Shell-shaped dental appliance and coating spraying method and spraying system thereof

Abstract

The invention discloses a shell-shaped dental appliance and a coating spraying method and system thereof, and the coating spraying method of the shell-shaped dental appliance comprises the following steps: limiting the shell-shaped dental appliance in a local limited area of a carrier through the shape of a limiting unit on the carrier, the outline of the limited area is larger than and covers the outline of at least one placement posture of the shell-shaped dental appliance relative to the limited area; and the spraying device moves along the spraying track to conduct spraying, and the spraying range of the spraying device is set to be capable of completely covering the limited area in the moving process along the spraying track. According to the device, more different shell-shaped dental appliances can be allowed to be adapted through the limiting unit, the distance of a spraying track is reduced, so that spraying is carried out within a limited spraying range, and the spraying time and paint are effectively saved. By means of automatic spraying, the spraying efficiency is improved, and meanwhile the requirement for spraying control is greatly lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of dental medical devices, and particularly relates to a shell-shaped dental appliance and a coating spraying method and spraying system therefor. Background Art

[0002] An invisible appliance or a shell-shaped dental appliance is a shell-shaped dental medical device. A patient wears the shell-shaped dental appliance on the teeth, and through a period of orthodontic treatment, the correction of teeth and even the jaw bone is achieved. The existing shell-shaped dental appliances are added with coatings with special functions on the traditional shell-shaped dental appliances, and functions that the original shell-shaped dental appliances cannot achieve are realized through the coatings. For example, the coatings can continuously release fluoride ions within a certain period of time, thereby providing the wearer with the function of preventing dental caries.

[0003] Since the shell-shaped dental appliance itself is a highly customized product according to the individual characteristics of patients, each shell-shaped dental appliance cannot be universal and there are differences in shape. The existing technology manufactures coatings for each shell-shaped dental appliance separately, such as processing the coatings by brushing or dipping. Brushing is carried out by manual brushing, which is difficult to produce in batches automatically and has low processing efficiency. Dipping is to immerse the shell-shaped dental appliance in the coating solution. The special grooves and concave surfaces on the shell-shaped dental appliance will cause the solution to accumulate, resulting in uneven coatings. In addition, for a shell-shaped dental appliance that needs to manufacture a coating on only one side, the dipping method is obviously not applicable and wastes the solution. And adopting the method of targeted automatic spraying according to the shape and position of each different shell-shaped dental appliance requires precise control and calculation, and it is easy to produce dead corners during spraying. Therefore, no similar method has been tried.

[0004] Therefore, a coating manufacturing method that can produce in batches automatically is needed to reduce the manufacturing cycle of the coatings of shell-shaped dental appliances and also reduce the requirements for control precision. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defect of low efficiency in adding coatings to shell-shaped dental appliances in the prior art, and to provide a coating spraying method and device for shell-shaped dental appliances.

[0006] The present invention solves the above technical problem through the following technical solutions:

[0007] A coating spraying method for a shell-shaped dental appliance, the coating spraying method for the shell-shaped dental appliance comprising the following steps:

[0008] Restrict the shell-shaped dental appliance within a restricted area of the carrier through the shape of the limiting unit on the carrier, wherein the contour of the restricted area is larger than and covers the contour of the shell-shaped dental appliance in at least one placement posture relative to the restricted area;

[0009] The spraying device moves along a spraying trajectory for spraying. Among them, the spraying range of the spraying device is set to be able to completely cover the restricted area during the movement along the spraying trajectory.

[0010] In the present invention, through the limiting unit, it is possible to allow adaptation to more different shell-shaped dental appliances. And due to the setting of the contour of its restricted area, rough positioning of the shell-shaped dental appliance can be achieved, without the need for precise positioning and clamping, and there is a flexible adaptation margin for shell-shaped dental appliances with different shapes, sizes, and placement postures. During spraying, since the range of the restricted area relative to the carrier is reduced, the distance of the spraying trajectory is reduced, so spraying is carried out within the restricted spraying range, avoiding large-scale full spraying, effectively saving unnecessary spraying time and paint. The automatic spraying achieved thereby not only improves the spraying efficiency, but also greatly reduces the demand for spraying control.

