A denture processing method, device, dental engraving machine and storage medium

Abstract

The present invention discloses a denture processing method, device, denture engraving machine and storage medium, including: obtaining a denture processing file; performing a denture engraving operation on a material tray according to the denture processing file to generate a denture; when the denture engraving operation reaches the tooth unloading stage, controlling a tooth receiving tray to move to a material receiving station; when the tooth unloading stage is completed, controlling the tooth receiving tray to move to a discharging station. By monitoring the denture engraving stage on the material tray, this method enables the tooth receiving tray to move to the material receiving station when the denture on the material tray is in the tooth unloading stage, and after the tooth receiving tray reaches the material receiving station, a discharging operation is performed to make the denture on the material tray fall into the tooth receiving tray, and after the denture falls into the tooth receiving tray, it carries the denture and moves to the discharging station, realizing the automation of denture processing, reducing the dependence on manual operations, lowering the labor cost, and also improving the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of denture processing, and particularly to a denture processing method, device, denture engraving machine and storage medium. Background Art

[0002] Denture engraving machines play an important role in the denture processing industry. Their processing procedures mainly include the following steps: 1. Loading: Loading the tray for manufacturing dentures onto the carrier; 2. Engraving: Using the denture engraving machine to engrave the tray to form the shape of the denture; 3. Unloading the tray: Removing the tray engraved with the denture from the machine; 4. Tooth removal: Manually performing the tooth removal operation, that is, cutting the support rod connecting the denture and the tray to separate the denture from the tray.

[0003] However, in the existing denture engraving methods, manual tooth removal is still required. Manual tooth removal not only requires operators to wear protective masks and use equipment such as vacuum cleaners to ensure operation safety and environmental cleanliness, but also has high skill requirements for operators, low processing efficiency and the risk of human errors. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a denture processing method, device, denture engraving machine and storage medium to solve the technical problems that in the existing denture engraving methods, manual tooth removal is still required. Manual tooth removal not only requires operators to wear protective masks and use equipment such as vacuum cleaners to ensure operation safety and environmental cleanliness, but also has high skill requirements for operators, low processing efficiency and the risk of human errors.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In the first aspect, this embodiment provides a denture processing method, including:

[0007] Obtaining a denture processing file;

[0008] Performing a denture engraving operation on the tray according to the denture processing file to generate a denture;

[0009] When reaching the tooth removal stage during the denture engraving operation, controlling the tooth receiving tray to move to the material receiving station;

[0010] When the tooth removal stage is completed, controlling the tooth receiving tray to move to the discharging station.

[0011] Among them, the obtaining of the denture processing file includes the following steps:

[0012] Obtaining the tray requirement;

[0013] Selecting the corresponding tray according to the tray requirement and generating a tray model file;

[0014] Obtain denture requirements;

[0015] Generate a denture model file according to the denture requirements;

[0016] Generate a denture model based on the denture model file, and generate a tray model based on the tray model file. In response to the received typesetting instruction, obtain a processing model according to the denture model and the tray model; wherein, at least one denture model is embedded inside the tray model in the processing model;

[0017] Generate a denture processing file according to the processing model.

[0018] Wherein, when in the denture carving operation to the tooth unloading stage, controlling the tooth receiving tray to move to the material receiving station includes the following steps:

[0019] Obtain the start time of the tooth unloading stage according to the denture processing file and the real-time process of the denture carving operation;

[0020] Control the tooth receiving tray to move to the material receiving station within a first safety time interval preset before the start time of the tooth unloading stage.

[0021] Wherein, controlling the tooth receiving tray to move to the material receiving station includes the following steps:

[0022] Control the tooth receiving tray to move to directly below the tray;

[0023] Control the tooth receiving tray to move upward so that the mouth of the tooth receiving tray fits to the lower plane of the tray, or so that the mouth of the tooth receiving tray fits to the lower plane of the carrier for carrying the tray.

[0024] Wherein, controlling the tooth receiving tray to move upward so that the mouth of the tooth receiving tray fits to the lower plane of the tray, or so that the mouth of the tooth receiving tray fits to the lower plane of the carrier for carrying the tray includes the following steps:

[0025] Obtain the tray thickness and the carrier thickness;

[0026] When the tray thickness is less than or equal to the carrier thickness, make the mouth of the tooth receiving tray fit to the lower plane of the carrier for carrying the tray;

[0027] When the tray thickness is greater than the carrier thickness, make the mouth of the tooth receiving tray fit to the lower plane of the tray.

