阅读说明：本技术 压膜设备、压膜方法及用于制造壳状牙科器械的生产系统 (Film pressing device, film pressing method and production system for manufacturing shell-shaped dental instruments ) 是由 李钦 刘青山 杨磊 万欣 黄鹤源 于 2020-06-01 设计创作，主要内容包括：本发明公开了一种压膜设备、压膜方法及用于制造壳状牙科器械的生产系统,其中所述压膜设备包括机架、压膜模块以及第一上料模块。所述机架设有第一上料工位；所述压膜模块包括压合机构,所述压合机构用于将膜片压制在模型上；所述第一上料模块包括模型取料机构、模型上料机构以及第一视觉检测机构,所述第一视觉检测机构用于检测所述模型的位置信息,所述模型取料机构用于抓取所述模型并基于所述位置信息调整所述模型的位置,所述模型上料机构用于将调整位置后的所述模型置于所述第一上料工位上,所述模型取料机构与所述模型上料机构相连接。本发明所公开的压膜设备能够减少压膜工艺中模型位置偏移所引起的问题。(The invention discloses a film pressing device, a film pressing method and a production system for manufacturing a shell-shaped dental instrument. The rack is provided with a first feeding station; the film pressing module comprises a pressing mechanism, and the pressing mechanism is used for pressing the film on the model; the first feeding module comprises a model taking mechanism, a model feeding mechanism and a first visual detection mechanism, the first visual detection mechanism is used for detecting position information of the model, the model taking mechanism is used for grabbing the model and adjusting the position of the model based on the position information, the model feeding mechanism is used for placing the model with the adjusted position on the first feeding station, and the model taking mechanism is connected with the model feeding mechanism. The film laminating equipment disclosed by the invention can reduce the problems caused by the position offset of the model in the film laminating process.)

1. Film pressing equipment, its characterized in that includes:

the device comprises a rack, a first feeding station and a second feeding station, wherein the rack is provided with the first feeding station;

the film pressing module comprises a pressing mechanism, and the pressing mechanism is used for pressing the film on the model; and

the first feeding module comprises a model taking mechanism, a model feeding mechanism and a first visual detection mechanism, the first visual detection mechanism is used for detecting the position information of the model, the model taking mechanism is used for grabbing the model and adjusting the position of the model based on the position information, the model feeding mechanism is used for placing the model with the position adjusted on the first feeding station, and the model taking mechanism is connected with the model feeding mechanism.

2. A lamination device according to claim 1, wherein the mold feed mechanism comprises a robotic arm on which the first visual inspection mechanism is disposed.

3. A lamination device according to claim 1, wherein the pattern take off mechanism includes a suction cup and a first drive member capable of driving the suction cup to adjust its position.

4. A film pressing apparatus according to claim 1, further comprising a second feeding module, wherein the frame further has a second feeding station, the second feeding module comprises a film taking mechanism and a film feeding mechanism, the film taking mechanism is connected to the film feeding mechanism, the film taking mechanism is used for grabbing the film, and the film feeding mechanism is used for placing the film on the second feeding station.

5. A lamination device according to claim 4, wherein the lamination module includes a positioning fixture on which a stop member is disposed.

6. A film pressing device according to claim 4 or 5, wherein the second feeding module further comprises a second visual detection mechanism, the second visual detection mechanism is used for detecting position information of the film, and the film feeding mechanism is further used for adjusting the position of the film based on the position information and placing the film with the adjusted position on the second feeding station.

7. A film pressing device according to claim 5, wherein a pressing station and a preheating station are further arranged on the machine frame, the film pressing module further comprises a film heating mechanism and a conveying mechanism, the pressing mechanism is arranged on the pressing station, the film heating mechanism is located on the preheating station, and the conveying mechanism is used for driving the positioning jig to move among the preheating station, the pressing station, the first feeding station or the second feeding station.

8. The lamination device according to claim 7, wherein the conveying mechanism includes a third slide table and a third slide rail cooperating with the third slide table; alternatively, the transport mechanism comprises a carousel.

