WO2020007101A1 - Système de tri d'instruments dentaires de type coque - Google Patents

Système de tri d'instruments dentaires de type coque Download PDF

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Publication number
WO2020007101A1
WO2020007101A1 PCT/CN2019/083799 CN2019083799W WO2020007101A1 WO 2020007101 A1 WO2020007101 A1 WO 2020007101A1 CN 2019083799 W CN2019083799 W CN 2019083799W WO 2020007101 A1 WO2020007101 A1 WO 2020007101A1
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WO
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Prior art keywords
shell
carrier
shaped dental
buffer
conveyor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/083799
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English (en)
Chinese (zh)
Inventor
梁晓辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuxi Ea Medical Instruments Technologies Ltd
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Wuxi Ea Medical Instruments Technologies Ltd
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Filing date
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Application filed by Wuxi Ea Medical Instruments Technologies Ltd filed Critical Wuxi Ea Medical Instruments Technologies Ltd
Publication of WO2020007101A1 publication Critical patent/WO2020007101A1/fr
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • This application relates generally to a sorting system for shell-shaped dental instruments.
  • shell-shaped dental instruments based on polymer materials (such as shell-shaped appliances and holders) are becoming more and more popular.
  • shell aligners With regard to shell aligners, repositioning the patient's teeth from the original layout to the desired layout usually requires multiple successive shell aligners, for example, dozens or even hundreds of shell aligners. This has caused a large demand for shell-shaped dental instruments, and has also brought great challenges to the production of shell-shaped dental instruments.
  • shell dental instruments of different patients / users can be mixed for production, which requires the mixed shell dental instruments to be sorted by patient / user before packaging. Therefore, it is necessary to provide an efficient sorting system.
  • An aspect of the present application provides a shell-shaped dental instrument sorting system, including: a closed conveyor belt for transferring a carrier between modules along the line, wherein the carrier is used to carry the shell-shaped dental instrument; loading A module provided along the line of the closed conveyor belt for loading the shell-shaped dental instruments to be sorted onto an empty carrier of the closed conveyor belt to the loading module; and at least two buffer modules provided on the closed conveyor belt Along the line, each buffer module is provided with multiple buffer bins for buffering the shell-shaped dental instruments pre-assigned to them.
  • each of the buffer bins is used to buffer a set of shell-shaped dental instruments pre-assigned to it.
  • the shell dental instruments are grouped by customer.
  • the loading module includes a loading conveyor, and an empty carrier sent to the loading module by the closed conveyor is transferred to the loading conveyor for a loading operation.
  • the loading conveyor and a section of the closed conveyor corresponding thereto are substantially parallel.
  • the loading module further includes a first vehicle transfer device, an image acquisition device, and a first vehicle information reading and writing device, wherein the image acquisition device and the first vehicle information read and write
  • the device is arranged along the loading conveyor.
  • the image acquisition device is used to collect images of the shell-shaped dental instruments to be sorted carried by the carrier for extracting its identity information.
  • the first carrier information reading and writing device is used for For writing the extracted identity information of the shell-shaped dental instrument to be sorted into a carrier carrying it
  • the first carrier transfer device is used for transferring the closed conveyor belt to the empty carrier transfer of the loading module To the loading conveyor, and transferring a carrier carrying a shell-shaped dental instrument and recording the identity information of the shell-shaped dental instrument to the closed conveyor.
  • the first vehicle information reading and writing device is an RFID device.
  • the buffer module includes a buffer conveyor, and the carrier carrying the dental instruments to be sorted by the closed conveyor to the buffer module is transferred to the buffer conveyor for buffer operation.
  • the buffer conveyor is substantially parallel to a section of the closed conveyor.
  • the buffer module further includes a first carrier information reading device, a second carrier transfer device, and a shell-shaped dental instrument grasping device, wherein the first carrier information reading device is used for Reading information in a carrier conveyed to the buffer module by the closed conveyor to determine whether a shell-shaped dental instrument carried on the carrier is allocated to the buffer module, and the shell-shaped dental instrument grasping device is used for