[0028] Wherein, controlling the tooth receiving tray to move upward so that the mouth of the tooth receiving tray fits to the lower plane of the tray, or so that the mouth of the tooth receiving tray fits to the lower plane of the carrier for carrying the tray further includes the following steps:

[0029] When the thickness of the material tray is less than or equal to the thickness of the carrier, calculate the first target height H1 of the tooth receiving tray, H1 = H0 - Z1 / 2, where H0 is the height of the carrier and Z1 is the thickness of the carrier;

[0030] Control the tooth receiving tray to move to the first target height H1 so that the mouth of the tooth receiving tray fits the lower plane of the carrier for carrying the material tray;

[0031] When the thickness of the material tray is greater than the thickness of the carrier, calculate the second target height H2 for the upward movement of the tooth receiving tray, H2 = H0 - Z2 / 2, where Z2 is the thickness of the material tray;

[0032] Control the tooth receiving tray to move to the second target height H2 so that the mouth of the tooth receiving tray fits the lower plane of the material tray.

[0033] Among them, when the tooth unloading stage is completed, controlling the tooth receiving tray to move to the discharging station includes the following steps:

[0034] Obtain the completion time of the tooth unloading stage according to the denture processing file and the real-time process of the denture carving operation;

[0035] Within a preset second safety time interval after the completion time of the tooth unloading stage, control the tooth receiving tray to move to the discharging station.

[0036] In a second aspect, this embodiment provides a denture processing device, including:

[0037] An acquisition unit for acquiring a denture processing file;

[0038] An operation unit for performing a denture carving operation on a material tray according to the denture processing file to generate a denture;

[0039] A material receiving unit for controlling the tooth receiving tray to move to the material receiving station when the denture carving operation reaches the tooth unloading stage;

[0040] A discharging unit for controlling the tooth receiving tray to move to the discharging station when the tooth unloading stage is completed.

[0041] In a third aspect, this embodiment provides a denture engraving machine, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the denture processing method described above is implemented.

[0042] In a fourth aspect, this embodiment provides a storage medium storing a computer program, where the computer program includes program instructions, and when the program instructions are executed by a processor, the denture processing method described above can be implemented.

[0043] The beneficial effects of the present invention compared with the prior art are as follows: By monitoring the denture carving stage on the material tray, the tooth receiving tray is moved to the material receiving station when the denture on the material tray is in the tooth unloading stage, and after the tooth receiving tray reaches the material receiving station, a unloading operation is performed to make the denture on the material tray fall into the tooth receiving tray. After the denture falls into the tooth receiving tray, it carries the denture and moves to the discharging station, realizing the automation of denture processing, reducing the dependence on manual operation, lowering the labor cost, and at the same time improving the production efficiency.

[0044] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following preferred embodiments are specifically described in detail as follows. Brief Description of the Drawings

[0045] Figure 1 It is a schematic flowchart of a denture processing method provided by an embodiment of the present application;

[0046] Figure 2 It is a schematic diagram of the first sub - process of a denture processing method provided by an embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of the second sub - process of a denture processing method provided by an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the third sub - process of a denture processing method provided by an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of the fourth sub - process of a denture processing method provided by an embodiment of the present application;

[0050] Figure 6 It is a schematic diagram of the fifth sub - process of a denture processing method provided by an embodiment of the present application;

[0051] Figure 7 It is a schematic diagram of the sixth sub - process of a denture processing method provided by an embodiment of the present application;

[0052] Figure 8 It is a schematic diagram of a denture processing device provided by an embodiment of the present application;

[0053] Figure 9 It is a schematic block diagram of a denture carving machine provided by an embodiment of the present application;

[0054] Figure 10 It is a schematic diagram of the first application scenario of a denture processing method provided by an embodiment of the present application;

[0055] Figure 11Schematic diagram of the second application scenario of a denture processing method provided by an embodiment of the present application. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprise" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0058] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0059] It should be further understood that the term " / and" as used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0060] Please refer to Figure 1 , Figure 1 a flowchart of a denture processing method provided by an embodiment of the present application. The method includes steps S100 to S400:

[0061] S100. Obtain a denture processing file.