9. A film laminating apparatus according to claim 1, further comprising a first feed module comprising a mold conveying mechanism for loading a tray containing the mold and a tray retrieving mechanism for retrieving an empty tray, and wherein the mold conveying mechanism is provided with a telescopic carriage.

10. A film laminating apparatus according to claim 9, wherein the mold conveying mechanism and the tray retrieving mechanism each have a slide table and a slide rail fitted to the slide table, the slide rail being provided on the frame, and an accommodating space for accommodating a tray being formed above the slide table.

11. A lamination apparatus according to claim 1, further comprising a second feed module including a film sheet storage mechanism having an exit end from which the film sheet is removed, the exit end being provided with a barrier member.

12. A lamination method, characterized in that the lamination method employs the lamination apparatus according to any one of claims 1 to 11, and the lamination method includes the steps of:

the first feeding module adjusts the position of the model based on the obtained model position information;

the pressing module presses the membrane on the model.

13. A production system for manufacturing shell-like dental instruments, characterized by comprising the film pressing apparatus of any one of claims 1 to 11.

Technical Field

The invention relates to the field of production of dental articles, in particular to a film pressing device, a film pressing method and a production system for manufacturing shell-shaped dental instruments.

Background

In the manufacture of dental articles, such as appliances, film formers are typically used to press form the film into the desired product. In the published patent literature, CN209851568U discloses a film pressing apparatus and a one-station mouthpiece production system. According to the disclosure of the patent document, the control device of the film pressing apparatus can control the first driving transmission device to drive the film gripping device to move to the film preparing device and control the film gripping device to perform the film gripping action, and the control device can also control the first driving transmission device to drive the film gripping device to move to the heating device and place the film on the heating device for heating; the control device can also control the second driving transmission device to drive the film pressing device to move to the heating device, and the control device can also control the film pressing device to pick up the film and move to the dental jaw model to be pressed for film pressing.

However, with the technical solution disclosed in the above patent document, there is a case where the position may be shifted during the process of placing the dental cast on the film pressing apparatus, and a problem occurs in that the positioning is not accurate, which may result in the product quality being not satisfactory.

Disclosure of Invention

The invention mainly aims to provide film pressing equipment, a film pressing method and a corrector production system, which can reduce the problems caused by the position offset of a model in a film pressing process.

A first aspect of embodiments of the present invention provides a lamination apparatus. The film pressing equipment comprises:

the device comprises a rack, a first feeding station and a second feeding station, wherein the rack is provided with the first feeding station;

the film pressing module comprises a pressing mechanism, and the pressing mechanism is used for pressing the film on the model; and

the first feeding module comprises a model taking mechanism, a model feeding mechanism and a first visual detection mechanism, the first visual detection mechanism is used for detecting the position information of the model, the model taking mechanism is used for grabbing the model and adjusting the position of the model based on the position information, the model feeding mechanism is used for placing the model with the position adjusted on the first feeding station, and the model taking mechanism is connected with the model feeding mechanism.

In some embodiments, the model feeding mechanism comprises a robot, and the first visual inspection mechanism is disposed on the robot.

In some embodiments, the mold reclaiming mechanism includes a suction cup and a first drive member capable of driving the suction cup to adjust its position.

In some embodiments, the film pressing device further includes a second feeding module, the frame further has a second feeding station, the second feeding module includes a film taking mechanism and a film feeding mechanism, the film taking mechanism is connected to the film feeding mechanism, the film taking mechanism is configured to grasp the film, and the film feeding mechanism is configured to place the film on the second feeding station.

In some embodiments, the lamination module includes a positioning fixture, and the positioning fixture is provided with a limiting member.

In some specific embodiments, the second feeding module further includes a second visual detection mechanism, the second visual detection mechanism is configured to detect position information of the film, and the film feeding mechanism is further configured to adjust the position of the film based on the position information and place the film with the adjusted position on the second feeding station.