[0011] Preferably, the limiting unit protrudes and / or depresses from the surface of the carrier. Among them, the shell-shaped dental appliance is restricted within a restricted area of the carrier through the protruding and / or depressing shape of the limiting unit. The protruding and / or depressing shape is easy for large-scale batch processing.

[0012] Preferably, the limiting unit has a continuous or discontinuous shape. Among them, the shell-shaped dental appliance is restricted within a restricted area of the carrier through the continuous outer contour shape of the limiting unit, or the outer contour shape jointly formed by the discontinuous shapes of the limiting unit. Both the continuous and discontinuous shapes can restrain the shell-shaped dental appliance. The discontinuous split structure can provide a relatively larger adaptation range for the shape, size, and placement posture of the shell-shaped dental appliance.

[0013] Preferably, the shape of the restricted area is the shape of an dental arch, and / or the spraying trajectory is the trajectory corresponding to the dental arch. The shape of the dental arch fits better with the outer contour of the shell-shaped dental appliance. Therefore, the utilization rate of the restricted area with the shape of the dental arch is higher, and it is possible to reduce the unnecessary spraying range when adapting shell-shaped dental appliances with different shapes, sizes, and placement postures within a suitable range.

[0014] Preferably, the side of the shell-shaped dental appliance for accommodating teeth or the opposite outer surface side faces the spraying device, and the spraying device moves along the spraying trajectory to spray the inner cavity side or the outer surface side of the shell-shaped dental appliance. Thus, spraying of different surfaces can be efficiently achieved.

[0015] Preferably, when one side of the inner cavity of the shell-shaped dental appliance faces the spraying device, the spraying device moves along the spraying trajectory on the lingual side of the shell-shaped dental appliance and sprays the shell-shaped dental appliance; when one side of the outer surface of the shell-shaped dental appliance faces the spraying device, the spraying device moves along the spraying trajectory on the labial side of the shell-shaped dental appliance and sprays the shell-shaped dental appliance. Given that the end of the tooth is inclined towards the labial side relative to the root, the above setting of the spraying device can ensure complete coverage during spraying on each respective side.

[0016] Preferably, the spraying device moves along the spraying trajectory for single spraying or multiple reciprocating sprayings, and the spraying parameters for the multiple reciprocating sprayings are the same or different. Multiple sprayings can provide more comprehensive coverage of the shell-shaped dental appliance, relatively reduce the coverage requirements for each individual spraying during multiple sprayings, and can also cover different inclination angles corresponding to the tooth shape of the shell-shaped dental appliance by adjusting the spraying angle or other spraying parameters such as spraying pressure and spraying time to achieve different purposes.

[0017] Preferably, the spraying trajectory is a preset fixed trajectory; or the spraying trajectory is a corresponding trajectory planned according to the detected restricted area. The fixed trajectory can effectively improve efficiency, and the planned corresponding trajectory can adapt to more complex and variable changes in the restricted area or situations with higher spraying accuracy requirements.

[0018] Preferably, the spraying trajectory is formed by connecting a number of position points with straight lines and / or curves, and the relationship between the position points is mutually mapped to the relationship between a number of positions within the restricted area. The segmented setting of the spraying trajectory can reduce the control difficulty when moving the spraying device.

[0019] Preferably, the number of the limiting units is multiple, and the number of the spraying devices is one or multiple. Among them, the multiple spraying devices move along the same / different spraying trajectories and spray the multiple limiting units respectively. The multiple spraying devices further improve the spraying efficiency.

[0020] Preferably, the multiple limiting units are separately arranged or integrally arranged on the carrier. The separately arranged limiting units can more flexibly adjust the number of processed items on the same carrier, and the relative position relationship of the integrally arranged limiting units is more fixed, resulting in more accurate spraying.

[0021] Preferably, multiple groups of the limiting units are provided, each group of limiting units including a plurality of limiting units with the same / different relative position relationships, and the plurality of spraying devices respectively correspond to one group of the limiting units, wherein the plurality of spraying devices move along the same / different spraying trajectories and respectively spray the multiple groups of the limiting units. Thus, the number of spraying devices and the number of limiting units can be flexibly configured, and the shortest spraying trajectory can be planned.

[0022] Preferably, the plurality of spraying devices are arranged on the same moving device, wherein the moving device drives the plurality of spraying devices to move along the same spraying trajectory. On the one hand, the movement control of the plurality of spraying devices can thus be made easier, and on the other hand, in further combination with the form of spraying the multiple limiting units, a balance and optimization can be achieved between the number of spraying devices and the distance of the spraying trajectory.

