Automatic storage device for cleaned nickel-titanium alloy wires for orthodontics

Abstract

The utility model discloses an automatic storage device for cleaned nickel-titanium alloy wires for orthodontics, which relates to the technical field of preparation of nickel-titanium alloy wires for orthodontics and comprises a return conveying belt, a grabbing conveying belt erected above the return conveying belt and a turnover box arranged at one end of the return conveying belt. The device comprises a grabbing conveying belt, a turnover box arranged at one end of the grabbing conveying belt, an ultrasonic cleaning machine arranged at the other end of the turnover box, a grabbing machine system arranged on one side of the grabbing conveying belt, a visual recognition system arranged on the other side of the grabbing conveying belt, and a pneumatic control box hung at the end, away from a return conveying belt, of the visual recognition system. The air compressor is externally connected with the pneumatic control box; the automatic storage device for the cleaned nickel-titanium alloy wires for the orthodontics is high in automation degree, high in efficiency and capable of circularly grabbing the nickel-titanium alloy wires.

Description

Technical Field

[0001] The utility model relates to the technical field of the preparation of nickel-titanium alloy wires for orthodontics, in particular to an automatic storage device for nickel-titanium alloy wires for orthodontics after cleaning. Background Technique

[0002] Nickel-titanium alloy wires have the characteristics of good superelasticity, small stiffness coefficient, corrosion resistance, etc., and are often used in orthodontic force application devices in oral cavity. Compared with stainless steel wires, the orthodontic force applied by them is gentle, lasting, has a high recovery force, and small residual deformation. It has obvious curative effects on treating open bite teeth, crowding, and crossbite, and will not cause adverse effects on the tissues around the teeth. Patients have no pain and are deeply welcomed by doctors and patients. During the preparation and processing of nickel-titanium alloy wires for orthodontics, especially before finished product packaging, it is necessary to clean them multiple times to fully remove pollutants such as residual grease, dirt, and dust on the surface of the wires. The arch of nickel-titanium alloy wires for orthodontics includes common U-shaped shapes such as oval, square-round, and natural shapes. In order to ensure the cleaning effect, the U-shaped arch nickel-titanium alloy wires are usually fully spread out so that they are in a random loose state in the cleaning liquid, rather than in an overlapping state up and down. After cleaning, the randomly loose nickel-titanium alloy wires need to be re-collected and sorted into an overlapping state up and down for convenient subsequent packaging. At present, most of the production is manual sorting of loose U-shaped nickel-titanium alloy wires. Due to the large number of model specifications of nickel-titanium alloy wires, various arch wire forms, and different arch forms of upper teeth and lower teeth under the same arch form, it is inefficient to manually store and sort each specification, which is not suitable for large-scale production. Based on this, in order to improve the efficiency of storing and sorting nickel-titanium alloy wires for orthodontics after cleaning, it is necessary to design an automatic storage device for nickel-titanium alloy wires for orthodontics after cleaning.

[0003] An isolation storage device for orthodontic ligature wires in the stomatology department provided according to the application number CN202022929222.5 includes a box body and a ligature wire coil. The inner wall of the bottom end of the box body is fixedly connected with a first spring, the top end of the first spring is fixedly connected with a bearing plate, and coaxial shafts are fixedly connected to the upper surface of the bearing plate and the inner wall of the top end of the box body. U-shaped sleeves are fixedly connected to the upper and lower ends of the ligature wire coil. Through the setting of the box body and the cover plate, the ligature wire coil can be protected to avoid the ligature wires on the ligature wire coil from directly contacting the outside air, reducing the influence of external unhygienic factors on the ligature wires. Through the setting of the measuring scale, when it is necessary to intercept the ligature wires, rotate the measuring scale with the pin shaft as the vertex so that the measuring scale is parallel to the plate body, so that simple measurement can be carried out when intercepting the ligature wires, reducing errors.

[0004] Through the sealed structural design and the added cutting element in the above document, a certain length of orthodontic ligature wires can be cut according to needs and the internal orthodontic ligature wires can be avoided from being contaminated, but the problem of difficult large-scale storage cannot be solved. Content of the Utility Model

[0005] Based on this, the purpose of the present utility model is to provide an automatic storage device for nickel-titanium alloy wires used in orthodontics after cleaning, so as to solve the technical problems raised in the above-mentioned background technology.

