Dental instrument robot grinding and polishing workstation

Abstract

The invention discloses a dental instrument robot grinding and polishing workstation which comprises a robot module, a feeding platform, a discharging platform, a grinding module, a polishing module and a dust removal system. The grinding module and the polishing module are connected with the dust removal system; the robot module grabs a workpiece output by the feeding platform, drives the workpiece to move to the grinding module and the polishing module in sequence for grinding and polishing, and places the polished workpiece on the discharging platform; the dust removal system collects and treats dust generated by work of the grinding module and the polishing module. Multiple workers can be replaced, the labor cost is reduced, the constant force output characteristic of the robot enables products to be more stable, and the quality problem caused by misoperation is reduced; the harm of dust to human health during grinding and polishing is avoided, and the risk of industrial accidents is reduced; the dental instrument is ground and polished, and the product quality and the production efficiency are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a dental instrument robot grinding and polishing workstation. Background Art

[0002] Among the existing technologies, in today's era of highly developed informatization, robotics technology, as an important support for automated production, has received more and more widespread attention and application from the society. Among them, robotic grinding and polishing technology, with its high efficiency and precision, has gradually become the core technology of the Industrial 4.0 era. my country's oral instrument market is in a stage of rapid development and stable growth, while dental surgical instruments are of various types and shapes, with complex manufacturing processes and high requirements for the surface roughness of the instruments. The existing process relies on manual grinding and polishing of dental instruments, mainly due to poor production dust environment, high degree of manual danger, and no guarantee of product quality. Summary of the invention

[0003] According to an embodiment of the present invention, a dental instrument robot grinding and polishing workstation is provided, comprising: a robot module, a loading platform, an unloading platform, a grinding module, a polishing module and a dust removal system; The robot module is arranged between the loading platform, the unloading platform, the grinding module and the polishing module, and is connected with the loading platform, the unloading platform, the grinding module and the polishing module; The grinding module and the polishing module are connected to the dust removal system; The robot module grabs the workpiece output from the loading platform, drives the workpiece to move to the grinding module and polishing module in turn for grinding and polishing, and places the polished workpiece on the unloading platform; The dust removal system collects and processes the dust generated by the grinding module and the polishing module.

[0004] Further, the robot module includes: a robot base, a six-axis robot, a constant force sensor, a docking flange, a three-jaw cylinder and a contour fixture; The six-axis robot is installed on the robot base, and the constant force sensor is installed on the output end of the six-axis robot; The butt flange connects the constant force sensor and the three-jaw cylinder; The profiling fixture is installed at the output end of the three-jaw cylinder; The three-jaw cylinder drives the contour fixture to clamp the workpiece, and the constant force sensor is used to control the grinding pressure and polishing pressure.

[0005] Furthermore, the unloading platform includes: an unloading bracket and an unloading fixture; The blanking bracket is arranged adjacent to the robot module; The material unloading jig is placed on the material unloading bracket, and a plurality of material unloading holes are opened on the material unloading jig. The plurality of material unloading holes are arranged in a matrix form and are evenly spaced along the row direction and the column direction.

[0006] Furthermore, the feeding platform includes: a feeding bracket, a feeding fixture, a pushing cylinder, a push rod, a positioning component and a height detection component; The loading bracket is arranged adjacent to the robot module; The positioning component is fixed on the feeding bracket, and the positioning component is used to position the feeding fixture; The top surface of the loading fixture is provided with a number of evenly arranged positioning holes, which are used for placing and positioning the workpiece; The push cylinder is fixed on the loading bracket, the output end of the push cylinder is connected to the push rod, and the push cylinder pushes the loading fixture to the specified position through the push rod; The height detection component is fixed on the feeding bracket, and the height detection component is used to detect whether the height of the workpiece is qualified.

[0007] Further, the positioning assembly includes: a proximity sensor, a transverse positioning pin, and a plurality of longitudinal positioning pins; A positioning groove is provided on the bottom surface of the feeding fixture along the axis in the length direction thereof; The longitudinal positioning pins, the transverse positioning pins and the proximity sensor are all fixed on the feeding bracket, a plurality of longitudinal positioning pins are located in the same row, and a plurality of longitudinal positioning pins are matched with the positioning grooves; The transverse positioning pins limit the moving position of the loading fixture; The proximity sensor is arranged adjacent to the transverse positioning pin, and the proximity sensor is used to output a fixture in place signal to an external control system.