In some specific embodiments, the machine frame is further provided with a pressing station and a preheating station, the film pressing module further comprises a film heating mechanism and a conveying mechanism, the pressing mechanism is arranged on the pressing station, the film heating mechanism is located on the preheating station, and the conveying mechanism is used for driving the positioning jig to move among the preheating station, the pressing station, the first feeding station or the second feeding station.

In some embodiments, the conveying mechanism comprises a third sliding table and a third slideway matched with the third sliding table; alternatively, the transport mechanism comprises a carousel.

In some embodiments, the film pressing device further comprises a first feeding module, the first feeding module comprises a model conveying mechanism and a tray recovery mechanism, the model conveying mechanism is used for loading trays containing the models, the tray recovery mechanism is used for recovering empty trays, and the model conveying mechanism is provided with a telescopic bracket.

In some embodiments, the mold conveying mechanism and the tray retrieving mechanism each have a sliding table and a sliding way matched with the sliding table, the sliding way is disposed on the rack, and an accommodating space for accommodating the tray is formed above the sliding table.

In some embodiments, the lamination apparatus further comprises a second feed module comprising a film sheet storage mechanism having an outlet end for taking out the film sheet, the outlet end being provided with a blocking member.

A second aspect of an embodiment of the present invention provides a film lamination method. The film pressing method adopts the film pressing equipment in any one of the technical schemes, and comprises the following steps:

the first feeding module adjusts the position of the model based on the obtained model position information;

the pressing module presses the membrane on the model.

A third aspect of embodiments of the present invention provides a production system for manufacturing shell-like dental instruments. The production system for manufacturing the shell-shaped dental instrument comprises the film pressing equipment in any one of the technical schemes.

The embodiment of the invention at least has the following beneficial effects: by adopting the die pressing equipment in the embodiment of the invention, the position of the model can be adjusted based on the model position information detected by the first visual detection mechanism, so that the position of the model on the die pressing equipment is corrected, and the problem caused by the position offset of the model in the die pressing process can be reduced.

Drawings

Fig. 1 is a schematic top view of a lamination apparatus according to some embodiments of the present invention;

FIG. 2 is a schematic diagram of a second feed module according to some embodiments of the present invention;

FIG. 3 is a schematic view of a portion of a first loading module in some embodiments of the invention;

FIG. 4(a) is a schematic view of the construction of a mold conveying mechanism (a state to be replenished) in some embodiments of the invention;

FIG. 4(b) is a schematic diagram of the structure of a mold delivery mechanism (feed completed) in some embodiments of the invention;

FIG. 5 is a schematic diagram of a first feed module according to some embodiments of the present invention;

fig. 6 is a schematic diagram of a mold for use with a lamination apparatus in some embodiments of the invention.

Description of reference numerals:

10-a film pressing device;

100-a film pressing module, 110-a pressing mechanism, 120-a film heating mechanism, 130-a turntable and 140-a positioning jig;

200-a frame;

300-a model feeding module, 310-a first X-axis linear module, 320-a first Y-axis linear module, 330-a first Z-axis linear module, 340-a model taking mechanism, 350-a first driving component and 360-a first visual detection mechanism;

400-a membrane feeding module, 410-a second X-axis linear module, 420-a second Y-axis linear module, 430-a second Z-axis linear module, 440-a membrane taking mechanism, 460-a second visual detection mechanism;

500-a first feeding module, 510-a model conveying mechanism, 511-a first slideway, 512-a first sliding table, 513-a telescopic bracket, 514-a first lifting supporting plate, 515-a tray accommodating space, 516-a first lifting unit, 520-a tray recovery mechanism, 521-a second slideway, 522-a second sliding table, 524-a second lifting supporting plate and 526-a second lifting unit;

600-second feed module, 610-film storage mechanism, 611-blocking member;

700-a blanking transfer mechanism;

20-a membrane; 30-model, 301-grab block; 40-a tray.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and "left", "right", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, and may be, for example, a fixed connection and a movable connection, a detachable connection and a non-detachable connection, or an integral connection; may be mechanically or electrically connected or may be in communication with each other. And "fixedly connected" includes detachably connected, non-detachably connected, integrally connected, and the like.