[0006] To achieve the above purpose, the present utility model provides the following technical solutions:

[0007] An automatic storage device for nickel-titanium alloy wires used in orthodontics after cleaning, including a return conveyor belt, a grasping conveyor belt erected above the return conveyor belt, a turnover box provided at one end of the return conveyor belt, an ultrasonic cleaning machine provided at the other end of the turnover box, a grasping machine system provided on one side of the grasping conveyor belt, a visual recognition system provided on the other side of the grasping conveyor belt, a pneumatic control box suspended at one end of the visual recognition system away from the return conveyor belt, and an air compressor externally connected to the pneumatic control box.

[0008] Preferably, the return conveyor belt extends longer at both ends compared to the grasping conveyor belt, a C-shaped baffle provided above one end of the return conveyor belt away from the turnover box, a first driving motor provided on the side of the other end of the return conveyor belt, and a first connector connecting the first driving motor and the central axis of the roller at one end of the return conveyor belt.

[0009] Preferably, the grasping conveyor belt includes a second driving motor provided on one side, a second connector connecting the second driving motor and the central axis of the roller at one end of the grasping conveyor belt, a loading platform erected above one end of the grasping conveyor belt away from the turnover box, and material receiving boxes arranged in an array on the top of the loading platform.

[0010] Preferably, the grasping machine system includes a first grasping robot provided on the side of the turnover box away from the visual recognition system, a second grasping robot provided on the side of the middle of the grasping conveyor belt away from the visual recognition system, and flexible clamping claws provided at the grasping ends of the first grasping robot and the second grasping robot.

[0011] Preferably, the first grasping robot includes a first base erected on the side of the turnover box away from the visual recognition system, a first active arm rotatably installed on the top of the first base, a first driven arm rotatably installed on the top of the other end of the first active arm, a first telescopic cylinder provided on the top of the other end of the first driven arm, and the second grasping robot includes a second base provided on the side of the middle of the grasping conveyor belt away from the visual recognition system, a second active arm provided on the top of the second base, a second driven arm provided on the top of the other end of the second active arm, and a second telescopic cylinder provided on the top of the other end of the second driven arm.

[0012] Preferably, the flexible clamping jaw includes a connecting flange connected to the bottom execution ends of the first telescopic cylinder and the second telescopic cylinder, two mounting buckles provided at the bottom end of the connecting flange, a pneumatic core provided on the reverse side of the two mounting buckles, and a clamping piece hinged to one end of the pneumatic core away from the connecting flange.

[0013] Preferably, the visual recognition system includes a first bracket provided on one side of the turnover box, a first visual monitor hoisted on the top of the first bracket, a second bracket provided in the middle of one side of the grasping and conveying belt, and a second visual monitor provided on the top of the second bracket.

[0014] In summary, the technical solution mainly has the following beneficial effects:

[0015] In this embodiment, the structure is designed reasonably, simply and efficiently, avoiding the cumbersome and time-consuming operation process of traditional manual storage and sorting of nitinol wires. By using the functions of the automatic visual recognition system and the grasping machine system, the process of collecting and sorting nitinol wires is simplified to the operation of mechanical flexible clamping jaws, with a high degree of automation, improving the processing efficiency, and having high market promotion value.

[0016] Through the return conveyor belt provided under the grasping and conveying belt, the nitinol wires that do not conform to the storage form and are missed in the first-round storage are re-introduced into the turnover box for cyclic grasping, ensuring the neat form during storage and avoiding the problem of missing nitinol wires during storage. Description of the Drawings

[0017] Figure 1 Isometric view of the overall structure of the present utility model;

[0018] Figure 2 Partial element identification diagram of the overall structure of the present utility model;

[0019] Figure 3 Schematic diagram of the component structure of the flexible clamping jaw of the present utility model;

[0020] Figure 4 Left isometric view of the overall structure of the present utility model.

