all carried out in an automated manner, without relying on the workers' operating level and experience, with high production efficiency and low scrap rate. Among them, the low scrap rate is reflected in the fact that the docking angle between the orthodontic appliance and the jaw plate is more precise, which reduces the probability of defects such as bubbles and suspension.

[0056] In a specific embodiment, the functional accessories include: jaw plates T or traction hooks. When the assembly surfaces of the two jaw plates T are respectively assembled on the corresponding jaw surfaces of the orthodontic appliance, during occlusion, the two jaw plates T contact each other through their respective contact slopes (refer to the contact slope S1 of the maxillary plate a and the contact slope S2 of the mandibular plate b in the following text), so that the two jaw plates T exert forces on each other in a direction roughly parallel to the lingual surface, which requires that the contact slopes of the two jaw plates T are arranged relative to each other, and thus, a specific assembly angle is required. The traction hook is fixedly assembled on the lingual side or labial side of the orthodontic appliance as a traction point for pulling the braces in a certain direction. Different cases have different force directions, and the opening direction of the traction hook is also different. Therefore, it also has a specific assembly angle so that the opening of the traction hook faces the direction required by the case.

[0057] In a specific embodiment, reference Figure 4 The jaw plate T includes an upper jaw plate a and a lower jaw plate b, the orthodontic appliance includes an upper tooth orthodontic appliance 01 and a lower tooth orthodontic appliance 02, and the posture adjustment mechanism 10 includes a first posture adjustment mechanism 11 and a second posture adjustment mechanism 12; the control unit is specifically used to: control the first posture adjustment mechanism 11 to adjust the upper jaw plate a to a first preset posture, and control the assembly mechanism 40 to assemble the upper tooth orthodontic appliance 01 to the upper jaw plate a along a first preset trajectory; and / or, control the second posture adjustment mechanism 12 to adjust the lower jaw plate b to a second preset posture, and control the assembly mechanism 40 to assemble the lower jaw appliance 02 to the lower jaw plate b along the second preset trajectory. As described above, the first posture adjustment mechanism 11 can be used to assemble the maxillary plate a to the upper appliance 01 at a specific angle, and the second posture adjustment mechanism 12 can be used to assemble the mandibular plate b to the lower appliance 02 at a specific angle, so as to facilitate the synchronous assembly of the upper appliance 01 and the lower appliance 02 in pairs, and then package them together in pairs when cutting materials, without the need to assemble them separately, and then find a pair for the two later, thereby improving efficiency. However, it is also possible to assemble only the maxillary plate a and the upper appliance 01, or only the mandibular plate b and the lower appliance 02, and then pair and package the upper appliance 01 with the corresponding lower appliance 02, so as to achieve the installation of the maxillary plate a and the mandibular plate b at a specific angle.

[0058] In a specific embodiment, the control unit is specifically used to: control multiple first posture adjustment mechanisms 11 to adjust the corresponding maxillary plate a to the first preset posture, control the assembly mechanism 40 to assemble the upper dental appliance 01 to the corresponding maxillary plate a, multiple models of maxillary plates a are simultaneously adjusted in posture by the corresponding first posture adjustment mechanism 11, and are respectively assembled with the corresponding upper dental appliance 01 at a specific angle through the corresponding assembly mechanism 40; and / or, control multiple second posture adjustment mechanisms 12 to adjust the corresponding mandibular plate b to the second preset posture, control the assembly mechanism 40 to assemble the lower dental appliance 02 to the corresponding mandibular plate b, multiple models of mandibular plates b are simultaneously adjusted in posture by the corresponding second posture adjustment mechanism 12, and are respectively assembled with the corresponding lower dental appliance 02 at a specific angle through the corresponding assembly mechanism 40. When the maxillary plate a and the mandibular plate b are assembled at the same time, the two can share the same assembly mechanism 40 to reduce costs.

[0059] In a specific embodiment, it also includes a feeding mechanism 20 and a station switching mechanism 30; the control unit is also used to: before controlling the assembly mechanism 40 to assemble the appliance to the functional accessory along the preset trajectory, control the feeding mechanism 20 to transfer the functional accessory from the posture adjustment mechanism 10 to the feeding position P1 of the station switching mechanism 30, and control the station switching mechanism 30 to switch the functional accessory to the assembly position P3. The feeding operation of the functional accessory of the feeding mechanism 20 is performed at the feeding position P1, and the assembly operation of the appliance and the functional accessory is performed at the assembly position P3. Different operations are performed at different stations, so as to provide sufficient operating space for equipment for different operations.