The use of terms like "first" or "second" in this disclosure are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or implicit to the technical feature indicated.

The technical solutions between the embodiments of the present invention can be combined with each other, but must be based on the realization of those skilled in the art. Where combinations of features are mutually inconsistent or impractical, such combinations should not be considered as being absent and not within the scope of the present invention as claimed.

The film pressing process is an important process step of shell-shaped dental appliances such as a tooth appliance. Taking the film pressing process of the vacuum film pressing machine as an example, the basic principle of the process is as follows: and (3) placing the plastic film in a film clamp of a vacuum film pressing machine, and heating to be hemispherical. And starting a negative pressure suction switch while pressing down the film clamp to suck air between the membrane and the model to form vacuum. The diaphragm is tightly sealed with the model by means of atmospheric pressure, and the plastic film is in a male die shape after being cooled. It will be appreciated that the lamination process is not only applicable to dental articles. Thus, the film lamination apparatus described below of embodiments of the present invention may also be applied to the production of non-dental articles, as desired. It will be understood that when the film-moulding apparatus described hereinafter is applied to the production of dental articles, the "model" will be referred to hereinafter as a dental mould.

A first aspect of embodiments of the present invention provides a lamination apparatus. The following text will describe a film laminating apparatus in an embodiment of the present invention with reference to the drawings of the specification.

Referring to fig. 1 and 3, in some embodiments, the film pressing apparatus 10 includes a frame 200, a film pressing module 100, and a mold loading module 300. The frame 200 is provided with a first feeding station; the lamination module 100 includes a pressing mechanism 110, wherein the pressing mechanism 110 is used for pressing the membrane 20 on the mold 30; the model feeding module 300 includes a model taking mechanism 340, a model feeding mechanism, and a first vision inspection mechanism 360.

The first visual inspection mechanism 360 is used to detect positional information of the model 30. Specifically, the first visual inspection mechanism 360 is a first image module. The first influencing module is used for photographing the position of the model 30.

The mold take out mechanism 340 is used to grasp the mold 30 and adjust the position of the mold 30 based on the position information.

The model feeding mechanism is used for placing the model 30 after the position adjustment on the first feeding station, and the model taking mechanism 340 is connected with the model feeding mechanism.

In this embodiment, the model position is adjusted based on the model position information detected by the first visual inspection mechanism, so that the model position on the film pressing equipment is corrected, and the problem caused by the model position deviation in the film pressing process can be reduced.

Specifically, the lamination module 100 further includes a positioning jig 140. The membrane 20 and the mold 30 are placed on the positioning fixture 140 to position the membrane 20 and the mold 30.

In some embodiments, referring to fig. 1 and 3, the mold feeding mechanism includes a robot, and the first vision inspection mechanism 360 is disposed on the robot. The design that the first visual inspection mechanism 360 is arranged on the manipulator can enable the structure of the film pressing device 10 to be more compact, so that the space is saved.

In particular, the manipulator is a three-axis manipulator. The three-axis robot has a first X-axis linear module 310, a first Y-axis linear module 320, and a first Z-axis linear module 330. The three-axis manipulator can move along the X-axis direction, the Y-axis direction or the Z-axis direction. The first image module is arranged on a sliding block of the Z-axis linear module of the three-axis manipulator, so that the first image module can move along the X-axis direction, the Y-axis direction or the Z-axis direction under the driving action of the three-axis manipulator.

In some embodiments, referring to fig. 1 and 3, the mold pick-up mechanism 340 includes a suction cup for grasping the mold 30 and a first driving member 350, wherein the first driving member 350 can drive the suction cup to adjust the position of the suction cup. Compared with other components, the suction cup grabs the model 30, and damage to the model 30 in the grabbing process can be avoided to the maximum extent.

