Equipment for assembling and disassembling dental implant

Abstract

The invention relates to the technical field of dental implants, and discloses equipment for assembling and disassembling a dental implant, the equipment comprises a robot body, a robot right arm and a robot left arm, the robot right arm and the robot left arm are mounted on the robot body, and a first clamping mechanism is mounted at the tail end of the robot right arm; the first clamping mechanism is used for releasably clamping the dental implant and can drive the dental implant to move and rotate around the axis of the dental implant, and a torque sensor is mounted on the right arm of the robot and is used for acquiring the rotating torque applied to the dental implant; a first clamping mechanism is mounted at the tail end of the robot left arm, a second clamping mechanism is mounted at the tail end of the robot left arm, the second clamping mechanism is used for clamping a tool rod, and the first clamping mechanism and the second clamping mechanism are matched to be used for mounting a dental implant on the tool rod to form an implant loading unit or dismounting the dental implant from the tool rod. Through cooperative work of the right arm and the left arm of the robot, rapid connection and separation of the dental implant and the tool rod are realized, and the consistency of product quality is ensured.

Description

Technical Field

[0001] This invention relates to the field of dental implant technology, and more specifically to a device for assembling and disassembling dental implants. Background Technology

[0002] To improve the surface morphology and chemical properties of dental implants, they need to be mounted on sandblasting or etching fixtures for sandblasting, etching, and cleaning. Currently, the connection and disassembly of dental implants to the fixtures are mainly done manually. Manual operation is labor-intensive, inefficient, and prone to quality issues such as pinching and scratches. Furthermore, manual implant assembly relies primarily on human perception or experience to check the connection between the implant and the support rod, lacking an effective inspection method. During subsequent acid etching, inconsistent immersion depth or orientation of the implant in the acid leads to uneven surface morphology and chemical properties, affecting the implant's osseointegration performance. Summary of the Invention

[0003] This invention addresses the existing technical problems by providing a device for assembling and disassembling dental implants.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: An equipment for assembling and disassembling dental implants includes a robot body, a robot right arm, and a robot left arm. The robot right arm and the robot left arm are mounted on the robot body. A first clamping mechanism is installed at the end of the robot right arm. The first clamping mechanism is used to releasably clamp the dental implant and can drive the dental implant to move and rotate around its own axis. A torque sensor is installed on the robot right arm to obtain the rotational torque applied to the dental implant. A second clamping mechanism is installed at the end of the robot left arm. The second clamping mechanism is used to clamp a tooling rod. The first clamping mechanism and the second clamping mechanism cooperate to mount the dental implant on the tooling rod to form an implant loading unit, or to remove the dental implant from the tooling rod.

[0005] Based on the above technical solution, the present invention can be further improved as follows: Preferably, it also includes an automatic detection unit for detecting the length of the implant loading unit.

[0006] Preferably, the first clamping mechanism includes a rotary cylinder, a clamping cylinder, and a contoured gripper. The rotary cylinder is mounted on the right arm of the robot, the clamping cylinder is mounted on the output end of the rotary cylinder, and the contoured gripper is mounted on the output end of the clamping cylinder. The contoured gripper is used to releasably clamp the dental implant.

[0007] Preferably, the second clamping mechanism includes two opposing arc-shaped grippers, which cooperate to clamp or release the tooling rod.

[0008] Preferably, the automatic detection unit includes a support frame, a limiting block, and a displacement sensor. The limiting block is mounted on the support frame and has a limiting hole for accommodating the implant loading unit. The displacement sensor is located at the lower end of the limiting hole and is used to detect the implant loading unit.

[0009] Preferably, it also includes a tray, on which a plurality of positioning rods are evenly provided, the positioning rods being used to support the dental implant.

[0010] Preferably, it also includes a second tray, on which a plurality of positioning holes are evenly provided, the positioning holes being used to accommodate the tooling rod.

[0011] Preferably, it also includes a tray three, on which a plurality of positioning holes two are evenly provided, the positioning holes two being used to accommodate the implant loading unit.

[0012] Preferably, it also includes a waste bin, which has multiple positioning holes 3, which are used to place implant loading units that are identified as unqualified by the automatic detection unit.

[0013] Preferably, the tooling rod includes a main tooling rod and an auxiliary tooling rod. One end of the auxiliary tooling rod is threadedly connected to the main tooling rod, and the other end of the auxiliary tooling rod is provided with a threaded rod that is adapted to the dental implant. The outer wall of the main tooling rod is provided with an annular limiting platform.

