CN107861469B - A kind of method, calculating equipment and the numerically-controlled machine tool system of processing artificial tooth - Google Patents
A kind of method, calculating equipment and the numerically-controlled machine tool system of processing artificial tooth Download PDFInfo
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- CN107861469B CN107861469B CN201711078640.4A CN201711078640A CN107861469B CN 107861469 B CN107861469 B CN 107861469B CN 201711078640 A CN201711078640 A CN 201711078640A CN 107861469 B CN107861469 B CN 107861469B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
- A61C13/0003—Making bridge-work, inlays, implants or the like
- A61C13/0006—Production methods
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
- A61C13/0003—Making bridge-work, inlays, implants or the like
- A61C13/0022—Blanks or green, unfinished dental restoration parts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
- A61C13/08—Artificial teeth; Making same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
- G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35356—Data handling
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45145—Milling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45167—Dentist, dental manufacture
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Abstract
The present invention provides a kind of method for processing artificial tooth the following steps are included: according to model data is preced in artificial tooth, hat scan data obtains the first transformation relation in artificial tooth；The machining path being preced with outside artificial tooth is determined according to hat scan data outside model data, artificial tooth is preced with outside the first transformation relation, the second transformation relation, artificial tooth；According to machining path, drives and be preced with outside numerical control machine tooling artificial tooth.
Description
Technical field
The present invention relates to artificial tooth processing technique fields, and in particular to a kind of method, calculating equipment and the numerical control of processing artificial tooth
Machine tool system.
Background technique
Artificial tooth, also known as artificial tooth, dental restoration, dental prosthesis.In general, there are two types of the modes for processing artificial tooth: one
Kind mode is to directly obtain to be preced with outside artificial tooth by manufacturing process such as milling, engraving, cutting, polishings.This mode technique is more simple
It is single, but the perception of artificial tooth and actual teeth have more apparent difference, commonly used in being not easy to appear the artificial tooth preparation at position, example
Such as the preparation of molar.Another way is first to process hat in artificial tooth, then compares model (such as the CAD of final molding artificial tooth
Model, or the artificial tooth model printed according to CAD model), layer-by-layer heap porcelain is labeled inside and is successively sintered, after forming heap porcelain
It is preced with outside artificial tooth, then hat outside the artificial tooth after heap porcelain is polished or repaired, to complete the manufacture of artificial tooth.This mode manufactures
Artificial tooth be referred to as " porcelain artificial tooth " or " baking-ceramic tooth ".Porcelain artificial tooth is in perception and actual teeth is very close, still
It is preced with sanding operation outside existing artificial tooth usually to be carried out by hand by Dental Technician, on the one hand by the ability of Dental Technician, experience, state
It is affected, accuracy is difficult to stablize in higher level, and on the other hand, inefficiency takes a long time.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of method and apparatus using heap porcelain technique processing artificial tooth, lead to
It crosses and is polished using numerically-controlled machine tool hat outside artificial tooth, change the mode being preced with outside previous manual polishing artificial tooth, improve artificial tooth
Processing efficiency and accuracy.The present invention provides a kind of method for processing artificial tooth, and artificial tooth includes being preced with outside hat and artificial tooth in artificial tooth, the party
Method the following steps are included:
S10: according to model data is preced in artificial tooth, hat scan data obtains the first transformation relation in artificial tooth.
S30: according to being preced with outside the first transformation relation, the second transformation relation, artificial tooth, hat scan data outside model data, artificial tooth is true
Define the machining path being preced with outside tooth.
S50: it according to machining path, drives and is preced with outside numerical control machine tooling artificial tooth.
Wherein, crown root is prepared according to hat model data in artificial tooth in artificial tooth.
The outer crown root evidence of artificial tooth is formed after carrying out heap porcelain to hat in artificial tooth.
Hat model data is according to the model data being preced in the artificial tooth that standby tooth scan data is modeled and is obtained in artificial tooth.
It is according to the model data being preced with outside the artificial tooth that standby tooth scan data is modeled and is obtained that model data is preced with outside artificial tooth.
Hat scan data is the scan data by carrying out 3-D scanning acquisition to hat in artificial tooth in artificial tooth.
It is the scan data by carrying out 3-D scanning acquisition to hat outside artificial tooth that scan data is preced with outside artificial tooth.
First transformation relation is the coordinate conversion relation of model coordinate systems and scanner coordinate system.
Second transformation relation is the coordinate conversion relation of scanner coordinate system and lathe coordinate system.
The coordinate system that model coordinate systems are located at by being preced with model data outside hat model data in artificial tooth and artificial tooth.
Scanner coordinate system is to be preced with the coordinate system that scan data is located at outside hat scan data and artificial tooth in artificial tooth.
Lathe coordinate system is the coordinate system processed where the numerically-controlled machine tool of artificial tooth.
Further, when being scanned to hat outside hat in artificial tooth and artificial tooth, hat is in carrying tool outside the interior hat of artificial tooth and artificial tooth
On position and attitude it is identical.
Step S10 further comprises:
S11: according to the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are calculated
Feature Descriptor.
First ISS key point is the ISS key point of hat model data in artificial tooth, and the 2nd ISS key point is that hat is swept in artificial tooth
Retouch the ISS key point of data；First SHOT Feature Descriptor is SHOT Feature Descriptor corresponding with the first ISS key point, the
Two SHOT Feature Descriptors are SHOT Feature Descriptors corresponding with the 2nd ISS key point.
S12: in the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are based on
Feature Descriptor obtains the best match based on SHOT Feature Descriptor, forms hat model data and the interior hat of artificial tooth in artificial tooth and sweeps
Retouch the matching double points of data.
S13: it according to matching double points, is calculated using RANSAC algorithm and is preced with hat scanning number in model data to artificial tooth in artificial tooth
According to initial transformation relationship.
S14: it according to initial transformation relationship, is coordinately transformed to model data is preced in artificial tooth, after forming initial transformation
Model data is preced in artificial tooth.
S15: according to ICP algorithm, hat scan data in hat model data to artificial tooth in the artificial tooth after calculating initial transformation
Precise transformation relationship.
S16: according to initial transformation relationship and precise transformation relationship, the first transformation relation is obtained.
Further, the obtaining step of the second transformation relation includes:
S22: the positional relationship of calibration device and lathe coordinate system is obtained；Wherein, calibration device is installed on numerically-controlled machine tool.
S24: the positional relationship of calibration device and scanner coordinate system is obtained.
S26: it is closed according to the position of the positional relationship and calibration device of calibration device and lathe coordinate system and scanner coordinate system
System obtains the second transformation relation.
Step S30 further comprises:
Step S32: it according to the first transformation relation and the second transformation relation, obtains and is preced with model data, target outside target artificial tooth
It is that the artificial tooth under lathe coordinate system is preced with model data outside that model data is preced with outside artificial tooth.
Step S34: it according to the second transformation relation, obtains and is preced with scan data outside target artificial tooth, scanning number is preced with outside target artificial tooth
It is preced with scan data outside according to for the artificial tooth under lathe coordinate system.
Step S36: it is preced with scan data according to being preced with outside model data and target artificial tooth outside target artificial tooth, determines hat outside artificial tooth
Machining path.
Optionally, step S32 further comprises:
According to the first transformation relation, obtains and be preced with model data under scanner coordinate system outside artificial tooth.
According to the second transformation relation, obtains and be preced with model data outside target artificial tooth.
Preferably, step S32 further comprises:
According to the first transformation relation and the second transformation relation, third transformation relation is obtained；Wherein, third transformation relation is mould
The transformation relation of type coordinate system and lathe coordinate system.
According to third transformation relation, obtains and be preced with model data outside target artificial tooth.
Further, machining path is preced in model data by calculating to be preced with outside target artificial tooth outside scan data and target artificial tooth
The differences of corresponding points determines.