Specifically, the first driving means 350 is a stepping motor for rotating the mold. A stepper motor is fixedly coupled to the chuck, and the stepper motor can drive the chuck to rotate (e.g., about the Z-axis to adjust the position of the mold 30). It is understood that the first driving member may also select other motors, oil cylinders, air cylinders, etc. as the driving member as required.

It can be understood that the first image module may not be disposed on the three-axis manipulator. In this case, before a certain model 30 is captured, the model 30 may be photographed to obtain the position information of the current model 30; after the model taking mechanism 340 takes the model 30, the first driving member 350 rotates the model 30 according to the position information of the current model 30 to adjust the position of the model 30. Subsequently, the three-axis robot places the aligned model 30 on the positioning jig 140 of the film laminating apparatus 10. It will be appreciated that claw-like gripping members may also be employed to grip the form 30 as desired.

In some embodiments, referring to fig. 1, the film laminating apparatus 10 further includes a film feeding module 400, the frame 200 further has a second feeding station, the film feeding module 400 includes a film taking mechanism 440 and a film feeding mechanism, the film taking mechanism 440 is connected to the film feeding mechanism, the film taking mechanism 440 is configured to grasp the film 20, and the film feeding mechanism is configured to place the film 20 on the second feeding station. Through the cooperation of the membrane material taking mechanism 440 and the membrane feeding mechanism, the feeding process of the membrane 20 reduces the amount of manual labor.

Specifically, the film feeding mechanism is a three-axis manipulator, which has a second X-axis linear module 410, a second Y-axis linear module 420, and a second Z-axis linear module 430, and the free end of the three-axis manipulator is connected with a film taking mechanism 440 for grabbing the film 20. The film take off mechanism 440 is a suction cup.

In some embodiments, referring to fig. 1, the lamination module 100 includes a positioning fixture 140, and a position-limiting member is disposed on the positioning fixture 140. Generally, the shape of the diaphragm 20 is a regular shape. Therefore, a member (for example, a tapered surface member or a slope surface member) capable of automatically positioning is provided in the positioning jig 140, and the position of the diaphragm 20 can be automatically adjusted in the same manner, thereby reducing the problem caused by the positional deviation of the diaphragm.

In some embodiments, referring to fig. 1, the film feeding module 400 further includes a second visual inspection mechanism 460, where the second visual inspection mechanism 460 is configured to detect position information of the film 20, and the film feeding mechanism is further configured to adjust the position of the film 20 based on the position information and place the film 20 with the adjusted position on the second feeding station. Specifically, the second visual inspection mechanism 460 is a second image module. It will be appreciated that the second visual detection mechanism 460 and the stop member on the positioning fixture 140 both help to adjust the position of the diaphragm 20, and both may coexist in the same embodiment.

After the film feeding mechanism grabs the film 20 by the film taking mechanism 440, the second visual inspection mechanism 460 photographs the film 20 at the position where the film 20 passes through the second visual inspection mechanism 460, so as to obtain the position information of the film 20 (including extracting the contour of the film 20 to determine the orientation of the film). The membrane feeding mechanism accurately places the membrane 20 on the positioning jig 140 of the film pressing module 100 according to the position information of the membrane 20.

The position of the diaphragm is adjusted based on the diaphragm position information detected by the second visual detection mechanism, so that the position of the diaphragm on the film pressing equipment is corrected, and the problem caused by the position deviation of the diaphragm can be further reduced while the position deviation of the model is reduced.

In some embodiments, the film pressing apparatus further includes a second visual detection mechanism, the second visual detection mechanism is configured to detect position information of the film, and the film feeding mechanism is further configured to adjust a position of the film based on the position information and place the film with the adjusted position on the second feeding station.