[0021] Description of the Drawings: 10. Return conveyor belt; 11. Gripping conveyor belt; 12. Turnover box; 13. Ultrasonic cleaning machine; 14. Gripping machine system; 15. Visual recognition system; 16. Pneumatic control box; 17. Air compressor; 101. C-shaped baffle; 102. First drive motor; 103. First connector; 111. Second drive motor; 112. Second connector; 113. Loading platform; 114. Receiving box; 141. First gripping robot; 142. Second gripping robot; 143. Flexible clamping jaw; 1411. First base; 1412. First active arm; 1413. First driven arm; 1414. First telescopic cylinder; 1421. Second base; 1422. Second active arm; 1423. Second driven arm; 1424. Second telescopic cylinder; 1431. Connecting flange; 1432. Mounting buckle; 1433. Pneumatic core; 1434. Clamping piece; 151. First bracket; 152. First visual monitor; 153. Second bracket; 154. Second visual monitor. Detailed Implementation Manner

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0023] Embodiment

[0024] Please refer with emphasis to the attached Figure 1 、 4 As shown, an automatic storage device for nickel-titanium alloy wires after cleaning for orthodontics includes a return conveyor belt 10, a gripping conveyor belt 11 erected above the return conveyor belt 10, a turnover box 12 provided at one end of the return conveyor belt 10, an ultrasonic cleaning machine 13 provided at the other end of the turnover box 12, a gripping machine system 14 provided on one side of the gripping conveyor belt 11, a visual recognition system 15 provided on the other side of the gripping conveyor belt 11, a pneumatic control box 16 suspended at one end of the visual recognition system 15 away from the return conveyor belt 10, and an air compressor 17 externally connected to the pneumatic control box 16.

[0025] It should be noted that the pneumatic control box 16 is a transfer station for the air compressor 17 to supply air to the air-consuming devices of the entire device. Through PLC regulation, it is responsible for accurately delivering compressed air into the first telescopic cylinder 1414, the second telescopic cylinder 1424, and the pneumatic core 1433. Before the nickel-titanium alloy wire storage work is carried out, the nickel-titanium alloy wire needs to be fully cleaned in the ultrasonic cleaning machine 13, and then the nickel-titanium alloy wire in the ultrasonic cleaning machine 13 is manually placed in the turnover box 12. Only when there is a nickel-titanium alloy wire in the turnover box 12 can the automatic storage device be started;

[0026] Further, the nitinol wire to be processed is placed into the ultrasonic cleaner 13, which is used to ultrasonically clean the nitinol wire in a randomly loose state.

[0027] Further, the cleaned nitinol wire is placed into the turnover box 12.

[0028] Please refer specifically to Figure 1 , 2 , Figures 3 and 4. The grasping and conveying belt 11 includes a second driving motor 111 provided on one side, a second connector 112 connecting the second driving motor 111 and the central axis of the roller at one end of the grasping and conveying belt 11, a loading platform 113 erected above the end of the grasping and conveying belt 11 away from the turnover box 12, and a material receiving box 114 arranged in an array on the top of the loading platform 113; the grasping machine system 14 includes a first grasping robot 141 provided on the side of the turnover box 12 away from the visual recognition system 15, a second grasping robot 142 provided on the side of the middle of the grasping and conveying belt 11 away from the visual recognition system 15, and a flexible clamping claw 143 provided at the grasping ends of the first grasping robot 141 and the second grasping robot 142; the first grasping robot 141 includes a first base 1411 erected on the side of the turnover box 12 away from the visual recognition system 15, a first active arm 1412 rotatably installed on the top of the first base 1411, a first driven arm 1413 rotatably installed on the top of the other end of the first active arm 1412, and a first telescopic cylinder 1414 provided on the top of the other end of the first driven arm 1413; the second grasping robot 142 includes a second base 1421 provided on the side of the middle of the grasping and conveying belt 11 away from the visual recognition system 15, a second active arm 1422 provided on the top of the second base 1421, a second driven arm 1423 provided on the top of the other end of the second active arm 1422, and a second telescopic cylinder 1424 provided on the top of the other end of the second driven arm 1423; the flexible clamping claw 143 includes a connecting flange 1431 connected to the bottom execution ends of the first telescopic cylinder 1414 and the second telescopic cylinder 1424, two mounting buckles 1432 provided at the bottom end of the connecting flange 1431, a pneumatic core 1433 provided on the reverse side of the two mounting buckles 1432, and a clamping piece 1434 hinged to the end of the pneumatic core 1433 away from the connecting flange 1431; the visual recognition system 15 includes a first bracket 151 provided on one side of the turnover box 12, a first visual monitor 152 hoisted on the top of the first bracket 151, a second bracket 153 provided in the middle of one side of the grasping and conveying belt 11, and a second visual monitor 154 provided on the top of the second bracket 153.

