Robot multi-point clamp used in false tooth production process

Abstract

The utility model relates to a robot multi-point clamp used in the false tooth production process, and relates to the field of false tooth machining. The robot multi-point clamp used in the false tooth production process is installed on a tail end joint of a robot and comprises a set of clamping jaws, and the clamping jaws achieve clamping or loosening through opening and closing movement. The clamping end of the clamping jaw is provided with a first clamping part used for clamping a zirconium oxide block material, a second clamping part used for clamping a zirconium oxide disc material, a third clamping part used for clamping a plastic jig and a fourth clamping part used for clamping a zirconium oxide crucible, and the fourth clamping part is elastically installed at the clamping end of the clamping jaw. Under the condition, in the false tooth machining production process, the robot does not need to frequently replace different chucks, and the clamp cost can be reduced while the machining efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of denture processing, and particularly relates to a robot multi-point fixture used in the production process of dentures. Background Art

[0002] Dentures are what people often call "false teeth". Just as "false legs" and "prosthetic limbs" are called "prostheses", the meaning of "dentures" is teeth that fulfill "obligations" for humans. Medically, it is the general term for prostheses made after partial or complete loss of upper and lower teeth.

[0003] Dentures are processed from denture blanks. The denture blanks include zirconia block blanks and zirconia disc blanks. Removably connected to the bodies of the zirconia block blanks and zirconia disc blanks are connecting pieces that facilitate clamping by a robot. During the processing and production of dentures, the robot needs to clamp and transfer the following components: zirconia block blanks, zirconia disc blanks, plastic jigs for fixing zirconia block blanks during transfer, and zirconia crucibles, which are used to place the dentures completed by CNC machining and sinter them in a sintering furnace.

[0004] In the related art, the robot needs to replace different chucks in the robot chuck library to clamp the above different components to meet the production requirements of dentures, resulting in low processing efficiency and high fixture costs. Summary of the Utility Model

[0005] The purpose of the present application is to provide a robot multi-point fixture used in the production process of dentures to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above purpose, the technical solution adopted in the present application is as follows:

[0007] A robot multi-point fixture used in the production process of dentures is installed on the end joint of a robot. The robot multi-point fixture used in the production process of dentures includes a set of jaws, and the jaws achieve clamping or loosening through opening and closing movements. The clamping ends of the jaws have:

[0008] A first clamping portion for clamping a zirconia block blank;

[0009] A second clamping portion for clamping a zirconia disc blank;

[0010] A third clamping portion for clamping a plastic jig; and

[0011] A fourth clamping portion for clamping a zirconia crucible, and the fourth clamping portion is elastically installed on the clamping end of the jaws. [[ID=,38]]

[0012] In a possible implementation, the first clamping part is a group of sheet-shaped clamping pieces, a first connecting piece is detachably connected to the zirconia block material, and the first connecting piece has a clamping groove corresponding to the clamping piece.

[0013] In a possible implementation, the second clamping part is two groups of conical clamping columns, a second connecting piece is detachably connected to the zirconia disk material, and the second connecting piece has a clamping hole corresponding to the clamping column.

[0014] In a possible implementation, the third clamping part is a group of square clamping plates for clamping the block-shaped plastic jig.

[0015] In a possible implementation, the fourth clamping part is two groups of clamping blocks inclined towards each other, the clamping blocks are elastically connected to the clamping ends of the jaws through springs, and the inclination angles of the two groups of clamping blocks match the diameter of the zirconia crucible.

[0016] In a possible implementation, the jaws are driven by a servo motor.

[0017] In a possible implementation, the servo motor is rotatably connected to the end joint of the robot through a rotating part.

[0018] In a possible implementation, the plastic jig has an insertion hole, the first connecting piece has an insertion rod corresponding to the insertion hole, and the insertion rod is quickly inserted and connected to the insertion hole.

[0019] The beneficial effects brought by the technical solution provided by this application at least include:

[0020] The multi-point fixture for a robot in the process of denture production provided by this application is installed on the end joint of the robot. It includes a group of jaws. The jaws achieve clamping or loosening through an opening and closing movement. The clamping ends of the jaws have: a first clamping part for clamping zirconia block materials, a second clamping part for clamping zirconia disk materials, a third clamping part for clamping plastic jigs, and a fourth clamping part for clamping zirconia crucibles. The fourth clamping part is elastically installed on the clamping ends of the jaws. In this case, during the processing and production of dentures, the robot does not need to frequently replace different chucks, which can improve the processing efficiency and reduce the fixture cost at the same time. Description of the Drawings

[0021] The drawings are used to provide a further understanding of this application, and constitute a part of the specification. They are used to explain this application together with the embodiments of this application, and do not constitute a limitation to this application. In the drawings:

