Pick-up device

Abstract

The utility model relates to the technical field of dental appliance manufacturing, and discloses a pickup device. The rotating shaft is fixedly connected with the suction cup and used for driving the suction cup to rotate, the periphery of the rotating shaft is sleeved with the fixed seat and the rotating seat which are internally provided with the inner air channels, the fixed seat and the rotating seat can rotate relatively, the fixed seat is fixedly connected with the mechanical arm, and the rotating seat is fixedly connected with the suction cup. The end, close to the fixing base, of the inner air channel is connected with the air source assembly through a first air pipe, and the other end of the inner air channel communicates with the suction cup through a second air pipe. Therefore, when the rotating shaft drives the suction cup to rotate, the rotating seat can rotate along with the suction cup, so that the air pipe connected between the rotating seat and the suction cup also rotates synchronously and cannot be wound, and moreover, the fixed seat and the rotating seat are communicated with each other through the inner air channel, and no air pipe exists outside, so that the problem of air pipe winding cannot occur between the fixed seat and the rotating seat.

Description

Technical Field

[0001] The utility model relates to the technical field of dental appliance manufacturing, in particular to a picking device. Background Art

[0002] In the production line of braces, many processes require the use of automatic picking actions to pick up molds at various stages of the brace production process, and automatic processing of the brace die assembly is achieved through automation technology to improve production efficiency and product processing consistency. Existing automatic picking devices usually use clamps to achieve automatic picking, but using clamps for grasping can easily cause excessive clamping force to damage the product or equipment, or insufficient clamping force to cause unstable grasping. In addition, when using grasping for automatic picking, it is difficult to connect the actions between different processes. Using a vacuum suction cup for picking, the picking force can be adjusted by controlling the output efficiency of the vacuum generating device. The operation is simple and it is not easy to damage the product. The suction cup is also simpler and more flexible to absorb and release the product, which is convenient for the connection of different processes.

[0003] However, during the processing, the suction cup needs to be rotated to drive the product to be processed to rotate, and the product to be processed is cut and polished in all directions. At this time, the air pipe will be entangled on the robot, affecting and hindering the processing process, and even causing damage to the air pipe. Utility Model Content

[0004] The utility model aims to provide a picking device, which can solve the problem of entanglement of trachea during the processing of the orthodontic appliance.

[0005] In order to solve the above technical problems, an embodiment of the utility model provides a picking device, comprising:

[0006] A picking component, comprising a suction cup for picking up an orthodontic appliance die assembly to be processed; a robotic arm, comprising a rotating shaft fixedly connected to the suction cup, the rotating shaft being used to drive the suction cup to rotate about the axis of the rotating shaft; an anti-winding component, comprising a rotatably connected fixed seat and a rotating seat, the fixed seat and the rotating seat being both sleeved on the outer circumference of the rotating shaft, and the fixed seat and the rotating seat being provided with internal air passages interconnected with each other; wherein the fixed seat is fixedly connected to the robotic arm, the rotating seat is fixedly connected to the suction cup, the end of the internal air passage close to the fixed seat is connected to an external air source assembly via a first air pipe, and the end close to the rotating seat is connected to the suction cup via a second air pipe.

[0007] Compared with the prior art, the embodiment of the utility model has a rotating shaft fixedly connected to the suction cup, which is used to drive the suction cup to rotate, and a fixed seat and a rotating seat with an internal airway inside are sleeved on the outer periphery of the rotating shaft, and the fixed seat and the rotating seat can rotate relative to each other, the fixed seat is fixedly connected to the mechanical arm, and the rotating seat is fixedly connected to the suction cup, and the internal airway is connected to the air source component through a first air pipe at one end close to the fixed seat, and the other end is connected to the suction cup through a second air pipe, and the internal airway is configured to remain connected when the rotating seat rotates or is stationary relative to the fixed seat. In this way, when the rotating shaft drives the suction cup to rotate, since the rotating seat can rotate with the suction cup, the air pipe connected between the rotating seat and the suction cup also rotates synchronously, and no entanglement will occur. Moreover, since the fixed seat and the rotating seat are connected to each other through the internal airway, there is no air pipe outside, and the problem of air pipe entanglement between the fixed seat and the rotating seat will not occur.

[0008] Optionally, the fixed seat is cylindrical and sleeved on the outer wall of the rotating seat, the fixed seat has an inner wall and an outer wall arranged opposite to each other, the outer wall of the fixed seat is provided with a first air hole, and the inner air channel includes: an annular air channel arranged on the inner wall of the fixed seat and extending circumferentially, and a linear air channel arranged inside the rotating seat; wherein one end of the linear air channel is connected to the suction cup through the second air pipe, and the other end is connected to one end of the annular air channel, and the other end of the annular air channel is connected to the air source assembly through the first air hole. In this way, when the rotating seat rotates and causes the second air hole to perform a circular motion, the movement trajectory of the second air hole and the extension path of the annular air channel overlap, so that the second air hole and the annular air channel remain connected when the rotating seat rotates relative to the fixed seat, thereby ensuring that when the orthodontic die assembly is processed, the suction cup can firmly adsorb the orthodontic die assembly.

[0009] Optionally, the annular airway and the linear airway are both multiple and one-to-one corresponding, and one end of each linear airway is connected to the suction cup through a second air pipe, and the other end is connected to one end of a corresponding annular airway. When the annular airway and the linear airway are both provided in multiple numbers, if some airways are blocked, it will not affect the normal use of other airways. Therefore, in the case of a few airway failures, it will not affect the normal use of the picking device, and there is no need to stop work for maintenance.