Further, if difference is less than or no more than specific threshold, machining path is empty (Null)；If difference be greater than or
Not less than specific threshold, it is determined that machining path.
Further, specific threshold is the machining accuracy of numerically-controlled machine tool.
Method to realize artificial tooth processing, the present invention also provides a kind of calculating equipment, including pocessor and storage media,
It is characterized in that, storage medium (non-transient storage medium) is used to be stored with the control program of processing artificial tooth, processor is used for
Execute control program；When control program is executed by processor, perform the steps of
S10: according to model data is preced in artificial tooth, hat scan data obtains the first transformation relation in artificial tooth.
S30: according to being preced with outside the first transformation relation, the second transformation relation, artificial tooth, hat scan data outside model data, artificial tooth is true
Define the machining path being preced with outside tooth.
S50: it according to machining path, drives and is preced with outside numerical control machine tooling artificial tooth.
Wherein, crown root is prepared according to hat model data in artificial tooth in artificial tooth.
The outer crown root evidence of artificial tooth is formed after carrying out heap porcelain to hat in artificial tooth.
Hat model data is according to the model data being preced in the artificial tooth that standby tooth scan data is modeled and is obtained in artificial tooth.
It is according to the model data being preced with outside the artificial tooth that standby tooth scan data is modeled and is obtained that model data is preced with outside artificial tooth.
Hat scan data is the scan data by carrying out 3-D scanning acquisition to hat in artificial tooth in artificial tooth.
It is the scan data by carrying out 3-D scanning acquisition to hat outside artificial tooth that scan data is preced with outside artificial tooth.
First transformation relation is the coordinate conversion relation of model coordinate systems and scanner coordinate system.
Second transformation relation is the coordinate conversion relation of scanner coordinate system and lathe coordinate system.
The coordinate system that model coordinate systems are located at by being preced with model data outside hat model data in artificial tooth and artificial tooth.
Scanner coordinate system is to be preced with the coordinate system that scan data is located at outside hat scan data and artificial tooth in artificial tooth.
Lathe coordinate system is the coordinate system processed where the numerically-controlled machine tool of artificial tooth.
Further, when being scanned to hat outside hat in artificial tooth and artificial tooth, hat is in carrying tool outside the interior hat of artificial tooth and artificial tooth
On position and attitude it is identical.
Step S10 further comprises:
S11: according to the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are calculated
Feature Descriptor.
First ISS key point is the ISS key point of hat model data in artificial tooth, and the 2nd ISS key point is that hat is swept in artificial tooth
Retouch the ISS key point of data；First SHOT Feature Descriptor is SHOT Feature Descriptor corresponding with the first ISS key point, the
Two SHOT Feature Descriptors are SHOT Feature Descriptors corresponding with the 2nd ISS key point.
S12: in the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are based on
Feature Descriptor obtains the best match based on SHOT Feature Descriptor, forms hat model data and the interior hat of artificial tooth in artificial tooth and sweeps
Retouch the matching double points of data.
S13: it according to matching double points, is calculated using RANSAC algorithm and is preced with hat scanning number in model data to artificial tooth in artificial tooth
According to initial transformation relationship.
S14: it according to initial transformation relationship, is coordinately transformed to model data is preced in artificial tooth, after forming initial transformation
Model data is preced in artificial tooth.
S15: according to ICP algorithm, hat scan data in hat model data to artificial tooth in the artificial tooth after calculating initial transformation
Precise transformation relationship.
S16: according to initial transformation relationship and precise transformation relationship, the first transformation relation is obtained.
Further, the obtaining step of the second transformation relation includes:
S22: the positional relationship of calibration device and lathe coordinate system is obtained；Wherein, calibration device is installed on numerically-controlled machine tool.
S24: the positional relationship of calibration device and scanner coordinate system is obtained.
S26: it is closed according to the position of the positional relationship and calibration device of calibration device and lathe coordinate system and scanner coordinate system
System obtains the second transformation relation.
Step S30 further comprises:
Step S32: it according to the first transformation relation and the second transformation relation, obtains and is preced with model data, target outside target artificial tooth
It is that the artificial tooth under lathe coordinate system is preced with model data outside that model data is preced with outside artificial tooth.
Step S34: it according to the second transformation relation, obtains and is preced with scan data outside target artificial tooth, scanning number is preced with outside target artificial tooth
It is preced with scan data outside according to for the artificial tooth under lathe coordinate system.
Step S36: it is preced with scan data according to being preced with outside model data and target artificial tooth outside target artificial tooth, determines hat outside artificial tooth
Machining path.
Optionally, step S32 further comprises:
According to the first transformation relation, obtains and be preced with model data under scanner coordinate system outside artificial tooth.
According to the second transformation relation, obtains and be preced with model data outside target artificial tooth.
Preferably, step S32 further comprises:
According to the first transformation relation and the second transformation relation, third transformation relation is obtained；Wherein, third transformation relation is mould
The transformation relation of type coordinate system and lathe coordinate system.
According to third transformation relation, obtains and be preced with model data outside target artificial tooth.
Further, machining path is preced in model data by calculating to be preced with outside target artificial tooth outside scan data and target artificial tooth
The differences of corresponding points determines.
Further, if difference is less than or no more than specific threshold, machining path is empty (Null)；If difference be greater than or
Not less than specific threshold, it is determined that machining path.
Further, specific threshold is the machining accuracy of numerically-controlled machine tool.
The present invention also provides a kind of storage medium (non-transient storage mediums), are stored with the control journey of processing artificial tooth
Sequence is performed when controlling program, performs the steps of
S10: according to model data is preced in artificial tooth, hat scan data obtains the first transformation relation in artificial tooth.
S30: according to being preced with outside the first transformation relation, the second transformation relation, artificial tooth, hat scan data outside model data, artificial tooth is true
Define the machining path being preced with outside tooth.
S50: it according to machining path, drives and is preced with outside numerical control machine tooling artificial tooth.
Wherein, crown root is prepared according to hat model data in artificial tooth in artificial tooth.
The outer crown root evidence of artificial tooth is formed after carrying out heap porcelain to hat in artificial tooth.
Hat model data is according to the model data being preced in the artificial tooth that standby tooth scan data is modeled and is obtained in artificial tooth.
It is according to the model data being preced with outside the artificial tooth that standby tooth scan data is modeled and is obtained that model data is preced with outside artificial tooth.
Hat scan data is the scan data by carrying out 3-D scanning acquisition to hat in artificial tooth in artificial tooth.
It is the scan data by carrying out 3-D scanning acquisition to hat outside artificial tooth that scan data is preced with outside artificial tooth.
First transformation relation is the coordinate conversion relation of model coordinate systems and scanner coordinate system.
Second transformation relation is the coordinate conversion relation of scanner coordinate system and lathe coordinate system.
The coordinate system that model coordinate systems are located at by being preced with model data outside hat model data in artificial tooth and artificial tooth.
Scanner coordinate system is to be preced with the coordinate system that scan data is located at outside hat scan data and artificial tooth in artificial tooth.
Lathe coordinate system is the coordinate system processed where the numerically-controlled machine tool of artificial tooth.
Further, when being scanned to hat outside hat in artificial tooth and artificial tooth, hat is in carrying tool outside the interior hat of artificial tooth and artificial tooth
On position and attitude it is identical.
Further, step S10 further comprises:
S11: according to the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are calculated
Feature Descriptor.
First ISS key point is the ISS key point of hat model data in artificial tooth, and the 2nd ISS key point is that hat is swept in artificial tooth
Retouch the ISS key point of data；First SHOT Feature Descriptor is SHOT Feature Descriptor corresponding with the first ISS key point, the
Two SHOT Feature Descriptors are SHOT Feature Descriptors corresponding with the 2nd ISS key point.
S12: in the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are based on
Feature Descriptor obtains the best match based on SHOT Feature Descriptor, forms hat model data and the interior hat of artificial tooth in artificial tooth and sweeps
Retouch the matching double points of data.