[0029] It should be noted that the first visual monitor 152 is installed directly above the turnover box 12, with a visual coverage range of the entire turnover box 12 and its interior, and has the ability to recognize the shape of the nitinol wire and guide the grasping position of the first grasping robot 141; the second visual monitor 154 is installed directly above the middle of the grasping conveyor belt 11, with a visual coverage range of a rectangular area in the middle of the grasping conveyor belt 11, and has the ability to recognize the shape of the nitinol wire and guide the grasping position of the second grasping robot 142;

[0030] Furthermore, when there is a nitinol wire to be sorted and stored in the turnover box 12, after being recognized by the first visual monitor 152 hanging at the top of the first bracket 151, an electrical signal is sent to drive the first grasping robot 141 to start;

[0031] Furthermore, the first active arm 1412 and the first driven arm 1413 installed on the top of the first base 1411, under the drive of the electric push and the guidance of the first visual monitor 152, adjust the first telescopic cylinder 1414 and the flexible clamping claw 143 at its bottom to directly above the nitinol wire to be grasped;

[0032] Furthermore, under the regulation of the pneumatic control box 16, the first telescopic cylinder 1414 is inflated and extended, driving the entire flexible clamping claw 143 to approach the nitinol wire to be grasped through the connecting flange 1431. The pneumatic cores 1433 on the two mounting buckles 1432 are ventilated, pressing the clamping piece 1434 at one end to incline inward until the nitinol wire to be grasped is clamped;

[0033] Furthermore, under the regulation of the pneumatic control box 16, the first telescopic cylinder 1414 deflates and contracts, lifting the nitinol wire into the air. The first active arm 1412 and the first driven arm 1413 installed on the top of the first base 1411, under the drive of the electric push and the guidance of the first visual monitor 152, adjust the first telescopic cylinder 1414 and the flexible clamping claw 143 at its bottom to above one end of the grasping conveyor belt 11;

[0034] Furthermore, under the regulation of the pneumatic control box 16, the pneumatic cores 1433 on the two mounting buckles 1432 deflate, releasing the clamping piece 1434 at one end, and the nitinol wire falls onto the grasping conveyor belt 11;

[0035] Furthermore, the second driving motor 111 drives the grasping conveyor belt 11 to convey materials towards the receiving box 114 through the second connector 112;

[0036] Furthermore, when a nitinol wire appears in the recognition area of the second visual monitor 154 installed on the top of the second bracket 153, if the recognized shape of the nitinol wire meets the requirements, an electrical signal is sent to drive the second grasping robot 142 to start;

[0037] Further, the second active arm 1422 installed on the top of the second base 1421 cooperates with the second driven arm 1423, and under the drive of the electric push and the guidance of the second visual monitor 154, moves the second telescopic cylinder 1424 and the flexible clamping claw 143 at its bottom to directly above the nickel-titanium alloy wire to be grabbed;

[0038] Further, under the regulation of the pneumatic control box 16, the second telescopic cylinder 1424 is inflated and extended, and drives the entire flexible clamping claw 143 to approach the nickel-titanium alloy wire to be grabbed through the connecting flange 1431. The pneumatic cores 1433 on the two mounting buckles 1432 are ventilated, pressing the clamping piece 1434 at one end to incline inwards until the nickel-titanium alloy wire to be grabbed is clamped;

[0039] Further, under the regulation of the pneumatic control box 16, the second telescopic cylinder 1424 deflates and contracts, lifting the nickel-titanium alloy wire into the air. The second active arm 1422 installed on the top of the second base 1421 cooperates with the second driven arm 1423, and under the drive of the electric push and the guidance of the second visual monitor 154, adjusts the second telescopic cylinder 1424 and the flexible clamping claw 143 at its bottom to directly above the collectible material receiving box 114;

[0040] Further, under the regulation of the pneumatic control box 16, the pneumatic cores 1433 on the two mounting buckles 1432 deflate, releasing the clamping piece 1434 at one end, and the nickel-titanium alloy wire falls into the material receiving box 114.

[0041] Please refer to the attached Figure 1 、 4 As shown, the return conveyor belt 10 extends further at both ends compared to the grasping conveyor belt 11. The C-shaped baffle 101 is provided above one end of the return conveyor belt 10 away from the turnover box 12, the first driving motor 102 is provided on the side of the other end of the return conveyor belt 10, and the first connector 103 connects the first driving motor 102 and the middle shaft of the roller at one end of the return conveyor belt 10.