[0010] Optionally, there is one annular airway and multiple linear airways, one end of each linear airway is connected to the suction cup via a second air pipe, and the other end is connected to one end of the annular airway. By connecting multiple annular airways to one annular airway at the same time, the number of annular airways can be reduced, the internal structure of the anti-winding component can be simplified, and the manufacturing cost and difficulty of the pickup device can be reduced.

[0011] Optionally, the rotating seat is cylindrical and has an inner wall and an outer wall arranged opposite to each other, the outer wall of the rotating seat is provided with a second air hole and a third air hole, the linear air channel includes a first sub-air channel extending axially or the extending direction is at an angle to the axial direction, and a second sub-air channel and a third sub-air channel whose extending directions are at an angle to the axial direction; one end of the second sub-air channel is connected to the second air hole and is connected to the second air pipe through the second air hole, the other end of the second sub-air channel is connected to one end of the first sub-air channel, the other end of the first sub-air channel is connected to one end of the third sub-air channel, and the other end of the third sub-air channel is connected to the third air hole and is connected to the annular air channel through the third air hole; Alternatively, the rotating seat is cylindrical and has an inner wall and an outer wall arranged opposite to each other, the outer wall of the rotating seat is provided with a second air hole and a third air hole, the linear air channel includes a first sub-air channel extending from the rotating seat toward the suction cup, and a second sub-air channel and a third sub-air channel whose extension directions are both angled with the axial direction; one end of the second sub-air channel is connected to the second air hole and connected to the second air pipe through the second air hole, the other end of the second sub-air channel is connected to one end of the first sub-air channel, the other end of the first sub-air channel is connected to one end of the third sub-air channel, and the other end of the third sub-air channel is connected to the third air hole and connected to the annular air channel through the third air hole.

[0012] Optionally, the fixed seat has two opposite ends, one end of which is provided with a first rotating bearing, and the other end is provided with a second rotating bearing, and the fixed seat supports the rotating seat through the first rotating bearing and the second rotating bearing so that the rotating seat can rotate relative to the fixed seat.

[0013] Optionally, the pickup assembly further includes a suction cup base, wherein the suction cup base is fixedly connected to the rotating shaft, and the suction cup is fixed to a side of the suction cup base facing away from the rotating shaft.

[0014] Optionally, there are multiple suction cups, which are divided into two suction cup groups. The two suction cup groups are symmetrically arranged on the suction cup base with the axis of the rotating shaft as the symmetry axis, and each suction cup group is used to pick up one of the orthodontic appliance die assembly; each suction cup group includes a first suction cup and a second suction cup, the first suction cup and the second suction cup are arranged at intervals, the first suction cup includes two suction cups arranged at intervals, and the second suction cup includes two suction cups arranged at intervals, and the distance between the two suction cups of the first suction cup is smaller than the distance between the two suction cups of the second suction cup; the two suction cups of the first suction cup are used to adsorb the posterior teeth area of ​​the orthodontic appliance die assembly, and the two suction cups of the second suction cup are used to adsorb the anterior teeth area of ​​the orthodontic appliance die assembly. By setting two suction cup groups, when necessary, two orthodontic appliance die assemblies can be picked up at the same time in one action to improve efficiency. At the same time, each suction cup group includes a first suction cup and a second suction cup. By setting the arrangement of the first suction cup and the second suction cup, when picking up, the uneven area on the orthodontic appliance die assembly can be avoided to ensure that the suction cup can firmly adsorb the orthodontic appliance die assembly.

[0015] Optionally, the pickup assembly further includes a positioning pin disposed on the side of the suction cup base away from the rotating shaft, the positioning pin and the suction cup are spaced apart and located on the outside of the suction cup relative to the axis of the rotating shaft, and the positioning pin is used to position the appliance die assembly when picking up the appliance die assembly. Using the positioning pin to position the appliance die assembly when picking up can ensure that different appliance die assemblies have the same position and posture after being picked up, thereby ensuring that after the picking device processes the appliance die assembly according to the preset path and action, different appliance die assemblies have high consistency, which is conducive to achieving standardized production.

[0016] Optionally, the robotic arm further includes a shell, a connector and a protective cover, the end of the rotating shaft away from the suction cup extends into the shell and is rotatably fixed in the shell relative to the shell, the fixing seat and the shell are spaced apart; one end of the protective cover is sleeved on the end of the fixing member away from the suction cup, and the other end extends toward the shell and is spaced apart from the shell, and the protective cover surrounds the outside of the portion of the rotating shaft between the fixing member and the shell to protect the rotating shaft. Using a protective cover surrounding the portion of the rotating shaft exposed outside the shell can protect the rotating shaft and prevent external cables or other structures that may affect the normal operation of the rotating shaft from contacting the rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 It is a schematic diagram of the structure of the pickup device of an embodiment of the utility model;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the pickup component and the anti-winding component of the embodiment of the utility model;

[0020] Figure 3 It is a three-dimensional structural schematic diagram of the pickup assembly and the rotating shaft assembly of the embodiment of the utility model;

[0021] Figure 4 It is a three-dimensional structural schematic diagram of the anti-winding component of an embodiment of the utility model;

[0022] Figure 5 It is a schematic diagram of the exploded structure of the fixed seat and the rotating seat in the anti-winding assembly of the embodiment of the utility model;

[0023] Figure 6 is a cross-sectional schematic diagram of an anti-winding component of an embodiment of the utility model;

[0024] Figure 7 yes Figure 6 A magnified schematic diagram of the middle A area;

[0025] Figure 8 It is a three-dimensional structural schematic diagram of the assembly of the six-axis mechanical arm and the anti-winding component of the embodiment of the utility model;

[0026] Fig. 9 yes Figure 8 A magnified schematic diagram of the middle B area;

[0027] Fig.10 It is a three-dimensional structural schematic diagram of a six-axis robotic arm according to an embodiment of the utility model. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the utility model clearer, the various embodiments of the utility model will be described in detail below with reference to the accompanying drawings. However, it can be understood by those skilled in the art that in the various embodiments of the utility model, many technical details are provided in order to enable readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical schemes claimed for protection in the claims of the present application can be implemented.