S13: it according to matching double points, is calculated using RANSAC algorithm and is preced with hat scanning number in model data to artificial tooth in artificial tooth
According to initial transformation relationship.
S14: it according to initial transformation relationship, is coordinately transformed to model data is preced in artificial tooth, after forming initial transformation
Model data is preced in artificial tooth.
S15: according to ICP algorithm, hat scan data in hat model data to artificial tooth in the artificial tooth after calculating initial transformation
Precise transformation relationship.
S16: according to initial transformation relationship and precise transformation relationship, the first transformation relation is obtained.
Further, the obtaining step of the second transformation relation includes:
S22: the positional relationship of calibration device and lathe coordinate system is obtained；Wherein, calibration device is installed on numerically-controlled machine tool.
S24: the positional relationship of calibration device and scanner coordinate system is obtained.
S26: it is closed according to the position of the positional relationship and calibration device of calibration device and lathe coordinate system and scanner coordinate system
System obtains the second transformation relation.
Step S30 further comprises:
Step S32: it according to the first transformation relation and the second transformation relation, obtains and is preced with model data, target outside target artificial tooth
It is that the artificial tooth under lathe coordinate system is preced with model data outside that model data is preced with outside artificial tooth.
Step S34: it according to the second transformation relation, obtains and is preced with scan data outside target artificial tooth, scanning number is preced with outside target artificial tooth
It is preced with scan data outside according to for the artificial tooth under lathe coordinate system.
Step S36: it is preced with scan data according to being preced with outside model data and target artificial tooth outside target artificial tooth, determines hat outside artificial tooth
Machining path.
Optional volume, step S32 further comprises:
According to the first transformation relation, obtains and be preced with model data under scanner coordinate system outside artificial tooth.
According to the second transformation relation, obtains and be preced with model data outside target artificial tooth.
Preferably, step S32 further comprises:
According to the first transformation relation and the second transformation relation, third transformation relation is obtained；Wherein, third transformation relation is mould
The transformation relation of type coordinate system and lathe coordinate system.
According to third transformation relation, obtains and be preced with model data outside target artificial tooth.
Further, machining path is preced in model data by calculating to be preced with outside target artificial tooth outside scan data and target artificial tooth
The differences of corresponding points determines.
Further, if difference is less than or no more than specific threshold, machining path is empty (Null)；If difference be greater than or
Not less than specific threshold, it is determined that machining path.
Further, specific threshold is the machining accuracy of numerically-controlled machine tool.
The present invention also provides a kind of numerically-controlled machine tools, including machining spindle, machining tool (preferably milling tools), and three-dimensional is swept
Retouch instrument (the preferably spatial digitizer of fixed focal length), deflection axis；Machining tool is installed on machining spindle, and being capable of edge
Machining spindle direction move in a straight line；Spatial digitizer is installed on deflection axis, and can be led along scanning
Axis direction moves in a straight line；Wherein, deflection axis is parallel or substantially parallel with machining spindle, and spatial digitizer
Primary optical axis is parallel or substantially parallel with deflection axis.
Further, numerically-controlled machine tool include first straight line axis (X-axis), second straight line axis (Y-axis), third linear axis (Z axis),
First rotary shaft (A axis), the second rotary shaft (B axle), the first rotary shaft (A axis) are rotated around first straight line axis (X-axis), the second rotation
Shaft (B axle) is rotated around second straight line axis (Y-axis).
Further, machining spindle is parallel with third rotary shaft.
It further, further include fixed device (preferably one or more fixtures), fixed device can be along first, second
Rotary shaft makes rotating motion, and moves in a straight line along the first, second linear axis.
Further, the interior contact surface of fixture is round, semicircle, arc or linear.
Further, fixed device includes symmetrical 2 fixtures or 4 fixtures, or 3 fixtures at equilateral triangle
Or 6 fixtures at regular hexagon.
It further, further include calibration device, for determining the coordinate conversion relation of scanner coordinate system and lathe coordinate system.
The present invention also provides a kind of methods using heap porcelain technique processing artificial tooth, comprising the following steps:
S210: hat in artificial tooth is fixed in carrying tool (plate or circular plate).
S220: carrying tool is mounted on the fixation device of numerically-controlled machine tool.
S230: fixed device is moved to interior hat scan position, hat in driving spatial digitizer scanning artificial tooth obtains artificial tooth
Interior hat scan data.
S240: removing carrying tool, carries out heap porcelain to hat in artificial tooth, is formed outside artificial tooth and be preced with.
Bogey: being installed on fixed device by S250 again, and fixed device is moved to outer hat scan position, is driven
Spatial digitizer scans to be preced with outside artificial tooth, is obtained and is preced with scan data outside artificial tooth.
Wherein, the quantity being preced in artificial tooth is 1 or 2 or more (such as 5-25,10-20).Titled with single in artificial tooth
The form of artificial tooth or the form of artificial tooth denture are fixed on carrying tool.
Further, interior hat scan position can be a position, but preferably include multiple positions, especially include be along
The position of A axis and/or B axle rotation and formation.Preferably, interior hat scan position is located near deflection axis 20.
Further, in step S240, heap porcelain is carried out to hat in artificial tooth on carrying tool.
Further, it in step S240, removes in artificial tooth be preced with from carrying tool first, heap then is carried out to hat in artificial tooth
Porcelain is formed outside artificial tooth and is preced with, and will finally be installed back on carrying tool including the artificial tooth being preced with outside hat in artificial tooth and artificial tooth；It is preced with outside artificial tooth
That is preced in installation site and artificial tooth removes position consistency.
Further, the size being preced with outside artificial tooth, which is slightly larger than outside artificial tooth, is preced with model data.
Further, outer hat scan position can be a position, but preferably include multiple positions, especially include be along
The position of A axis and/or B axle rotation and formation.Preferably, outer hat scan position is located near deflection axis 20.
Further, outer hat scan position and interior hat scan position are identical or essentially identical.
Further, method is further comprising the steps of:
S260: according to being preced with model data in artificial tooth, model data is preced with outside artificial tooth, scan data is preced in artificial tooth, is preced with outside artificial tooth
Scan data determines the machining path being preced with outside artificial tooth.
S270: according to machining path, fixed device being moved at Working position, outside driving machining tool processing artificial tooth
Hat.
The present invention polishes to hat outside artificial tooth using numerically-controlled machine tool, changes the side being preced with outside previous manual polishing artificial tooth
Formula, and numerically-controlled machine tool of the invention is the joint numerically-controlled machine tool for being provided with 3D scanning means, and the 3D of artificial tooth can be made to scan, build
Mould is synchronously completed with processing, improves the processing efficiency and accuracy of artificial tooth.
Detailed description of the invention
Fig. 1 is a kind of flow chart of method for processing artificial tooth provided by the invention；
Fig. 2 is the flow chart of the method provided by the invention for obtaining the first transformation relation；
Fig. 3 is the flow chart of the method provided by the invention for obtaining the second transformation relation；
Fig. 4 is the flow chart that the method for machining path is preced with outside acquisition artificial tooth provided by the invention；
Fig. 5 A is the structural schematic diagram of numerically-controlled machine tool provided by the invention；
Fig. 5 B is the structure chart of numerically-controlled machine tool provided by the invention；
Fig. 6 is the flow chart of the method provided by the invention using heap porcelain technique processing artificial tooth；
Fig. 7 (a)-(c) is the schematic diagram of the method provided by the invention that hat in artificial tooth is fixed to carrying tool；
Fig. 8 (a) is the schematic diagram for forming hat outside artificial tooth of one aspect according to the present invention；
Fig. 8 (b) is that one aspect will be preced with the schematic diagram for installing back carrying tool outside artificial tooth according to the present invention.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
Attached drawing in mode carries out clear, complete description to technical solution of the present invention, it is clear that described embodiment is this
Invent a part of embodiment, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
In embodiments of the present invention:
The specific extracting method of ISS key point refers to prior art 1:Zhong, Y. (2009) .Intrinsic shape
signatures:a shape descriptor for 3D object recognition.In Proc.int.conf.on
computer vision workshops(pp.1–8)。
The specific calculating process of SHOT feature description refers to prior art 2:Tombari, F., Salti, S., &Di
Stefano,L.(2010).Unique signatures of histograms for local surface
description.In Proc.Europ.conf.on computer vision(ECCV)(pp.356–369).Berlin:
Springer。
Transformation relation, which is calculated, using RANSAC algorithm refers to prior art 3:FISCHLER M.A.Random sample
consensus:A paradigm for model fitting with applications to imageanalysis and
automated cartography.Commun.ACM 24,6,1981,381–395.)。
Transformation relation, which is calculated, using ICP algorithm refers to prior art 4:Z.Zhang.Iterative point matching
For registration of freeform curves and surfaces.Int.J.Comput.Vision, 13,2:
119–152,1994。
Above-mentioned prior art 1-4 is introduced by all quoting in the present invention.