  • the second carrier transfer device is used to transfer the shell-shaped dental instruments on the carrier on the buffer conveyor to the corresponding buffer bin, and the second carrier transfer device is used to transfer the carrier from the closed conveyor to the buffer module to the buffer carrier.
  • the buffer conveyor is used for buffer operation, and the empty carrier on the buffer conveyor is transferred to the closed conveyor.
  • the first carrier reading device is an RFID device.
  • At least one of the at least two buffer modules is provided with an error buffer bin for buffering an unrecorded shell-shaped dental instrument.
  • At least one of the at least two buffer modules is provided with an overflow buffer bin for buffering shell-shaped dental instruments belonging to a group of temporarily unallocated buffer bins.
  • At least one of the at least two cache modules is provided with a non-identifiable cache bin for buffering a shell-shaped dental instrument whose identity information cannot be identified.
  • Another aspect of the present application provides a method for sorting shell-shaped dental instruments, including: transferring an empty first carrier of a closed conveyor to a loading module to a loading conveyor of a loading module located along the closed conveyor , Then load the shell-shaped dental instrument to be sorted on the first carrier, and write the identity information of the shell-shaped dental instrument to be sorted into the first carrier, and then transfer the first carrier To the closed conveyor belt; if the shell-shaped dental instrument to be sorted is allocated to a first buffer module among a plurality of buffer modules along the closed conveyor belt, the closed conveyor belt is sent to the first buffer module.
  • the first carrier loaded with the shell-shaped dental instruments to be sorted is transferred to a buffer conveyor of the first buffer module, and then the shell-shaped dental instruments to be sorted are grabbed to the first buffer module.
  • the corresponding buffer bin is buffered, and then the empty first carrier is transferred to the closed conveyor; and if a corresponding set of shell-shaped dental instruments buffered in one buffer bin in the first buffer module has been Qi, then the transfer of the shell-shaped dental instrument in the buffer bin to the other for subsequent processing.
  • FIG. 1 schematically illustrates a shell-like dental instrument sorting system in an embodiment of the present application
  • FIG. 2 is a schematic side view of a loading module in an embodiment of the present application.
  • FIG. 3 is a schematic top view of a cache module in an embodiment of the present application.
  • FIG. 4 is a schematic side perspective view of a cache module in an embodiment of the present application.
  • the more commonly used shell-shaped dental instrument manufacturing process is the hot-pressed film forming process.
  • a heated polymer film is pressed onto a dental mold to form a corresponding female mold, and then cut and polished to obtain a finished shell-shaped dental instrument.
  • the purpose of sanding is to passivate the edges of the shell-shaped dental instrument, making it less susceptible to trauma to the user.
  • a relatively common grinding method of shell dental instruments is ternary vibration polishing.
  • hundreds of shell dental instruments can be polished in one batch.
  • these hundreds of shell dental instruments may be shell aligners and holders for multiple users. Therefore, these shell-shaped dental instruments need to be sorted by user before packaging and delivery.
  • the shell-shaped appliance is a unified shell-like shape that forms a cavity that houses a plurality of teeth, and the cavity has a geometric shape that repositions the teeth from the current layout to the next layout.
  • the shell-shaped retainer is also an integrated shell-like shape, which forms a cavity for accommodating a plurality of teeth.
  • the geometry of the cavity is basically consistent with the layout of the teeth to be maintained.
  • FIG. 1 schematically illustrates a shell-shaped dental instrument sorting system 100 in an embodiment of the present application.
  • the shell-shaped dental instrument sorting system 100 includes a computer (not shown), a closed conveyor 101, a loading module 103, a buffer module 105a to 105e, a carrier 107, a track 109a to 109c, a truss manipulator 111a to 111c, and a transfer car 113 (See Figure 4), collection box 115, and conveyor 117.
  • the computer controls the shell-shaped dental instrument sorting system 100 to automatically sort the shell-shaped dental instruments.
  • a closed conveyor belt (also referred to as a rotary conveyor belt) 101 is used to transfer the carrier 107 between the functional areas.
  • the closed conveyor can be circulated, eliminating the need to collect the carrier at the end and reload it to the end like an open conveyor, thus simplifying the system and process.
  • the closed conveyor belt 101 is endless.
  • the shape of the closed conveyor belt can be determined according to specific needs and space conditions, and any suitable shape can be adopted.