[0029] In the embodiments of the present invention, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0030] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0031] In addition, the terms "installed", "set", "provided with", "opened", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0032] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0033] One embodiment of the utility model provides a picking device, which is applied to the production of dental braces, comprising: a picking component, which has a suction cup for picking up a brace die component to be processed; a mechanical arm, which has a rotating shaft fixedly connected to the suction cup, and the rotating shaft is used to drive the suction cup to rotate about the axis of the rotating shaft; an anti-winding component, which comprises a rotatably connected fixed seat and a rotating seat, and the fixed seat and the rotating seat are both sleeved on the outer periphery of the rotating shaft, and the fixed seat and the rotating seat are provided with internal airways that are interconnected; wherein the fixed seat is fixedly connected to the mechanical arm, and the rotating seat is fixedly connected to the suction cup, and the end of the internal airway close to the fixed seat is connected to an external air source component through a first air pipe, and the end close to the rotating seat is connected to the suction cup through a second air pipe.

[0034] In the picking device of this embodiment, the rotating shaft is fixedly connected to the suction cup, which is used to drive the suction cup to rotate, and a fixed seat and a rotating seat with an internal airway inside are sleeved on the outer periphery of the rotating shaft. The fixed seat and the rotating seat can rotate relative to each other, the fixed seat is fixedly connected to the mechanical arm, and the rotating seat is fixedly connected to the suction cup. One end of the internal airway close to the fixed seat is connected to the air source component through the first air pipe, and the other end is connected to the suction cup through the second air pipe. The internal airway is configured to remain connected when the rotating seat rotates or is stationary relative to the fixed seat. In this way, when the rotating shaft drives the suction cup to rotate, since the rotating seat can rotate with the suction cup, the air pipe connected between the rotating seat and the suction cup also rotates synchronously, and no entanglement will occur. In addition, since the fixed seat and the rotating seat are connected to each other through the internal airway, there is no air pipe outside, and the problem of air pipe entanglement between the fixed seat and the rotating seat will not occur.

[0035] The implementation details of the pickup device of this embodiment are described in detail below. The following content is only provided for easy understanding of the implementation details and is not necessary for implementing this solution.

[0036] See also Figure 1 In some embodiments, the picking device 100 includes: a picking assembly 110, a mechanical arm 120 and an anti-winding assembly 130. The picking assembly 110 has a suction cup 111 for picking up the orthodontic appliance die assembly to be processed, and the mechanical arm 120 has a rotating shaft 121 fixedly connected to the suction cup 111, and the rotating shaft 121 is used to drive the suction cup 111 to rotate with the axis of the rotating shaft 121 as the rotating shaft. The anti-winding assembly 130 includes a rotatably connected fixed seat 131 and a rotating seat 132, both of which are sleeved on the outer periphery of the rotating shaft 121, and the fixed seat 131 and the rotating seat 132 are provided with internal airways that are interconnected. The fixed seat 131 is fixedly connected to the robot arm 120, the rotating seat 132 is fixedly connected to the suction cup 111, and the end of the internal air channel close to the fixed seat 131 is connected to the external air source component (not shown) through a first air pipe (not shown), and the end close to the suction cup 111 is connected to the suction cup 111 through a second air pipe (not shown).

[0037] During the processing, when the rotating shaft 121 drives the suction cup 111 to rotate, since the rotating seat 132 can rotate along with the suction cup 111, the second air pipe connected between the rotating seat 132 and the suction cup 111 also rotates synchronously without entanglement. Furthermore, since the fixed seat 131 and the rotating seat 132 are interconnected through the internal airway and there is no air pipe outside, there will be no problem of air pipe entanglement between the fixed seat 131 and the rotating seat 132.

[0038] In some embodiments, the pickup assembly 110 further includes a suction cup base 112, the suction cup base 112 is fixedly connected to the rotating shaft 121, and the suction cup 111 is fixed to the side of the suction cup base 112 away from the rotating shaft 121. For example, the suction cup base 112 can be fixedly connected to the rotating shaft 121 by screws, bolts, etc. During the processing, the rotating shaft 121 drives the suction cup base 112 to rotate to drive the suction cup 111 to rotate, and then the appliance die assembly fixed by the suction cup 111 follows the rotation, thereby realizing automatic processing. The appliance die assembly in this embodiment refers to a combination of a diaphragm and a dental model formed by imprinting a diaphragm on a dental model during the processing of a shell-shaped dental appliance die assembly.

[0039] In some embodiments, a suction cup airway (not shown) is provided inside the suction cup base 112, one end of the suction cup airway is connected to the air hole of the suction cup 111, and the other end is connected to the internal airway through the second air pipe. More specifically, the outer wall of the suction cup base 112 is provided with at least one air hole, and the suction cup airway is connected to the second air pipe through the air hole. The direction of the gas is controlled by an external air source component, and the air inside the suction cup 111 is extracted through the air hole, thereby forming a vacuum negative pressure inside the suction cup 111 to achieve vacuum adsorption; or gas is injected into the suction cup 111 through the air hole to destroy the vacuum negative pressure inside the suction cup 111, thereby releasing the adsorbed product.