[0008] Further, the height detection assembly comprises: a pair of slide rails, a pair of connecting seats and a detection rod; A pair of slide rails are arranged parallel to each other on both sides of the positioning assembly and fixed on the loading bracket; A pair of connecting seats are respectively slidably connected to a pair of slide rails; The two ends of the detection rod are respectively fixed on a pair of connecting seats. The height of the detection rod is consistent with the set height of the workpiece. The detection rod slides back and forth along the slide rail to detect whether the height of the workpiece is qualified.

[0009] Further, the grinding module comprises: a frame, a grinding belt, a motor, a driving wheel, a pair of steering wheels, a dust collection box and a belt tensioning assembly; The rack is arranged adjacent to the robot module; The motor is fixed on the frame, the output end of the motor is connected to the driving wheel, and the motor drives the driving wheel to rotate; The steering wheel is rotatably arranged outside the frame through a connecting piece, and a pair of steering wheels are symmetrically arranged up and down, and the steering wheels are used for steering the grinding belt; The abrasive belt tensioning assembly is fixed on the frame and arranged between a pair of steering wheels; The grinding belt is sleeved on the driving wheel, a pair of steering wheels and the belt tensioning assembly; The dust collection box is arranged directly below the abrasive belt tensioning assembly and is connected to the dust removal system. The dust collection box collects the grinding dust and transports it to the dust removal system.

[0010] Further, the abrasive belt tensioning assembly comprises: a fixing frame and a plurality of supporting wheels; The fixing bracket is fixed on the rack; A plurality of supports are rotatably arranged on a fixed frame; The grinding belts are alternately wound around a plurality of supporting wheels and abut against different sides of each supporting wheel in sequence to tighten the grinding belts.

[0011] Furthermore, the polishing module and the grinding module have the same structure.

[0012] Furthermore, it also includes: a safety fence and a safety door lock. The safety fence is arranged outside the robot module, the loading platform, the unloading platform, the grinding module, the polishing module and the dust removal system. The safety fence has an openable and closable door, and a safety door lock is installed on the door.

[0013] The dental instrument robot grinding and polishing workstation according to the embodiment of the present invention can replace multiple manual workers, reducing labor costs. The robot's constant force output characteristics can make the product more stable and reduce quality problems caused by improper operation; it solves the health hazards of dust to workers during grinding and polishing and reduces the risk of work-related accidents; it realizes the grinding and polishing of dental instruments and ensures product quality and production efficiency.

[0014] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a loading platform of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 3 It is a schematic top view of a loading platform of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 4 A schematic side view of a robot module of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 5An enlarged view of an output end of a robot module of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 6 It is a structural schematic diagram of a material unloading platform of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a grinding module of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention; Figure 8 Schematic diagram of control of a dental instrument robot grinding and polishing workstation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0017] First, combine Figures 1 to 8 A dental instrument robot grinding and polishing workstation according to an embodiment of the present invention is described, which is used for grinding and polishing dental instruments and has a wide range of application scenarios.

[0018] like Figures 1 to 8 As shown, the dental instrument robot grinding and polishing workstation according to an embodiment of the present invention comprises: a robot module 1, a loading platform 2, an unloading platform 3, a grinding module 4, a polishing module 5 and a dust removal system 6.

[0019] Specifically, Figures 1 to 8 As shown, in this embodiment, the robot module 1 is arranged between the loading platform 2, the unloading platform 3, the grinding module 4 and the polishing module 5, and has a compact structure, which is convenient for the robot module 1 to connect and interact with each module, and connect with the loading platform 2, the unloading platform 3, the grinding module 4 and the polishing module 5; the grinding module 4 and the polishing module 5 are connected to the dust removal system 6, and the dust removal system 6 adopts the existing industrial dust collector, and the dust removal system 6 collects and processes the dust generated by the work of the grinding module 4 and the polishing module 5. It can effectively ensure the environmental sanitation of the workshop and meet the dust removal requirements; the robot module 1 grabs the workpiece 7 output by the loading platform 2, drives the workpiece 7 to move to the grinding module 4 and the polishing module 5 in turn for grinding and polishing, and places the polished workpiece 7 on the unloading platform 3; the robot module 1 automatically grabs, moves and places the workpiece 7, reduces manual intervention, improves work efficiency, and is particularly suitable for mass production; each module is independent and interconnected, which is convenient for maintenance and upgrading, and the system is highly flexible; automation reduces manpower requirements and reduces production costs.