[0022] Figure 1The schematic diagram of the connection structure between the robot multi-point fixture and the robot provided by an exemplary embodiment of the present application in the denture production process is shown;

[0023] Figure 2 The schematic diagram of the structure of the robot multi-point fixture provided by an exemplary embodiment of the present application in the denture production process is shown;

[0024] Figure 3 The schematic diagram of the first working state structure of the robot multi-point fixture provided by an exemplary embodiment of the present application in the denture production process is shown;

[0025] Figure 4 The schematic diagram of the second working state structure of the robot multi-point fixture provided by an exemplary embodiment of the present application in the denture production process is shown;

[0026] Figure 5 The schematic diagram of the third working state structure of the robot multi-point fixture provided by an exemplary embodiment of the present application in the denture production process is shown;

[0027] Figure 6 The schematic diagram of the fourth working state structure of the robot multi-point fixture provided by an exemplary embodiment of the present application in the denture production process is shown;

[0028] In the figure:

[0029] 1. Robot; 2. Jaw; 3. Zirconia block; 4. Zirconia disk; 5. Plastic fixture; 6. Zirconia crucible; 7. Servo motor; 8. Rotating part;

[0030] 21. First clamping part; 211. Clamping piece; 22. Second clamping part; 221. Clamping column; 23. Third clamping part; 231. Clamping plate; 24. Fourth clamping part; 241. Clamping block; 242. Spring;

[0031] 31. First connecting piece; 311. Clamping groove; 312. Insertion rod; 32. Second connecting piece; 321. Clamping hole;

[0032] 51. Insertion hole. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0034] Among them, the same components are denoted by the same reference numerals. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the accompanying drawings of this application specification, and the terms "bottom surface" and "top surface", "inner" and "outer" respectively refer to the directions towards or away from specific components. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application specification, "a plurality of" means two or more.

[0035] The following further describes this application in conjunction with the accompanying drawings and embodiments.

[0036] Figure 1 The schematic connection structure diagram of the robot multi-point fixture and the robot in the denture production process provided by an exemplary embodiment of this application is shown. The robot multi-point fixture in the denture production process is installed on the end joint of the robot 1. The robot multi-point fixture in the denture production process includes a set of jaws 2, and the jaws 2 achieve clamping or loosening through opening and closing movements.

[0037] Figure 2 The schematic structure diagram of the robot multi-point fixture in the denture production process provided by an exemplary embodiment of this application is shown. The clamping end of the jaws 2 has: a first clamping portion 21 for clamping the zirconia block 3, a second clamping portion 22 for clamping the zirconia disc 4, a third clamping portion 23 for clamping the plastic jig 5, and a fourth clamping portion 24 for clamping the zirconia crucible 6. The fourth clamping portion 24 is elastically installed on the clamping end of the jaws 2. The jaws 2 are driven by a servo motor 7, and the servo motor 7 is rotatably connected to the end joint of the robot 1 through a rotating portion 8.

[0038] Figure 3 The schematic diagram of the first working state structure of the robot multi-point fixture in the denture production process provided by an exemplary embodiment of this application is shown. The first clamping portion 21 is a set (two) of sheet-like clamping pieces 211. A first connecting piece 31 is detachably connected to the zirconia block 3, and the first connecting piece 31 has a clamping groove 311 corresponding to the clamping pieces 211.

[0039] Preferably, the mating end of the clamping piece 211 and the clamping groove 311 has a chamfer for facilitating clamping.

[0040] Figure 4A schematic structural diagram of the second working state of a robotic multi-point clamp used in the denture production process provided by an exemplary embodiment of the present application is shown, wherein the second clamping portion 22 is two groups (four) of conical clamping columns 221, and a second connecting piece 32 is detachably connected to the zirconia disc material 4, and the second connecting piece 32 has a clamping hole 321 corresponding to the clamping column 221.

[0041] Figure 5 A schematic structural diagram of the third working state of a robot multi-point clamp used in the denture production process provided by an exemplary embodiment of the present application is shown, wherein the third clamping portion 23 is a group (two) of square clamping plates 231 for clamping a block-shaped plastic jig 5.

[0042] In the embodiment of the present application, the plastic jig 5 has a socket 51, which is combined with Figure 3 As can be seen, the first connector 31 has a plug rod 312 corresponding to the socket 51, and the plug rod 312 is connected to the socket 51 by quick plugging. The number of the sockets 51 can be flexibly adjusted according to actual working conditions, and the quick plug connection means that plugging or separation can be quickly achieved.