In whole embodiments of the invention, it is as follows to define term:
Standby tooth scan data: standby tooth scan data is to carry out three-dimensional by the cavity interior position to patient's artificial tooth to be installed to sweep
The data of standby tooth to be repaired retouched and obtained.
Model data is preced in artificial tooth: in artificial tooth hat model data be modeled according to standby tooth scan data (such as using
CAD software is modeled) and the interior model data being preced with of the artificial tooth of acquisition.Hat model data indicates final machine-shaping in artificial tooth
Crown shape in artificial tooth.
Model data is preced with outside artificial tooth: be preced with outside artificial tooth model data be modeled according to standby tooth scan data (such as using
CAD software is modeled) and obtain artificial tooth outside be preced with model data.It is preced with model data outside artificial tooth and indicates final machine-shaping
Crown shape outside artificial tooth.
Hat in artificial tooth: according to the physical entity for being preced with model data preparation in artificial tooth.
It is preced with outside artificial tooth: the physical entity formed after heap porcelain is carried out to hat in artificial tooth.
Artificial tooth: including being preced with outside hat in artificial tooth and artificial tooth.
Scan data is preced in artificial tooth: hat scan data is to be swept by carrying out 3-D scanning to hat in artificial tooth in artificial tooth
Retouch data.
Be preced with scan data outside artificial tooth: it is to be swept by being preced with progress 3-D scanning outside to artificial tooth that artificial tooth is preced with scan data outside
Retouch data.
Model coordinate systems: hat model data and artificial tooth are preced with model data outside and are located under the same coordinate system in artificial tooth, the coordinate
System is referred to as model coordinate systems in the present invention.
Scanner coordinate system: hat scan data and artificial tooth are preced with scan data outside and are located under the same coordinate system in artificial tooth, the seat
Mark system is referred to as scanner coordinate system in the present invention.
Lathe coordinate system: the coordinate system where numerically-controlled machine tool to process artificial tooth.
First transformation relation: for the coordinate conversion relation of model coordinate systems and scanner coordinate system.
Second transformation relation: for the coordinate conversion relation of scanner coordinate system and lathe coordinate system.
Fig. 1 is a kind of flow chart of method for processing artificial tooth provided by the invention.Artificial tooth includes outside the interior hat of artificial tooth and artificial tooth
Hat, artificial tooth is preced with outside to be formed by carrying out heap porcelain to hat in artificial tooth.As shown in Figure 1, processing artificial tooth method the following steps are included:
S10: according to model data is preced in artificial tooth, hat scan data obtains the first transformation relation in artificial tooth.
S30: according to being preced with outside the first transformation relation, the second transformation relation, artificial tooth, hat scan data outside model data, artificial tooth is true
Define the machining path being preced with outside tooth.
S50: it according to machining path, drives and is preced with outside numerical control machine tooling artificial tooth.
According to the present invention, model data is preced with as by carrying out to patient for tooth data outside the interior hat model data of artificial tooth and artificial tooth
Modeling obtains, it is preferable to use CAD software modeling acquisition, models especially with CAD software relevant to dentistry and obtain.
Preferably, hat model data is the CAD model data being preced in artificial tooth in artificial tooth, and it is artificial tooth that model data is preced with outside artificial tooth
The CAD model data of outer hat.
According to the present invention, hat model data is located under the same coordinate system outside for hat model data and artificial tooth in artificial tooth, the coordinate
System is referred to as model coordinate systems in the present invention.
Hat scan data is the scan data by carrying out 3-D scanning acquisition to hat in artificial tooth in artificial tooth.Crown root in artificial tooth
It is prepared according to model data is preced in artificial tooth.It will be apparent to those skilled in the art that any prepare the method being preced in artificial tooth and material
Material is all without limitation on protection scope of the present invention.These preparation methods are specifically including but not limited to: being carried out to artificial tooth inner crown material
The processes such as engraving, polishing, sintering be prepared, or printed, polished by way of 3D printing, be sintered etc. processes prepare and
At, or be prepared by other any modes.The material for preparing being preced in artificial tooth includes but is not limited to: metal, metal oxidation
Object, ceramics etc..
It is the scan data by carrying out 3-D scanning acquisition to hat outside artificial tooth that scan data is preced with outside artificial tooth.Wherein, artificial tooth
Outer hat is by forming to hat progress heap porcelain in artificial tooth.It will be apparent to those skilled in the art that any specific heap porcelain method and
The selection of heap porcelain material is all without limitation on protection scope of the present invention.For example, during heap porcelain, it can be with reference to hat outside artificial tooth
CAD model data carry out the operation of heap porcelain, are preced with outside the physics artificial tooth that can also be obtained with reference to the CAD model data according to hat outside artificial tooth
Carry out the operation of heap porcelain.
According to the present invention, hat scan data is located under the same coordinate system outside for hat scan data and artificial tooth in artificial tooth, the coordinate
System is referred to as scanner coordinate system in the present invention.
According to the present invention, when being scanned to hat outside hat in artificial tooth and artificial tooth, hat is carrying work outside the interior hat of artificial tooth and artificial tooth
Position and attitude on tool is identical, is matched with ensuring to be preced with hat scan data outside scan data and artificial tooth in artificial tooth.
According to the present invention, the first transformation relation is the coordinate conversion relation of model coordinate systems and scanner coordinate system.First
Transformation relation also embodies the relative positional relationship of hat model data and the interior hat scan data of artificial tooth in artificial tooth.Hat scanning in artificial tooth
Data are that hat obtains in 3-D scanning artificial tooth, and crown root is obtained according to hat model data in artificial tooth in artificial tooth, therefore, hat scanning in artificial tooth
Hat model data is almost the same in shape in display in data and artificial tooth.But due to being preced in scan data and artificial tooth in artificial tooth
Hat model data is subordinate to different coordinate systems, and the two coordinate position in space and posture are not consistent.Therefore, the present invention needs
The first transformation relation is obtained, is preced with the position of scan data and matching for posture to complete to be preced in model data and artificial tooth in artificial tooth
It is quasi-.Specifically, according to the first transformation relation, is operated by the coordinate transforms such as translating and/or rotating, can will be preced with model in artificial tooth
The spatial position of data and posture are converted to the spatial position of hat scan data and posture in artificial tooth.
It will be apparent to those skilled in the art that any specific method for obtaining the first transformation relation is all without limitation on this hair
Bright protection scope.Those skilled in the art also can use a variety of existing method for registering and obtain the first transformation relation, such as
ICP algorithm and various innovatory algorithms derived from it.