[0020] Specifically, Figures 4 and 5As shown, in this embodiment, the robot module 1 includes: a robot base 11, a six-axis robot 12, a constant force sensor 13, a docking flange 14, a three-claw cylinder 15 and a contour fixture 16; the six-axis robot 12 is installed on the robot base 11, and the constant force sensor 13 is installed at the output end of the six-axis robot 12; the six-axis robot 12 can provide multi-degree-of-freedom movement, can flexibly adapt to the processing requirements of complex workpieces 7, and accurately position and operate. The constant force sensor 13 will timely feedback the force between the workpiece 7 and the grinding equipment during the grinding process, effectively control the constant force output during grinding, Prevent the robot from being overloaded or the workpiece 7 from being over-grinded, which would damage the robot and the product surface, thereby ensuring the consistency of the workpiece 7 grinding and ensuring product quality; the docking flange 14 connects the constant force sensor 13 and the three-jaw cylinder 15; the profiling fixture 16 is installed at the output end of the three-jaw cylinder 15, and the profiling fixture 16 is customized according to the shape of the workpiece 7 to ensure that the center of the workpiece 7 is centered and the workpiece 7 is accurately positioned as a whole; the three-jaw cylinder 15 drives the profiling fixture 16 to clamp the workpiece 7, and the three-jaw cylinder 15 can provide fast and stable clamping force to ensure that the workpiece 7 will not loosen or shift during the processing process.

[0021] Specifically, Figure 6 As shown, in this embodiment, the unloading platform 3 includes: an unloading bracket 31 and a unloading fixture 32; the unloading bracket 31 is arranged adjacent to the robot module 1; the unloading fixture 32 is placed on the unloading bracket 31, and a plurality of discharge holes are opened on the unloading fixture 32, and the plurality of discharge holes are arranged in a matrix form, and are evenly spaced along the row and column directions, which can ensure that the workpiece 7 is neatly placed and positioned, and avoid collision between the workpiece 7 and the workpiece 7. The six-axis robot 12 can be accurately placed in sequence to the unloading point, and the workpiece 7 and the fixture that have been polished and polished can be replaced manually.

[0022] Specifically, Figure 2~3As shown, in this embodiment, the loading platform 2 includes: a loading bracket 21, a loading fixture 22, a pushing cylinder 23, a push rod 24, a positioning component and a height detection component; the loading bracket 21 is arranged adjacent to the robot module 1; the positioning component is fixed on the loading bracket 21, and the positioning component is used to position the loading fixture 22, so that the loading fixture 22 can be accurately moved to the grasping position of the robot module 1 to reduce errors; the top surface of the loading fixture 22 is provided with a plurality of evenly arranged positioning holes, and the positioning holes are used for the placement and positioning of the workpiece 7, which is convenient for the neatness of the workpiece 7 Placement and quick positioning improve the loading efficiency; the pushing cylinder 23 is fixed on the loading bracket 21, the output end of the pushing cylinder 23 is connected to the push rod 24, the pushing cylinder 23 pushes the loading fixture 22 to the specified position through the push rod 24, the pushing cylinder 23 and the push rod 24 automatically push the loading fixture 22 to the specified position, reducing manual intervention, improving the loading speed and production efficiency; the height detection component is fixed on the loading bracket 21, and the height detection component is used to detect whether the height of the workpiece 7 is qualified to determine whether the workpiece 7 is installed in place in the loading fixture 22.