[0043] Figure 6 A schematic structural diagram of the fourth working state of a robotic multi-point clamp for use in the denture production process provided by an exemplary embodiment of the present application is shown. The fourth clamping portion 24 is composed of two groups (four) of clamping blocks 241 inclined toward each other. The clamping blocks 241 are elastically connected to the clamping ends of the clamping jaws 2 through springs 242. The inclination angles of the two groups of clamping blocks 241 match the diameter of the zirconia crucible 6.

[0044] In the embodiment of the present application, the elastic connection (soft connection) of the spring 242 gives the clamping block 241 a certain degree of disturbance, and can also achieve good four-point contact under the condition of a large friction coefficient; if it is a hard connection, the zirconia crucible 6 and the clamping block 241 have a rough surface and a large friction coefficient, and it is easy for only 2 or 3 clamping blocks 241 to contact the zirconia crucible 6, which can easily cause the problem of unstable clamping.

[0045] In the embodiment of the present application, the larger the diameter of the zirconia crucible 6 , the smaller the tilt angles of the two groups of clamping blocks 241 ; and the smaller the diameter of the zirconia crucible 6 , the larger the tilt angles of the two groups of clamping blocks 241 .

[0046] Optionally, the detachable connection includes but is not limited to bolt connection or bonding.

[0047] Next, combine the attached Figures 1 to 6 The working principle of the robotic multi-point fixture used in the denture production process involved in the embodiments of the present application is explained.

[0048] In the process of processing and manufacturing dentures, the robot needs to hold and transfer different components. The jaw 2 is driven by a servo motor 7 to open and close. The servo motor 7 is rotatably connected to the end joint of the robot 1 through a rotating part 8 to adjust the clamping angle. Specifically:

[0049] The zirconia block 3 is clamped by the cooperation of two clamping pieces 211 and two clamping grooves 311 on the first connecting piece 31;

[0050] The zirconia disk 4 is clamped by the cooperation of four clamping posts 221 and four clamping holes 321 on the second connecting piece 32;

[0051] The plastic fixture 5 is clamped by clamping both sides of the plastic fixture 5. The plastic fixture 5 is used to fix the zirconia block 3 during transfer. The zirconia disk 4 does not need to be fixed by a fixture. The zirconia disk 4 can be directly fixed to the transfer mechanism with a jack through a pin at the bottom of the second connecting piece;

[0052] The zirconia crucible 6 is clamped by clamping the outer periphery of the zirconia crucible 6 with four clamping blocks 241.

[0053] In the embodiments disclosed in the present application, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments disclosed in the present invention can be understood according to specific circumstances.

[0054] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A robotic multi-point fixture used in the process of denture production, which is installed on the end joint of a robot, and is characterized in that, The robotic multi-point fixture used in the denture production process includes a set of jaws that clamp or release by opening and closing movements, and the clamping ends of the jaws have: a first clamping portion for clamping a zirconia block; a second clamping portion for clamping a zirconia disk; a third clamping portion for clamping the plastic jig; and The fourth clamping portion is used for clamping the zirconia crucible, and the fourth clamping portion is elastically mounted on the clamping end of the clamping claw.

2. The robotic multi-point fixture for use in denture production according to claim 1, characterized in that: The first clamping portion is a group of sheet-shaped clamping pieces. The zirconia block is detachably connected to a first connecting piece, and the first connecting piece is provided with a clamping groove corresponding to the clamping piece.

3. The robotic multi-point fixture for use in denture production according to claim 1, characterized in that: The second clamping portion is composed of two groups of conical clamping columns. The zirconia disc is detachably connected to a second connecting piece, and the second connecting piece is provided with clamping holes corresponding to the clamping columns.

4. The robotic multi-point fixture for use in denture production according to claim 1, characterized in that: The third clamping portion is a set of square clamping plates for clamping the block-shaped plastic jig.

5. The robot multi-point fixture for use in denture production according to claim 1, characterized in that: The fourth clamping portion is composed of two groups of clamping blocks inclined toward each other. The clamping blocks are elastically connected to the clamping ends of the clamping jaws via springs. The inclination angles of the two groups of clamping blocks match the diameter of the zirconia crucible.

6. The robotic multi-point fixture for use in denture production according to claim 1, characterized in that: The gripping jaws are driven by a servo motor.

7. The robotic multi-point fixture for use in denture production according to claim 6, characterized in that: The servo motor is rotatably connected to the end joint of the robot via a rotating part.

8. The robotic multi-point fixture for use in denture production according to claim 2, characterized in that: The plastic jig is provided with a socket, and the first connecting piece is provided with an insertion rod corresponding to the socket, and the insertion rod is connected to the socket with a quick plug connection.

Images