[0062] In some embodiments, the purpose of obtaining the denture processing file is to obtain processing information such as the specific shapes, dimensions, and materials of the tray and the denture. These information are the basis for subsequent engraving and tooth unloading operations. By obtaining the denture processing file, the type and requirements of the denture to be processed can be accurately understood, thereby ensuring the accuracy and efficiency of the processing process.

[0063] In some embodiments, the denture processing file should include a denture model file, a tray model file, and a tool path file. The denture model file records the parameter data of the denture to be finally manufactured for denture processing operations. The tray model file records the parameter data of the selected tray for this time. The tool path file is a data file obtained based on the denture model file and the tray model file and is used to guide the engraving actions of the denture engraving machine. Specifically, the tool path file includes the denture layout information to be processed on the tray.

[0064] Further, as Figure 2 shown, Figure 2 is a schematic diagram of the first sub - process of a denture processing method provided by an embodiment of the present application. The step S100 includes S110 - S160:

[0065] S110. Obtain the tray requirements.

[0066] It can be understood that during the denture processing, the tray is the basis for carrying the denture material and performing engraving. Different trays may be suitable for different processing requirements and material types. Therefore, before processing starts, it is necessary to clarify the required tray type and specifications to ensure the smooth progress of subsequent engraving and tooth unloading operations.

[0067] In some embodiments, the tray requirements should at least include the tray shape, tray thickness, tray size, and tray material.

[0068] S120. Select the corresponding tray according to the tray requirements and generate a tray model file.

[0069] In some embodiments, according to the tray requirements, the corresponding tray can be selected automatically or manually, and a corresponding tray model file is generated. This model file contains key information such as the shape, thickness, size, and material of the tray and is the basis for subsequent engraving operations.

[0070] In some embodiments, the corresponding tray model file can be screened out from the tray database according to the tray requirements. Among them, the tray database should record the model information of all trays that can be used for engraving dentures.

[0071] S130. Obtain the denture requirements.

[0072] It can be understood that the requirements of the denture determine the key parameters such as the shape, size, and material of the final product. Therefore, before processing, it is necessary to clarify the specific requirements of the denture to ensure that the processed denture meets the user's usage requirements. It should be explained that the tray requirements should correspond to the denture requirements. Generally, the tray requirements are selected according to the denture requirements.

[0073] In some embodiments, the denture requirements should at least include the denture shape, denture size, and denture material.

[0074] S140. Generate a denture model file according to the denture requirements.

[0075] In some embodiments, a corresponding denture model file can be screened out from the denture template database according to the denture requirements. Among them, the denture template database should record the model information of dentures of various different sizes, materials, and shapes.

[0076] S150. Generate a denture model based on the denture model file and generate a tray model based on the tray model file. In response to the received typesetting instruction, obtain a processing model according to the denture model and the tray model; wherein, at least one denture model is embedded inside the tray model in the processing model.

[0077] It should be noted that a tool path file for guiding the engraving path of a denture engraving machine can be obtained from the processing model. In some embodiments, the spindle of the denture engraving machine can perform a denture engraving operation on the tray according to the engraving path recorded in the tool path file, and then engrave a denture on the tray.

[0078] In some embodiments, generating a denture model includes the following steps: Create or import a three-dimensional model of a denture through CAD software according to the denture requirement data included in the denture model file. It should be noted that the denture model can be saved as a file that can be repeatedly called, such as an STL file or other 3D model formats.

[0079] In some embodiments, generating a tray includes the following steps: Create or import a three-dimensional model of a tray through CAD software according to the tray requirement data included in the tray model file. It should be noted that the tray model can be saved as a file that can be repeatedly called, such as an STL file or other 3D model formats.

[0080] In some embodiments, obtaining a processing model according to the denture model and the tray model includes the following steps: In response to the received typesetting instruction, combine the denture model and the tray model using CAD or CAM software; in response to the user's movement instruction, the software can update the position of the denture model on the tray in real time.

[0081] Obtaining a processing model according to the denture model and the tray model includes the following steps: In response to the received loading instruction, open the tray model and / or the denture model file; in response to the received retrieval instruction, call one or more denture models to the tray model; in response to the received movement instruction, control the size and pose state of the denture model on the tray model; in response to the received generation instruction, merge the adjusted denture model and the tray model into a processing model.