[0042] It should be noted that the conveying direction of the return conveyor belt 10 is opposite to that of the grasping conveyor belt 11. There is a sufficient height difference between the loading platform 113 and the grasping conveyor belt 11. The nickel-titanium alloy wire not received in the material receiving box 114 passes under the loading platform 113 and falls onto the return conveyor belt 10 at the end;

[0043] Further, after one round of collection, the nickel-titanium alloy wire not in the specified placement shape passes under the loading platform 113 and falls onto the return conveyor belt 10. During this process, the C-shaped baffle 101 blocks the nickel-titanium alloy wire to prevent it from scattering;

[0044] Further, the first driving motor 102 is started, and the first connector 103 is used to drive the return conveyor belt 10 to convey in the direction opposite to the conveying direction of the grasping conveyor belt 11, driving all the nitinol wires thereon to move to the other end and pouring them all into the turnover box 12, and the cyclic grasping and storage process is carried out.

[0045] The working principle of the present utility model is as follows:

[0046] First, place the nitinol wire to be processed into the ultrasonic cleaning machine 13. The ultrasonic cleaning machine 13 is used to ultrasonically clean the nitinol wire in a randomly loose state, and then place the cleaned nitinol wire into the turnover box 12;When there are nickel-titanium alloy wires to be sorted and stored in the turnover box 12, after being recognized by the first visual monitor 152 hanging on the top of the first bracket 151, an electrical signal is sent to drive the first grasping robot 141 to start. The first active arm 1412 and the first driven arm 1413 installed on the top of the first base 1411 are driven by an electric pusher and guided by the first visual monitor 152 to adjust the first telescopic cylinder 1414 and the flexible clamping claw 143 at its bottom to directly above the nickel-titanium alloy wire to be grasped. Under the control of the pneumatic control box 16, the first telescopic cylinder 1414 is inflated and extended, driving the entire flexible clamping claw 143 to approach the nickel-titanium alloy wire to be grasped through the connecting flange 1431. The pneumatic cores 1433 on the two mounting buckles 1432 are ventilated, pressing the clamping piece 1434 at one end to incline inwards until the nickel-titanium alloy wire to be grasped is clamped. Under the control of the pneumatic control box 16, the first telescopic cylinder 1414 deflates and contracts, lifting the nickel-titanium alloy wire into the air. The first active arm 1412 and the first driven arm 1413 installed on the top of the first base 1411 are driven by an electric pusher and guided by the first visual monitor 152 to adjust the first telescopic cylinder 1414 and the flexible clamping claw 143 at its bottom to above one end of the grasping conveyor belt 11. Under the control of the pneumatic control box 16, the pneumatic cores 1433 on the two mounting buckles 1432 deflate, releasing the clamping piece 1434 at one end, and the nickel-titanium alloy wire falls onto the grasping conveyor belt 11. The second driving motor 111 drives the grasping conveyor belt 11 to convey materials towards the receiving box 114 through the second connector 112. When the nickel-titanium alloy wire appears in the recognition area of the second visual monitor 154 installed on the top of the second bracket 153, if the recognized shape of the nickel-titanium alloy wire meets the regulations, an electrical signal is sent to drive the second grasping robot 142 to start. The second active arm 1422 installed on the top of the second base 1421 cooperates with the second driven arm 1423 to be driven by an electric pusher and guided by the second visual monitor 154 to move the second telescopic cylinder 1424 and the flexible clamping claw 143 at its bottom to directly above the nickel-titanium alloy wire to be grasped. Under the control of the pneumatic control box 16, the second telescopic cylinder 1424 is inflated and extended, driving the entire flexible clamping claw 143 to approach the nickel-titanium alloy wire to be grasped through the connecting flange 1431. The pneumatic cores 1433 on the two mounting buckles 1432 are ventilated, pressing the clamping piece 1434 at one end to incline inwards until the nickel-titanium alloy wire to be grasped is clamped. Under the control of the pneumatic control box 16, the second telescopic cylinder 1424 deflates and contracts, lifting the nickel-titanium alloy wire into the air. The second active arm 1422 installed on the top of the second base 1421 cooperates with the second driven arm 1423 to be driven by an electric pusher and guided by the second visual monitor 154 to adjust the second telescopic cylinder 1424 and the flexible clamping claw 143 at its bottom to directly above the receivable receiving box 114. Under the control of the pneumatic control box 16, the pneumatic cores 1433 on the two mounting buckles 1432 deflate, releasing the clamping piece 1434 at one end, and the nickel-titanium alloy wire falls into the receiving box 114;After one round of storage, the nitinol wire that does not assume the specified placement shape passes under the stage 113 and falls onto the return conveyor belt 10. During this process, the C-shaped baffle 101 blocks the nitinol wire to prevent it from scattering. The first drive motor 102 is started, and the first connector 103 is used to drive the return conveyor belt 10 to convey in the direction opposite to the conveying direction of the grasping conveyor belt 11, driving all the nitinol wires thereon to move to the other end and pour them all into the turnover box 12, thus cycling the grasping and storage process.