[0023] Further, if Figure 2~3 As shown, in this embodiment, the positioning component includes: a proximity sensor 251, a transverse positioning pin 252, and a plurality of longitudinal positioning pins 253; a positioning groove is provided on the bottom surface of the loading fixture 22 along the axis of its length direction; the longitudinal positioning pin 253, the transverse positioning pin 252 and the proximity sensor 251 are all fixed on the loading bracket 21, and the plurality of longitudinal positioning pins 253 are located in the same row, and the plurality of longitudinal positioning pins 253 cooperate with the positioning groove to ensure that the loading fixture 22 moves in a fixed direction during the movement to avoid deviation or tilt; the transverse positioning pin 252 limits the moving position of the loading fixture 22, and the transverse positioning pin 252 limits the final position of the loading fixture 22 to ensure that the loading fixture 22 can accurately reach the specified position, so as to facilitate the robot module 1 to grasp the workpiece 7; the proximity sensor 251 is arranged adjacent to the transverse positioning pin 252, and the proximity sensor 251 is used to output a fixture in place signal to an external control system. In this embodiment, 5 groups of loading jigs 22 can be installed on the loading bracket 21. Each group of loading jigs 22 has 20 positioning holes and can install 100 workpieces 7 at a time. In order to facilitate the loading and unloading and positioning of the loading jigs 22, the loading bracket 21 is installed with a number of positioning pins. The positioning pins are divided into horizontal positioning and vertical positioning according to different layout functions. The loading jigs 22 can be manually installed by inserting the longitudinal positioning pins 253 through the positioning grooves in the loading jigs 22 to complete the installation in sequence. After the installation of the 5 groups of loading jigs 22 is completed, the cylinder 23 is pushed to drive the connected push rod 24 to push the 5 groups of loading jigs 22 to the horizontal positioning pins 252. The proximity sensor 251 at the end detects the loading jig 22, and the system gives a signal that the loading jig 22 is in place.

[0024] Further, if Figure 2~3As shown, in this embodiment, the height detection component includes: a pair of slide rails 261, a pair of connecting seats 262 and a detection rod 263; the pair of slide rails 261 are arranged parallel to each other on both sides of the positioning component and fixed on the loading bracket 21; the pair of connecting seats 262 are slidably connected to the pair of slide rails 261 respectively; the two ends of the detection rod 263 are respectively fixed on a pair of connecting seats 262, and the height of the detection rod 263 is consistent with the loading set height of the workpiece 7. The detection rod 263 slides back and forth along the slide rails 261 to detect whether the height of the workpiece 7 is qualified. Specifically, the detection rod 263 can be pushed back and forth manually. When there is resistance in the push, it means that the workpiece 7 is not installed in place. It is simple, convenient and low-cost.

[0025] Specifically, Figure 7 As shown, in this embodiment, the grinding module 4 includes: a frame 41, a grinding belt 42, a motor 43, a driving wheel 44, a pair of steering wheels 45, a dust collection box 46 and a belt tensioning assembly; the frame 41 is arranged adjacent to the robot module 1; the motor 43 is fixed on the frame 41, and the output end of the motor 43 is connected to the driving wheel 44, the motor 43 drives the driving wheel 44 to rotate, and the motor 43 provides stable power to drive the grinding belt 42 to rotate at a high speed to achieve efficient grinding; the steering wheel 45 is connected to the driving wheel 44 through the driving wheel 44. A connecting piece is rotatably arranged on the outside of the frame 41, and a pair of steering wheels 45 are symmetrically arranged up and down, and the steering wheels 45 are used for steering the grinding belt 42; the grinding belt tensioning assembly is fixed on the frame 41 and is arranged between the pair of steering wheels 45; the grinding belt 42 is sleeved on the driving wheel 44, the pair of steering wheels 45 and the grinding belt tensioning assembly; the dust collection box 46 is arranged directly below the grinding belt tensioning assembly and is connected to the dust removal system 6, and the dust collection box 46 collects grinding dust and transports it to the dust removal system 6.

[0026] In this embodiment, the belt tensioning assembly includes: a fixed frame 47 and a plurality of support wheels 48; the fixed frame 47 is fixed on the frame 41; a plurality of support wheels are rotatably arranged on the fixed frame 47; the grinding belt 42 is staggered around the plurality of support wheels 48, and abuts against different sides of each support wheel 48 in sequence to tighten the grinding belt 42. Specifically, the motor 43 is connected to the driving wheel 44 to drive the grinding belt 42 to run at a high speed, and the grinding belt 42 passes through the steering wheel 45 and the support wheel 48. The six-axis robot 12 performs grinding and polishing work on the grinding belt 42 between the two support wheels 48. The dust collection box 46 is funnel-shaped, and the dust collection box 46 is connected to the dust removal system 6 through a pipeline. The industrial dust collector can effectively ensure the environmental sanitation of the workshop and meet the dust removal requirements.