In some embodiments, referring to fig. 1, a pressing station and a preheating station are further disposed on the frame 200, the film pressing module 100 further includes a film heating mechanism 120 and a conveying mechanism, the pressing mechanism 110 is disposed on the pressing station, the film heating mechanism 120 is disposed on the preheating station, and the conveying mechanism is configured to drive the positioning fixture 140 to move among the preheating station, the pressing station, the first feeding station, or the second feeding station, so as to improve the production efficiency of the film pressing apparatus 10. It should be noted that the first loading station and the second loading station in all embodiments of the present invention are not particularly limited to the two different stations, and include a case where the first loading station and the second loading station are actually the same station (i.e., a certain station is both the first loading station and the first unloading station).

In some embodiments, the conveying mechanism includes a third sliding table and a third sliding way (the third sliding way and the third sliding table are not shown in the figure) matched with the third sliding table; alternatively, referring to fig. 1, the transfer mechanism includes a turntable 130.

The combination of the sliding table and the sliding way is adopted, the structure is simple and reliable, and the positioning jig 140 can be driven to move back and forth among the preheating station, the pressing station, the first feeding station or the second feeding station.

The turntable is used as a conveying mechanism, the preheating station, the pressing station, the first feeding station or the second feeding station are arranged around the turntable 130, and the turntable 130 is used for driving the positioning jig 140. Specifically, the three positioning jigs 140 are uniformly distributed around the rotating disc 130, so as to ensure that each station has a corresponding positioning jig 140 at each moment, thereby achieving the purpose of continuous processing.

When the film feeding mechanism needs to grasp a film, the adjacent films 20 may be stuck together due to electrostatic adsorption and the like. In this case, the film feeding mechanism may be to grasp multiple films at the same time.

To avoid grabbing excessive film sheets 20, in some embodiments, referring to fig. 2, the laminator device 10 further includes a second feeding module 600, and the second feeding module 600 includes a film sheet storing mechanism 610. The film storing mechanism 610 has an outlet end for taking out the film 20, and the outlet end is provided with a blocking member 611. The film storing mechanism 610 is provided with a blocking member 611. When the film feeding mechanism sucks the topmost film sheet 20 and lifts the film sheet 20 upward, the film sheet below the topmost film sheet comes into contact with the stopper member 611, and the topmost film sheet 20 is not dropped because it is firmly caught by the film feeding mechanism. The remaining film (i.e., the film below the topmost layer) will drop into the film storage mechanism 610 due to contact with the stop member 611. Specifically, the blocking member 611 is a brush provided at an upper portion of the film sheet storing mechanism 610. The second image module for capturing the position of the film 20 is located at the second feeding module 600.

In some embodiments, referring to fig. 1, 4(a), 4(b) and 5, the film pressing apparatus 10 further includes a first feeding module 500, the first feeding module 500 includes a mold conveying mechanism 510 and a tray retrieving mechanism 520, the mold conveying mechanism 510 is used for loading the trays 40 containing the molds 30 (the trays 40 are stacked), the tray retrieving mechanism 520 is used for retrieving the empty trays 40, and the mold conveying mechanism 510 is provided with a telescopic bracket 513.

When the pattern in one tray 40 is completely removed by the pattern feeding mechanism, the pattern feeding mechanism sucks the tray 40 and transports the empty tray 40 from the pattern conveying mechanism 510 to the tray retrieving mechanism 520. It will be appreciated that, alternatively, a pushing mechanism may be provided in the rack 200, which pushes the empty tray 40 in the mold conveying mechanism 510 to the tray retrieving mechanism 520.

The upper portion of the model conveying mechanism 510 is provided with a telescopic bracket 513, and the topmost tray 40 in the model conveying mechanism 510 is lifted upward by the telescopic bracket 513, so that the topmost tray 40 is separated from the rest of the trays therebelow. Therefore, the user can replace or supplement the tray 40 in the mold conveying mechanism 510 during the continuous production process.

In some embodiments, referring to fig. 4(a), 4(b) and 5, the mold conveying mechanism 510 includes a first lifting/lowering plate 514 and a first lifting/lowering unit 516 for driving the first lifting/lowering plate 514 to move up and down. The mold conveying mechanism 510 is also formed with a tray accommodating space 515. The first lifting blade 514 may support the tray 40 (a tray 40 or a plurality of stacked trays 40) and move the tray 40 up and down in the tray accommodating space 515.

