CN102486641A - Method for generating denture processing trajectory - Google Patents
Method for generating denture processing trajectory Download PDFInfo
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- CN102486641A CN102486641A CN2010105725998A CN201010572599A CN102486641A CN 102486641 A CN102486641 A CN 102486641A CN 2010105725998 A CN2010105725998 A CN 2010105725998A CN 201010572599 A CN201010572599 A CN 201010572599A CN 102486641 A CN102486641 A CN 102486641A
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- 238000012545 processing Methods 0.000 title claims abstract description 31
- 238000003754 machining Methods 0.000 claims abstract description 42
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- 230000002452 interceptive effect Effects 0.000 claims description 2
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- 238000002360 preparation method Methods 0.000 abstract description 5
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- 210000000988 bone and bone Anatomy 0.000 description 1
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Abstract
一种假牙加工轨迹生成方法，属于数控加工技术领域。首先生成用于假牙粗加工的刀轨，再生成用于假牙精加工的刀轨，所述粗加工刀轨的生成分为Z向粗加工轨迹生成和-Z向粗加工轨迹生成两步，精加工刀轨的生成分为Z向精加工轨迹生成和-Z向精加工轨迹生成两步。生成粗加工轨迹的步骤为：①确定材料去除区域；②获取截交轮廓曲线集；③处理截交轮廓曲线集；④生成加工区域；⑤轨迹填充；⑥轨迹连接。生成精加工轨迹的步骤为：①确定材料去除区域；②获取截交轮廓曲线集；③处理截交轮廓曲线集；④生成加工区域；⑤轨迹填充；⑥轨迹连接。本发明可以有效解决假牙数控加工刀具轨迹规划问题，解决了手工制备假牙的效率问题和质量稳定性问题。The invention discloses a method for generating a denture processing trajectory, which belongs to the technical field of numerical control processing. First generate the tool path for rough machining of dentures, and then generate the tool path for fine machining of dentures. The generation of the rough machining tool path is divided into two steps: Z-direction rough machining trajectory generation and -Z-direction rough machining trajectory generation. The generation of machining tool path is divided into two steps: Z-direction finishing trajectory generation and -Z-direction finishing trajectory generation. The steps of generating the rough machining trajectory are: ①determining the material removal area; ②obtaining the intersection contour curve set; ③processing the intersection contour curve set; ④generating the processing area; ⑤track filling; ⑥trajectory connection. The steps to generate the finishing trajectory are: ① determine the material removal area; ② obtain the intersection contour curve set; ③ process the intersection contour curve set; ④ generate the processing area; ⑤ trajectory filling; ⑥ trajectory connection. The invention can effectively solve the problem of tool track planning in numerically controlled machining of dentures, and solve the problems of efficiency and quality stability of manual preparation of dentures.
Description
Technical field
The invention belongs to the CNC processing technology field, be specifically related to a kind of artificial tooth machining locus generation method
Background technology
The reverse mould method is generally adopted in the preparation of tooth mould, and after obtaining the gypsum former of root of the tooth, the model of tooth and jaw portion just obtains.Can produce a formpiston according to the gypsum reverse mould, this formpiston has reflected patient's oral condition.After obtaining formpiston, adopt method for reconstructing based on a cloud or image, the digital model of artificial tooth and jaw portion is described out with grid or spline surface.In the relation of coincideing of lower jaw in the reference and face on the basis of tooth information, through the local Transform Type design of CAD, the artificial tooth digital model that is suitable for processing.