[0060] In a specific embodiment, it also includes a visual recognition mechanism 50; the control unit is also used to: before controlling the feeding mechanism 20 to transfer the functional attachment from the posture adjustment mechanism 10 to the loading position P1 of the station switching mechanism 30, control the visual recognition mechanism 50 to identify the functional attachment with a preset posture, and feed back the coordinates of the functional attachment with the preset posture to the feeding mechanism 20, so as to provide a basis for the feeding mechanism 20 to pick up the functional attachment with the preset posture, so as to improve the efficiency and accuracy of picking up the functional attachment. Specifically, the visual recognition mechanism 50 can be controlled to continuously obtain the image information of the functional attachment on the posture adjustment mechanism 10, and the obtained image information is compared with the standard image information. When the deviation value of the two is less than the threshold, it is determined that the functional attachment has the above-mentioned preset posture. In the above, the functional attachment with a preset posture can be identified with a higher efficiency. For example, the visual recognition mechanism 50 may include a first visual recognition mechanism 51 located above the first posture adjustment mechanism 11 and a second visual recognition mechanism 52 located above the second posture adjustment mechanism 12, which respectively identify the postures of the functional attachments in the first posture adjustment mechanism 11 and the second posture adjustment mechanism 12.

[0061] In a specific embodiment, the posture adjustment mechanism 10 includes a drive assembly and a tray, and the tray has a contour structure that matches the functional attachment; the control unit is specifically used to: control the drive assembly to drive the tray to vibrate, so that the functional attachment matches the contour structure and is adjusted to a preset posture. After the functional attachment contacts the contour structure, under the vibration of the tray, it will continuously adapt to the contour structure through its own surface. When the degree of adaptation is high enough, the functional attachment is adjusted to the preset posture. The above process of adjusting the posture of the functional attachment is efficient, low-cost, and accurate in posture adjustment.

[0062] In a specific embodiment, the station switching mechanism 30 has a contoured groove that matches the shape of the functional accessory; the control unit is specifically used to: control the feeding mechanism 20 to transfer the functional accessory from the posture adjustment mechanism 10 to the contoured groove. When the functional accessory falls into the contoured groove and vibrates in the contoured groove, the corresponding surface of the functional accessory will gradually match the inner surface of the contoured groove to gradually reach a preset posture. For example, the feeding mechanism 20 can be controlled to transfer the upper jaw plate a from the first posture adjustment mechanism 11 to the first contoured groove 31u, and / or, to transfer the lower jaw plate b from the second posture adjustment mechanism 12 to the second contoured groove 32u. Among them, the feeding mechanism 20 can select a four-axis robot.

[0063] In a specific embodiment, a vacuum pumping mechanism 35 is further included, and the profiling groove is connected to the vacuum pumping mechanism 35; the control unit is also used to control the vacuum pumping mechanism 35 to maintain the profiling groove in a vacuum state, thereby providing negative pressure fixation for the functional accessories to prevent the functional accessories from moving or even falling off when the workstation is switched.

[0064] In a specific embodiment, the workstation switching mechanism 30 may include a turntable 31, which is rotated by a driving mechanism such as a servo motor 33; the workstation switching mechanism 30 may also include a swing arm or an assembly line body, which is driven by the driving mechanism to swing the swing arm or drive the assembly line body to flow, thereby realizing workstation switching.

[0065] In a specific embodiment, the steps of assembling the brace device to the functional accessory specifically include: welding the functional accessory to the brace device, such as ultrasonic welding, laser welding, electric heat melting welding, friction welding, pulse welding, infrared welding and other welding methods, which can firmly fix the functional accessory to the brace device; or, the functional accessory and the brace device can be bonded together to ensure a firm combination and not easily damage the thin shell structure of the brace device.

[0066] For other beneficial effects of the orthodontic appliance functional accessory assembly device, reference can be made to the effect analysis of the orthodontic appliance functional accessory assembly method in the previous embodiment.

[0067] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for assembling functional accessories of an appliance, characterized in that: include: The posture adjustment mechanism is controlled to adjust the functional accessory to a preset posture, and the assembly mechanism is controlled to assemble the orthodontic appliance to the functional accessory along a preset trajectory.