[0014] The beneficial effects of this invention are as follows: Through the coordinated work of the robot's right and left arms, combined with the precise cooperation of the first and second clamping mechanisms, rapid connection and separation of the dental implant and the tooling rod can be achieved. A torque sensor detects the torque applied to the dental implant, ensuring consistent assembly quality. An automatic detection unit improves operational accuracy by detecting the length of the implant loading unit, ensuring consistent implant posture and immersion depth during subsequent processing, thereby optimizing surface treatment results. The use of trays one, two, and three facilitates operations at different stages, while the waste bin facilitates the classification and management of defective products, preventing them from being mixed with qualified products and affecting overall quality. This equipment effectively improves the efficiency of dental implant assembly and disassembly, significantly reduces errors and damage risks associated with manual operation, greatly increases production efficiency, ensures product quality of dental implants, and provides reliable technical support for the dental implant processing field. Attached Figure Description

[0015] Figure 1This is a schematic diagram of the equipment for assembling and disassembling dental implants according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the equipment for assembling and disassembling dental implants according to the present invention. Figure 2 ; Figure 3 For the present invention Figure 2 Enlarged view of a portion of point A in the middle; Figure 4 For the present invention Figure 2 Enlarged view of a section at point B in the middle; Figure 5 This is a schematic diagram of the equipment for assembling and disassembling dental implants according to the present invention. Figure 3 ; Figure 6 This is a schematic diagram of the implant loading unit of the present invention; Figure 7 This is a schematic diagram of the automatic detection unit of the present invention.

[0016] Reference numerals: 1. Robot body; 2. Robot right arm; 3. Rotary cylinder; 4. Clamping cylinder; 5. Contouring gripper; 6. Robot left arm; 7. Arc-shaped gripper; 8. Tray 1; 81. Positioning rod; 9. Tray 2; 10. Tray 3; 11. Automatic detection unit; 111. Support frame; 112. Limiting block; 113. Displacement sensor; 12. Waste bin; 13. Dental implant; 14. Main tooling rod; 15. Auxiliary tooling rod; 16. Worktable. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. The terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0019] like Figures 1 to 7As shown, this invention discloses an apparatus for assembling and disassembling dental implants, including a workbench 16, a robot body 1, a robot right arm 2, and a robot left arm 6. The robot body 1 is mounted on the workbench 16. The robot adopts the existing IRB model. The 14000 dual-arm robot has a right arm 2 and a left arm 6 mounted on the robot body 1. The right arm 2 is equipped with a first clamping mechanism at its end, which is used to releasably clamp the dental implant 13 and can drive the dental implant 13 to move and rotate around its own axis. The right arm 2 is also equipped with a torque sensor to obtain the rotational torque applied to the dental implant 13, ensuring that the rotational force of the dental implant 13 can be accurately controlled during the assembly process, avoiding assembly failure or damage to the dental implant 13 due to excessive or insufficient torque. The left arm 6 is equipped with a second clamping mechanism at its end, which is used to releasably clamp a tooling rod. The first clamping mechanism and the second clamping mechanism cooperate to install the dental implant 13 on the tooling rod to form an implant loading unit, or to remove the dental implant 13 from the tooling rod. Through the coordinated work of the robot's right arm 2 and left arm 6, combined with the precise cooperation of the first and second clamping mechanisms, the dental implant 13 can be quickly connected and separated from the tooling rod. This not only improves assembly efficiency but also significantly reduces the error and damage risks that may be caused by manual operation, ensuring the quality of the dental implant 13.

[0020] The equipment used for assembling and disassembling dental implants also includes an automatic detection unit 11, which is used to detect the length of the implant loading unit. This ensures that the dental implant 13 maintains a consistent posture and immersion depth during subsequent processing, thereby optimizing the surface treatment effect and improving the stability of the quality of the dental implant 13.

[0021] Specifically, the automatic detection unit 11 includes a support frame 111, a limiting block 112, and a displacement sensor 113. The limiting block 112 is mounted on the support frame 111 and has a limiting hole for accommodating the implant loading unit. The limiting hole guides the implant loading unit and improves its stability during movement. The displacement sensor 113 is located at the lower end of the limiting hole and is used to detect the implant loading unit. The robot's left arm 6 drives the second clamping mechanism to clamp the implant loading unit and move it vertically downward a fixed distance. The limiting hole on the limiting block 112 limits the implant loading unit. The dental implant 13 at the lower end of the implant loading unit contacts the displacement sensor 13 and presses down on it. The displacement sensor 113 detects the distance the implant loading unit is pressed down and determines whether the length of the implant loading unit is within the set error range. If the length of the implant loading unit exceeds the set error range, the implant loading unit is deemed unqualified; if the length of the implant loading unit does not exceed the error range, the implant loading unit is deemed qualified.

[0022] The tooling includes a main tooling rod 14 and an auxiliary tooling rod 15. One end of the auxiliary tooling rod 15 is threadedly connected to the main tooling rod 14, and the other end of the auxiliary tooling rod 15 has a threaded rod that is adapted to the dental implant 13. The outer wall of the main tooling rod 14 has an annular limiting stage. The annular limiting stage cooperates with the limiting hole on the limiting block 112 to limit the position of the implant carrier, thereby ensuring the accuracy of the displacement sensor measurement data. The auxiliary tooling rod 15 is made of an acid-resistant corrosion-resistant material, such as polypropylene, and can be replaced according to the corrosion condition of the auxiliary tooling rod 15, reducing the cost of use.