The patent No. is that 00816582.3 patent of invention provides a kind of lathe of making the pedestal structure for the dentistry prosthesis; Wherein discuss a kind of artificial tooth and be contoured method; This method needs the DENSP to go out the basic mode of artificial tooth with paraffin or plastics manual preparation, adopts the said lathe of this patent to be contoured then.What this job operation adopted is the mode that ratio is duplicated, and does not relate to the trajectory planning problem of artificial tooth processing.And because pure manual mode is adopted in the design of basic mode and preparation, automaticity is not high, and preparation efficiency is low relatively, and the artificial tooth quality depends on DENSP's level, the control of artificial tooth difficult quality.U.S. Pat, A5184306 discloses a kind of made with high precision method of single-piece complex object, and this method can be used for biological bone processing.This method is through searching the model that is complementary with realistic model in model bank, thereby finds the standard cutter rail that is fit to realistic model, and then obtains actual processing cutter rail through the mode of revising cutter rail parameter value.But this method and without proper notice are to the generation method of the standard cutter rail of artificial tooth processing process.
Summary of the invention
To the technical matters of above-mentioned existence, the present invention provides a kind of artificial tooth machining locus generation method.
The technical solution adopted for the present invention to solve the technical problems is:
Artificial tooth machining locus generation method of the present invention; At first generate and be used for the rough machined cutter rail of artificial tooth; Regeneration is used for the accurately machined cutter rail of artificial tooth; The generation of said roughing cutter rail is divided into Z and generates with-Z to the roughing track and generated for two steps to the roughing track, and the generation of finishing cutter rail is divided into Z and generates with-Z to the finishing track and generated for two steps to the finishing track.
Roughing orbit generation method step of the present invention is following: 1. confirm material removal area; 2. obtain to cut and hand over the contour curve collection; 3. handle to cut and hand over the contour curve collection; 4. generate machining area; 5. track is filled; 6. track connects.
Said definite material removal area step is following: at first adopt artificial tooth 2D to limit box B
2DBlank Γ carries out boolean and ships to calculate and draw 3D and limit box B
3D, use B
3DBoolean deducts artificial tooth digital model M, obtains material removal area γ
TotalUse γ
TotalBoolean deducts artificial tooth and connects bearing rib Ψ, obtains Z to material removal area γ
zWith-Z to material removal area γ
-z:
γ
total＝(B
2D∩T)-M
{γ
z，γ
-z}＝γ
total-Ψ
Wherein: when confirm connecting the Z height of bearing rib Ψ, confirm the silhouettes line of denture model earlier, with the minimum Z value of silhouettes line Z height value as the connection bearing rib.
Saidly obtain that cut to hand over a contour curve collection step be to adopt equally spaced planar set vertical with the Z axle and Z to material removal area γ
zAsk intersection, draw intersection contour curve collection.
Said processing cuts hands over contour curve collection step following: the non-outermost contour curve in the slicing layer between the minimum and maximum Z value of silhouettes, replace the contour curve that obtains with the largest contours line.
Described finishing orbit generation method step is following: 1. confirm the finishing zone; 2. obtain to cut and hand over the contour curve collection; 3. obtain initial cutter-contact point collection; 4. generate initial cutter location; 5. interference checking and processing; 6. track connects.
Said definite finishing machining area: be that artificial tooth is cut apart along its silhouettes line; Obtain Z to-Z to cutting apart curved surface; Z is Z to cutting apart curved surface to machining area, and actual-Z removes the zone that connect bearing rib gained for-Z to cutting apart curved surface to the finishing zone.
Saidly obtain that cut to hand over contour curve collection step be to adopt the planar set that is parallel to the Z axle or becomes the 30-60 angle with the Z axle, intercept the initial profile curve set.
Described interference checking and disposal route are following: calculate the bee-line d of initial cutter location p to denture model; If bee-line is less than ball cutter radius r; Then this initial cutter location interferes, and the disposal route when interfering is: when obtaining bee-line, obtain on the tooth mould with initial cutter location have bee-line a bit; Calculate the direction of normal n of the curved surface at this some place, new adjustment position p
*Adopt following formula to adjust: to make p
*Be p, repeat said process, till d equals ball cutter radius r:
Wherein: r is a ball cutter radius, and d is the bee-line of initial cutter location p to denture model, r
pBe the vector radius,
Be the vector radius of new adjustment position, n is a direction of normal.