[0082] It can be understood that by using the path generation function in the CAM software, a tool path file can be automatically generated according to the geometric information and layout information in the processing model. The tool path file should contain parameters such as the spindle movement path, carving speed, and feed rate of the denture engraving machine.

[0083] It should be explained that if the processing model only includes a tray model or only includes a denture model, a tool path file for guiding the engraving operation of the denture engraving machine cannot be generated. Therefore, at least one denture model should be embedded inside the tray model in the processing model.

[0084] S160. Generate a denture processing file according to the said processing model.

[0085] It can be understood that the denture processing file is the core file guiding the entire processing process. By integrating the tray model file and the denture model file to generate a complete denture processing file, it is used to guide subsequent engraving and tooth unloading operations.

[0086] S200. Perform a denture engraving operation on the tray according to the said denture processing file to generate a denture.

[0087] In some embodiments, according to the information in the denture processing file, the denture engraving machine will perform precise engraving operations on the tray to form a denture shape that meets the requirements.

[0088] In some embodiments, the denture engraving operation can be performed by the spindle in the denture engraving machine.

[0089] Specifically, perform a denture engraving operation on the tray according to the tool path file generated from the processing model in the denture processing file, and then engrave a denture on the tray.

[0090] S300. When reaching the tooth unloading stage from the said denture engraving operation, control the tooth receiving tray to move to the material receiving station.

[0091] It should be explained that the tray serves as the base for engraving the denture. The denture engraving machine forms the denture on the tray by grinding the tray. There is a support rod between the denture that enters the tooth unloading stage and the tray. The support rod is a rod that connects the denture and the tray and has not been cut during the denture engraving to the tooth unloading stage. The tooth unloading stage is to cut the support rod to separate the denture from the tray. It can be understood that the tooth unloading stage is a key step in denture processing and is also the part that requires manual operation in traditional processing methods.

[0092] In some embodiments, when the denture engraving reaches the tooth unloading stage, the system can detect the tooth unloading stage in real time and immediately control the tooth receiving tray to move to the material receiving station to prepare for receiving the upcoming falling denture.

[0093] In some embodiments, the start time of the tooth unloading stage can be determined by combining the tool path file in the denture processing file with the real-time process of the denture carving operation.

[0094] In some embodiments, it can be determined whether the denture processing process reaches the tooth unloading stage by acquiring the image data of the material tray by a vision sensor. Optionally, the vision sensor can be a laser sensor, a CCD detection camera, or other sensor types that can achieve similar detection functions.

[0095] In some embodiments, the movement of the tooth receiving tray to the material receiving station can be driven by a robotic arm in the denture carving machine.

[0096] Further, as Figure 3 shown, Figure 3 is a schematic diagram of the second sub-process of a denture processing method provided by an embodiment of the present application, and the step S300 includes S310 - S320:

[0097] S310. Obtain the start time of the tooth unloading stage according to the denture processing file and the real-time process of the denture carving operation.

[0098] In some embodiments, all the time nodes of the carving steps can be obtained by reading and parsing the denture processing file.

[0099] In some embodiments, sensors can be installed on the denture carving device to monitor the carving progress in real time. These sensors can detect information such as the position, speed, and carving depth of the carving head, so as to infer the current carving step. In some embodiments, a camera can be used to capture images during the carving process of the denture carving device, and image recognition technology can be used to determine the current carving step. In some embodiments, the denture carving device or the control system will automatically record the start and end times of each step to generate a log. Thus, the current carving progress can be determined by reading these logs.

[0100] It can be understood that monitoring the progress of the denture carving operation in real time can determine which carving step among the multiple carving steps in the denture processing file the currently executed carving step corresponds to. By comparing the real-time process of the denture carving operation with the time nodes of each carving step in the denture processing file, the start time of the tooth unloading stage can be calculated.

[0101] S320. Control the tooth receiving tray to move to the material receiving station within a first safety time interval preset before the start time of the tooth unloading stage.

[0102] It should be noted that in this embodiment, it refers to controlling the tooth receiving tray to start moving to the material receiving station within the first safety time interval before the start time of the tooth unloading stage.