[0040] It can be understood that the suction cup base 112 can be provided with a first air interface 1121 at a position corresponding to the air hole, and the first air interface 1121 is used to fix one end of the second air pipe. The first air interface 1121 can adopt an air interface with a valve and adjustable air flow size to adjust the air flow size of the picking up the orthodontic appliance mold assembly according to actual usage requirements.

[0041] In some embodiments, the suction cup 111 is provided in plurality to increase the number of points of the suction appliance die assembly, thereby improving the stability after suction. It is understood that when there are multiple suction cups 111, there may be multiple suction cup airways, each of which is connected to a suction cup 111; or, there is one suction cup airway, which is connected to multiple suction cups 111 at the same time, in which case the suction cup airway may be an annular airway or may be formed by a cavity.

[0042] In a specific embodiment, the plurality of suction cups 111 can be divided into two groups, and the two suction cup groups are symmetrically arranged on the suction cup base 112 with the axis of the rotating shaft 121 as the symmetry axis, and each suction cup group is used to pick up one appliance die assembly. In this way, two appliance die assemblies can be processed at the same time during each picking and processing, thereby improving production efficiency.

[0043] See also Figure 2 and Figure 3More specifically, each suction cup group includes a first suction cup 111a and a second suction cup 111b, and the first suction cup 111a and the second suction cup 111b are arranged at intervals. The first suction cup 111a includes two suction cups arranged at intervals, and the second suction cup 111b also includes two suction cups arranged at intervals. Among them, the distance between the two suction cups of the first suction cup 111a can be smaller than the distance between the two suction cups of the second suction cup 111b, that is, the quadrilateral formed by the connecting line of the positions where the four suction cups are arranged can be a trapezoid. With such an arrangement, when picking up the braces die assembly, the uneven positions on the braces die assembly can be avoided, so as to achieve effective picking. Furthermore, the two suction cups of the first suction cup 111a are used to adsorb the portion of the braces die assembly adjacent to the posterior teeth area of ​​the tooth mold, while the two suction cups of the second suction cup 111b are used to adsorb the portion of the braces die assembly adjacent to the anterior teeth area of ​​the tooth mold.

[0044] When the suction cup base 112 is a square, the distance between the two suction cups in the first suction cups 111a of the two suction cup groups is set to be the same, and the distance between the second suction cup 111b of one suction cup group and the second suction cup 111b of the other suction cup group is set to be the same as the distance between the two suction cups in the first suction cup 111a of one suction cup group. At this time, the eight suction cups are distributed in pairs at the four corners of the suction cup base 112, and the two suction cups at the same corner are symmetrically arranged with the diagonal / angle bisector of the corner as the symmetry axis.

[0045] It is understandable that even if the models and specifications of the appliance die assembly to be picked up are different, the above two groups of suction cups can be used universally. At this time, the suction cups are respectively adsorbed on the four sides of the appliance die assembly, located on the periphery of the tooth mold, to avoid the uneven position of the appliance die assembly, and successfully adsorb the appliance die assembly. In other words, the pickup assembly 110 of the utility model can be adapted to different models of appliance die assemblies to be picked up, and has strong versatility.

[0046] Optionally, the suction cup 111 can be made of a material with a certain elasticity and hardness, such as rubber. During the picking process, it is usually necessary for the robot arm 120 to drive the suction cup 111 to press against the appliance die assembly, and then the air source assembly drives the suction cup 111 to adsorb. At this time, the suction cup 111 with suitable elasticity can be deformed and fit the surface of the appliance die assembly, ensuring that the suction cup 111 and the surface of the appliance die assembly together form a relatively closed space, further ensuring the effectiveness of adsorption and fixation. At the same time, the deformation of the suction cup 111 can also achieve a certain degree of buffering, avoiding plastic deformation or even damage of the suction cup 111 and / or the appliance die assembly when pressing against the appliance die assembly due to the excessive rigidity of the suction cup 111. Furthermore, the suction cup 111 can be a multi-layer suction cup.

[0047] In some embodiments, the pick-up assembly 110 further includes a positioning pin 113 disposed on the side of the suction cup base 112 away from the rotating shaft 121. The positioning pin 113 and the suction cup 111 are spaced apart and located outside the axis of the suction cup 111 relative to the rotating shaft 121. The positioning pin 113 is used to position the appliance die assembly when picking up the appliance die assembly. The pick-up assembly 110 is driven by the robot arm 120 to automatically pick up the appliance die assembly and automatically process it. The moving path of the appliance die assembly and the movements and postures during processing need to be kept consistent to ensure that the product is processed according to the preset requirements and to ensure consistency between different products. Therefore, a positioning pin 113 is provided on the picking component 110, and when picking up the brace die assembly, it can be positioned with a special part or structure of the brace die assembly, or with a special part or structure of the jig that carries the brace die assembly, to ensure that the position and posture of the brace die assembly remain consistent each time the picking component 110 picks up the brace die assembly, thereby ensuring the accuracy of product processing.

[0048] It can be understood that the orthodontic appliance die assembly is provided with a positioning groove or other structure that cooperates with the positioning pin 113, or the jig that carries the orthodontic appliance die assembly is provided with a positioning groove or other structure that cooperates with the positioning pin 113. When picking up, the positioning pin 113 and the positioning groove and other structures cooperate to ensure that the same position and posture are maintained when picking up different orthodontic appliance die assemblies.