It is described that to obtain initial cutter-contact point collection be to adopt the method for straight line or two circular fittings to obtain the cutter-contact point collection after discrete; Obtaining initial cutter location is the method vector that obtains curved surface place, cutter-contact point place, and cutter-contact point along ball cutter radius of the outside biasing of method direction vector, is obtained initial cutter location.
The invention has the beneficial effects as follows:
1. adopt the inventive method to accomplish the automatic, high precision processing of artificial tooth, reduced the manual of people and participated in, improved the controllability of working (machining) efficiency and quality.
2. to adopt the cutting plane method be main orbit generation method in the present invention, formulated the standardization track product process that is applicable to the artificial tooth processing process, generated can the tooth replacement digital model standard trajectory.
3. the machining area automatic identifying method among the present invention has solved the problem definition of machining area in the artificial tooth processing.Thereby avoided the manual definition processing curve, improved the automaticity that track generates.
4. adopted in the finishing of the present invention and be different from the conventional interference disposal route, improved and interfered the efficient of handling.
Description of drawings
Fig. 1 is a process flow diagram of the present invention, and wherein (a) is roughing track product process figure, (b) is finishing track product process figure.
Fig. 2 is for confirming the graphic element that machining area is used among the present invention, wherein (a) (b) is blank for 2D limits box, (c) for 3D limits box, (d) is the artificial tooth digital model, (e) removes the zone for full material, (f) for connecting bearing rib.
Fig. 3 is that Z of the present invention is to material removal area.
Fig. 4 is the outline line of artificial tooth, (a) is the silhouettes line, (b) is the largest contours line.
Fig. 5 hands over contour curve to handle synoptic diagram for the present invention cuts, and wherein (a) is the initial profile curve, (b) for needing the contour curve of replacement, (c) is the contour curve after the replacement.
Fig. 6 is processing cutter rail track ring tree synoptic diagram, and wherein (a) hands over the contour curve ring for cutting, and (b) is the contour loop tree.
Fig. 7 is the machining area synoptic diagram, and wherein (a) is the individual layer machining area, (b) is the multilayer processing zone.
Fig. 8 is the finishing area schematic, wherein (a) for Z to cutting apart curved surface, (b) for-Z to cutting apart curved surface, (c) be-Z is to machining area.
Fig. 9 is a roughing track synoptic diagram, wherein (a) be Z to the roughing track, (b) be-Z is to the roughing track.
Figure 10 is a finishing track synoptic diagram, wherein (a) be Z to the finishing track, (b) be-Z is to the finishing track.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Embodiment: artificial tooth processing knife rail generating method of the present invention is mainly accomplished by roughing and two steps of finishing; The generation of said roughing cutter rail is divided into Z and generates with-Z to the roughing track and generated for two steps to the roughing track, and the generation of finishing cutter rail is divided into Z and generates with-Z to the finishing track and generated for two steps to the finishing track.
The method step that concrete roughing track generates, shown in Fig. 1 (a):
1. confirm roughing material removal zone:
Z is to adopting following formula to confirm with-Z to material removal area: at first adopt the artificial tooth 2D shown in Fig. 2 (a) to limit box (the infinite length of Z axle) and the blank Γ shown in Fig. 2 (b) and carry out boolean and ship and calculate the 3D qualification box B that draws shown in Fig. 2 (c)
3D, use B
3DBoolean deducts the artificial tooth digital model M shown in Fig. 2 (d), obtains the material removal area γ shown in Fig. 2 (e)
TotalUse γ
TotalBoolean deducts the connection bearing rib Ψ shown in Fig. 2 (f), thereby the Z that obtains artificial tooth shown in Figure 2 is to material removal area γ
zWith-Z to material removal area γ
-z:
γ
total＝(B
2D∩T)-M
{γ
z，γ
-z}＝γ
total-Ψ
Wherein: when confirm connecting the Z height of bearing rib Ψ, confirm the silhouettes line of the denture model as Fig. 4 (a) shown in earlier, with the minimum Z value of silhouettes line Z height value as the connection bearing rib;
2. obtain to cut and hand over contour curve:
Adopt equally spaced planar set vertical and Z to material removal area γ with the Z axle
zAsk intersection, draw intersection contour curve collection, the initial profile curve that draws is shown in Fig. 5 (a);
3. handle to cut and hand over the contour curve collection:
