Feeding and discharging device capable of detecting charging tray and false tooth carving machine

Abstract

The utility model provides a feeding and discharging device capable of detecting a charging tray. The feeding and discharging device comprises a manipulator and a shaft seat, a clamp body is supported on the manipulator, the manipulator is used for driving the clamp body to move, a charging tray is mounted at the top of the clamp body, and a magnetic part is arranged at the front end of the clamp body; a connecting ring body is installed on the inner side of the shaft seat, a magnetic gathering piece is arranged on the inner side of the connecting ring body, and a Hall sensor is further arranged on the inner side of the shaft seat. And the magnetic piece, the magnetic gathering piece and the Hall sensor vertically correspond in sequence. In the utility model, the Hall sensor on the shaft seat is used for sensing the magnetism of the magnetic piece on the clamp body so as to accurately identify whether the charging tray carries a product to move to the inner side of the interlink body or not, so that the feeding sensing of the charging tray is convenient, and the feeding device has the advantages of practicability and high efficiency.

Description

Technical Field

[0001] This utility model relates to the field of dental prosthesis carving machine technology, and in particular to a loading and unloading device for detecting material trays and a dental prosthesis carving machine. Background Technology

[0002] Dental prosthesis carving machines are mainly used in oral restoration, and are suitable for complex dental restorations, situations with limited space after restoration, and cases with high aesthetic requirements. These machines utilize CAD technology to digitize the three-dimensional data of the patient's oral cavity, then use CAM technology for calculation, simulation, and process analysis, and finally use DCM technology for fabrication.

[0003] The loading and unloading device is used to load and unload carving materials to complete the cutting process. Currently, whether the product on the loading and unloading tray of the device has been loaded is determined by manual visual inspection. However, manual visual inspection has the disadvantages of high error rate and high labor cost. Utility Model Content

[0004] The present invention aims to provide a loading and unloading device for detecting the material tray and a dental prosthesis engraving machine, so as to solve the problem in the above-mentioned background art that the material tray of the loading and unloading device is used to manually identify whether the product has been loaded, which has the problems of high error rate and high labor cost.

[0005] The present invention addresses its technical problem by employing the following technical solution: a loading and unloading device capable of detecting a material tray, comprising a robotic arm and a shaft seat; the robotic arm supports a clamping body, which is used to drive the clamping body to move; a material tray is mounted on the top of the clamping body, and a magnetic element is provided at the front end of the clamping body; a connecting ring is mounted on the inner side of the shaft seat, a magnetic focusing element is provided on the inner side of the connecting ring, and a Hall sensor is also provided on the inner side of the shaft seat; the magnetic element, the magnetic focusing element, and the Hall sensor are vertically aligned in sequence.

[0006] In some embodiments, a rotatable first guide bead a, a second guide bead a, and a third guide bead a are distributed on one inner side wall of the interlocking body, and a first guide groove a adapted to the first guide bead a and a second guide groove a adapted to the second guide bead a and the third guide bead a are formed on one outer side wall of the clamping body; a rotatable first guide bead b, a second guide bead b, and a third guide bead b are distributed on the other inner side wall of the interlocking body, and a first guide groove b adapted to the first guide bead b and a second guide groove b adapted to the second guide bead b and the third guide bead b are formed on the other outer side wall of the clamping body.

[0007] In some embodiments, a plurality of buffer bodies are distributed along the inner middle portion of the interlocking body.

[0008] In some embodiments, the buffer is made of an elastic material.

[0009] In some embodiments, the magnetic focusing element includes a brass shell and a stainless steel conductor, the stainless steel conductor being disposed in the middle of the brass shell.

[0010] In some embodiments, the magnetic element is configured as a magnet.

[0011] The present invention also employs the following technical solution to solve its technical problem: a dental prosthesis carving machine, comprising a control motherboard and the above-mentioned loading and unloading device for the detectable material tray, wherein the control motherboard is connected to the Hall sensor circuit; the dental prosthesis carving machine further comprises a transmission component, wherein the transmission component is connected to the robotic arm for transmission.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] In this invention, during loading, the product is placed in the tray, and the robotic arm, supporting the clamp, moves the product on the tray into the inner ring body. At this time, a Hall sensor on the bearing seat senses the magnetism of a magnetic component on the clamp. Upon detecting the magnetism, the Hall sensor changes its opening / closing state, outputting an electrical signal indicating that the tray has completed loading the product. This allows for identification of whether the product on the tray has moved into the inner ring body. To ensure stable sensing between the Hall sensor on the bearing seat and the magnetic component on the clamp, a magnetic focusing component is provided on the inner ring body. This component is located between the Hall sensor and the magnetic component, guiding and focusing the magnetism of the magnetic component. This allows the Hall sensor to stably sense the magnetism of the magnetic component through the magnetic focusing component. This invention, by using a Hall sensor on the bearing seat to sense the magnetism of the magnetic component on the clamp, accurately identifies whether the tray has moved into the inner ring body carrying the product, facilitating tray loading sensing and offering practical and efficient advantages. Attached Figure Description

[0014] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0015] Figure 1 This is a three-dimensional structural diagram of the loading and unloading device for detecting material trays from the first angle.