[0023] Preferably, the spraying device maintains a posture parallel to the spraying direction of the dental midline of the shell-shaped dental appliance or the restricted area and moves along the spraying trajectory; or the spraying device rotates during the process of moving along the spraying trajectory. Maintaining a spraying direction parallel to the dental midline can ensure that all positions of the shell-shaped dental appliance can be sprayed, and the movement control of the spraying device is also easier. Rotating the spraying device can cover all the positions to be sprayed with a shorter spraying trajectory.

[0024] Preferably, the method for spraying the coating of the shell-shaped dental appliance includes the following steps:

[0025] Restrict the shell-shaped dental appliance within a restricted area of the carrier through the shape of the limiting unit;

[0026] Transport the carrier together with the shell-shaped dental appliance to the spraying station to be sprayed;

[0027] The spraying device moves along the spraying trajectory for spraying;

[0028] Transport the carrier together with the shell-shaped dental appliance away from the spraying station and bake it.

[0029] Preferably, the total projected area of all the restricted areas on the same carrier accounts for 30%-70% of the area of the carrier. Within this proportion range, a more optimized balance can be achieved between the number of shell-shaped dental appliances that can be carried and sprayed on the same carrier and the adaptation margin for shell-shaped dental appliances with different shapes, sizes, and placement postures.

[0030] A spraying system for a shell-shaped dental appliance, the spraying system for the shell-shaped dental appliance including the carrier and the spraying device used in the method for spraying the coating of the shell-shaped dental appliance.

[0031] Preferably, the spraying system of the shell-shaped dental appliance includes a conveying device and a plurality of the carriers, and the conveying device drives the plurality of carriers to enter the spraying station in sequence for spraying.

[0032] A shell-shaped dental appliance is processed by the coating spraying method of the shell-shaped dental appliance.

[0033] The positive and progressive effects of the present invention are as follows: Through the limiting unit, the present invention can allow adaptation to more different shell-shaped dental appliances, reduce the distance of the spraying trajectory, and thus spray within a limited spraying range, effectively saving spraying time and paint. The automatic spraying achieved thereby not only improves the spraying efficiency, but also greatly reduces the demand for spraying control. Description of the Drawings

[0034] Figure 1 It is a flowchart of the coating spraying method of the shell-shaped dental appliance according to an embodiment of the present invention.

[0035] Figure 2 It is a three-dimensional structural schematic diagram of the carrier according to an embodiment of the present invention.

[0036] Figure 3 It is a schematic diagram of the shell-shaped dental appliance placed on the carrier according to an embodiment of the present invention.

[0037] Figure 4 It is a top view schematic diagram of the discontinuous-shaped limiting unit according to an embodiment of the present invention.

[0038] Figure 5 It is a side view schematic diagram of the discontinuous-shaped limiting unit according to an embodiment of the present invention.

[0039] Figure 6 It is a side view schematic diagram of another limiting unit according to an embodiment of the present invention.

[0040] Figure 7 It is a structural schematic diagram of the split-type limiting unit according to an embodiment of the present invention.

[0041] Figure 8 It is a schematic diagram of the spraying orientation on the horizontal plane of the spraying device according to an embodiment of the present invention.

[0042] Figure 9 It is a schematic diagram of the spraying orientation on the vertical plane of the spraying device according to an embodiment of the present invention.

[0043] Figure 10 It is a schematic diagram of different spraying trajectories according to an embodiment of the present invention.

[0044] Figure 11 It is a schematic diagram of the movement route of a single spraying device for spraying according to an embodiment of the present invention.

[0045] Figure 12 Schematic diagram of the moving routes sprayed by multiple spraying devices according to an embodiment of the present invention.

[0046] Figure 13 Schematic diagram of the installation of the moving device and the spraying device according to an embodiment of the present invention.

[0047] Figure 14 Schematic diagram of the spraying of the spraying device according to an embodiment of the present invention.

[0048] Figure 15 Schematic diagram of the layout of the spraying production line according to an embodiment of the present invention.

