阅读说明：本技术 一种牙齿治疗辅助装置 (Tooth treatment auxiliary device ) 是由 谢瑶 何文蕾 张忠瀚 唐亚鸣 杜艳伟 于 2020-07-08 设计创作，主要内容包括：本发明公开了一种牙齿治疗辅助装置,包括电机、减速器、链轮传动机构、法兰盘和机械臂组成,机械臂为六个自由度,包括顺次连接的第一关节、第二关节、第三关节和第四关节,其中第一关节、第二关节为肩关节实现旋转和摆动,第三关节是肘关节的旋转,第四关节实现腕关节的旋转与俯仰运动。本发明结合微创拔牙技术、喷砂洁牙技术,能够有效减轻在手术过程中的震颤,提高牙齿治疗手术的精准度。(The invention discloses a tooth treatment auxiliary device which comprises a motor, a speed reducer, a chain wheel transmission mechanism, a flange plate and a mechanical arm, wherein the mechanical arm has six degrees of freedom and comprises a first joint, a second joint, a third joint and a fourth joint which are sequentially connected, wherein the first joint and the second joint realize rotation and swing for a shoulder joint, the third joint realizes rotation of an elbow joint, and the fourth joint realizes rotation and pitching motion of a wrist joint. The minimally invasive tooth extraction technology and the sand blasting tooth cleaning technology are combined, so that the vibration in the operation process can be effectively reduced, and the accuracy of the tooth treatment operation is improved.)

1. A tooth treatment auxiliary device is characterized by comprising a first motor (9), a second motor (11), a chain wheel transmission mechanism, a first flange plate connecting piece (2), a second flange plate connecting piece (4) and a third flange plate connecting piece (6);

the mechanical arm comprises a first joint (1), a second joint (3), a third joint (5) and a fourth joint (7) which are sequentially connected, the first joint (1) and the second joint (3) are connected through a first flange plate connecting piece (2), the first joint and the second joint are driven by a second motor (11), the second joint (3) is connected with the third joint (5) through a second flange plate connecting piece (4), and the third joint (5) is connected with the fourth joint (7) through a third flange plate connecting piece (6);

the third joint (5) and the fourth joint (7) are driven by a first motor (9), and the fourth joint (7) moves through a chain wheel transmission mechanism.

2. A dental treatment aid according to claim 1 wherein the robotic arm has six degrees of freedom.

3. A dental treatment aid as claimed in claim 1, characterized in that the chain wheel transmission comprises a first chain wheel pair and a second chain wheel pair, the first chain wheel pair comprising a first spur gear (12) and a third spur gear (16) connected by a first chain (14), the output of the first motor (9) being connected to a first speed reducer (8), the output of the first speed reducer (8) being connected to the first spur gear (12);

the second chain wheel pair comprises a second straight gear (13), a second chain (15), a fourth straight gear (17) and a bevel gear (18) which are sequentially connected, the second straight gear (13) is connected with a second motor (11) and a second speed reducer (10), the output end of the second motor (11) is connected with the second speed reducer (10), and the output end of the second speed reducer (10) is connected with the second straight gear (13).

4. A dental treatment aid according to claim 1, characterized in that the first motor (9) is a combined MAXON motor with a harmonic reducer.

5. A dental treatment aid according to claim 1, characterized in that the second motor (3) is a dc servo motor.

6. A dental treatment aid according to claim 1, characterised in that the third flange connection (6) is crescent shaped.

7. A dental treatment aid according to any one of claims 1-5, characterised in that one end of the fourth joint (7) is adapted to receive a minimally invasive tapping knife, dental drill or blasting head.

8. The dental treatment aid of claim 7, wherein the minimally invasive extraction knife is made of high-strength stainless steel.

9. A dental treatment aid according to claim 1, characterised in that the first joint (1), the second joint (3), the third joint (5) and the fourth joint (7) of the robot arm are of stainless steel.

Technical Field

The invention relates to a tooth treatment auxiliary device, and belongs to the technical field of auxiliary machinery.

Background

Tooth extraction is the most commonly used treatment technique in stomatology, and must be carefully treated because tooth extraction can cause local tissue damage, cause reactions such as bleeding, swelling, pain and the like, and can also cause fluctuations in blood pressure, body temperature and pulse. Especially for patients with cardiovascular diseases and blood diseases, the special nature of the disease causes serious consequences if the tooth extraction method or the tooth extraction mode is improper.