[0103] It should be noted that the first safety time interval can be set manually or calculated by the system. However, when setting the first safety time interval, the moving time of the tooth receiving tray from the preparation station to the material receiving station should be considered. That is, the first safety time interval should be greater than or equal to the moving time of the tooth receiving tray. Among them, the moving time of the tooth receiving tray can be obtained from the moving speed and the moving path. Both the moving speed and the moving path are known parameters that can be set. Therefore, the moving time of the tooth receiving tray is also a parameter that can be directly obtained or indirectly calculated.

[0104] In some embodiments, the first safety time interval can be 10s - 15s. That is, within 10s - 15s before the start time of the tooth unloading stage, control the tooth receiving tray to start moving towards the material receiving station.

[0105] Furthermore, as Figure 4 shown, Figure 4 FIG. 3 is a schematic diagram of a third sub - process of a denture processing method provided by an embodiment of the present application. The step S300 further includes S321 - S322:

[0106] S321: Control the tooth receiving tray to move to directly below the material tray.

[0107] In this embodiment, controlling the tooth receiving tray to move to directly below the material tray aims to position the tooth receiving tray at a correct position where it can receive the carved denture. First, move the tooth receiving tray to a position where the denture can fall onto it from the material tray.

[0108] S322: Control the tooth receiving tray to move upward so that the mouth of the tooth receiving tray fits against the lower side plane of the material tray, or so that the mouth of the tooth receiving tray fits against the lower side plane of the carrier for carrying the material tray.

[0109] In this embodiment, by controlling the tooth receiving tray to move upward, the height difference between the denture falling from the material tray to the tooth receiving tray is reduced, ensuring that the denture can be transferred to the tooth receiving tray smoothly and safely.

[0110] In some embodiments, the carrier is annular, and the material tray is clamped in the space enclosed by the carrier.

[0111] In some embodiments, one or more pairs of infrared transmitters and receivers are installed on the upward movement path of the tooth receiving tray. The infrared transmitters emit infrared light, and the receivers are responsible for detecting whether the light is blocked by the tooth receiving tray. When the tooth receiving tray moves to a preset height (such as within a certain safe distance close to the lower plane of the material tray or the lower plane of the carrier), it will block the infrared light, causing the receiver to be unable to receive the signal. By monitoring the changes in these infrared signals, it can be confirmed whether the tooth receiving tray has reached the predetermined position. In some embodiments, if the tooth receiving tray fails to reach the predetermined position within the specified time (possibly due to mechanical failures, drive problems, or other interference factors), the system will trigger an alarm and stop further operations to prevent the denture from falling and being damaged due to excessive height difference.

[0112] Further, as Figure 5 shown, Figure 5 is a schematic diagram of the fourth sub-process of a denture processing method provided by an embodiment of the present application. The step S322 includes S3221 to S3223:

[0113] S3221. Obtain the thickness of the material tray and the thickness of the carrier.

[0114] It can be understood that understanding the thicknesses of the material tray and the carrier is the basis for determining the upward movement distance of the tooth receiving tray. Only by accurately obtaining the thicknesses of the material tray and the carrier can it be ensured that the mouth of the tooth receiving tray can accurately fit onto the correct plane. It should be explained that the thicknesses of the material tray and the carrier refer to the thicknesses in the height direction.

[0115] In some embodiments, the thickness of the material tray can be obtained from the material tray model file.

[0116] In some embodiments, the carrier belongs to a component in the denture engraving machine, and the thickness of the carrier is a known parameter of the denture engraving machine.

[0117] S3222. When the thickness of the material tray is less than or equal to the thickness of the carrier, make the mouth of the tooth receiving tray fit to the lower plane of the carrier for carrying the material tray.

[0118] It should be explained that when the material tray is installed on the carrier, the midline of the material tray in the thickness direction coincides with the midline of the carrier in the thickness direction. Therefore, when the thickness of the material tray is less than or equal to the thickness of the carrier, both the upper and lower sides of the material tray are located within the space enclosed by the carrier. Making the mouth of the tooth receiving tray fit to the lower plane of the carrier for carrying the material tray can greatly reduce the height difference of the denture falling from the material tray to the tooth receiving tray.

[0119] S3223. When the thickness of the material tray is greater than the thickness of the carrier, make the mouth of the tooth receiving tray fit to the lower plane of the material tray.