Fig. 2 is the flow chart of the method provided by the invention for obtaining the first transformation relation.First is obtained to be more accurate
Transformation relation, the present invention also provides the methods that the first transformation relation is obtained in step S10.As shown in Fig. 2, specifically including following
Step:
S11: according to the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are calculated
Feature Descriptor.First ISS key point is the ISS key point of hat model data in artificial tooth, and the 2nd ISS key point is hat in artificial tooth
The ISS key point of scan data.First SHOT Feature Descriptor is SHOT Feature Descriptor corresponding with the first ISS key point,
2nd SHOT Feature Descriptor is SHOT Feature Descriptor corresponding with the 2nd ISS key point.
S12: in the 2nd ISS key point and the first ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT are based on
Feature Descriptor obtains the best match based on SHOT Feature Descriptor, forms hat model data and the interior hat of artificial tooth in artificial tooth and sweeps
Retouch the matching double points of data.
S13: it according to matching double points, is calculated using RANSAC algorithm and is preced with hat scanning number in model data to artificial tooth in artificial tooth
According to initial transformation relationship.
S14: it according to initial transformation relationship, is coordinately transformed to model data is preced in artificial tooth, after forming initial transformation
Model data is preced in artificial tooth.
S15: according to ICP algorithm, hat scan data in hat model data to artificial tooth in the artificial tooth after calculating initial transformation
Precise transformation relationship.
S16: according to initial transformation relationship and precise transformation relationship, the first transformation relation is obtained.
According to the present invention, the second transformation relation is the coordinate conversion relation of scanner coordinate system and lathe coordinate system.Ability
Field technique personnel it should be clear that it is any it is specific obtain the second transformation relation method all without limitation on protection model of the invention
It encloses.Those skilled in the art also can use a variety of existing methods and obtain the second transformation relation, for example, ICP algorithm and its spread out
Raw various innovatory algorithms.
Fig. 3 is the flow chart of the method provided by the invention for obtaining the second transformation relation.In the present invention, preferably by calibration
Device determines the second transformation relation.As shown in figure 3, the step of obtaining the second transformation relation specifically includes:
S22: the positional relationship of calibration device and lathe coordinate system is obtained.Wherein, calibration device is installed on numerically-controlled machine tool, from
And can be with the positional relationship of mechanical measurement calibration device and numerically-controlled machine tool, that is, the position for obtaining calibration device and lathe coordinate system is closed
System.
S24: the positional relationship of calibration device and scanner coordinate system is obtained.Calibration device is scanned by spatial digitizer, thus
The positional relationship for obtaining calibration device and spatial digitizer, that is, obtain the positional relationship of calibration device and scanner coordinate system.
S26: it is closed according to the position of the positional relationship and calibration device of calibration device and lathe coordinate system and scanner coordinate system
System obtains the second transformation relation.
Fig. 4 is the flow chart that the method for machining path is preced with outside acquisition artificial tooth provided by the invention.As shown in figure 4, according to this
It invents, the machining path being preced with outside artificial tooth is determined in step S30, further comprises:
Step S32: it according to the first transformation relation and the second transformation relation, obtains and is preced with model data, target outside target artificial tooth
It is that the artificial tooth under lathe coordinate system is preced with model data outside that model data is preced with outside artificial tooth.
Preferably, it firstly, according to the first transformation relation, obtains and is preced with model data under scanner coordinate system outside artificial tooth.Then,
According to the second transformation relation, obtains and be preced with model data outside the artificial tooth under lathe coordinate system.
P1=P0 x M1 (1)
P2=P1 x M2 (2)
It is furthermore preferred that firstly, obtaining third transformation relation according to the first transformation relation and the second transformation relation, third becomes
Change the transformation relation that relationship is model coordinate systems and lathe coordinate system.Then, according to third transformation relation, lathe coordinate system is obtained
Under artificial tooth outside be preced with model data.
M3=M1 x M2 (3)
P2=P0 x M3 (4)
In formula (1)-(4), M1 is the corresponding transformation matrix of coordinates of the first transformation relation, and M2 is corresponding for the second transformation relation
Transformation matrix of coordinates, M3 be the corresponding transformation matrix of coordinates of third transformation relation.P0 is that the artificial tooth under model coordinate systems is preced with outside
The coordinate of model data, P1 are the coordinate that model data is preced with outside the artificial tooth under scanner coordinate system, and P2 is under lathe coordinate system
It is preced with the coordinate of model data outside artificial tooth, i.e., is preced with the coordinate of model data outside target artificial tooth.
Step S34: it according to the second transformation relation, obtains and is preced with scan data outside target artificial tooth.Scanning number is preced with outside target artificial tooth
It is preced with scan data outside according to for the artificial tooth under lathe coordinate system.
Q1=Q0 x M2 (5)
In formula (5), Q0 is the coordinate that scan data is preced with outside the artificial tooth under scanner coordinate system, and Q1 is under lathe coordinate system
Artificial tooth outside be preced with the coordinate of scan data, i.e., the coordinate of scan data is preced with outside target artificial tooth.
Step S36: it is preced with scan data according to being preced with outside model data and target artificial tooth outside target artificial tooth, determines hat outside artificial tooth
Machining path.
It is the shape for finally wishing to be preced with outside the artificial tooth being process under lathe coordinate system that model data is preced with outside target artificial tooth
Outline data, target artificial tooth are preced with scan data outside as the shape of hat outside the current artificial tooth obtained by heap porcelain under lathe coordinate system
Outline data.It will be apparent to those skilled in the art that the method for any specific determining machining path is all without limitation on guarantor of the invention
Protect range.
Preferably, the target artificial tooth difference that hat scan data and target artificial tooth are preced with corresponding points in model data outside outside is calculated to come really
Determine machining path.Optionally, if difference is less than or no more than specific threshold, then it is assumed that corresponding machining path is empty (Null),
It does not need to process；If difference is more than or not less than specific threshold, it is determined that machining path.
Optionally, specific threshold is according to empirically determined empirical parameter.Preferably, specific threshold is numerically-controlled machine tool processing
Precision, for example, the machining accuracy of certain numerically-controlled machine tools is 20um, then specific threshold is chosen to be 20um.
Method to realize above-mentioned artificial tooth processing, the present invention also provides a kind of calculating equipment, the calculating equipment and numerical control
Lathe communication connection or the component part as numerically-controlled machine tool.The calculating equipment includes that pocessor and storage media is (preferably non-
Instantaneity storage medium).Wherein for storage medium for storing control program, processor is above-mentioned to realize for executing control program
The method of artificial tooth processing.Optionally, it is also stored in storage medium in artificial tooth and is preced with model data outside hat model data and artificial tooth.
The method of processing artificial tooth to realize the present invention, the present invention is also to existing numerically-controlled machine tool (especially five-shaft numerical control
Lathe) it is improved, to provide a kind of for processing the numerically-controlled machine tool 1 of artificial tooth.
Fig. 5 is the structure chart of numerically-controlled machine tool provided by the invention.As shown in figure 5, numerically-controlled machine tool 1 is five-axle number control machine tool,
It will be apparent to those skilled in the art that five axis of five-axle number control machine tool include three linear axis and two rotary shafts, three linear axis point
It is not defined as X-axis, Y-axis, Z axis, two rotary shafts are respectively defined as A axis, B axle.Arrange simultaneously, A axis is rotated around X-direction, B
Axis is rotated around Y direction.It will be apparent to those skilled in the art that X, Y, Z, A, B are only to make in five-axle number control machine tool shafting
Label or code name, are not limiting upon protection scope of the present invention.
According to the present invention, numerically-controlled machine tool 1 further comprises machining spindle 10, machining tool 30, spatial digitizer 40, fixation
Device 50, calibration device 60, digital control system (are preferably realised as embedded system).
Machining spindle 10 is parallel with Z axis.Machining tool 30 is installed on machining spindle 10, is preced with outside artificial tooth for processing.
By driving machining spindle 10, machining tool 30 can be moved in a straight line along 10 direction of machining spindle.Machining tool 30
It can be any tool that numerically-controlled machine tool uses, it is preferred that machining tool 30 is milling tools, for being preced with outside artificial tooth of polishing.