Shown in Fig. 5 (b), the non-outermost contour curve in the slicing layer between the minimum and maximum Z value of silhouettes, with the replacement of the largest contours line shown in Fig. 4 (b), the contour curve after the replacement is shown in Fig. 5 (c);
4. generation machining area:
In every layer of section; The contour curve ring is abstracted into the form that the contour loop shown in Fig. 6 (b) is set by the nest relation that encircles, and the degree of depth is the node of even number and the zone that child node constitutes thereof in tree, is the material removal area of each layer; After obtaining material removal area; Bias material is removed the inner and outer boundary contour curve in zone, thereby obtains the machining area shown in Fig. 7 (a), and Fig. 7 (b) is for calculating the multilayer processing zone of gained;
5. track is filled: after obtaining machining area, cut or the track element of ring cutting is filled machining area with row;
6. connection track: the track element that obtains is connected, can obtain being respectively applied for shown in Fig. 9 (a) and (b) and remove material removal area γ
zAnd γ
-zThe roughing track.
The generation method step of said finishing cutter rail is following: shown in Fig. 1 (b).
1. confirm the finishing machining area:
Artificial tooth is cut apart along the silhouettes line shown in Fig. 4 (a); Obtain the Z shown in Fig. 8 (a) and (b) to-Z to cutting apart curved surface; Z is Z to cutting apart curved surface to machining area; Consider the connection bearing rib, actual-Z removes the zone that connect bearing rib gained for-Z to cutting apart curved surface to the finishing zone, shown in Fig. 8 (c);
2. obtain and cut to hand over a contour curve: adopt the planar set that is parallel to the Z axle or becomes the 30-60 angle with the Z axle, intercept the initial profile curve set;
3. obtain initial cutter-contact point collection: adopt the method for straight line or two circular fittings to obtain the cutter-contact point collection after dispersing.
4. obtain initial cutter location: obtain the method vector at curved surface place, cutter-contact point place, cutter-contact point along ball cutter radius of the outside biasing of method direction vector, is obtained initial cutter location;
5. detection and the processing interfered:
If adopt initial cutter location to drive cutter; Then local the interference can take place at some recess of denture model in cutter; Need interfere processing, concrete way is: calculate the bee-line d of initial cutter location p to denture model, if bee-line is less than ball cutter radius r; Then this initial cutter location interferes, and need adjust; Adjustment mode of the present invention is: when obtaining bee-line, obtain on the tooth mould with initial cutter location have bee-line a bit, calculate the direction of normal n of the curved surface at this some place, new adjustment position p
*Can adopt following formula to adjust: to make p
*Be p, repeat said process, till d equals ball cutter radius r:
Wherein: r is a ball cutter radius, and d is the bee-line of initial cutter location p to denture model, r
pBe the vector radius,
Be the vector radius of new adjustment position, n is a direction of normal.
6. connection track: with the capable connection of track that obtains, can obtain shown in Figure 10 (a) and (b) be respectively applied for Z to-Z to the finishing track.
The present invention is a kind of generation method that meets the standard cutter rail of artificial tooth numerical control processing technology flow process.This method has solved the processing problems of artificial tooth effectively, has reduced artificial participation, has improved working (machining) efficiency, has improved quality stability.
The numerically-controlled machine that the present invention adopts is an European patent EP, A2090442.This device is made up of the lathe of two separation, and each lathe all has independent disposal system, and a device is used for the digitizing reconstruction of tooth mould, and another is used for the digital control processing of tooth mould.Wherein processing unit (plant) comprises three translation shaft, a turning axle and two cutter spindles, and translation shaft wherein is used to realize the translation of X, Y, Z direction.Turning axle can be realized the switching to-Z machine direction by Z.Main shaft 1 is used for roughing, and main shaft 2 is used for finishing.By the cutter rail that the present invention generates, drive cutter and on main shaft 1, blank is carried out roughing earlier, obtain the roughing model, the roughing model is moved on the main shaft 2 carry out finishing then with ball head knife, obtain the finishing model.Because the non-2.5 dimension parts of artificial tooth, so thick finishing of artificial tooth all need come common accomplish with-Z to processing to processing along Z by cutter.The conversion of machine direction relies on turning axle to realize.