2. The method for assembling functional accessories of an orthodontic appliance according to claim 1, characterized in that: The functional accessories include: a jaw plate or a traction hook.

3. The method for assembling functional accessories of an orthodontic appliance according to claim 2, characterized in that: The jaw plate includes an upper jaw plate and a lower jaw plate, the orthodontic appliance includes an upper tooth orthodontic appliance and a lower tooth orthodontic appliance, and the posture adjustment mechanism includes a first posture adjustment mechanism and a second posture adjustment mechanism; The controlling the posture adjustment mechanism to adjust the functional attachment to a preset posture, and controlling the assembly mechanism to assemble the appliance to the functional attachment along a preset trajectory specifically includes: Controlling the first posture adjustment mechanism to adjust the maxillary plate to a first preset posture, and controlling the assembly mechanism to assemble the upper dental appliance to the maxillary plate along a first preset trajectory; and / or, The second posture adjustment mechanism is controlled to adjust the mandibular plate to a second preset posture, and the assembly mechanism is controlled to assemble the lower tooth appliance to the mandibular plate along a second preset trajectory.

4. The method for assembling functional accessories of an orthodontic appliance according to claim 3, characterized in that: The controlling the first posture adjustment mechanism to adjust the maxillary plate to a first preset posture, and controlling the assembly mechanism to assemble the upper tooth appliance to the maxillary plate along a first preset trajectory specifically includes: Controlling the plurality of the first posture adjustment mechanisms to adjust the corresponding maxillary plates to the first preset postures, and controlling the plurality of the assembly mechanisms to assemble the upper dental appliances to the corresponding maxillary plates; and / or, The controlling the second posture adjustment mechanism to adjust the mandibular plate to a second preset posture, and controlling the assembly mechanism to assemble the lower tooth appliance to the mandibular plate along a second preset trajectory specifically includes: Control the plurality of second posture adjustment mechanisms to adjust the corresponding mandibular plates to the second preset postures respectively, and control the plurality of assembly mechanisms to assemble the lower dental appliances to the corresponding mandibular plates respectively.

5. The method for assembling functional accessories of an orthodontic appliance according to claim 1, characterized in that: Before controlling the assembly mechanism to assemble the appliance onto the functional attachment along a preset trajectory, the method further includes: The loading mechanism is controlled to transfer the functional accessory from the posture adjustment mechanism to the loading position of the station switching mechanism, and the station switching mechanism is controlled to switch the functional accessory to the assembly position.

6. The method for assembling functional accessories of an orthodontic appliance according to claim 5, characterized in that: Before the control feeding mechanism transfers the functional accessory from the posture adjustment mechanism to the feeding position of the station switching mechanism, the control mechanism further includes: The visual recognition mechanism is controlled to recognize the functional accessory with the preset posture, and the coordinates of the functional accessory with the preset posture are fed back to the feeding mechanism.

7. The method for assembling functional accessories of an orthodontic appliance according to claim 6, characterized in that: The posture adjustment mechanism includes a drive assembly and a material tray, and the material tray has a contoured structure matching the functional accessory; The controlling the posture adjustment mechanism to adjust the functional accessory to a preset posture specifically includes: The driving assembly is controlled to drive the material tray to vibrate, so that the functional attachment matches the contoured structure and is adjusted to the preset posture.

8. The method for assembling functional accessories of an orthodontic appliance according to claim 5, characterized in that: The station switching mechanism has a contoured groove matching the shape of the functional attachment; The controlling the loading mechanism to transfer the functional accessory from the posture adjustment mechanism to the loading position of the station switching mechanism specifically includes: The feeding mechanism is controlled to transfer the functional attachment from the posture adjustment mechanism to the contoured groove.

9. The method for assembling functional accessories of an orthodontic appliance according to claim 8, characterized in that: The contoured groove is communicated with the vacuum pumping mechanism; The method further comprises: The vacuuming mechanism is controlled to keep the contoured groove in a vacuum state.

10. The method for assembling functional accessories of an orthodontic appliance according to claim 5, characterized in that: The workstation switching mechanism includes a turntable, a swing arm or an assembly line body.