[0027] Further, if Figure 1As shown, in this embodiment, the polishing module 5 and the grinding module 4 have the same structure, which reduces the design workload and the complexity of design and manufacturing; the two modules can use the same components (such as the frame 41, the motor 43, the driving wheel 44, the steering wheel 45, etc.), which simplifies the supply chain management and inventory management, reduces costs, and enhances equipment compatibility.

[0028] Further, if Figure 1 As shown, in this embodiment, it also includes: a safety fence 8 and a safety door lock 9. The safety fence 8 is arranged outside the robot module 1, the loading platform 2, the unloading platform 3, the grinding module 4, the polishing module 5 and the dust removal system 6 to perform physical isolation to prevent people from accidentally entering the dangerous area and improve safety. The safety fence 8 has an openable and closable door, and a safety door lock 9 is installed on the door. The safety door lock 9 can be linked with the equipment control system. When the door is opened, the equipment automatically stops running to ensure that the equipment is in a safe state when the operator enters the working area.

[0029] Working principle: Manually place the workpiece 7 into the special loading fixture 22 as required to complete the positioning of the workpiece 7. The operator opens the safety door lock 9 with the key, and the six-axis robot 12 and other equipment in the safety fence 8 receive the signal to interlock and stop immediately, place the loading fixture 22 on the loading platform 2 and check the positioning of the fixture. The six-axis robot 12 grabs the workpiece 7 in sequence, and completes the grinding and polishing of the workpiece 7 through the grinding module 4 and the polishing module 5 according to the set program. After completing the grinding and polishing, the six-axis robot 12 places the workpiece 7 in sequence into the fixture of the unloading platform 3. This cyclic operation completes the grinding and polishing of all workpieces 7, and the system gives a signal to prompt the staff to change the fixture and take out the workpiece 7 ground and polished on the unloading platform 3.

[0030] like Figure 8 As shown, the PLC control system centrally controls the operation of each device and monitors the operation status information of the equipment. The equipment reserves a communication interface to upload the production output information directly to the cloud, and the equipment operation related information can be viewed on the mobile monitoring APP. The reserved communication interface can upload data to the company's ERP management system to store equipment operation information and reserve a communication interface for later smart factory construction. The six-axis robot 12 executes the program according to the set process path, interacts with the PLC during the program operation, and provides status information of the operating position. The pneumatic actuator responds to the control signal provided by the PLC in a timely manner to ensure that the action output is stable and reliable. The constant force control system provides data to the industrial robot according to the torque value set by the system to ensure that the force between the grinding tool and the grinding workpiece 7 is a constant force value.

[0031] Above, refer to Figures 1 to 8A dental instrument robot grinding and polishing workstation according to an embodiment of the present invention is described, which can replace multiple human workers and reduce labor costs. The robot's constant force output characteristics can make the product more stable and reduce quality problems caused by improper operation; it solves the health hazards of dust to workers during grinding and polishing and reduces the risk of work-related accidents; it realizes the grinding and polishing of dental instruments and ensures product quality and production efficiency.

[0032] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A dental instrument robot grinding and polishing workstation, characterized in that: Includes: robot module, loading platform, unloading platform, grinding module, polishing module and dust removal system; The robot module is arranged between the loading platform, the unloading platform, the grinding module and the polishing module, and is connected with the loading platform, the unloading platform, the grinding module and the polishing module; The grinding module and the polishing module are connected to the dust removal system; The robot module grabs the workpiece output by the loading platform, drives the workpiece to move to the grinding module and the polishing module in sequence for grinding and polishing, and places the polished workpiece on the unloading platform; The dust removal system collects and processes the dust generated by the grinding module and the polishing module.

2. The dental instrument robot grinding and polishing workstation as claimed in claim 1, characterized in that: The robot module comprises: a robot base, a six-axis robot, a constant force sensor, a docking flange, a three-claw cylinder and a contour fixture; The six-axis robot is installed on the robot base, and the constant force sensor is installed at the output end of the six-axis robot; The butt flange connects the constant force sensor and the three-jaw cylinder; The profiling fixture is installed at the output end of the three-claw cylinder; The three-jaw cylinder drives the contour fixture to clamp the workpiece, and the constant force sensor is used to control the grinding pressure and the polishing pressure.