[0120] It should be noted that when the thickness of the tray is greater than that of the carrier, the lower plane of the tray extends beyond the lower plane of the carrier. By making the orifice of the tooth receiving tray fit to the lower plane of the tray, the height difference of the denture falling from the tray to the tooth receiving tray can be greatly reduced.

[0121] Specifically, as Figure 6 shown, Figure 6 FIG. is a schematic diagram of the fifth sub-process of a denture processing method provided by an embodiment of the present application. The step S322 further includes S3224-S3227:

[0122] S3224. When the thickness of the tray is less than or equal to the thickness of the carrier, calculate the first target height H1 of the tooth receiving tray, H1 = H0 - Z1 / 2, where H0 is the height of the carrier and Z1 is the thickness of the carrier.

[0123] S3225. Control the tooth receiving tray to move to the first target height H1 so that the orifice of the tooth receiving tray fits to the lower plane of the carrier for carrying the tray.

[0124] It should be noted that, as Figure 10 shown, Figure 10 FIG. is a schematic diagram of the first application scenario of a denture processing method provided by an embodiment of the present application. Among them, H0 refers to the height of the midline in the thickness direction of the carrier 30, and H1 refers to the height of the lower plane of the carrier 30 to which the orifice of the tooth receiving tray 20 needs to fit.

[0125] S3226. When the thickness of the tray is greater than the thickness of the carrier, calculate the second target height H2 of the upward movement of the tooth receiving tray, H2 = H0 - Z2 / 2, where Z2 is the thickness of the tray.

[0126] S3227. Control the tooth receiving tray to move to the second target height H2 so that the orifice of the tooth receiving tray fits to the lower plane of the tray.

[0127] It should be noted that, as Figure 11 shown, Figure 11 FIG. is a schematic diagram of the second application scenario of a denture processing method provided by an embodiment of the present application. H0 refers to the height of the midline in the thickness direction of the carrier 30, and H2 refers to the height of the lower plane of the tray 10 to which the orifice of the tooth receiving tray 20 needs to fit.

[0128] S400. When the tooth unloading stage is completed, control the tooth receiving tray to move to the discharging station.

[0129] In this embodiment, when the tooth unloading stage is completed, that is, when the denture successfully falls from the material tray and lands on the tooth receiving tray, the system can immediately detect this action and control the tooth receiving tray to move to the discharging station. The purpose of this step is to convey the processed denture to subsequent cleaning, quality inspection and other processes for further processing.

[0130] In some embodiments, it is possible to determine whether the denture has fallen from the material tray and landed on the tooth receiving tray by acquiring the image data of the tooth receiving tray from a vision sensor. Optionally, the vision sensor can be a laser sensor, a CCD detection camera or other sensor types that can achieve similar detection functions.

[0131] In some embodiments, the discharging station can be a manually set position, which can be a storage bin dedicated to storing dentures.

[0132] In some embodiments, the movement of the tooth receiving tray to the discharging station can be driven by a robotic arm in the denture engraving machine.

[0133] Further, as Figure 7 shown, Figure 7 is a schematic diagram of the sixth sub-process of a denture processing method provided by an embodiment of the present application, and the S400 includes S410-S420:

[0134] S410. Obtain the completion time of the tooth unloading stage according to the denture processing file and the real-time process of the denture engraving operation.

[0135] In some embodiments, by reading and parsing the denture processing file, the time nodes of all engraving steps can be obtained. By monitoring the real-time process of the denture engraving operation, the current step can be obtained. By comparing the real-time process of the denture engraving operation with the time nodes of each engraving step in the denture processing file, the completion time of the tooth unloading stage can be calculated.

[0136] S420. Control the tooth receiving tray to move to the discharging station within a preset second safety time interval after the completion time of the tooth unloading stage.

[0137] It should be noted that in this embodiment, it means that within the second safety time interval after the completion time of the tooth unloading stage, the control of the tooth receiving tray starts to move to the discharging station.

[0138] It should be noted that the second safety time interval can be set manually or calculated by the system. However, when setting the second safety time interval, the time for the denture to fall from the material tray to the tooth receiving tray should be taken into account, that is, the second safety time interval should be greater than the time for the denture to fall from the material tray to the tooth receiving tray. Among them, the position height of the material tray is a known parameter that can be directly obtained or indirectly monitored, and the height of the tooth receiving tray is also a known parameter. Therefore, the time for the denture to fall from the material tray to the tooth receiving tray can be calculated and will not be elaborated here.