[0049] Description of reference numerals:

[0050] Shell-shaped dental appliance 100

[0051] Carrier 200

[0052] Limiting unit 210

[0053] Restricted area 220

[0054] Convex post 211

[0055] Groove 212

[0056] Spraying trajectory 300

[0057] Moving trajectory 310

[0058] Spraying device 400

[0059] Moving device 500

[0060] Conveyor track 600

[0061] Lifting device 610

[0062] Spraying table 620

[0063] Direction A

[0064] Direction B

[0065] Angle C Detailed implementation manners

[0066] The present invention will be further described below by way of embodiments, but the present invention is not limited to the scope of the described embodiments.

[0067] As Figures 1 - 15 shown, this embodiment discloses a method for coating spraying of a shell-shaped dental appliance. The method for coating spraying of the shell-shaped dental appliance includes the following steps:

[0068] S100. Restrict the shell-shaped dental appliance 100 within a restricted area 220 of the carrier 200 by the shape of the limiting unit 210 on the carrier 200;

[0069] S200. The spraying device 400 moves along the spraying trajectory 300 for spraying.

[0070] Wherein, the contour of the restricted area 220 is larger than and covers the contour of the shell-shaped dental appliance 100 in at least one placement posture relative to the restricted area 220. Specifically, reference can be made to the placement postures as shown in Figure 3 Shown placement postures. Among them, the shell-shaped dental appliance 100 can have different placement postures within the restricted area 220. Among them, the shell-shaped dental appliance 100 in the upper left corner of Figure 3 Is placed in a downward-biased placement posture, and the shell-shaped dental appliance 100 in the lower left corner of Figure 3 Is placed in a left-biased placement posture, and the shell-shaped dental appliance 100 in the upper right corner of Figure 3 Is placed in an upward-biased placement posture, and the shell-shaped dental appliance 100 in the lower right corner of Figure 3 Is placed in a relatively clockwise-rotated placement posture. Thus, the limiting unit 210 can allow adaptation to more different shell-shaped dental appliances 100. Among them, not only is the redundancy of the size and shape of the shell-shaped dental appliance 100 very large, but the redundancy of the placement posture is also very large. Due to the setting of the contour of its restricted area 220, rough positioning of the shell-shaped dental appliance 100 can be achieved, without precise positioning and clamping, and there is a flexible adaptation margin for shell-shaped dental appliances 100 with different shapes, sizes and placement postures. In some examples, the contour of the restricted area 220 can be obtained by magnifying the outer contour of the ordinary shell-shaped dental appliance 100 by a certain proportion; or expanding the outer contour of the ordinary shell-shaped dental appliance 100 by a certain distance; it can also be obtained by computer-aided or other means by superimposing the outer contours of a considerable number of ordinary shell-shaped dental appliances 100 with different shapes, sizes or placement postures to obtain the contour of the restricted area 220.

[0071] Among them, the spraying device 400 may include a nozzle. To move the spraying device 400, only the nozzle needs to be moved, and other liquid supply systems, etc., can remain fixed. The spraying range of the spraying device 400 is set to be able to completely cover the restricted area 220 during the movement along the spraying trajectory 300. Among them, by adjusting spraying parameters such as the spraying distance, angle, and paint diffusion range of the spraying device 400, it can be ensured that the spraying range can cover the restricted area 220. Within the spraying range of the spraying device 400, the spraying trajectory 300 can be sprayed at least or can obtain a better spraying effect. Thus, during spraying, since the range of the restricted area 220 relative to the vehicle 200 is reduced, the distance of the spraying trajectory 300 is reduced, so spraying is carried out within the restricted spraying range, avoiding large-scale full spraying, and effectively saving unnecessary spraying time and paint. The automatic spraying achieved thereby not only improves the spraying efficiency but also greatly reduces the demand for spraying control.

[0072] In a preferred embodiment, the limiting unit 210 may be set to protrude and / or recess from the surface of the vehicle 200. Among them, the shell-shaped dental appliance 100 is restricted within a restricted area 220 of the vehicle 200 by the protruding and / or recessed shape of the limiting unit 210. The protruding and / or recessed shape is easy for large-scale batch processing. In Figure 2 or Figure 3 In the embodiment shown, the limiting unit 210 may be a layer structure superimposed on the vehicle 200, and the restricted area 220 is formed by the hollow recess formed inside it to restrict the shell-shaped dental appliance 100. In Figure 4 and Figure 5 In the embodiment shown, the limiting unit 210 includes a plurality of convex columns 211. The restricted area 220 is formed by enclosing with the protruding convex columns 211 to restrict the shell-shaped dental appliance 100. It can also be like Figure 6 shown, a recess 212 is formed on the limiting unit 210, so that the restricted area 220 is formed by the recess 212 to restrict the shell-shaped dental appliance 100.