Claims (10)
1. artificial tooth machining locus generation method; It is characterized in that: at first generation is used for the rough machined cutter rail of artificial tooth; Regeneration is used for the accurately machined cutter rail of artificial tooth; The generation of said roughing cutter rail is divided into Z and generates with-Z to the roughing track and generated for two steps to the roughing track, and the generation of finishing cutter rail is divided into Z and generates with-Z to the finishing track and generated for two steps to the finishing track.
2. according to the said artificial tooth machining locus of claim 1 generation method, it is characterized in that: described roughing orbit generation method step is following: 1. confirm material removal area; 2. obtain to cut and hand over the contour curve collection; 3. handle to cut and hand over the contour curve collection; 4. generate machining area; 5. track is filled; 6. track connects.
3. according to the said artificial tooth machining locus of claim 2 generation method, it is characterized in that: said definite material removal area step is following: at first adopt artificial tooth 2D to limit box B
2DBlank Γ carries out boolean and ships to calculate and draw 3D and limit box B
3D, use B
3DBoolean deducts artificial tooth digital model M, obtains material removal area γ
TotalUse γ
TotalBoolean deducts artificial tooth and connects bearing rib Ψ, obtains Z to material removal area γ
zWith-Z to material removal area γ
-z:
γ
total＝(B
2D∩T)-M
{γ
z，γ
-z}＝γ
total-Ψ
Wherein: when confirm connecting the Z height of bearing rib Ψ, confirm the silhouettes line of denture model earlier, with the minimum Z value of silhouettes line Z height value as the connection bearing rib.
4. according to the said artificial tooth machining locus of claim 2 generation method, it is characterized in that: saidly obtain that cut to hand over a contour curve collection step be to adopt equally spaced planar set vertical with the Z axle and Z to material removal area γ
zAsk intersection, draw intersection contour curve collection.
5. according to the said artificial tooth machining locus of claim 2 generation method; It is characterized in that: said processing cuts hands over contour curve collection step following: the non-outermost contour curve in the slicing layer between the minimum and maximum Z value of silhouettes, replace the contour curve that obtains with the largest contours line.
6. according to the said artificial tooth machining locus of claim 1 generation method, it is characterized in that: described finishing orbit generation method step is following: 1. confirm the finishing zone; 2. obtain to cut and hand over the contour curve collection; 3. obtain initial cutter-contact point collection; 4. generate initial cutter location; 5. interference checking and processing; 6. track connects.
7. according to the said artificial tooth machining locus of claim 6 generation method; It is characterized in that: said definite finishing machining area: be that artificial tooth is cut apart along its silhouettes line; Obtain Z to-Z to cutting apart curved surface; Z is Z to cutting apart curved surface to machining area, and actual-Z removes the zone that connect bearing rib gained for-Z to cutting apart curved surface to the finishing zone.
8. according to the said artificial tooth machining locus of claim 6 generation method, it is characterized in that: saidly obtain that cut to hand over contour curve collection step be to adopt the planar set that is parallel to the Z axle or becomes the 30-60 angle with the Z axle, intercept the initial profile curve set.
9. according to the said artificial tooth machining locus of claim 6 generation method; It is characterized in that: described interference checking and disposal route are following: calculate the bee-line d of initial cutter location p to denture model, if bee-line less than ball cutter radius r, then this initial cutter location interferes; Disposal route when interfering is: when obtaining bee-line; Obtain on the tooth mould with initial cutter location have bee-line a bit, calculate the direction of normal n of the curved surface at this some place, new adjustment position p
*Adopt following formula to adjust: to make p
*Be p, repeat said process, till d equals ball cutter radius r:
Wherein: r is a ball cutter radius, and d is the bee-line of initial cutter location p to denture model, r
pBe the vector radius,
Be the vector radius of new adjustment position, n is a direction of normal.