11. The method for assembling functional accessories of an orthodontic appliance according to claim 1, characterized in that: The step of assembling the appliance on the functional attachment specifically includes: The functional attachment is welded to the orthodontic appliance, or the functional attachment is bonded to the orthodontic appliance.

12. A device for assembling functional accessories of an orthodontic appliance, characterized in that: include: Control unit, attitude adjustment mechanism and assembly mechanism; The control unit is used to control the posture adjustment mechanism to adjust the functional accessory to a preset posture, and control the assembly mechanism to assemble the orthodontic appliance to the functional accessory along a preset trajectory.

13. The functional attachment assembly device of the orthodontic appliance according to claim 12, characterized in that: The functional accessories include: a jaw plate or a traction hook.

14. The functional attachment assembly device of the orthodontic appliance according to claim 13, characterized in that: The jaw plate includes an upper jaw plate and a lower jaw plate, the orthodontic appliance includes an upper tooth orthodontic appliance and a lower tooth orthodontic appliance, and the posture adjustment mechanism includes a first posture adjustment mechanism and a second posture adjustment mechanism; The control unit is specifically used for: Controlling the first posture adjustment mechanism to adjust the maxillary plate to a first preset posture, and controlling the assembly mechanism to assemble the upper dental appliance to the maxillary plate along a first preset trajectory; and / or, The second posture adjustment mechanism is controlled to adjust the mandibular plate to a second preset posture, and the assembly mechanism is controlled to assemble the lower tooth appliance to the mandibular plate along a second preset trajectory.

15. The functional attachment assembly device of the orthodontic appliance according to claim 14, characterized in that: The control unit is specifically used for: Controlling the plurality of the first posture adjustment mechanisms to adjust the corresponding maxillary plates to the first preset postures, and controlling the plurality of the assembly mechanisms to assemble the upper dental appliances to the corresponding maxillary plates; and / or, Control the plurality of second posture adjustment mechanisms to adjust the corresponding mandibular plates to the second preset postures respectively, and control the plurality of assembly mechanisms to assemble the lower dental appliances to the corresponding mandibular plates respectively.

16. The functional attachment assembly device of the orthodontic appliance according to claim 12, characterized in that: It also includes a feeding mechanism and a station switching mechanism; The control unit is also used for: Before controlling the assembly mechanism to assemble the orthodontic appliance to the functional accessory along a preset trajectory, the loading mechanism is controlled to transfer the functional accessory from the posture adjustment mechanism to the loading position of the station switching mechanism, and the station switching mechanism is controlled to switch the functional accessory to the assembly position.

17. The functional attachment assembly device of the orthodontic appliance according to claim 16, characterized in that: It also includes visual identity agencies; The control unit is also used for: Before the loading mechanism is controlled to transfer the functional accessory from the posture adjustment mechanism to the loading position of the workstation switching mechanism, the visual recognition mechanism is controlled to identify the functional accessory with the preset posture, and the coordinates of the functional accessory with the preset posture are fed back to the loading mechanism.

18. The functional attachment assembly device of the orthodontic appliance according to claim 17, characterized in that: The posture adjustment mechanism includes a drive assembly and a material tray, and the material tray has a contoured structure matching the functional accessory; The control unit is specifically used for: The driving assembly is controlled to drive the material tray to vibrate, so that the functional attachment matches the contoured structure and is adjusted to the preset posture.

19. The functional attachment assembly device of the orthodontic appliance according to claim 16, characterized in that: The station switching mechanism has a contoured groove matching the shape of the functional attachment; The control unit is specifically used for: The feeding mechanism is controlled to transfer the functional attachment from the posture adjustment mechanism to the contoured groove.

20. The functional attachment assembly device of the orthodontic appliance according to claim 19, characterized in that: It also includes a vacuum pumping mechanism, and the contoured groove is connected to the vacuum pumping mechanism; The control unit is also used for: The vacuuming mechanism is controlled to keep the contoured groove in a vacuum state.

21. The functional attachment assembly device of the orthodontic appliance according to claim 16, characterized in that: The workstation switching mechanism includes a turntable, a swing arm or an assembly line body.

22. The functional attachment assembly device of the orthodontic appliance according to claim 12, characterized in that: The step of assembling the appliance on the functional attachment specifically includes: The functional attachment is welded to the orthodontic appliance, or the functional attachment is bonded to the orthodontic appliance.

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