[0073] In a preferred embodiment, the limiting unit 210 has a continuous or discontinuous shape. Among them, in the embodiments shown in Figure 2 and Figure 3 , the shell-shaped dental appliance 100 is restricted within a restricted area 220 of the vehicle 200 by the continuous outer contour shape of the limiting unit 210. As in Figure 4 and Figure 5In the illustrated embodiment, the shapes of the discontinuous convex columns 211 of the limiting unit 210 together form an outer contour shape that confines the shell-shaped dental appliance 100 within a restricted area 220 of the carrier 200. Continuous or discontinuous shapes can both constrain the shell-shaped dental appliance 100. For example, a split structure such as the convex column 211 can provide a relatively larger range of adaptation to the shape, size, and placement attitude of the shell-shaped dental appliance 100.

[0074] In a preferred embodiment, the shape of the restricted area 220 is the shape of an dental arch, and / or the spraying trajectory 300 is a trajectory corresponding to the dental arch. The shape of the dental arch fits better to the outer contour of the shell-shaped dental appliance 100. Therefore, the utilization rate of the restricted area 220 with the shape of the dental arch is higher, and it can reduce the unnecessary spraying range while adapting to shell-shaped dental appliances 100 with different shapes, sizes, and placement attitudes within a suitable range.

[0075] In a preferred embodiment, the shell-shaped dental appliance 100 is placed with the inner cavity side for accommodating teeth or the opposite outer surface side facing the spraying device 400, and the spraying device 400 moves along the spraying trajectory 300 to spray the inner cavity side or the outer surface side of the shell-shaped dental appliance 100. Thus, spraying of coatings on different surfaces can be efficiently achieved.

[0076] In a preferred embodiment, as Figures 8 - 12 shown, when the inner cavity side of the shell-shaped dental appliance 100 faces the spraying device 400, the spraying device 400 moves along the spraying trajectory 300 on the lingual side of the shell-shaped dental appliance 100 and sprays the shell-shaped dental appliance 100. When the outer surface side of the shell-shaped dental appliance 100 faces the spraying device 400, the spraying device 400 moves along the spraying trajectory 300 on the labial side of the shell-shaped dental appliance 100 and sprays the shell-shaped dental appliance 100. Given that the ends of the teeth are inclined towards the labial side relative to the roots, the above settings of the spraying device 400 can ensure complete coverage of spraying when spraying on their respective sides. Among them, the labial side is Figure 8 the upper side of the U-shaped restricted area 220 shown, and the lower side of the restricted area 220 on the lingual side.

[0077] In a preferred embodiment, the spraying device 400 moves along the spraying trajectory 300 for single spraying or multiple reciprocating sprayings, and the spraying parameters for multiple reciprocating sprayings are the same or different. Single spraying is completed once along the Figure 10 spraying trajectory 300 in Figure 10The spraying trajectory 300 in moves back and forth. When moving from left to right and from right to left, spraying can be performed. It can also be spraying when moving from left to right and not spraying when returning from right to left, or vice versa. Multiple sprays can more comprehensively cover the shell-shaped dental appliance 100, and relatively reduce the coverage requirements for each spray in multiple sprays. Different inclination angles of the shell-shaped dental appliance 100 corresponding to the tooth shape can also be covered by adjusting the spraying angle of each spray, such as Figure 9 covering different inclination angles of the shell-shaped dental appliance 100 corresponding to the tooth shape by means of the angle along the vertical plane in , or other spraying parameters such as spraying pressure and spraying time to achieve different purposes.

[0078] In a preferred embodiment, the spraying trajectory 300 is a preset fixed trajectory; or the spraying trajectory 300 is a corresponding trajectory planned according to the detected restricted area 220. The fixed trajectory can effectively improve efficiency. The fixed trajectory can be matched according to the shape of the restricted area 220 with a fixed shape on the preset vehicle 200. The planned corresponding trajectory can adapt to more complex and variable changes in the restricted area 220 or situations with higher spraying accuracy requirements, such as being planned by obtaining the shape of the restricted area 220 through an optical device.