The traditional tooth treatment technology often brings great harm to the physiology and the psychology of a patient in the operation process due to the violent operation and the uncertainty of manual operation. The traditional rough dentistry operation has the defects that the precision of the operation is influenced due to the factors such as insufficient visual field, tremor in the operation process and the like, the damage to surrounding tissues is large, the time spent is long, the postoperative recovery is difficult, and the like, a plurality of unknown factors and human interference still exist in the operation process, and the dentistry operation still has inevitable risks.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a tooth treatment auxiliary device which can assist the traditional tooth treatment, reduce tremor in the tooth treatment process and improve the accuracy of an operation.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the tooth treatment auxiliary device comprises a first motor 9, a second motor 11, a chain wheel transmission mechanism, a first flange plate connecting piece 2, a second flange plate connecting piece 4 and a third flange plate connecting piece 6;

the mechanical arm comprises a first joint 1, a second joint 3, a third joint 5 and a fourth joint 7 which are connected in sequence, the first joint 1 and the second joint 3 are connected through a first flange plate connecting piece 2 and driven by a second motor 11, the second joint 3 is connected with the third joint 5 through a second flange plate connecting piece 4, and the third joint 5 is connected with the fourth joint 7 through a third flange plate connecting piece 6;

the third joint 5 and the fourth joint 7 are driven by a first motor 9, and the fourth joint 7 moves through a chain wheel transmission mechanism.

Further, the mechanical arm has six degrees of freedom.

Further, the chain wheel transmission mechanism comprises a first chain wheel pair and a second chain wheel pair, the first chain wheel pair comprises a first straight gear 12 and a third straight gear 16 which are connected through a first chain 14, the output end of the first motor 9 is connected with the first speed reducer 8, and the output end of the first speed reducer 8 is connected with the first straight gear 12;

the second chain wheel pair comprises a second straight gear 13, a second chain 15, a fourth straight gear 17 and a bevel gear 18 which are connected in sequence, the second straight gear 13 is connected with a second motor 11 and a second speed reducer 10, the output end of the second motor 11 is connected with the second speed reducer 10, and the output end of the second speed reducer 10 is connected with the second straight gear 13.

Further, the first motor 9 is a combined motor of a MAXON motor and a harmonic reducer.

Further, the second motor 3 is a dc servo motor.

Furthermore, the third flange plate connecting piece 6 is crescent-shaped, so that the problems of bending moment and interference in practical application are solved.

Furthermore, one end of the fourth joint 7 can be matched with a minimally invasive tooth extracting knife, a dental drill or a sand blasting machine head.

Furthermore, the minimally invasive tooth extraction knife is made of high-strength stainless steel.

Furthermore, the first joint 1, the second joint 3, the third joint 5 and the fourth joint 7 of the mechanical arm are made of stainless steel.

Compared with the prior art, the invention has the following beneficial effects:

the tooth treatment auxiliary device provided by the invention can be used for effectively relieving tremor of doctors in the tooth treatment operation process by combining symptoms of patients and selecting different operation tools, improving the accuracy of the operation and reducing the risks of large wound and susceptibility to infection caused by manual interference of traditional tooth extraction.

Drawings

Fig. 1 is a schematic view of the overall structure of a dental treatment assisting apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view showing a structure of a second flange connecting member of the dental treatment assisting apparatus according to the embodiment of the present invention;

FIG. 3 is a schematic view of a fourth joint structure of a dental treatment assisting apparatus according to an embodiment of the present invention;

in the figure: 1. the first joint 2, the first flange plate connecting piece, 3, the second joint, 4, the second flange plate connecting piece, 5, the third joint, 6, the third flange plate connecting piece, 7, the fourth joint, 8, the first speed reducer, 9, the first motor, 10, the second speed reducer, 11, the second motor, 12, the first straight gear, 13, the second straight gear, 14, the first chain, 15, the second chain, 16, the third straight gear, 17, the fourth straight gear and 18, and the bevel gear.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

Fig. 2 to 3 are schematic structural views of a second flange connecting member and a fourth joint of a dental treatment assisting device according to an embodiment of the present invention, and fig. 1 is a schematic structural view of an entire dental treatment assisting device according to an embodiment of the present invention.

The utility model provides a tooth treatment auxiliary device uses wholly including wicresoft's tooth sword, dental drill, sandblast aircraft nose, arm, motor, reduction gear, ring flange connecting piece etc. wherein the arm is including first joint 1, second joint 3, third joint 5, fourth joint 7, and four joints are used for simulating shoulder joint, elbow joint, wrist joint.