Spatial digitizer 40 is preced with outside hat and artificial tooth for scanning in artificial tooth, to obtain hat scan data and artificial tooth in artificial tooth
Outer hat scan data.Spatial digitizer 40 is installed at the appropriate position of numerically-controlled machine tool 1, to guarantee that spatial digitizer scanning obtains
Hat scan data can be registrated with model data is preced in artificial tooth in the artificial tooth taken, and guarantee the justice that spatial digitizer obtains
It includes the data that machining tool 30 is preced with the contoured surface processed to artificial tooth outside that scan data is preced with outside tooth.
Optionally, spatial digitizer 40 can be scanned in artificial tooth by adjusting object distance and clearly and is preced with outside hat and artificial tooth.
Preferably, numerically-controlled machine tool 1 further includes deflection axis 20.Spatial digitizer 40 is installed on deflection axis 20.Three
The spatial digitizer that scanner 40 is fixed focal length is tieed up, by driving deflection axis 20, spatial digitizer can be led along scanning
20 directions move in a straight line, and are preced with outside hat and artificial tooth with clearly being scanned in artificial tooth by adjusting object distance.In this way,
The parameter that spatial digitizer is demarcated during 3-D scanning is not needed, to improve scan efficiency.
It is furthermore preferred that deflection axis 20 is parallel or substantially parallel with machining spindle 10, and the master of spatial digitizer 40
Optical axis is parallel or substantially parallel with deflection axis 20.Hat scanning in artificial tooth to ensure that the scanning acquisition of spatial digitizer 40
Data can be registrated with model data is preced in artificial tooth, and ensure that the artificial tooth that spatial digitizer 40 obtains is preced with scanning number outside
According to the data for being preced with the contoured surface processed outside to artificial tooth including machining tool 30.
According to an aspect of the present invention, deflection axis 20 is driven by independent digital control system, i.e., the digital control system receives
Driving instruction, driving deflection axis 20 moves, so that spatial digitizer 40 be driven to move.
Preferably, according to another aspect of the present invention, deflection axis 20 is driven by the digital control system of numerically-controlled machine tool.It is this
In the case of, the digital control system of numerically-controlled machine tool can drive at least six axis to move, and six axis include X, Y-axis, A, B axle, machining spindle 10,
And deflection axis 20.Due to driving deflection axis 20 using the digital control system of numerically-controlled machine tool, it is no longer necessary to independent number
Control system is effectively simplified the structure of numerically-controlled machine tool system.
Fixed device 50 is for fixing carrying tool.Fixed device 50 can move along a straight line along X-axis, Y-axis, and along A
Axis, B axle rotation to drive carrying tool that can move along a straight line along X-axis, Y-axis, and are rotated along A axis, B axle.
Preferably, fixed device 50 is fixture, to facilitate fixed plate-shaped body.For example, the interior contact surface of fixture be it is round,
Semicircle or arc, to facilitate fixed plate circular object.For another example, the interior contact surface of fixture is linear, to facilitate fixed plate
Square or rectangle object.The quantity of fixture can be 1, or multiple.For example, fixed device includes symmetrical 2
Fixture or 4 fixtures.For another example, fixed device includes into 3 fixtures of equilateral triangle or 6 fixtures at regular hexagon.This
Field technical staff understands that the effect of fixture is fixed object, and the selection of shape and quantity is all without limitation on of the invention
Protection scope.
Calibration device 60 is for determining the second transformation relation, as previously mentioned, the second transformation relation is scanner coordinate system and machine
The coordinate conversion relation of bed coordinate system.Firstly, calibration device 60 is installed on numerically-controlled machine tool, so as to mechanical measurement calibration device
60 and numerically-controlled machine tool positional relationship, that is, obtain the positional relationship of calibration device 60 and lathe coordinate system.Then, it is swept by three-dimensional
It retouches the scanning calibration device 60 of instrument 40 and obtains calibration device 60 to obtain the positional relationship of calibration device 60 and spatial digitizer 40
With the positional relationship of scanner coordinate system.Finally, according to the positional relationship and calibration device 60 of calibration device 60 and lathe coordinate system
With the positional relationship of scanner coordinate system, the second transformation relation is obtained.
According to an aspect of the present invention, a kind of numerically-controlled machine tool system, including numerically-controlled machine tool 1 and calculating equipment are additionally provided
(i.e. host computer) calculates digital control system of the equipment also with numerically-controlled machine tool 1 wherein calculating equipment and the communication connection of spatial digitizer 40
Communication connection.
It calculates equipment and is preced with scan data in first time acquisition artificial tooth for controlling spatial digitizer 40, control three-dimensional is swept
It retouches instrument 40 and is preced with scan data outside the second time acquisition artificial tooth, and be preced with pattern number outside according to model data, artificial tooth is preced in artificial tooth
The machining path being preced with outside artificial tooth is determined according to being preced with scan data in, artificial tooth, being preced with scan data outside artificial tooth.
Preferably, it calculates and is also stored with hat model data in artificial tooth in equipment, be preced with model data outside artificial tooth.
Preferably, the interactive step for calculating equipment, digital control system and spatial digitizer 40 is as follows:
S110: it calculates equipment and sends the first instruction for obtaining hat scan data in artificial tooth to digital control system.In first instruction
It include the location information being preced in the location information and artificial tooth of spatial digitizer 40.
S120: according to the first order-driven numerically-controlled machine tool, the interior hat of the spatial digitizer 40 and artificial tooth made is located at digital control system
In first instruction at the position of corresponding position information instruction.
S130: spatial digitizer 40 is scanned hat in artificial tooth, and will be preced with scan data in artificial tooth and be transferred to calculating and set
It is standby.
S140: it calculates equipment and sends the second instruction for obtaining hat scan data outside artificial tooth to digital control system.In second instruction
It include the location information being preced with outside the location information and artificial tooth of spatial digitizer 40.
S150: according to the second order-driven numerically-controlled machine tool, the spatial digitizer 40 and artificial tooth made is preced with outside to be located at digital control system
In second instruction at the position of corresponding position information instruction.
S160: spatial digitizer 40 is scanned to being preced with outside artificial tooth, and will be preced with scan data outside artificial tooth and be transferred to calculating and set
It is standby.
S170: calculate equipment according to be preced with model data in artificial tooth, model data is preced with outside artificial tooth, scan data be preced in artificial tooth,
It is preced with scan data outside artificial tooth and determines the machining path being preced with outside artificial tooth, and machining path is transferred to digital control system.Machining path
Determine that method as noted in the introduction of this description, is not repeated.
S180: digital control system drives and is preced with outside numerical control machine tooling artificial tooth according to machining path.
In preferred embodiment, since using equipment (host computer) completion major control function is calculated, there is no need to require to count
The digital control system for controlling lathe has very high performance.
According to another aspect of the present invention, the digital control system of numerically-controlled machine tool 1 is for controlling spatial digitizer 40 first
Time obtains and is preced with scan data in artificial tooth, and control spatial digitizer 40 obtains in the second time and is preced with scan data outside artificial tooth, and
According to being preced with model data in artificial tooth, model data is preced with outside artificial tooth, scan data is preced in artificial tooth, is preced with scan data outside artificial tooth and determines justice
The machining path being preced with outside tooth.Complex interaction process brought by equipment is calculated so as to avoid using.
Fig. 6 is the flow chart of the method provided by the invention using heap porcelain technique processing artificial tooth.Use provided by the invention
Numerically-controlled machine tool system of processing 1 shown in fig. 5 is utilized in the method for heap porcelain technique processing artificial tooth, as shown in fig. 6, this method includes
Following steps:
S210: hat in artificial tooth is fixed on carrying tool.According to the present invention, carrying tool is easy to removably be pacified
Dress/be fixed on the fixation device 50 of numerically-controlled machine tool.Preferably, carrying tool is plate-shaped body.It is furthermore preferred that carrying tool is
Circular plate object.