[0049] In some embodiments, there are multiple positioning pins 113, and the multiple positioning pins 113 are arranged at intervals around the axis of the rotating shaft 121. Providing multiple positioning pins 113 can achieve multi-point positioning and better improve the positioning effect.

[0050] In a specific solution, there are four positioning pins 113 . When the suction cup base 112 is a square, the four positioning pins can be arranged corresponding to the four corners of the square. Each positioning pin 113 is arranged on the diagonal of the square and is spaced apart from the suction cup 111 .

[0051] See also Figure 4 and Figure 5 In some embodiments, the fixed seat 131 is cylindrical or prismatic, preferably cylindrical, and has an inner wall and an outer wall disposed in opposite directions, and a first circular through hole 1311. The rotating seat 132 is also cylindrical, and has an inner wall and an outer wall disposed in opposite directions, and a second circular through hole 1321. The rotating seat 132 extends completely or partially into the first circular through hole 1311, and is connected to the inner wall of the fixed seat 131 or has a small gap therebetween. The rotating shaft 121 passes through the second circular through hole 1321 and is fixedly connected to the suction cup base 112.

[0052] In a specific embodiment, the rotating seat 132 includes two fixedly connected or integrated cylindrical parts, namely, a first cylindrical part 1322 and a second cylindrical part 1323. The first cylindrical part 1322 and the second cylindrical part 1323 are both sleeved on the outer circumference of a part of the rotating shaft 121. The inner diameter of the first cylindrical part 1322 and the inner diameter of the second cylindrical part 1323 are equal or similar. The outer diameter of the first cylindrical part 1322 is larger than the outer diameter of the second cylindrical part 1323. The first cylindrical part 1322 and the second cylindrical part 1323 are hollow respectively, and the middle part is penetrated to form the above-mentioned second circular through hole 1321. Among them, the fixed seat 131 is sleeved on the outer wall of the second cylindrical part 1323, the first cylindrical part 1322 is fixedly connected to the suction cup base 112 by screws, etc., and the second cylindrical part 1323 is located on the side of the first cylindrical part 1322 away from the suction cup 111.

[0053] See also Figure 6 and Figure 7 In some embodiments, the inner wall of the fixing seat 131 is provided with a circumferentially extending annular air channel 1312, for example, it can be a groove provided on the inner wall of the fixing seat 131 and extending circumferentially around the axis of the fixing seat 131. The outer wall of the fixing seat 131 is also provided with a first air hole 1313, and one end of the annular air channel 1312 is connected to the air source component through the first air hole 1313. It should be noted that Figure 6 Taking the linear airway 1324 on the right side and the annular airway 1312 connected thereto as an example, when the rotating seat 132 rotates to rotate the linear airway 1324, the movement trajectory of the position where the linear airway 1324 and the annular airway 1312 are connected coincides with the extension path of the annular airway 1312. Therefore, when the rotating seat 132 rotates relative to the fixed seat 131, the linear airway 1324 and the annular airway 1312 remain connected. For example, when the position where the linear airway 1324 and the annular airway 1312 are connected rotates to Figure 6 When the left side is shown in FIG. 1 , the connecting position between the linear airway 1324 and the annular airway 1312 is located on the left side.

[0054] In some embodiments, a linear air channel 1324 is disposed inside the rotating seat 132 , one end of the linear air channel 1324 is connected to the suction cup air channel through the second air pipe, and the other end of the linear air channel 1324 is connected to the other end of the annular air channel 1312 .

[0055] See again Figure 5 and Figure 6In some embodiments, the outer wall of the rotating seat 132 is provided with a second air hole 1325 and a third air hole 1326, and the linear air channel 1324 includes a first sub-air channel 1324a extending axially or extending in an angle with the axial direction, and a second sub-air channel 1324b and a third sub-air channel 1324c extending in an angle with the axial direction, one end of the second sub-air channel 1324b is connected to the second air hole 1325 and is connected to the second air pipe through the second air hole 1325; the other end of the second sub-air channel 1324b is connected to one end of the first sub-air channel 1324a, the other end of the first sub-air channel 1324a is connected to one end of the third sub-air channel 1324c, and the other end of the third sub-air channel 1324c is connected to the third air hole 1326 and is connected to the annular air channel 1312 through the third air hole 1326.

[0056] It can be understood that the second air hole 1325 can be arranged on the outer wall of the first cylindrical portion 1322, and the third air hole 1326 can be arranged on the outer wall of the second cylindrical portion 1323. At this time, the second sub-air channel 1324b is located in the first cylindrical portion 1322, and is used to communicate with the second air hole 1325, and the third sub-air channel 1324c is located in the second cylindrical portion 1323, and is used to communicate with the third air hole 1326.

[0057] It can be understood that when the extension direction of the first sub-airway 1324a forms an angle with the axial direction, it extends obliquely relative to the axial direction, and the specific extension direction or inclination angle can be selected according to actual conditions. The second sub-airway 1324b and the third sub-airway 1324c are the same, and will not be elaborated here.

[0058] In some other embodiments, the first sub-airway 1324a is configured to extend in a curved manner. For example, the first sub-airway 1324a generally still extends from the second cylindrical portion 1323 toward the first cylindrical portion 1322, and the specific extension path is wavy. Alternatively, the first sub-airway 1324a may also extend in a spiral around the axis of the rotating shaft 121.