[0139] In some embodiments, the second safety time interval can be 5s - 10s, that is, within 5s - 10s after the completion time of the tooth unloading stage, control the tooth receiving tray to start moving towards the discharging station.

[0140] Further, the above step S420 includes: controlling the tooth receiving tray to move downward to disengage from the material tray or the carrier; controlling the tooth receiving tray to horizontally translate to the discharging station.

[0141] Please refer to the attached Figure 8 , Figure 8 which is a schematic diagram of a denture processing device provided by an embodiment of the present application. The denture processing device 500 includes: an acquisition unit 501, an operation unit 502, a tooth receiving unit 503, and a discharging unit 504.

[0142] The acquisition unit 501 is used to acquire a denture processing file;

[0143] The operation unit 502 is used to perform a denture carving operation on the material tray according to the denture processing file to generate a denture;

[0144] The tooth receiving unit 503 is used to control the tooth receiving tray to move to the tooth receiving station during the tooth carving operation to the tooth unloading stage;

[0145] The discharging unit 504 is used to control the tooth receiving tray to move to the discharging station when the tooth unloading stage is completed.

[0146] It should be noted that those skilled in the art can clearly understand the specific implementation processes of the above device and each unit. They can refer to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity of description, they will not be elaborated here.

[0147] The above denture processing device can be implemented in the form of a computer program, and this computer program can run on a denture carving machine as Figure 8 shown.

[0148] Refer to Figure 9 , this denture carving machine 600 includes a processor 602, a memory, and a network interface 605 connected through a system bus 601. Among them, the memory can include a non-volatile storage medium 603 and an internal memory 604.

[0149] The non-volatile storage medium 603 can store an operating system 6031 and a computer program 6032. The computer program 6032 includes program instructions that, when executed, can cause the processor 602 to execute a denture processing method: obtaining a denture processing file; performing a denture carving operation on a material tray according to the denture processing file to generate a denture; when reaching the tooth unloading stage during the denture carving operation, controlling the tooth receiving tray to move to a material receiving station; and when the tooth unloading stage is completed, controlling the tooth receiving tray to move to a material discharging station.

[0150] The processor 602 is used to provide computing and control capabilities to support the operation of the entire denture carving machine 600.

[0151] The internal memory 604 provides an environment for the operation of the computer program 6032 in the non-volatile storage medium 603. When the computer program 6032 is executed by the processor 602, it can cause the processor 602 to execute a denture processing method.

[0152] The network interface 605 is used for network communication with other devices. Those skilled in the art can understand that Figure 8 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the denture carving machine 600 to which the solution of the present application is applied. The specific denture carving machine 600 may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0153] Wherein, the processor 602 is used to run the computer program 6032 stored in the memory to implement the following steps S100 to S400:

[0154] S100. Obtaining a denture processing file;

[0155] S200. Performing a denture carving operation on a material tray according to the denture processing file to generate a denture;

[0156] S300. When reaching the tooth unloading stage during the denture carving operation, controlling the tooth receiving tray to move to a material receiving station;

[0157] S400. When the tooth unloading stage is completed, controlling the tooth receiving tray to move to a material discharging station.

[0158] It should be understood that in the embodiments of the present application, the processor 602 may be a central processing unit (CPU), and the processor 602 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0159] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, and the storage medium is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0160] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, where the computer program includes program instructions, and the program instructions can implement the above denture processing method when executed by a processor. The storage medium stores a computer program, the computer program includes program instructions, and the program instructions can implement the above method when executed by a processor. The program instructions include the following steps:

[0161] S100. Obtain a denture processing file;

[0162] S200. Perform a denture carving operation on the tray according to the denture processing file to generate a denture;

[0163] S300. When reaching the tooth unloading stage in the denture carving operation, control the tooth receiving tray to move to the material receiving station;

[0164] S400. When the tooth unloading stage is completed, control the tooth receiving tray to move to the discharging station.

[0165] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc, etc., which are all computer-readable storage media that can store program codes.

[0166] Those of ordinary skill in the art will realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0167] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0168] The steps in the method embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the device embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0169] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention.