The mechanical arm has six degrees of freedom and 4 joints, the first joint 1 and the second joint 3 are used for simulating a shoulder joint to realize rotation and swing motions, the third joint 5 simulates the rotation of an elbow joint, and the fourth joint 7 realizes the rotation and pitching motion of a wrist joint. The middle of a first joint 1 and a second joint 3 of the mechanical arm are connected through a flange plate connecting piece 2 to simulate a shoulder joint, and a second motor 11 is selected as a driving unit. The third joint 5 of the mechanical arm selects a first motor as a driving unit, and the bending moment and interference problems are considered in the specific implementation process, so that a crescent third flange connecting piece 6 is erected between the third joint 5 and the fourth joint 7.

The shoulder joint and the elbow joint of the mechanical arm are combined by the second flange plate connecting piece 4, the fourth joint 7 of the mechanical arm simulates a wrist joint, a chain wheel transmission mechanism is adopted, and a double-motor speed reducer and a chain wheel are used. The pitching motion of the shoulder joint is realized by that a first motor 9, namely an MAXON motor, provides driving force through a first speed reducer 8, the motion is transmitted to a first chain 14 through a first straight gear 12, the motion is transmitted to a third straight gear 16 at the front end through the first chain 14, and the third straight gear 16 drives a shaft to rotate to realize the pitching motion; the rotary motion of the shoulder joint is driven by a second motor 11, namely an MAXON motor, through a second speed reducer 10 to provide driving force, then the motion is transmitted to a second chain 15 through a second straight gear 13, the second chain 15 then transmits the motion to a fourth straight gear 17 at the front end, the fourth straight gear 17 is matched with a bevel gear 18, and the pitching motion is changed into the rotary motion, so that the rotary motion of the shoulder joint is realized (the first motor 9, the first speed reducer 8, the first chain wheel pair, the pitching motion n1, the second motor 11, the second speed reducer 10, the second chain wheel pair, and the rotary motion n 2).

The mechanical arm shoulder joint is used as an initial joint, and has high requirements on output torque and working and installation space. Through comparison of various servo motor parameters, a DC servo motor of German Cunker is selected as a driving unit of the shoulder joint. By contrast, the ack PRL80 was selected as the drive motor for the shoulder joint and the second motor 11 described above. The output torque requirement of the elbow joint is not high, so that a MAXON motor is selected to be combined with a harmonic reducer as a combined motor and the first motor 9 described above. And the rotation and pitching motion of the wrist joint adopts a combined motor of the MAXON motor and the harmonic reducer matched with the second motor 11 as a driving motor.

The driving moment of each joint of the mechanical arm is large, and stainless steel can bear great rigidity, so that the stainless steel is selected as the material.

The mechanical arm space position principle of the invention is as follows:

performing kinematic analysis by using a D-H method, establishing a D-H coordinate system of the mechanical arm to obtain a D-H parameter table, completing calculation of a kinematic forward and inverse solution, and solving a working space of the mechanical arm according to a forward solution result: and (3) solving a forward kinematics solution and an inverse kinematics solution by using a D-H method kinematics model through matrix transformation according to the spatial position, and obtaining the spatial position by using an algebraic method. The analysis was performed by the Monte Carlo method, and a "cloud map" was drawn by MATLAB. And (3) exploring a position planning problem, taking the position of the mechanical arm base as an independent variable, performing inverse solution on the mechanical arm kinematics as a constraint condition, obtaining an objective function through a maximum distance index, and solving an extreme value of the objective function and a coordinate of the base when the maximum value is obtained.

The auxiliary device for tooth treatment disclosed by the invention adopts a sand blasting tooth cleaning technology, uses special sand blasting dentifrice, takes sodium bicarbonate powder as a main component, and is sprayed to the tooth surface through a sand blasting mobile phone head to remove dental plaque and pigment, so that the auxiliary device is suitable for cleaning dental plaque and pigment spot in the dental space which is not easy to reach by an ultrasonic tooth cleaner, and the cleaning efficiency of the pigment on the tooth surface is far higher than that of the ultrasonic tooth cleaner. The minimally invasive tooth-extracting knife is an instrument between a tappet and a chisel, the width and the angle of a cutting edge are different, tooth roots in different positions and shapes are matched with different blade ends in design, and the cutting edge is sharper than the tappet, so that peridental pellicle can be cut off, alveolar bones can be cut, bone walls of alveolar sockets can be slightly enlarged, and tissue wounds can be reduced.

In the description of the present invention, it is to be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.