[0016] Figure 2 This is a three-dimensional structural diagram of the loading and unloading device with detectable trays from a second angle.

[0017] Figure 3 This is a schematic diagram of the loading and unloading device with detectable trays from a third angle.

[0018] Figure 4 This is a schematic diagram of the magnetic component structure of a material loading and unloading device that can detect material trays.

[0019] Explanation of reference numerals in the attached drawings: 100, Loading / unloading device for detecting the material tray; 10, Robotic arm; 20, Clamping body; 201, Magnetic component; 202, First guide groove a; 203, Second guide groove a; 204, First guide groove b; 205, Second guide groove b; 30, Material tray; 40, Shaft seat; 401, Hall sensor; 50, Linkage body; 501, Magnetizing component; 5011, Brass shell; 5012, Stainless steel conductor; 502, First guide bead a; 503, Second guide bead a; 504, Third guide bead a; 505, First guide bead b; 506, Second guide bead b; 507, Third guide bead b; 508, Buffer body. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0021] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0022] Please refer to the following: Figures 1 to 4 As shown, one embodiment of this utility model provides a material loading and unloading device 100 capable of detecting material trays, including a robot arm 10 and a shaft seat 40; the robot arm 10 supports a clamping body 20, and the robot arm 10 is used to drive the clamping body 20 to move. A material tray 30 is installed on the top of the clamping body 20, and a magnetic element 201 is provided at the front end of the clamping body 20; a connecting ring 50 is installed on the inner side of the shaft seat 40, and a magnetic focusing element 501 is provided on the inner side of the connecting ring 50. A Hall sensor 401 is also provided on the inner side of the shaft seat 40; the magnetic element 201, the magnetic focusing element 501 and the Hall sensor 401 are vertically aligned in sequence.

[0023] In the loading and unloading device 100 with detectable tray provided in this embodiment, when loading, the product is placed in the tray 30, and the robot arm 10 supports the clamping body 20 and moves the product on the tray 30 into the inner side of the connecting body 50. At this time, the Hall sensor 401 on the bearing 40 senses the magnetism of the magnetic component 201 on the clamping body 20. After the Hall sensor 401 senses the magnetism of the magnetic component 201, the Hall sensor 401 changes its opening and closing state and outputs an electrical signal that the tray 30 has completed loading the product, thereby realizing the identification of whether the product carried by the tray 30 has moved into the inner side of the connecting body 50. To ensure stable sensing between the Hall sensor 401 on the bearing seat 40 and the magnetic component 201 on the clamp body 20, a magnetic focusing component 501 is provided on the connecting body 50. The magnetic focusing component 501 is located between the Hall sensor 401 and the magnetic component 201. The magnetic focusing component 501 can conduct and focus the magnetism of the magnetic component 201, thereby enabling the Hall sensor 401 to stably sense the magnetism of the magnetic component 201 through the magnetic conduction and focusing of the corresponding magnetic focusing component 501. In this invention, the Hall sensor 401 on the bearing seat 40 senses the magnetism of the magnetic component 201 on the clamp body 20 to accurately identify whether the tray 30 is carrying a product and has moved to the inner side of the connecting body 50. This facilitates the feeding sensing of the tray 30 and has the advantages of practicality and high efficiency.

[0024] In some embodiments, a rotatable first guide bead a502, a second guide bead a503, and a third guide bead a504 are distributed on the inner side wall of the interlocking body 50, and a first guide groove a202 adapted to the first guide bead a502 and a second guide groove a203 adapted to the second guide bead a503 and the third guide bead a504 are formed on the outer side wall of the clamping body 20; a rotatable first guide bead b505, a second guide bead b506, and a third guide bead b507 are distributed on the other inner side wall of the interlocking body 50, and a first guide groove b204 adapted to the first guide bead b505 and a second guide groove b205 adapted to the second guide bead b506 and the third guide bead b507 are formed on the other outer side wall of the clamping body 20.

[0025] In specific implementation: When the robotic arm 10 moves the material tray 30 on the clamping body 20 within the connecting body 50 for loading or unloading, during the movement of the clamping body 20, the first guide groove a202 slides along the first guide ball a502, the second guide groove a203 slides along the second guide ball a503 and the third guide ball a504, the first guide groove b204 slides along the first guide ball b505, and the second guide groove b205 slides along the second guide ball b506 and the third guide ball b507. This arrangement effectively guides the clamping body 20 when the robotic arm 10 moves the material tray 30 on the clamping body 20 for loading or unloading.

[0026] In some embodiments, a plurality of buffer bodies 508 are distributed in the middle of the inner side of the interlocking body 50.