[0059] Take the example that the first sub-air channel 1324a extends axially, and the extension direction of the second sub-air channel 1324b and the third sub-air channel 1324c is perpendicular to the axial direction. The first sub-air channel 1324a extends from the first cylindrical portion 1322 to the second cylindrical portion 1323, and the second sub-air channel 1324b and the third sub-air channel 1324c extend perpendicularly to the axial direction, that is, extend radially. One end of the first sub-air channel 1324a is connected to the second sub-air channel 1324b located in the first cylindrical portion 1322, and the other end is connected to the third sub-air channel 1324c located in the second cylindrical portion 1323. In this way, the suction cup 111, the suction cup air channel, the second air pipe, the linear air channel 1324, the annular air channel 1312, the first air channel and the air source assembly together form a complete air path.

[0060] It should be noted that, in the present invention, the air source assembly can be a vacuum tube generating device such as a vacuum pump. When it is necessary to pick up the appliance die assembly, it forms a vacuum negative pressure in the above-mentioned air circuit so that the internal space of the suction cup 111 is in a vacuum negative pressure state, thereby picking up the appliance die assembly. When it is necessary to release the appliance die assembly, the above-mentioned air circuit can be ventilated to destroy its vacuum negative pressure state, so that the appliance die assembly is separated from the suction cup 111.

[0061] In some embodiments, both the annular airway 1312 and the linear airway 1324 are multiple and correspond one to one, one end of each linear airway 1324 is connected to the suction cup airway through a second air pipe, and the other end is connected to one end of a corresponding annular airway 1312. For example, the annular airway 1312 and the linear airway 1324 can be set to two, and the two annular airways 1312 are spaced apart along the axial direction, and the two linear airways 1324 are symmetrically arranged with the axis of the rotating shaft 121 as the symmetry axis, one end of one linear airway 1324 is connected to the suction cup airway through a second air pipe, and the other end is connected to one annular airway 1312, and one end of another linear airway 1324 is connected to the suction cup airway through a second air pipe, and the other end is connected to another annular airway 1312. In this case, the extension lengths of the two linear airways 1324 are different, specifically, the extension lengths of the first sub-airway 1324a are different. It is understandable that each linear airway 1324 can also be connected to multiple annular airways 1312 at the same time, and the linear airways 1324 can also be set asymmetrically. When multiple annular airways 1312 and linear airways 1324 are set, if some airways are blocked, it will not affect the normal use of other airways. Therefore, in the case of a few airway failures, it will not affect the normal use of the picking device 100, and there is no need to stop work for maintenance.

[0062] In some other embodiments, there is one annular air channel 1312, and there are multiple linear air channels 1324, one end of each linear air channel 1324 is connected to the suction cup air channel through a second air pipe, and the other end is connected to one end of the annular air channel 1312. For example, multiple linear air channels 1324 are arranged at intervals around the axis of the rotating shaft 121, and the first sub-air channels 1324a of each linear air channel 1324 extend axially and have the same extension length, and each first sub-air channel 1324a is connected to one end of the annular air channel 1312 through the corresponding third sub-air channel 1324c.

[0063] It can be understood that a second air interface 1327 and a third air interface 1328 can be respectively set at the positions corresponding to the first air hole 1313 and the third air hole 1326, one end of the second air pipe is connected to the first air interface 1121, and the other end is connected to the third air interface 1328, and the second air interface 1327 is connected to one end of the first air pipe.

[0064] See again Figure 6 In some embodiments, a first rotating bearing 133 is provided at both ends of the fixed seat 131, that is, at the end close to the first cylindrical portion 1322, and a second rotating bearing 134 is provided at the end away from the first cylindrical portion 1322. The first rotating bearing 133 and the second rotating bearing 134 are clamped between the second cylindrical portion 1323 and the fixed seat 131. The fixed seat 131 supports the second cylindrical portion 1323 through the first rotating bearing 133 and the second rotating bearing 134, so that the rotating seat 132 can rotate relative to the fixed seat 131.

[0065] See again Figure 7 On the end surface of the fixed seat 131 facing the first rotating bearing 133, the anti-winding component 130 is further provided with a first sealing ring 135, the first sealing ring 135 is sandwiched between the fixed seat 131 and the first rotating bearing 133, and on the end surface of the fixed seat 131 facing the second rotating bearing 134, the anti-winding component 130 is further provided with a second sealing ring 136, the second sealing ring 136 is sandwiched between the fixed seat 131 and the second rotating bearing 134. In this way, the first sealing ring 135 and the second sealing ring 136 can seal the inner airway to prevent leakage in the inner airway during picking or processing.

[0066] A limiting groove for accommodating part of the sealing ring can be provided on each end surface of the fixing seat 131 to prevent the sealing ring from shifting when squeezed by the fixing seat 131 and the rotating bearing, thereby ensuring the stability of the sealing ring in closing the internal airway.

[0067] See again Figure 1 In some embodiments, the robot arm 120 further includes a housing 122, a connector 123, and a protective cover 124. The connector 123 has two opposite ends, one end is fixedly connected to the housing 122, and the other end is fixedly connected to the protective cover 124. The housing 122 and the protective cover 124 are fixedly connected to each other through the connector 123.