3. The dental instrument robot grinding and polishing workstation as claimed in claim 1, characterized in that: The material unloading platform comprises: a material unloading bracket and a material unloading fixture; The blanking bracket is arranged adjacent to the robot module; The material unloading jig is placed on the material unloading bracket, and a plurality of material unloading holes are opened on the material unloading jig. The plurality of material unloading holes are arranged in a matrix form and are evenly spaced along the row direction and the column direction.

4. The dental instrument robot grinding and polishing workstation as claimed in claim 1, characterized in that: The feeding platform comprises: a feeding bracket, a feeding fixture, a pushing cylinder, a push rod, a positioning component and a height detection component; The loading bracket is arranged adjacent to the robot module; The positioning assembly is fixed on the feeding bracket, and the positioning assembly is used for positioning the feeding jig; The top surface of the loading jig is provided with a plurality of evenly arranged positioning holes, and the positioning holes are used for placing and positioning the workpiece; The pushing cylinder is fixed on the feeding bracket, the output end of the pushing cylinder is connected to the push rod, and the pushing cylinder pushes the feeding fixture to a specified position through the push rod; The height detection component is fixed on the feeding bracket, and the height detection component is used to detect whether the height of the workpiece is qualified.

5. The dental instrument robot grinding and polishing workstation as claimed in claim 4, characterized in that: The positioning assembly comprises: a proximity sensor, a transverse positioning pin, and a plurality of longitudinal positioning pins; The bottom surface of the feeding jig is provided with a positioning groove along the axis of its length direction; The longitudinal positioning pins, the transverse positioning pins and the proximity sensor are all fixed on the feeding bracket, the plurality of longitudinal positioning pins are located in the same row, and the plurality of longitudinal positioning pins are matched with the positioning grooves; The transverse positioning pin limits the moving position of the loading fixture; The proximity sensor is disposed adjacent to the transverse positioning pin, and the proximity sensor is used to output a fixture in place signal to an external control system.

6. The dental instrument robot grinding and polishing workstation as claimed in claim 4, characterized in that: The height detection assembly comprises: a pair of slide rails, a pair of connecting seats and a detection rod; The pair of slide rails are arranged parallel to each other on both sides of the positioning assembly and fixed on the loading bracket; The pair of connecting seats are respectively slidably connected to the pair of slide rails; Both ends of the detection rod are respectively fixed on the pair of connecting seats, the height of the detection rod is consistent with the set loading height of the workpiece, and the detection rod slides back and forth along the slide rail to detect whether the height of the workpiece is qualified.

7. The dental instrument robot grinding and polishing workstation as claimed in claim 1, characterized in that: The grinding module comprises: a frame, a grinding belt, a motor, a driving wheel, a pair of steering wheels, a dust collection box and a belt tensioning assembly; The frame is disposed adjacent to the robot module; The motor is fixed on the frame, the output end of the motor is connected to the driving wheel, and the motor drives the driving wheel to rotate; The steering wheel is rotatably arranged outside the frame through a connecting piece, the pair of steering wheels are symmetrically arranged up and down, and the steering wheel is used for steering the grinding belt; The abrasive belt tensioning assembly is fixed on the frame and arranged between the pair of steering wheels; The grinding belt is sleeved on the driving wheel, the pair of steering wheels and the belt tensioning assembly; The dust collection box is arranged directly below the sanding belt tensioning assembly and is connected to the dust removal system. The dust collection box collects grinding dust and transports it to the dust removal system.

8. The dental instrument robot grinding and polishing workstation as claimed in claim 7, characterized in that: The abrasive belt tensioning assembly comprises: a fixing frame and a plurality of supporting wheels; The fixing frame is fixed on the frame; The plurality of supports are rotatably arranged on the fixing frame; The grinding belts are alternately wound around the plurality of support wheels and abut against different sides of each support wheel in sequence to tighten the grinding belts.

9. The dental instrument robot grinding and polishing workstation as claimed in claim 1 or 7, characterized in that: The polishing module and the grinding module have the same structure.

10. The dental instrument robot grinding and polishing workstation as claimed in claim 1, characterized in that: It also includes: a safety fence and a safety door lock, the safety fence is arranged around the robot module, the loading platform, the unloading platform, the grinding module, the polishing module and the dust removal system, the safety fence has an openable and closable door, and the safety door lock is installed on the door.

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