[0027] In specific implementation: When the robotic arm 10 moves the material tray 30 on the clamping body 20 to the inside of the connecting body 50 for loading, when the clamping body 20 moves to its limit position inside the connecting body 50, the clamping body 20 will touch the buffer bodies 508 set in the middle of the inner side of the connecting body 50. Each buffer body 508 is used to buffer and prevent the clamping body 20 from impacting the body of the connecting body 50. Through this arrangement, when the clamping body 20 moves to its limit position inside the connecting body 50, each buffer body 508 is used to buffer and prevent the clamping body 20 from impacting the body of the connecting body 50.

[0028] In some embodiments, the buffer 508 is made of an elastic material.

[0029] In practice: the buffer body 508 is made of an elastic material, such as rubber or silicone. This design allows the buffer body 508 to effectively cushion and block the impact of the clamping device 20 on the body of the linkage 50.

[0030] In some embodiments, the magnetic focusing element 501 includes a brass shell 5011 and a stainless steel conductor 5012, with the stainless steel conductor 5012 disposed in the middle of the brass shell 5011.

[0031] In specific implementation: When the magnetic focusing component 501 conducts magnetic focusing to enable the Hall sensor 401 to stably sense the magnetism of the magnetic component 201, the magnetic focusing component 501 conducts magnetic focusing through the stainless steel conductor 5012. The stainless steel conductor 5012 is located in the middle of the brass shell 5011. As a non-magnetic material, the brass shell 5011 can protect the magnetic field of the internal stainless steel conductor 5012 from interference from external magnetic fields, thus enabling the magnetic focusing component 501 to effectively conduct and focus magnetic field. Through this arrangement, the magnetic focusing component 501 can effectively conduct and focus magnetic field, allowing the Hall sensor 401 to stably and effectively sense the magnetism of the magnetic component 201 through the magnetic focusing of the corresponding magnetic focusing component 501.

[0032] In some embodiments, the magnetic element 201 is configured as a magnet.

[0033] In specific implementation: the magnetic component 201 is a magnet, thus possessing magnetism, and the Hall sensor 401 can sense the magnetism of the magnetic component 201. This configuration ensures that the magnetic component 201's magnetism can be effectively sensed by the Hall sensor 401.

[0034] Another embodiment of this utility model provides a dental prosthesis carving machine, including a control motherboard and the aforementioned loading / unloading device 100 with a detectable material tray. The control motherboard is connected to a Hall sensor 401. The dental prosthesis carving machine also includes a transmission component, which is connected to a robotic arm 10 for transmission. The dental prosthesis carving machine receives electrical signals output by the Hall sensor 401 through the control motherboard to determine whether the material tray 30 has been loaded with the product. When the robotic arm 10, supporting the clamp 20, moves the material tray 30 to load or unload, the transmission component drives the robotic arm 10 to move.

[0035] It should be noted that the dental prosthesis carving machine provided in this embodiment only shows the part related to the technical problem to be solved by this embodiment. It can be understood that the dental prosthesis carving machine provided in this embodiment also includes other structures for realizing the function of the dental prosthesis carving machine, including but not limited to cutting device, dust collection device, etc.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A feeding / unloading device capable of detecting material trays, characterized in that, It includes a robotic arm and a shaft seat; the robotic arm supports a clamping body and is used to move the clamping body; a material tray is installed on the top of the clamping body and a magnetic element is provided at the front end of the clamping body; a connecting ring is installed on the inner side of the shaft seat, a magnetic focusing element is provided on the inner side of the connecting ring, and a Hall sensor is also provided on the inner side of the shaft seat; the magnetic element, the magnetic focusing element, and the Hall sensor are vertically aligned in sequence.

2. The loading and unloading device with detectable trays according to claim 1, characterized in that, The inner side wall of the interlocking body is provided with rotatable first guide bead a, second guide bead a, and third guide bead a. The outer side wall of the clamping body is provided with a first guide groove a that matches the first guide bead a and a second guide groove a that matches the second guide bead a and the third guide bead a. The inner side wall of the interlocking body is provided with rotatable first guide bead b, second guide bead b, and third guide bead b. The outer side wall of the clamping body is provided with a first guide groove b that matches the first guide bead b and a second guide groove b that matches the second guide bead b and the third guide bead b.

3. The loading and unloading device with detectable trays according to claim 1, characterized in that, Several buffer bodies are distributed in the middle of the inner side of the interlocking body.

4. The loading and unloading device with detectable trays according to claim 3, characterized in that, The buffer is made of an elastic material.

5. The loading and unloading device with detectable trays according to claim 1, characterized in that, The magnetic focusing component includes a brass shell and a stainless steel conductor, with the stainless steel conductor located in the middle of the brass shell.

6. The loading and unloading device with detectable trays according to claim 1, characterized in that, The magnetic component is a magnet.

7. A dental prosthesis carving machine, characterized in that, It includes a control motherboard and a loading / unloading device for a detectable tray as described in any one of claims 1 to 6, wherein the control motherboard is connected to the Hall sensor circuit.

8. The dental prosthesis carving machine according to claim 7, characterized in that, It also includes a transmission component, which is connected to the robotic arm via a transmission mechanism.

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