According to the present invention, hat in 1 artificial tooth can be fixed on carrying tool, can also fix hat in multiple artificial teeth.It is preferred that
, hat in 5-25 artificial tooth is capable of fixing on carrying tool.It is furthermore preferred that being capable of fixing on carrying tool in 10-20 artificial tooth
Hat.Most preferably, hat in 15 artificial teeth is capable of fixing on carrying tool.
According to the present invention, hat can be fixed on carrying tool in artificial tooth in single form, can also be with the shape of denture
Formula is fixed on carrying tool.
According to the present invention, will in artificial tooth hat be fixed to carrying tool on specifically includes the following steps:
S212: as shown in Fig. 7 (a), hat 100 in artificial tooth being embedded in liquid layer 110 with the upward upside down of aperture, from
And 100 are preced in fixed denture in liquid layer 110.
Preferably, the top of hat 100 flushes or slightly below liquid layer 110 with the horizontal plane of liquid layer 110 in artificial tooth
Horizontal plane.
Preferably, direction of the hat 100 in liquid layer 110 is consistent with the direction of path of insertion in artificial tooth, and path of insertion is corona
When being mounted on standby tooth with the interval location that faces tooth.
Preferably, packing layer 120 is also set up being preced between 100 upper outsides and liquid layer 110 in artificial tooth, packing layer 120
The gap in artificial tooth between hat 100 and liquid layer 110 can be filled.Packing layer 120 is slightly above the horizontal plane of liquid layer 110, from
And it can prevent liquid from falling into artificial tooth in hat 100.Preferably, the material that packing layer uses is blue ice glue.
Preferably, before by 100 insertion liquid layer 110 of hat in artificial tooth, the surface that 100 are preced with also in artificial tooth coats bonding
Agent, so that hat 100 is more firm in liquid layer 110 in artificial tooth, in the artificial tooth that can also make in the case where packing layer is arranged
It is preced with more easily peelable packing layer.Optionally, binder is synthetic rubber, paraffin, polyethylene glycol, polyvinyl alcohol, polyvinyl alcohol contracting
Any one in butyraldehyde or any several mixing.
Preferably, liquid is sand, and liquid layer is sand bed.
S214: as shown in Fig. 7 (b), curing agent 130 of casting in 100 opening of hat and on liquid layer 110 in artificial tooth.Gu
After agent 130 solidifies, the carrying tool being preced in artificial tooth is formed.Preferably, curing agent is gypsum.
S216: as shown in Fig. 7 (c), removing liquid layer 110, obtains carrying tool (curing agent 130 after solidification) and fixes
100 are preced in artificial tooth on to carrying tool.
Such as in step S212, it is provided with packing layer 120, then also needs to remove packing layer 120 in step S216.
What step S212-S216 and Figure of description 7 (a) -7 (c) were described in detail is that single artificial tooth is fixed to carrying tool
On method, it should be apparent to those skilled in the art that the above method be also applied for will in more artificial teeth hat or artificial tooth denture consolidate
Determine onto carrying tool.In other words, the number quantity and form of artificial tooth will not influence protection scope of the present invention.
S220: carrying tool is mounted on the fixation device 50 of numerically-controlled machine tool.
S230: fixed device 50 is moved to interior hat scan position, driving spatial digitizer 40 scans hat in artificial tooth, obtains
Scan data is preced in artificial tooth.
As previously mentioned, fixed device 50 can move along a straight line along X-axis, Y-axis, and rotated along A axis, B axle.Due to artificial tooth
Interior hat is fixed on carrying tool, and carrying tool is mounted on fixed device 50, therefore hat can be with fixation in artificial tooth
Device 50 moves along a straight line along X-axis, Y-axis, and rotates along A axis, B axle.
According to the present invention, Guan Saomiaoweizhichu, spatial digitizer 40 can complete hat in scanning artificial tooth, obtain artificial tooth inside
Interior hat scan data.Therefore, interior hat scan position can be a position, but preferably include multiple positions, and especially including is edge
A axis and/or B axle rotation and the position that is formed, to ensure that it is wide that spatial digitizer 40 can scan in enough artificial teeth crown gear
Face, scan data can be preced with being preced in the artificial tooth that model data is registrated in artificial tooth by being formed.
Preferably, interior hat scan position is determined by control system 70.Control system 70 can preset interior hat scanning position
It sets and carries out automatically scanning with improving sweep efficiency, or selected to determine interior hat scan position to promote the flexible of scanning according to user
Property, or automatically scanning is first carried out according to preset interior hat scan position, after determining interior hat scanning is selected according to user
Position carries out complementary scan, to ensure the complete of scan data while improving sweep efficiency.
Preferably, interior hat scan position is located near deflection axis 20.
S240: removing carrying tool, carries out heap porcelain to hat in artificial tooth, is formed outside artificial tooth and be preced with.
According to an aspect of the present invention, heap porcelain is carried out to hat in artificial tooth on carrying tool, i.e., not from carrying tool
Remove hat in artificial tooth.
According to another aspect of the present invention, it as shown in Fig. 8 (a)-Fig. 8 (b), is removed in artificial tooth from carrying tool first
Then hat 100 carries out heap porcelain to hat 100 in artificial tooth, is preced with 150 outside formation artificial tooth, finally will include being preced with outside 100 and artificial tooth in artificial tooth
The artificial tooth of hat 150 is installed back on carrying tool.Since the fixed part of carrying tool is formed by way of curing agent of casting
, so that is preced in the installation site and artificial tooth be preced with outside artificial tooth removes position consistency, to ensure to be preced with outside artificial tooth in carrying work
Position and attitude on tool is identical as position and attitude of the hat on carrying tool in artificial tooth, so ensure in artificial tooth hat scan data and
Scan data is preced with outside artificial tooth to match.
According to the present invention, when being preced with outside heap porcelain formation artificial tooth, allow the size being preced with outside artificial tooth to be slightly larger than target and is preced with model outside
Data match without being preced with model data outside accurate and artificial tooth, in order to be processed in subsequent step.Due to heap porcelain mistake
Journey does not need accurately to match, so that the efficiency of heap porcelain also obtains raising by a relatively large margin.
Bogey: being installed on fixed device 50 by S250 again, and fixed device 50 is moved to outer hat scan position.
It drives spatial digitizer 40 to scan outside artificial tooth to be preced with, obtain and be preced with scan data outside artificial tooth.
According to the present invention, Guan Saomiaoweizhichu, spatial digitizer 40 can be completed to be preced with outside scanning artificial tooth outside, obtain artificial tooth
Outer hat scan data.Therefore, outer hat scan position can be a position, but preferably include multiple positions, and especially including is edge
A axis and/or B axle rotation and the position that is formed, be preced with ensuring spatial digitizer 40 that can scan outside enough artificial teeth, with true
Protecting outside the artificial tooth obtained and being preced with scan data includes the data that machining tool 30 is preced with the contoured surface processed to artificial tooth outside.
Preferably, outer hat scan position is determined by control system 70.Control system 70 can preset outer hat scanning position
It sets and carries out automatically scanning with improving sweep efficiency, or selected to determine outer hat scan position to promote the flexible of scanning according to user
Property, or automatically scanning is first carried out according to preset outer hat scan position, after determining outer hat scanning is selected according to user
Position carries out complementary scan, to ensure the complete of scan data while improving sweep efficiency.
Preferably, outer hat scan position and interior hat scan position are identical or essentially identical, and outer hat scan position, which also is located at, sweeps
It retouches near main shaft 20.
S260: according to being preced with model data in artificial tooth, model data is preced with outside artificial tooth, scan data is preced in artificial tooth, is preced with outside artificial tooth
Scan data determines the machining path being preced with outside artificial tooth.The determination method of machining path as noted in the introduction of this description, is not repeated.
S270: according to machining path, fixed device 50 is moved at Working position, driving machining tool 30 processes artificial tooth
Outer hat.