It is to be understood that, referring to fig. 4(a), 4(b) and 5, the mold conveying mechanism 510 and the tray retrieving mechanism 520 are provided with a lifting pallet and a lifting unit (the tray retrieving mechanism 520 has a second lifting pallet 524 and a second lifting unit 526 for driving the second lifting pallet 524 to move up and down). The tray 40 is placed on the first lifting blade 514 and the second lifting blade 524.

As trays 40 on the mold conveying mechanism 510/tray retrieval mechanism 520 increase, the lifting pallet will drop; when the trays 40 on the model conveying mechanism 510/tray recovery mechanism 520 are reduced, the lifting pallet will rise, so that the trays 40 on the topmost layer of the model conveying mechanism 510/tray recovery mechanism 520 will always be kept at approximately the same height level, facilitating the suction of the trays.

In some embodiments, referring to fig. 4(a), fig. 4(b) and fig. 5, the mold conveying mechanism 510 and the tray retrieving mechanism 520 each have a sliding platform and a sliding track matched with the sliding platform, the sliding track is disposed on the rack 200, and an accommodating space for placing the tray 40 is formed above the sliding platform.

Specifically, the mold conveying mechanism 510 is provided with a first sliding table 512 and a first sliding way 511, the first sliding table 512 is slidably connected with the first sliding way 511, and the first sliding way 511 is fixed on the rack 200. Above the first sliding table 512 is a tray accommodating space 515, and the tray accommodating space 515 is used for accommodating a tray. When a user needs to supplement or replace the tray 40 in the tray accommodating space 515, the first sliding table 512 and the first sliding rail 511 can slide relatively in a drawing manner, so that the tray accommodating space 515 slides out of the rack 200, and the user can supplement or replace the tray 40 in the tray accommodating space 515.

Similar to the mold conveying mechanism 510, the structure of the tray recovery mechanism 520 is not described in detail. It should be noted that, in case that the trays 40 of the tray housing space (not shown) of the tray retrieving mechanism 520 are sequentially increased, the second lifting blade 524 will be lowered, so that the tray 40 of the topmost layer of the tray retrieving mechanism 520 will always be maintained at substantially the same height level. When a user needs to take out an empty tray 40 in the tray accommodating space of the tray recycling mechanism 520, the second sliding table 522 and the second sliding rail 521 can slide relatively in a drawing mode, so that the tray accommodating space of the tray recycling mechanism 520 slides out of the rack 200, and the user can take out the empty tray in the tray accommodating space of the tray recycling mechanism 520 conveniently.

In order to facilitate the mold taking mechanism 340 to grasp (or suck) the mold 30, in some embodiments, please refer to fig. 6, a grasping block 301 is disposed on the mold 30. It is to be understood that the form of the grab block 301 is not limited. For example, the grabbing block 301 may be a small block (see (a) in fig. 6), a connecting bar capable of connecting both ends of the mold 30 (see (b) in fig. 6), or a bottom plate disposed at the bottom of the mold 30 (see (c) in fig. 6).

The working principle of the first image module is described with reference to fig. 6:

the first image module can identify the parabolic profile of the model. Determining a symmetry axis according to the parabola, and further determining a rotation angle required by adjusting the position of the model according to the symmetry axis;

the first image module can also quickly extract feature points of the capture block 301 (e.g. the small block (a) in fig. 6), which can be two right angles of the capture block 301 (for the scheme of the small block (a) in fig. 6). Determining a rotation angle required for adjusting the position of the model 30 according to the two feature points;

alternatively, a marker point or a marker feature is set on the model 30, and the position of the model 30 is adjusted according to the marker point or the marker icon. For example, the mold 30 is provided with positioning holes for engaging with jigs (note that the jigs herein are not necessarily jigs on the lamination device 10, and may be jigs of other devices used in other processes). If the positioning hole is a square hole, the positioning hole can be used as a reference object according to the characteristics of a right angle or an edge and the like of the square hole; if the number of the round holes is larger than two, the number of the round holes is larger than two. The centers of the two circular holes are used as a reference point to determine the rotation angle required for adjusting the position of the model 30.