[0068] The end of the rotating shaft 121 away from the suction cup 111 extends into the housing 122, and is rotatably fixed to the inside of the housing 122 relative to the housing 122. To facilitate the assembly between the rotating shaft 121 and the housing 122, the housing 122 can be set shorter, that is, the opening of the housing 122 for receiving the rotating shaft 121 is closer to the position where it is rotatably connected to the rotating shaft 121. At this time, there is a certain spacing area between the fixing seat 131 and the housing 122, so that a part of the rotating shaft 121 is exposed in the spacing area, and the protective cover 124 is arranged around the outside of this part of the rotating shaft 121, which can protect the rotating shaft 121 and prevent external cables or other structures that may affect the normal operation of the rotating shaft 121 from contacting the rotating shaft 121.

[0069] In a specific embodiment, the connector 123 is a fork-tine connector, and the protective cover 124 is a flange cover. One end of the flange cover is fixed to the outer wall of the fixing seat 131 away from the suction cup 111 by screw sleeve connection, and the other end of the flange cover is fixedly connected to one end of the fork-tine connector by screws, and the other end of the fork-tine connector is fixedly connected to the housing 122 by screws, and the flange cover is arranged around the outer side of the part of the rotating shaft 121 located in the above-mentioned interval area. In addition, an observation window can be provided on the flange cover to facilitate the operator to observe whether the rotating shaft 121 rotates normally.

[0070] In some embodiments, the robot 120 is a multi-axis robot, so that the robot 120 has multiple degrees of freedom. During the automatic processing and production process, different moving paths and / or processing actions can be designed according to actual needs to meet the processing needs of products of different types and specifications.

[0071] See also Figure 8 and Fig. 9 In a specific embodiment, the multi-axis robot arm may be a six-axis robot arm 120. The rotating shaft 121, the housing 122, the connecting member 123 and the protective cover 124 may together constitute the terminal rotating arm of the multi-axis robot arm, i.e., the sixth rotating arm 120G. The sixth rotating arm 120G is pivotally connected to the fifth rotating arm 120F of the six-axis robot arm 120, and the sixth rotating arm 120G as a whole may swing relative to the fifth rotating arm 120F, for example, may swing up and down.

[0072] In some embodiments, a fourth air interface 125 is provided on the outer shell of the fifth rotating arm 120F, and an internal air circuit (not shown) is provided inside the outer shell of the fifth rotating arm 120F. The internal air circuit is connected to the fourth air interface 125, and the fourth air interface 125 is connected to the second air interface 1327 on the fixed seat 131 through the first air pipe.

[0073] The six-axis robot arm 120 further includes a fourth rotating arm 120E, a third rotating arm 120D, a second rotating arm 120C and a first rotating arm 120B which are pivotally connected in sequence, and an end of the fifth rotating arm 120F away from the sixth rotating arm 120G is pivotally connected to the fourth rotating arm 120E, and the fifth rotating arm 120F as a whole can swing relative to the fourth rotating arm 120E, for example, swing left and right. An air circuit is also provided inside the fourth rotating arm 120E, and the air circuit is connected to the internal air circuit of the fifth rotating arm 120F.

[0074] The end of the fourth rotating arm 120E away from the fifth rotating arm 120F is pivotally connected to the third rotating arm 120D, and the fourth rotating arm 120E as a whole can swing relative to the third rotating arm 120D, for example, swing up and down. The third rotating arm 120D is also provided with an air circuit inside, which is connected to the air circuit inside the fourth rotating arm 120E.

[0075] The end of the third rotating arm 120D away from the fourth rotating arm 120E is pivotally connected to the second rotating arm 120C, and the third rotating arm 120D as a whole can swing relative to the second rotating arm 120C, for example, swing up and down. The second rotating arm 120C is also provided with an air path inside, which is connected to the air path inside the third rotating arm 120D.

[0076] The end of the second rotating arm 120C away from the third rotating arm 120D is pivotally connected to the first rotating arm 120B, and the second rotating arm 120C as a whole can swing relative to the first rotating arm 120B, for example, swing left and right. The first rotating arm 120B is also provided with an air path inside, which is connected to the air path inside the second rotating arm 120C.

[0077] The six-axis robot arm 120 also includes a mounting base 120A, a first rotating arm 120B is rotatably connected to the mounting base 120A, and an air circuit is provided inside the mounting base 120A, and the air circuit inside the first rotating arm 120B is also connected to the air circuit inside the mounting base 120A. The mounting base 120A is also provided with a fifth air interface 126, and the fifth air interface 126 is connected to the air source assembly through an air pipe.

[0078] When picking, the air source component works, and a vacuum negative pressure is formed in the air circuits inside the six-axis robot 120, the anti-winding component 130 and the picking component 110, so that the suction cup 111 can adsorb and fix the appliance die assembly, and then the appliance die assembly is moved to the processing position by the six-axis robot 120. During the processing, the different rotating arms of the six-axis robot 120 move or swing according to the preset actions to adjust the position and posture of the appliance die assembly. At the same time, the rotating shaft 121 of the sixth rotating arm 120G drives the suction cup base 112 to drive the appliance die assembly to rotate 360° continuously, or reciprocate for processing. After the processing is completed, the six-axis robot 120 moves the processed appliance die assembly to the preset position for subsequent production processes.

[0079] The present invention does not specifically limit the specific number of rotating arms of the multi-axis robotic arm, and the above six-axis robotic arm 120 is only used as an example.

[0080] It should be noted that different implementation schemes in this embodiment can be arbitrarily combined as needed without conflicting with each other, and the various combinations thus produced should also be within the protection scope of the present utility model.

[0081] The picking device provided by the embodiment of the utility model is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the utility model. The description of the above implementation mode is only used to help understand the idea of ​​the utility model. There may be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the utility model.