[0079] In a preferred embodiment, the spraying trajectory 300 is formed by connecting several position points with straight lines and / or curves, and the relationship between the position points is mutually mapped to the relationship between several positions within the restricted area 220. As Figure 10 shown in , the spraying trajectory 300 with a curve at the upper left corner is formed according to 2 position points. Figure 10 At the lower left corner of , 4 position points are connected by 3 straight lines. The two spraying trajectories 300 on the right show the combination of straight lines and curves. The spraying trajectory 300 can reduce the control difficulty when moving the spraying device 400 through multiple segmented settings. Since the spraying device 400 and the restricted area 220 are not in the same plane during spraying, the position points, the spraying trajectory 300, and several positions within the restricted area 220 are not in the same plane. When the spraying parameters are the same for each spray, the relationship between the position points is mutually mapped to the relationship between several positions within the restricted area 220.

[0080] In a preferred embodiment, the number of the limiting units 210 is multiple, such as Figure 2 12 are set in . The number of the spraying devices 400 is one or more. Among them, multiple spraying devices 400 move along the same / different spraying trajectories 300 and spray the multiple limiting units 210 respectively. The multiple spraying devices 400 further improve the spraying efficiency.

[0081] In a preferred embodiment, the plurality of limiting units 210 are separately provided or integrally provided on the vehicle 200. As Figure 2 shown, the plurality of limiting units 210 form an integral body. Among them, the restricted areas 220 of the integrally formed plurality of limiting units 210 can be connected to each other or independent of each other. As Figure 7 shown, the limiting units 210 are separately provided and are detachably installed. The separately provided limiting units 210 can more flexibly adjust the number of processes on the same vehicle 200, and the relative positional relationship of the integrally provided limiting units 210 is more fixed, and the spraying is more accurate.

[0082] In a preferred embodiment, multiple groups of limiting units 210 are provided. Each group of limiting units 210 includes a plurality of limiting units 210 with the same / different relative positional relationships. The plurality of spraying devices 400 respectively correspond to one group of limiting units 210. Among them, the plurality of spraying devices 400 move along the same / different spraying trajectories 300 and respectively spray the multiple groups of limiting units 210. Thus, the number of spraying devices 400 and the number of limiting units 210 can be flexibly configured, and the shortest spraying trajectory 300 can be planned.

[0083] Specifically, as Figure 12 shown, it is the situation when a single spraying device 400 sprays. The single spraying device 400 sprays each restricted area 220. Among them, the movement trajectories 310 are used to connect between each spraying trajectory 300. The spraying device 400 may or may not spray on the movement trajectory 310. After reciprocally spraying on each spraying trajectory 300, it can move to the next spraying trajectory 300, or it can move to complete the movement of each spraying trajectory 300 at one time, and start a new spraying after one cycle. For the plurality of spraying devices 400 spraying the plurality of limiting units 210 respectively, it can be equivalent to each spraying device 400 respectively referring to the Figure 12 way of a single spraying device for spraying.

[0084] In a preferred embodiment, the plurality of spraying devices 400 are provided on the same moving device 500. Among them, the moving device 500 drives the plurality of spraying devices 400 to move along the same spraying trajectory 300. The moving device 500 can be a manipulator or other common mechanisms. Specifically, as Figure 12The situation when two spraying devices 400 are spraying is shown. Each spraying device 400 sprays two restricted areas 220 respectively. The two limiting units 210 on the left form a group, and the two limiting units 210 on the right form a group. Among them, each spraying trajectory 300 is connected by a moving trajectory 310. The spraying device 400 may or may not spray on the moving trajectory 310. After reciprocally spraying on each spraying trajectory 300, it can move to the next spraying trajectory 300, or it can complete the movement of each spraying trajectory 300 in one spraying, and start a new spraying after one cycle. Among them, it can be seen that the spraying trajectories 300 on the left and right sides are the same, and the moving trajectories 310 are also the same. Thus, on the one hand, the movement control of multiple spraying devices 400 can reduce the difficulty, and on the other hand, in combination with the spraying form of multiple limiting units 210, a balance and optimization can be achieved between the number of spraying devices 400 and the distance of the spraying trajectories 300.