  • the interval between the positions on the closed conveyor 101 for placing the carrier 107 may be fixed for pipeline operation.
  • the operation of the closed conveyor 101 may be stepwise. For example, the distance of each transfer may be the interval at which the carrier is placed. After completing a movement, it may pause for a predetermined time interval to wait for loading. Operation of the module 103 and the cache modules 105a-105e.
  • FIG. 2 is a schematic side view of a loading module 103 in an embodiment of the present application.
  • the loading module 103 is used for feeding the shell-shaped dental instruments to be sorted into the closed conveyor 101 for sorting. 1 and 2, the loading module 103 includes a conveyor belt 1031, robots 1033 and 1035, an image acquisition device 1037, and a carrier information reading and writing device 1039.
  • the interval between positions on the conveyor belt 1031 for placing the carrier 107 may be fixed for pipeline operation. For example, after a station completes the operation of the carrier 107, the conveyor belt 1031 can run a distance equal to the fixed interval to transfer the carrier 107 to the next station.
  • the conveyor belt 1031 is conveyed in the A direction.
  • the robot 1033 transfers the empty carrier 107 from the closed conveyor 101 to the end of the conveyor 1031 near the robot 1033.
  • the staff can manually place the shell-shaped dental instruments to be sorted on the empty carrier 107, or the computer can control the automatic feeding device (not shown) to automatically sort the shell-shaped dental instruments to be sorted. It is placed on the empty carrier 107.
  • the computer controls the image acquisition device 1037 to collect an image of the shell-shaped dental instrument and extract the identity of the shell-shaped dental instrument based on the acquired image
  • the unique identity information can be found in the database, for example, which patient the shell-shaped dental instrument belongs to and which step of the shell-shaped dental instrument during the correction process.
  • the identification mark on the shell dental instrument can be in the form of text, code, barcode or two-dimensional code.
  • the identity may be laser-engraved on the shell-shaped dental instrument.
  • the image acquisition device 1037 may be a digital camera.
  • the carrier information reading and writing device 1039 may be an RFID (Radio-Frequency Identification) reading and writing device.
  • An RFID chip is mounted on the carrier 107 and may be used to store the identity of the shell-shaped dental instrument.
  • the carrier information reading and writing device 1039 is not limited to an RFID device, and may be any applicable information reading and writing device, including a contact type and a wireless type.
  • the computer-controlled robot 1035 transfers the carrier 107 to the closed conveyor 101 for the buffer modules 105a to 105e to sort and buffer.
  • the cache modules 105a to 105e are similar. Only the cache module 105a will be described in detail below, and other cache modules will not be described repeatedly.
  • FIG. 3 is a schematic top view of the cache module 105a
  • FIG. 4 is a schematic side perspective view of the cache module 105a.
  • the cache module 105 a includes a conveyor belt 1051 a, robots 1052 a and 1053 a, a robot 1054 a, cache platforms 1055 a and 1057 a, and a carrier information read-write device 1059 a.
  • the running direction of the conveyor belt 1051a is the same as the running direction of the corresponding section of the closed conveyor belt 101. In one embodiment, the conveyor belt 1051a is substantially parallel to the corresponding section of the closed conveyor belt 101.
  • the buffer module 105a may be provided with robots 1052a and 1053a near the two ends of the conveyor belt 1051a to transfer the carrier 107 from the closed conveyor belt 101 to the conveyor belt 1051a, and from the conveyor belt 1051a to the closed conveyor belt 101, respectively.
  • the shell-shaped dental instrument sorting system 100 may sort the shell-shaped dental instruments by patient.
  • the loading module 103 sends the carrier 107 carrying the shell-shaped dental instrument belonging to a new patient to the closed conveyor 101
  • the computer allocates a cache module for the patient, and the cache module caches all the belonging to the patient.
  • Shell-shaped dental instruments may be used to sort the shell-shaped dental instruments by patient.
  • the carrier information reading and writing device 115a may be provided below the closed conveyor 101 near the robot 1052a.
  • the vehicle information read-write device 115a reads the information stored in the vehicle 107 and sends it to the computer. If the information stored in the carrier 107 indicates that the shell-shaped dental instrument carried by the carrier 107 is assigned to the buffer module 105a, the computer-controlled robot 1052a transfers the carrier 107 from the closed conveyor 101 to the conveyor 1051a; if the carrier 107 stores The information shows that it is an empty carrier, or that the shell-shaped dental instrument carried by it is assigned to another buffer module, then the buffer module 1051a does not operate the vehicle.