[0023] Furthermore, the equipment also includes a waste bin 12, which is arranged adjacent to the automatic detection unit 11. The waste bin 12 is provided with multiple positioning holes 3, which are used to place implant loading units identified as unqualified by the automatic detection unit 11. By storing unqualified products in the waste bin 12, it is possible to effectively prevent them from being confused with qualified products, improve the reliability of product quality management, reduce manual intervention, and increase production efficiency.

[0024] In this embodiment, the first clamping mechanism includes a rotary cylinder 3, a clamping cylinder 4, and a contoured gripper 5. The rotary cylinder 3 is mounted on the robot's right arm 2. The clamping cylinder 4 is mounted on the output end of the rotary cylinder 3, and the contoured gripper 5 is mounted on the output end of the clamping cylinder 4. The contoured gripper 5 is used for releasable clamping of the dental implant 13. The rotary cylinder 3, through the rotation of its output end, can drive the clamping cylinder 4 and the contoured gripper 5 to adjust their angles, thereby achieving precise posture control of the dental implant 13 during assembly or disassembly. The clamping cylinder 4 is responsible for driving the opening and closing of the contoured gripper 5, ensuring that the contoured gripper 5 can firmly clamp the dental implant 13. The contoured gripper 5 is designed to conform to the shape of the dental implant 13, providing a uniform pressure distribution during clamping, avoiding damage to the surface of the dental implant 13, and ensuring the quality of the dental implant 13. The second clamping mechanism includes two opposing arc-shaped grippers 7, which work together to clamp or release the tooling rod. The two arc-shaped grippers 7 clamp and release the tooling rod through relative movement. When the robot's left arm 6 moves the second clamping mechanism to a designated position, the arc-shaped grippers 7 automatically adjust their spacing according to a preset program to adapt to the size of the tooling rod and ensure clamping stability. This not only improves operational flexibility but also effectively prevents the tooling rod from shifting during assembly or disassembly.

[0025] In this embodiment, the equipment also includes a tray 8, on which a plurality of positioning rods 81 are evenly arranged in a matrix. The positioning rods 81 are used to support the dental implant 13. The positioning rods 81 can stably support the dental implant 13, prevent it from tipping over or shifting before assembly, and facilitate the first clamping mechanism to clamp the dental implant 13, thereby improving operational efficiency and convenience.

[0026] Furthermore, the equipment also includes a second tray 9. The first tray 8 is located on one side of the automatic detection unit 11, and the second tray 9 is located on the other side of the automatic detection unit 11. The second tray 9 is evenly provided with multiple positioning holes 1. The positioning holes 1 are used to accommodate the tooling rod, which facilitates the second clamping mechanism to quickly position and clamp the tooling rod, thereby improving operating efficiency.

[0027] The equipment also includes tray 3 10, which is located on one side near the left arm 6 of the robot. Tray 3 10 has multiple positioning holes 2 evenly arranged in a matrix on it, which are used to accommodate the implant loading unit. Tray 3 10 provides a storage location for the assembled implant loading unit, avoiding collisions or damage during operation and ensuring the quality of the dental implant 13; at the same time, the position of tray 3 10 facilitates the robot's left arm 6 to quickly grasp or place the implant loading unit.

[0028] When dental implant 13 is installed: The coordinated movements of the robot's right arm 2 and left arm 6 are uniformly scheduled by the PLC control system. Based on a preset program and real-time data acquisition, the PLC control system dynamically adjusts the movement trajectory and speed of the two arms to ensure a smooth and efficient assembly or disassembly process. This part utilizes a function built into the robot body 1. During the connection between the dental implant 13 and the tooling rod, the robot's right arm 2 moves the dental implant 13 to a predetermined position via the first clamping mechanism, while the robot's left arm 6 clamps the tooling rod via the second clamping mechanism and aligns it with the dental implant 13. The robot's right arm 2 drives the dental implant 13 to rotate inwards onto the tooling rod, thus installing the dental implant 13 onto the tooling rod to form an implant loading unit. The effectiveness and accuracy of the connection between the dental implant 13 and the tooling rod are ensured by controlling the number of rotations, the forward movement distance, and the set torque value of the dental implant 13. Taking a dental implant 13 with a diameter of 3.5mm as an example, during installation, the first clamping mechanism drives the dental implant 13 to rotate clockwise six times and move forward a distance of 1.8mm, that is, it moves forward 0.3mm per rotation, so as to achieve precise control of the assembly process of the dental implant 13 and ensure the consistency and stability of the connection between the dental implant 13 and the tooling rod.