10. according to the said artificial tooth machining locus of claim 6 generation method, it is characterized in that: described to obtain initial cutter-contact point collection be to adopt the method for straight line or two circular fittings to obtain the cutter-contact point collection after discrete; Obtaining initial cutter location is the method vector that obtains curved surface place, cutter-contact point place, and cutter-contact point along ball cutter radius of the outside biasing of method direction vector, is obtained initial cutter location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010572599.8A CN102486641B (en) | 2010-12-03 | 2010-12-03 | Method for generating denture processing trajectory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010572599.8A CN102486641B (en) | 2010-12-03 | 2010-12-03 | Method for generating denture processing trajectory |
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| Publication Number | Publication Date |
|---|---|
| CN102486641A true CN102486641A (en) | 2012-06-06 |
| CN102486641B CN102486641B (en) | 2014-02-12 |
Family
ID=46152146
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010572599.8A Expired - Fee Related CN102486641B (en) | 2010-12-03 | 2010-12-03 | Method for generating denture processing trajectory |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646667A (en) * | 2018-03-05 | 2018-10-12 | 北京华航唯实机器人科技股份有限公司 | Orbit generation method and device, terminal |
| WO2019183992A1 (en) * | 2018-03-27 | 2019-10-03 | 北京大学口腔医学院 | Peeling type laser dental preparation method, apparatus and device, and medium |
| CN110955213A (en) * | 2019-12-09 | 2020-04-03 | 上海雷帕罗义齿有限公司 | Control system of artificial tooth processing automation line |
| CN115586749A (en) * | 2022-12-12 | 2023-01-10 | 深圳市捷牛智能装备有限公司 | Workpiece machining track control method based on machine vision and related device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4436684A (en) * | 1982-06-03 | 1984-03-13 | Contour Med Partners, Ltd. | Method of forming implantable prostheses for reconstructive surgery |
| US5452219A (en) * | 1990-06-11 | 1995-09-19 | Dentsply Research & Development Corp. | Method of making a tooth mold |
| CN1585625A (en) * | 2001-11-15 | 2005-02-23 | 3M埃斯佩股份公司 | Method for producing dentures |
-
2010
- 2010-12-03 CN CN201010572599.8A patent/CN102486641B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4436684A (en) * | 1982-06-03 | 1984-03-13 | Contour Med Partners, Ltd. | Method of forming implantable prostheses for reconstructive surgery |
| US4436684B1 (en) * | 1982-06-03 | 1988-05-31 | ||
| US5452219A (en) * | 1990-06-11 | 1995-09-19 | Dentsply Research & Development Corp. | Method of making a tooth mold |
| CN1585625A (en) * | 2001-11-15 | 2005-02-23 | 3M埃斯佩股份公司 | Method for producing dentures |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646667A (en) * | 2018-03-05 | 2018-10-12 | 北京华航唯实机器人科技股份有限公司 | Orbit generation method and device, terminal |
| WO2019183992A1 (en) * | 2018-03-27 | 2019-10-03 | 北京大学口腔医学院 | Peeling type laser dental preparation method, apparatus and device, and medium |
| US12029620B2 (en) | 2018-03-27 | 2024-07-09 | Beijing University School Of Stomatology | Peeling type laser tooth preparing method, apparatus and device, and medium |
| CN110955213A (en) * | 2019-12-09 | 2020-04-03 | 上海雷帕罗义齿有限公司 | Control system of artificial tooth processing automation line |
| CN115586749A (en) * | 2022-12-12 | 2023-01-10 | 深圳市捷牛智能装备有限公司 | Workpiece machining track control method based on machine vision and related device |
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| Publication number | Publication date |
|---|---|
| CN102486641B (en) | 2014-02-12 |
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