The above is only better embodiment of the invention, is not intended to limit the present invention in any form, all
According to the technical essence of the invention to any simple modification, equivalent variations made by embodiment of above, each fall within of the invention
Within protection scope.
Claims (9)
1. a kind of method for processing artificial tooth, the artificial tooth includes being preced with outside hat and artificial tooth in artificial tooth, and feature is being, the method
The following steps are included:
S10: according to model data is preced in artificial tooth, hat scan data obtains the first transformation relation in artificial tooth；
S30: the determining justice of scan data is preced with according to being preced with outside model data, artificial tooth outside the first transformation relation, the second transformation relation, artificial tooth
The machining path being preced with outside tooth；
S50: it according to machining path, drives and is preced with outside numerical control machine tooling artificial tooth；
Wherein, crown root is prepared according to hat model data in the artificial tooth in the artificial tooth；
The outer crown root evidence of the artificial tooth is formed after carrying out heap porcelain to hat in the artificial tooth；
Hat model data is according to the model data being preced in the artificial tooth that standby tooth scan data is modeled and is obtained in the artificial tooth；
It is according to the model data being preced with outside the artificial tooth that standby tooth scan data is modeled and is obtained that model data is preced with outside the artificial tooth；
Hat scan data is the scan data by carrying out 3-D scanning acquisition to hat in artificial tooth in the artificial tooth；
It is the scan data by carrying out 3-D scanning acquisition to hat outside artificial tooth that scan data is preced with outside the artificial tooth；
First transformation relation is the coordinate conversion relation of model coordinate systems and scanner coordinate system；
Second transformation relation is the coordinate conversion relation of scanner coordinate system and lathe coordinate system；
The coordinate system that the model coordinate systems are located at by being preced with model data outside hat model data in artificial tooth and artificial tooth；
The scanner coordinate system is to be preced with the coordinate system that scan data is located at outside hat scan data and artificial tooth in artificial tooth；
The lathe coordinate system is the coordinate system processed where the numerically-controlled machine tool of artificial tooth；
The step S10 further comprises:
S11: according to the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and the 2nd SHOT feature are calculated
Description；
The first ISS key point is the ISS key point of hat model data in artificial tooth, and the 2nd ISS key point is in artificial tooth
It is preced with the ISS key point of scan data；The first SHOT Feature Descriptor is that SHOT feature corresponding with the first ISS key point is retouched
Son is stated, the 2nd SHOT Feature Descriptor is SHOT Feature Descriptor corresponding with the 2nd ISS key point；
S12: in the first ISS key point and the 2nd ISS key point, the first SHOT Feature Descriptor and second are based on
SHOT Feature Descriptor obtains the best match based on SHOT Feature Descriptor, is formed in artificial tooth in hat model data and artificial tooth
It is preced with the matching double points of scan data；
S13: it according to the matching double points, is calculated using RANSAC algorithm and is preced with hat scanning number in model data to artificial tooth in artificial tooth
According to initial transformation relationship；
S14: it according to the initial transformation relationship, is coordinately transformed to model data is preced in artificial tooth, after forming initial transformation
Model data is preced in artificial tooth；
S15: according to ICP algorithm, the accurate of scan data is preced in hat model data to artificial tooth in the artificial tooth after calculating initial transformation
Transformation relation；
S16: according to initial transformation relationship and precise transformation relationship, the first transformation relation is obtained.
2. it is according to claim 1 processing artificial tooth method, which is characterized in that in the artificial tooth hat and artificial tooth outside be preced with into
When row scanning, hat is identical with the position and attitude being preced on carrying tool outside artificial tooth in the artificial tooth.
3. the method for processing artificial tooth according to claim 1, which is characterized in that the obtaining step of second transformation relation
Include:
S22: the positional relationship of calibration device and lathe coordinate system is obtained；Wherein, the calibration device is installed in the numerically-controlled machine tool
On；
S24: the positional relationship of calibration device and scanner coordinate system is obtained；
S26: according to the positional relationship of the positional relationship and calibration device of calibration device and lathe coordinate system and scanner coordinate system,
Obtain the second transformation relation.
4. the method for processing artificial tooth according to claim 1, which is characterized in that the step S30 further comprises:
Step S32: it according to the first transformation relation and the second transformation relation, obtains and is preced with model data, target artificial tooth outside target artificial tooth
Outer hat model data is that the artificial tooth under lathe coordinate system is preced with model data outside；
Step S34: according to the second transformation relation, obtaining and be preced with scan data outside target artificial tooth, and being preced with scan data outside target artificial tooth is
Scan data is preced with outside artificial tooth under lathe coordinate system；
Step S36: it is preced with scan data according to being preced with outside model data and target artificial tooth outside target artificial tooth, determines the processing being preced with outside artificial tooth
Path.
5. the method for processing artificial tooth according to claim 4, which is characterized in that the step S32 further comprises:
According to the first transformation relation, obtains and be preced with model data under scanner coordinate system outside artificial tooth；
According to the second transformation relation, obtains and be preced with model data outside target artificial tooth.
6. the method for processing artificial tooth according to claim 4, which is characterized in that the step S32 further comprises:
According to the first transformation relation and the second transformation relation, third transformation relation is obtained；Wherein, third transformation relation is model seat
The transformation relation of mark system and lathe coordinate system；
According to third transformation relation, obtains and be preced with model data outside target artificial tooth.
7. the method for processing artificial tooth according to claim 4, which is characterized in that the machining path is by calculating target justice
It is preced with outside tooth outside scan data and target artificial tooth and is preced with the difference of corresponding points in model data to determine.
8. the method for processing artificial tooth according to claim 7, which is characterized in that if the difference is less than or no more than specific
Threshold value, then the machining path is empty (Null)；If the difference is more than or not less than specific threshold, it is determined that the processing road
Diameter.
9. the method for processing artificial tooth according to claim 8, which is characterized in that the specific threshold is the numerically-controlled machine tool
Machining accuracy.
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| CN201711078065.8A Active CN107678400B (en) | 2016-11-21 | 2017-11-06 | A kind of method, computing device and the numerically-controlled machine tool system of processing artificial tooth |
| CN201711078647.6A Active CN107874854B (en) | 2016-11-21 | 2017-11-06 | A kind of method, calculating equipment and the numerically-controlled machine tool system of processing artificial tooth |
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| CN110695694A (en) * | 2019-08-12 | 2020-01-17 | 南通大学 | System for four-axis false tooth numerical control machining center and adjusting method thereof |
| CN110955213B (en) * | 2019-12-09 | 2020-09-29 | 上海雷帕罗义齿有限公司 | Control system of artificial tooth processing automation line |
| CN111658205B (en) * | 2020-06-04 | 2021-07-02 | 中国人民解放军空军军医大学 | Digital transfer method and system for removable partial removable denture co-positioning channel |
| CN112190354A (en) * | 2020-10-02 | 2021-01-08 | 吉林大学 | Double-sided efficient machining system and method for chair-side false teeth |
| CN113116572B (en) * | 2021-03-01 | 2022-03-08 | 北京联袂义齿技术有限公司 | False tooth model forming system and forming method based on cloud computing |
| CN113598994B (en) * | 2021-07-26 | 2022-07-15 | 广州黑格智造信息科技有限公司 | Rapid porcelain applying method |
| CN114260526B (en) * | 2021-12-22 | 2023-04-18 | 东莞市爱嘉义齿有限公司 | 3D prints wire-electrode cutting device of metal artificial tooth |
| CN114504397B (en) * | 2022-02-15 | 2023-08-22 | 南京铖联激光科技有限公司 | Intelligent design method for removable partial denture |
| CN117860415B (en) * | 2024-03-11 | 2024-05-10 | 成都四维齿科技术开发有限公司 | Denture fixing and repairing equipment and method |
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| CN107861469A (en) | 2018-03-30 |
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