[0029] When removing dental implant #13: After the dental implant 13 of the implant loading unit has been sandblasted, acid-washed, and cleaned, it needs to be removed from the tooling rod. The left arm 6 of the robot holds the tooling rod of the implant loading unit, and the right arm 2 of the robot moves to the same horizontal height as the left arm 6. The right arm 2 of the robot drives the first clamping mechanism to clamp the dental implant 13, causing it to rotate in the opposite direction and move backward. By setting the number of reverse rotations, the reverse movement distance, and the torque value, the dental implant 13 is removed from the tooling rod. After removal, the right arm 2 of the robot places the dental implant 13 on tray 8, and the left arm 6 of the robot places the tooling rod on tray 9. This cycle is repeated to remove the entire batch of implant loading units.

[0030] Through the aforementioned collaborative operation, not only can the assembly and disassembly of dental implant 13 be completed efficiently, but manual intervention can also be significantly reduced, thereby lowering the probability of human error. The entire process is precisely managed by a PLC control system, ensuring consistency in motion trajectories and parameter settings, resulting in more stable and reliable product quality for each batch. Furthermore, the rational layout of trays 8, 9, and 10 further optimizes the operation process, reduces the time spent moving the robotic arm, and improves overall work efficiency. The waste bin 12 effectively isolates defective products, preventing them from interfering with subsequent processes, thus improving production efficiency and product quality.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for assembling and disassembling dental implants, comprising a robot body (1), a robot right arm (2), and a robot left arm (6), wherein the robot right arm (2) and the robot left arm (6) are mounted on the robot body (1), characterized in that, The robot's right arm (2) is equipped with a first clamping mechanism at its end. The first clamping mechanism is used to releasably clamp the dental implant (13) and can drive the dental implant (13) to move and rotate around its own axis. The robot's right arm (2) is equipped with a torque sensor to obtain the rotational torque applied to the dental implant (13). The robot's left arm (6) is equipped with a second clamping mechanism at its end. The second clamping mechanism is used to clamp the tooling rod. The first clamping mechanism and the second clamping mechanism cooperate to install the dental implant (13) on the tooling rod to form an implant loading unit, or to remove the dental implant (13) from the tooling rod.

2. The equipment for assembling and disassembling dental implants according to claim 1, characterized in that, It also includes an automatic detection unit (11) for detecting the length of the implant loading unit.

3. The equipment for assembling and disassembling dental implants according to claim 1 or 2, characterized in that, The first clamping mechanism includes a rotary cylinder (3), a clamping cylinder (4), and a contoured gripper (5). The rotary cylinder (3) is mounted on the right arm (2) of the robot. The clamping cylinder (4) is mounted on the output end of the rotary cylinder (3). The contoured gripper (5) is mounted on the output end of the clamping cylinder (4). The contoured gripper (5) is used to releasably clamp the dental implant (13).

4. The equipment for assembling and disassembling dental implants according to claim 1 or 2, characterized in that, The second clamping mechanism includes two opposing arc-shaped grippers (7), which cooperate to clamp or release the tooling rod.

5. The equipment for assembling and disassembling dental implants according to claim 2, characterized in that, The automatic detection unit (11) includes a support frame (111), a limiting block (112), and a displacement sensor (113). The limiting block (112) is mounted on the support frame (111) and has a limiting hole for accommodating the implant loading unit. The displacement sensor (113) is located at the lower end of the limiting hole and is used to detect the implant loading unit.

6. The equipment for assembling and disassembling dental implants according to claim 1, characterized in that, It also includes a tray (8), on which a plurality of positioning rods (81) are evenly provided, and the positioning rods (81) are used to support the dental implant (13).

7. The equipment for assembling and disassembling dental implants according to claim 6, characterized in that, It also includes a second tray (9), on which a plurality of positioning holes are evenly provided, the positioning holes being used to accommodate the tooling rod.

8. The equipment for assembling and disassembling dental implants according to claim 7, characterized in that, It also includes a tray three (10), on which a plurality of positioning holes two are evenly provided, the positioning holes two being used to accommodate the implant loading unit.

9. The equipment for assembling and disassembling dental implants according to claim 2, characterized in that, It also includes a waste bin (12), which has multiple positioning holes 3, which are used to place implant loading units that are identified as unqualified by the automatic detection unit (11).

10. The equipment for assembling and disassembling dental implants according to claim 5, characterized in that, The tooling rod includes a main tooling rod (14) and an auxiliary tooling rod (15). One end of the auxiliary tooling rod (15) is connected to the main tooling rod (14) by a thread. The other end of the auxiliary tooling rod (15) is provided with a threaded rod. The threaded rod is adapted to the dental implant (13). The outer wall of the main tooling rod (14) is provided with an annular limiting platform.

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