[0170] The above embodiments are preferred implementation solutions of the present invention. In addition, the present invention can be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A method for denture processing, characterized in that, Including: Obtain a denture processing file; Perform a denture carving operation on the tray according to the denture processing file to generate a denture; When reaching the tooth unloading stage during the denture carving operation, control the tooth receiving tray to move to the material receiving station; When the tooth unloading stage is completed, control the tooth receiving tray to move to the discharging station; Wherein, the control of the tooth receiving tray moving to the material receiving station includes: Control the tooth receiving tray to move to directly below the tray; Obtain the tray thickness and the thickness of the carrier; When the tray thickness is less than or equal to the carrier thickness, make the mouth of the tooth receiving tray fit to the lower plane of the carrier for carrying the tray; When the tray thickness is greater than the carrier thickness, make the mouth of the tooth receiving tray fit to the lower plane of the tray.

2. The method for processing dentures according to claim 1, wherein The obtaining of the denture processing file includes the following steps: Obtain the tray requirement; Select a corresponding tray according to the tray requirement and generate a tray model file; Obtain the denture requirement; Generate a denture model file according to the denture requirement; Generate a denture model based on the denture model file and generate a tray model based on the tray model file. In response to the received typesetting instruction, obtain a processing model according to the denture model and the tray model; wherein, at least one denture model is embedded inside the tray model in the processing model; Generate a denture processing file according to the processing model.

3. A method for processing dentures according to claim 1, characterized in that, The control of the tooth receiving tray moving to the material receiving station when reaching the tooth unloading stage during the denture carving operation includes the following steps: According to the denture processing file and the real-time process of the denture carving operation, obtain the start time of the tooth unloading stage; Within a first safety time interval preset before the start time of the tooth unloading stage, control the tooth receiving tray to move to the material receiving station.

4. A denture processing method according to claim 1, characterized in that, The control of the tooth receiving tray moving upward to make the mouth of the tooth receiving tray fit to the lower plane of the tray, or to make the mouth of the tooth receiving tray fit to the lower plane of the carrier for carrying the tray, further includes the following steps: When the tray thickness is less than or equal to the carrier thickness, calculate the first target height H1 of the tooth receiving tray, H1 = H0 - Z1 / 2, where H0 is the height of the carrier and Z1 is the carrier thickness; Control the tooth receiving tray to move to the first target height H1 so that the mouth of the tooth receiving tray fits to the lower plane of the carrier for carrying the tray; When the tray thickness is greater than the carrier thickness, calculate the second target height H2 of the upward movement of the tooth receiving tray, H2 = H0 - Z2 / 2, where Z2 is the tray thickness; Control the tooth receiving tray to move to the second target height H2 so that the mouth of the tooth receiving tray fits to the lower plane of the tray.

5. A method for processing dentures according to claim 1, characterized in that, The control of the tooth receiving tray moving to the discharging station when the tooth unloading stage is completed includes the following steps: According to the denture processing file and the real-time process of the denture carving operation, obtain the completion time of the tooth unloading stage; Within a second safety time interval preset after the completion time of the tooth unloading stage, control the tooth receiving tray to move to the discharging station.

6. A denture processing device, characterized in that, Including: An obtaining unit for obtaining a denture processing file; An operating unit for performing a denture carving operation on the tray according to the denture processing file to generate a denture; The blank loading unit is used to control the blank receiving tray to move to the blank loading station during the denture carving operation to the tooth unloading stage, including: controlling the blank receiving tray to move to directly below the tray; obtaining the thickness of the tray and the thickness of the carrier; When the thickness of the tray is less than or equal to the thickness of the carrier, making the mouth of the blank receiving tray fit to the lower plane of the carrier for carrying the tray; when the thickness of the tray is greater than the thickness of the carrier, making the mouth of the blank receiving tray fit to the lower plane of the tray; The blank discharging unit is used to control the blank receiving tray to move to the blank discharging station when the tooth unloading stage is completed.

7. An artificial tooth engraving machine, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that when the processor executes the computer program, it implements the denture processing method according to any one of claims 1-5.

8. A storage medium, characterized in that, The storage medium stores a computer program, and the computer program includes program instructions, and when the program instructions are executed by the processor, the denture processing method according to any one of claims 1-5 can be implemented.

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