  • the cache module 105a includes two cache platforms 1055a and 1057a. Under the inspiration of this application, it can be understood that the number of cache platforms of each cache module can be increased or decreased according to the specific design and situation.
  • the cache platform 1055a includes a plurality of cache bins 1056a
  • the cache platform 1057a includes a plurality of cache bins 1058a.
  • each buffer bin is used to buffer the shell-shaped dental instruments of the same patient. In some cases, there are too many shell dental instruments for a single patient, and one buffer bin cannot accommodate all of the patient's shell dental instruments. At this time, two or more buffer bins can be allocated for the patient. Shell-shaped dental instruments assigned to the same buffer bin can be referred to as a group of shell-shaped dental instruments.
  • the computer controls the robot 1054a to transfer the shell-shaped dental instrument on the carrier 107 to the buffer allocated to the corresponding patient according to the information read from the carrier 107 Inside.
  • the carrier information reading / writing device 1059a may be disposed below the conveyor 1051a and close to the robot 1053a.
  • the computer-controlled vehicle information read-write device 1059a rewrites the information of the empty vehicle 107 as "empty”.
  • the computer-controlled robot 1053a then transfers the empty carrier 107 from the conveyor 1051a to the closed conveyor 101.
  • each allocated cache bin there is a list in the computer that records the identity information of the shell dental instruments that should be cached in the cache bin and which shell dental instruments have been cached in the cache. Inside. Whenever a shell-shaped dental instrument is placed in the cache bin, the computer determines whether all the shell-shaped dental instruments on the list have been cached in the cache bin.
  • the computer controls to open the door at the bottom of the buffer bin, and the shell-shaped dental instrument in the buffer bin slides into the collection box 115 along the funnel-shaped channel at the bottom of the buffer platform; then, the computer controls the The trolley 113 runs along the track 109a to one end thereof; then, the truss manipulator 111a grabs the collection box 115 to a conveyor belt 117 and transfers it to the corresponding place for subsequent processing; finally, the truss manipulator 111a grabs an empty collection box and places it in Cart 113 to collect the next complete set of shell-shaped dental instruments.
  • the two cache platforms 1056a and 1058a of the cache module 105a are located above the track 109a, and the two share the same cart 113.
  • the four cache platforms of the cache modules 105b and 105c are located above the track 109b and share the same cart.
  • the four cache platforms of the cache modules 105d and 105e are located above the track 109c and share the same cart.
  • the corresponding rails 109a to 109c are respectively provided with truss manipulators 111a to 111c, which are used to grab the collection boxes 115 carried on the trolleys 113 running on the respective tracks to the conveyor belt, and grab the empty collection boxes to place Back to the car 113.
  • the rails 109a-109c may share the same truss manipulator.
  • the cart 113 carrying the collection box 115 can move freely without running along the track, and is controlled by the computer to move to the required position according to the positioning when needed.
  • a plurality of cache bins may be selected from the cache modules 105a to 105e as overflow cache bins, error cache bins, and unidentifiable cache bins.
  • the shell dental instrument can be cached to an unrecognizable cache bin, and subsequent manual identification and input of identity information can be performed to improve efficiency.
  • the identity information of the shell-shaped dental instrument extracted by the computer is not in the system, the shell-shaped dental instrument can be temporarily stored in the error buffer.
  • all the cache bins are allocated / occupied, then one that belongs to a new group of shell-shaped dental instruments can be temporarily stored in the overflow cache bin and re-sorted after the other cache bins are vacated.
  • the loading module 103 and the buffer modules 105a to 105e are distributed at different positions of the closed conveyor 101, which can improve the overall efficiency of the sorting system and is suitable for large-scale production.
  • the loading module 103 and the buffer modules 105a to 105e are provided with respective conveyor belt branches, which is beneficial to reduce the blockage caused by local problems and improve the overall efficiency of the sorting system.
  • all the conveyor belts are run in a stepwise manner, and the positions of the carriers on the conveyor belts can also be fixed.
  • the computer can record the positions and states of all the carriers, thereby eliminating the need for a carrier information reading and writing device.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Discharge Of Articles From Conveyors (AREA)