Claims

1. A picking device, used in the production of dental appliances, characterized in that: include: A picking assembly having a suction cup for picking up the appliance die assembly to be processed; A mechanical arm having a rotating shaft fixedly connected to the suction cup, wherein the rotating shaft is used to drive the suction cup to rotate with the axis of the rotating shaft as the rotating shaft; The anti-winding component includes a fixed seat and a rotating seat that are rotatably connected, the fixed seat and the rotating seat are both sleeved on the outer circumference of the rotating shaft, and the fixed seat and the rotating seat are provided with internal air passages that are interconnected; wherein the fixed seat is fixedly connected to the robotic arm, and the rotating seat is fixedly connected to the suction cup, and the end of the internal air passage close to the fixed seat is connected to an external air source component through a first air pipe, and the end close to the suction cup is connected to the suction cup through a second air pipe.

2. The pickup device according to claim 1, characterized in that: The fixed seat is cylindrical and sleeved on the outer wall of the rotating seat. The fixed seat has an inner wall and an outer wall arranged opposite to each other. The outer wall of the fixed seat is provided with a first air hole. The inner air channel includes: an annular air channel arranged on the inner wall of the fixed seat and extending circumferentially, and a linear air channel arranged inside the rotating seat; One end of the linear airway is connected to the suction cup through the second air pipe, and the other end is connected to one end of the annular airway, and the other end of the annular airway is connected to the air source component through the first air hole.

3. The pickup device according to claim 2, characterized in that: There are multiple annular airways and linear airways in one-to-one correspondence. One end of each linear airway is connected to the suction cup through a second air pipe, and the other end is connected to one end of a corresponding annular airway.

4. The pickup device according to claim 2, characterized in that: There is one annular airway and multiple linear airways. One end of each linear airway is connected to the suction cup through a second air pipe, and the other end is connected to one end of the annular airway.

5. The pickup device according to any one of claims 2 to 4, characterized in that: The rotating seat is cylindrical and has an inner wall and an outer wall arranged opposite to each other, the outer wall of the rotating seat is provided with a second air hole and a third air hole, the linear air channel includes a first sub-air channel extending axially or the extending direction is at an angle to the axial direction, and a second sub-air channel and a third sub-air channel whose extending directions are both at an angle to the axial direction; one end of the second sub-air channel is connected to the second air hole and is connected to the second air pipe through the second air hole, the other end of the second sub-air channel is connected to one end of the first sub-air channel, the other end of the first sub-air channel is connected to one end of the third sub-air channel, and the other end of the third sub-air channel is connected to the third air hole and is connected to the annular air channel through the third air hole; Alternatively, the rotating seat is cylindrical and has an inner wall and an outer wall disposed opposite to each other, the outer wall of the rotating seat is provided with a second air hole and a third air hole, and the linear air channel includes a first sub-air channel extending from the rotating seat toward the suction cup in a curved manner, -1- And a second sub-airchannel and a third sub-airchannel, both of which extend in directions that are angled with the axial direction; one end of the second sub-airchannel is connected to the second air hole and is connected to the second air pipe through the second air hole, the other end of the second sub-airchannel is connected to one end of the first sub-airchannel, the other end of the first sub-airchannel is connected to one end of the third sub-airchannel, and the other end of the third sub-airchannel is connected to the third air hole and is connected to the annular airway through the third air hole.

6. The pickup device according to claim 1, characterized in that: The fixed seat has two opposite ends, one end of which is provided with a first rotating bearing, and the other end is provided with a second rotating bearing. The fixed seat supports the rotating seat through the first rotating bearing and the second rotating bearing so that the rotating seat can rotate relative to the fixed seat.

7. The pickup device according to claim 1, characterized in that: The pickup assembly also includes a suction cup base, which is fixedly connected to the rotating shaft, and the suction cup is fixed to a side of the suction cup base that is away from the rotating shaft.

8. The pickup device according to claim 7, characterized in that: There are multiple suction cups, which are divided into two suction cup groups. The two suction cup groups are symmetrically arranged on the suction cup base with the axis of the rotating shaft as the symmetry axis, and each suction cup group is used to pick up one of the orthodontic appliance die assembly; Each of the suction cup groups includes a first suction cup and a second suction cup, the first suction cup and the second suction cup are spaced apart, the first suction cup includes two spaced apart suction cups, the second suction cup includes two spaced apart suction cups, and the distance between the two suction cups of the first suction cup is smaller than the distance between the two suction cups of the second suction cup; the two suction cups of the first suction cup are used to adsorb the posterior teeth area of ​​the orthodontic appliance mold assembly, and the two suction cups of the second suction cup are used to adsorb the anterior teeth area of ​​the orthodontic appliance mold assembly.

9. The pickup device according to claim 7 or 8, characterized in that: The picking assembly also includes a positioning pin arranged on the side of the suction cup base away from the rotating shaft. The positioning pin and the suction cup are spaced apart and located on the outside of the suction cup relative to the axis of the rotating shaft. The positioning pin is used to position the orthodontic die assembly when picking up the orthodontic die assembly.

10. The pickup device according to claim 1, characterized in that: The robotic arm also includes a shell, a connecting piece and a protective cover, the end of the rotating shaft away from the suction cup extends into the shell and is rotatably fixed in the shell relative to the shell, and the fixing seat and the shell are spaced apart; one end of the protective cover is sleeved on the end of the fixing seat away from the suction cup, and the other end extends toward the shell and is spaced apart from the shell, and the protective cover is surrounded by the outer side of the part of the rotating shaft located between the fixing seat and the shell to protect the rotating shaft.

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