[0085] In a preferred embodiment, as Figure 8 shown, the spraying device 400 maintains a spraying direction parallel to the dental midline of the shell-shaped dental appliance 100, that is, direction B, or a spraying direction parallel to the dental midline of the restricted area 220, that is, direction A, and moves along the spraying trajectory 300. Or the spraying device 400 rotates along an angle C during the movement along the spraying trajectory 300. Among them, the angle C is an angle with respect to the horizontal plane. Maintaining a spraying direction parallel to the dental midline can ensure that all positions of the shell-shaped dental appliance 100 can be sprayed, and the movement control of the spraying device 400 is also simpler. Rotating the spraying device 400 can cover all the positions to be sprayed with a shorter spraying trajectory 300.

[0086] In a preferred embodiment, the coating spraying method for the shell-shaped dental appliance may further include the following steps:

[0087] S100. Restrict the shell-shaped dental appliance 100 within a restricted area 220 of the carrier 200 through the shape of the limiting unit 210;

[0088] S150. Transport the carrier 200 together with the shell-shaped dental appliance 100 to the spraying station to be sprayed;

[0089] S200. The spraying device 400 moves along the spraying trajectory 300 for spraying;

[0090] S250. Transport the carrier 200 together with the shell-shaped dental appliance 100 away from the spraying station and perform baking. Among them, in the case of adopting steps S100 and S200, different steps can be set according to different production line forms or process requirements.

[0091] In a preferred embodiment, the total projected area of all the restricted areas 220 on the same vehicle 200 accounts for 30%-70% of the area of the vehicle 200. Within this proportion range, the balance can be further optimized between the number of shell-shaped dental appliances 100 that the same vehicle 200 can carry and spray, and the adaptation margin for shell-shaped dental appliances 100 of different shapes, sizes, and placement postures.

[0092] As Figures 13 - 15 shown, the present invention further includes a spraying system for shell-shaped dental appliances. The spraying system for shell-shaped dental appliances includes a vehicle 200 and a spraying device 400 used in the coating spraying method of shell-shaped dental appliances.

[0093] As Figure 15 shown, the spraying system for shell-shaped dental appliances includes a conveying device and a plurality of vehicles 200. The conveying device drives the plurality of vehicles 200 to enter the spraying station in sequence for spraying. Among them, the conveying device specifically includes a conveying track 600, a lifting device 610, and a spraying table 620. The vehicle 200 moves on the conveying track 600 with the shell-shaped dental appliance 100. The conveying track 600 can be a belt or other conveying mechanisms. The lifting device 610 is arranged below the area where the spraying station is located on the conveying track 600. The lifting device 610 can be a cylinder. When the vehicle 200 moves from the right to the spraying station, it is lifted by the lifting device 610, so that there is a space in the middle of the upper spraying table 620, allowing the vehicle 200 to be exposed from the hole. At this time, the spraying device 400 is driven by the moving device 500 for spraying. After spraying, the lifting device 610 descends, and the vehicle 200 moves out from the left. When drying is required, the vehicle 200 can be moved to the drying device through the conveying track 600 or other conveying mechanisms for drying.

[0094] The present invention also discloses a shell-shaped dental appliance 100, which is processed by the above-mentioned coating spraying method of shell-shaped dental appliances.

[0095] Through the limiting unit 210, the present invention can allow adaptation to more different shell-shaped dental appliances 100, reduce the distance of the spraying trajectory 300, and thus perform spraying within a limited spraying range, effectively saving spraying time and paint. The automatic spraying achieved thereby not only improves the spraying efficiency, but also greatly reduces the demand for spraying control.

[0096] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that this is only an example. The protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A coating spraying method for a shell-shaped dental appliance, characterized in that, The coating spraying method of the shell-shaped dental appliance comprises the following steps: Restrict the shell-shaped dental appliance within a restricted area of a part of the carrier through the shape of the limiting unit on the carrier, wherein the contour of the restricted area is larger than and covers the contour of the shell-shaped dental appliance in at least one placement posture relative to the restricted area; The spraying device moves along the spraying trajectory for spraying, wherein the spraying range of the spraying device is set to be able to completely cover the restricted area during the movement along the spraying trajectory.

2. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, The limiting unit protrudes and / or recesses from the surface of the carrier, wherein the shell-shaped dental appliance is restricted within a restricted area of the carrier through the protruding and / or recessed shape of the limiting unit.

3. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that The limiting unit has a continuous or discontinuous shape, wherein the shell-shaped dental appliance is restricted within a restricted area of the carrier through the continuous outer contour shape of the limiting unit or the outer contour shape jointly formed by the discontinuous shapes of the limiting unit.

4. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that The shape of the restricted area is the shape of the dental arch, and / or the spraying trajectory is the trajectory corresponding to the dental arch.

5. The coating spraying method of the shell-shaped dental appliance according to claim 1, wherein The inner cavity side of the shell-shaped dental appliance for accommodating teeth or the opposite outer surface side faces the spraying device for placement, and the spraying device moves along the spraying trajectory to spray the inner cavity side or the outer surface side of the shell-shaped dental appliance.

6. The coating spraying method of the shell-shaped dental appliance according to claim 5, characterized in that, When the inner cavity side of the shell-shaped dental appliance faces the spraying device for placement, the spraying device moves along the spraying trajectory on the lingual side of the shell-shaped dental appliance and sprays the shell-shaped dental appliance; when the outer surface side of the shell-shaped dental appliance faces the spraying device for placement, the spraying device moves along the spraying trajectory on the labial side of the shell-shaped dental appliance and sprays the shell-shaped dental appliance.

7. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, The spraying device moves along the spraying trajectory for single spraying or multiple reciprocating sprayings, and the spraying parameters of the multiple reciprocating sprayings are the same or different.

8. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, The spraying trajectory is a preset fixed trajectory; or the spraying trajectory is a corresponding trajectory planned according to the detected restricted area.

9. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, The spraying trajectory is formed by connecting a plurality of position points with straight lines and / or curves, and the relationship between the position points is mapped to the relationship between a plurality of positions within the restricted area.

10. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, The number of the limiting units is multiple, and the number of the spraying devices is one or multiple. Among them, the multiple spraying devices move along the same / different spraying trajectories and spray the multiple limiting units respectively.

11. The coating spraying method of the shell-shaped dental appliance according to claim 10, characterized in that, The multiple limiting units are separately arranged or integrally arranged on the carrier.

12. The coating spraying method of the shell-shaped dental appliance according to claim 10, characterized in that, Multiple groups of the limiting units are provided, and each group of limiting units includes multiple limiting units with the same / different relative position relationships. The multiple spraying devices respectively correspond to one group of the limiting units. Among them, the multiple spraying devices move along the same / different spraying trajectories and spray the multiple groups of the limiting units respectively.

13. The coating spraying method of the shell-shaped dental appliance according to claim 10, characterized in that, The multiple spraying devices are arranged on the same moving device, and the moving device drives the multiple spraying devices to move along the same spraying trajectory.

14. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, The spraying device is maintained in a posture with a spraying direction parallel to the dental midline of the shell-shaped dental appliance or the restricted area, and moves along a spraying trajectory; or the spraying device rotates during the movement along the spraying trajectory.

15. The coating spraying method of the shell-shaped dental appliance according to claim 1, characterized in that, It includes the following steps: The shell-shaped dental appliance is restricted within a restricted area of the carrier by the shape of the limiting unit; The carrier together with the shell-shaped dental appliance is conveyed to the spraying station to be sprayed; The spraying device moves along the spraying trajectory for spraying; The carrier together with the shell-shaped dental appliance is conveyed away from the spraying station and baked.

16. The coating spraying method of the shell-shaped dental appliance according to any one of claims 1-15, characterized in that, The total projected area of all the restricted areas on the same carrier accounts for 30%-70% of the area of the carrier.

17. A spraying system for a shell-shaped dental appliance, characterized in that, The spraying system for the shell-shaped dental appliance includes a carrier and a spraying device used in the coating spraying method for the shell-shaped dental appliance according to any one of claims 1-16.

18. The spraying system for a shell-shaped dental appliance according to claim 17, characterized in that, The spraying system for the shell-shaped dental appliance includes a conveying device and a plurality of the carriers, and the conveying device drives the plurality of carriers to enter the spraying station in sequence for spraying.

19. A shell-shaped dental appliance, characterized in that, The shell-shaped dental appliance is processed by the coating spraying method for the shell-shaped dental appliance according to any one of claims 1-16.

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