Abstract

La présente invention concerne un système de tri d'instruments dentaires de type coque, comprenant une bande transporteuse fermée (101) pour transporter des supports (107) entre des modules, les supports (107) étant utilisés pour transporter des instruments dentaires de type coque ; des modules de chargement (103) qui sont disposés le long de la bande transporteuse fermée (101) et qui sont utilisés pour charger les instruments dentaires de type coque à trier sur les supports vides (107) transportés vers le module de chargement (103) par la bande transporteuse fermée (101) ; et au moins deux modules de stockage temporaire (105a- 105e) disposés le long de la bande transporteuse fermée (101), chacun des modules de stockage temporaire (105a-105e) étant pourvu d'une pluralité de compartiments de stockage temporaires (1056a, 1058a) pour stocker temporairement des instruments dentaires de type coque pré-attribués. Le système permet un tri efficace d'instruments dentaires de type coque.
PCT/CN2019/083799 2018-07-03 2019-04-23 Système de tri d'instruments dentaires de type coque Ceased WO2020007101A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810721489.XA CN110665827B (zh) 2018-07-03 2018-07-03 壳状牙科器械的分拣系统
CN201810721489.X 2018-07-03

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WO2020007101A1 true WO2020007101A1 (fr) 2020-01-09

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Cited By (3)

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CN116921257A (zh) * 2022-03-29 2023-10-24 浙江正雅齿科股份有限公司 一种牙模的分选方法及分选系统
WO2024045302A1 (fr) * 2022-09-02 2024-03-07 深圳云甲科技有限公司 Procédé et appareil d'aide au classement de prothèses dentaires, dispositif informatique et support de stockage lisible
WO2024201380A1 (fr) * 2023-03-31 2024-10-03 Institut Straumann Ag Techniques de marquage automatisé d'appareils dentaires

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CN111731816B (zh) * 2020-06-29 2022-03-08 浙江隐齿丽医学技术有限公司 壳状牙齿矫治器的分拣系统
CN114683462B (zh) * 2020-12-29 2026-03-20 上海恺皓科技有限公司 用于壳状牙科器械热压膜成型制作工艺的牙模上料装置

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EP1396449A1 (fr) * 2002-09-04 2004-03-10 Voith Paper Patent GmbH Procédé pour trier des rouleaux de papier et dispositif de triage de rouleaux
JP2004292060A (ja) * 2004-05-14 2004-10-21 Si Seiko Co Ltd 長尺物箱詰め装置
CN104108491A (zh) * 2014-07-09 2014-10-22 江苏云道信息技术有限公司 一种自动分拣系统及方法
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Publication number Priority date Publication date Assignee Title
CN116921257A (zh) * 2022-03-29 2023-10-24 浙江正雅齿科股份有限公司 一种牙模的分选方法及分选系统
WO2024045302A1 (fr) * 2022-09-02 2024-03-07 深圳云甲科技有限公司 Procédé et appareil d'aide au classement de prothèses dentaires, dispositif informatique et support de stockage lisible
WO2024201380A1 (fr) * 2023-03-31 2024-10-03 Institut Straumann Ag Techniques de marquage automatisé d'appareils dentaires

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