In some embodiments, the lamination apparatus 10 also has a blanking transfer mechanism 700. The processed product can be transferred to the next process through the blanking conveying mechanism 700, so that the working efficiency of the line production is improved. Specifically, the blanking conveying mechanism 700 is a blanking conveyor belt.

The following text describes the operation of the lamination apparatus 10 in the embodiment of the present invention: the membrane 20 and the model 30 are respectively placed on the positioning jig 140 by the model feeding mechanism and the membrane feeding mechanism, and the positioning jig 140 limits the membrane 20 and the model 30. The transfer mechanism transfers the positioning jig 140 including the film 20 and the mold 30 to the preheating station, and the film heating mechanism 120 heats the film 20. Subsequently, the positioning jig 140 with the preheated film 20 and the mold 30 is transferred to the pressing station by the transfer mechanism, and the film 20 is pressed on the mold 30 by the pressing mechanism 110, so as to obtain the mold with the film attached on the surface. Finally, the mold 30 with the film attached to the surface is placed on the blanking conveying mechanism 700. And coating the pressed membrane on the model, wherein the membrane is in a shell shape and is a semi-finished product of the shell-shaped dental instrument, and subsequently, further processing the semi-finished product to obtain a final shell-shaped dental instrument product.

A second aspect of an embodiment of the present invention provides a film lamination method. The lamination method adopts the lamination device 10 described in any one of the previous embodiments, and comprises the following steps:

s100, the model feeding module 300 adjusts the position of the model 30 based on the obtained model position information;

s200, the pressing module 100 presses the membrane 20 on the mold 30.

The film pressing method can reduce the problems caused by the position offset of the model in the film pressing process.

In some embodiments, the lamination method further comprises:

s300, the film feeding module 400 adjusts the position of the film 20 based on the acquired film position information.

It is understood that the sequence of step S200 and step S300 can be adjusted as required, for example: s200, firstly; s300, firstly; or S200 and S300 are performed simultaneously.

A third aspect of embodiments of the present invention provides a lamination method. The lamination method adopts the lamination device 10 described in any one of the previous embodiments, and comprises the following steps:

s100, the model feeding module 300 adjusts the position of the model 30 based on the obtained model position information;

s200, the pressing module 100 presses the membrane 20 on the mold 30.

The film pressing method can reduce the problems caused by the position offset of the model in the film pressing process.

In some embodiments, the lamination method further comprises:

s300, the film feeding module 400 adjusts the position of the film 20 based on the acquired film position information. Therefore, the problems caused by the membrane position deviation in the film pressing process can be further reduced on the basis of reducing the model position deviation.

It is understood that the sequence of step S200 and step S300 can be adjusted as required, for example: s200, firstly; s300, firstly; or S200 and S300 are performed simultaneously.

A third aspect embodiment of the present invention provides a production system for manufacturing shell-shaped dental instruments, comprising a film pressing apparatus 10 according to any of the previous embodiments. Shell-like dental appliances include braces (also referred to as appliances), braces or retainers, and the like. It will be understood that the production system for manufacturing the shell-like dental instrument includes, in addition to the film pressing apparatus 10, a cutting apparatus for cutting a laminate (i.e., a film attached to a surface of a model), a 3D printing apparatus for making a model, and the like.

In the production system for manufacturing the shell-shaped dental instrument, the film pressing apparatus 10 may produce a model having a film attached to a surface thereof, the film being a semi-finished product of the shell-shaped dental instrument. To obtain the final shell-like dental device product, the shell-like membrane is cut to remove the excess membrane portion.

It can be understood that the production system has the corresponding advantages of the film pressing device 10 of any one of the foregoing embodiments, and the description is omitted here.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.