[0047] The above embodiments are only used to illustrate the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the present invention.

Claims

1. A device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning, characterized in that: The invention comprises a return conveyor belt (10), a grabbing conveyor belt (11) mounted above the return conveyor belt (10), a turnover box (12) arranged at one end of the return conveyor belt (10), an ultrasonic cleaning machine (13) arranged at the other end of the turnover box (12), a grabbing machine system (14) arranged at one side of the grabbing conveyor belt (11), a visual recognition system (15) arranged at the other side of the grabbing conveyor belt (11), a pneumatic control box (16) suspended at one end of the visual recognition system (15) away from the return conveyor belt (10), and an air compressor (17) externally connected to the pneumatic control box (16).

2. The device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning according to claim 1, characterized in that: The return conveyor belt (10) has a longer extension distance at both ends than the grabbing conveyor belt (11), a C-shaped baffle (101) is arranged above one end of the return conveyor belt (10) away from the turnover box (12), a first drive motor (102) is arranged on the side of the other end of the return conveyor belt (10), and a first connector (103) connecting the first drive motor (102) and the central axis of the roller at one end of the return conveyor belt (10).

3. The device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning according to claim 1, characterized in that: The grabbing conveyor belt (11) comprises a second driving motor (111) arranged on one side, a second connector (112) connected to the second driving motor (111) and the central axis of the roller at one end of the grabbing conveyor belt (11), a loading platform (113) mounted above the end of the grabbing conveyor belt (11) away from the turnover box (12), and a material receiving box (114) arranged in an array on the top of the loading platform (113).

4. The device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning according to claim 1, characterized in that: The grasping machine system (14) includes a first grasping robot (141) arranged on the side of the turnover box (12) away from the visual recognition system (15), a second grasping robot (142) arranged on the middle of the grasping conveyor belt (11) away from the visual recognition system (15), and a flexible holding claw (143) arranged at the grasping end of the first grasping robot (141) and the second grasping robot (142).

5. The device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning according to claim 4, characterized in that: The first grasping robot (141) includes a first base (1411) mounted on a side of the turnover box (12) away from the visual recognition system (15), a first active arm (1412) rotatably mounted on the top of the first base (1411), a first slave arm (1413) rotatably mounted on the top of the other end of the first active arm (1412), and a first telescopic cylinder (1414) arranged on the top of the other end of the first slave arm (1413); the second grasping robot (142) includes a second base (1421) arranged on a side of the middle of the grasping conveyor belt (11) away from the visual recognition system (15), a second active arm (1422) arranged on the top of the second base (1421), a second slave arm (1423) arranged on the top of the other end of the second active arm (1422), and a second telescopic cylinder (1424) arranged on the top of the other end of the second slave arm (1423).

6. The device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning according to claim 5, characterized in that: The flexible supporting claw (143) includes a connecting flange (1431) connected to the bottom execution end of the first telescopic cylinder (1414) and the second telescopic cylinder (1424), two mounting buckles (1432) arranged at the bottom end of the connecting flange (1431), a pneumatic core (1433) arranged on the opposite side of the two mounting buckles (1432), and a clamping plate (1434) hinged to the end of the pneumatic core (1433) away from the connecting flange (1431).

7. The device for automatically storing nickel-titanium alloy wires for orthodontics after cleaning according to claim 1, characterized in that: The visual recognition system (15) comprises a first bracket (151) arranged on one side of the turnover box (12), a first visual monitor (152) suspended on the top of the first bracket (151), a second bracket (153) arranged in the middle of one side of the grabbing conveyor belt (11), and a second visual monitor (154) arranged on the top of the second bracket (153).

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