CN102626348A - Mandibular movement imitating robot - Google Patents
Mandibular movement imitating robot Download PDFInfo
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- CN102626348A CN102626348A CN2012101161868A CN201210116186A CN102626348A CN 102626348 A CN102626348 A CN 102626348A CN 2012101161868 A CN2012101161868 A CN 2012101161868A CN 201210116186 A CN201210116186 A CN 201210116186A CN 102626348 A CN102626348 A CN 102626348A
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- lower jaw
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Abstract
The invention discloses a mandibular movement imitating robot, which belongs to the technical field of bionic robots and can provide a scientific means for the research of the dentistry, the food science and the biomechanics. The mandibular movement imitating robot comprises a static platform, six driving devices, six movable branched chains and a mandibular platform, wherein the driving devices consist of motors and ball screw pair transmission systems and are used for driving the six movable branched chains to realize movement of the mandibular platform in a three-dimensional space. The mandibular movement imitating robot has the advantages that the dimension diameters of a human body mandibular system and the biomechanical characteristics of a mandibular muscle driving system are synthetically considered, the movement function and a chewing environment of a human mandible can be truly reproduced, and the requirements of realness in movement locus and rationality in occlusion strength are satisfied.
Description
Technical field
The invention belongs to the bio-robot technical field, relate to a kind of imitative mandibular movement robot.
Background technology
The research of imitative mandibular movement robot starts from phase early 1990s, be one type can the behavior of simulating human mandibular movement, reproduce the robot of human mandibular movement and power.It is multinomial technology such as collecting mechanism, kinesiology, kinetics, sensory perceptual system, motor control, biomechanics and mechatronics in the engineering science of one, can directly apply to subject research fields such as odontology, Food Science, biomechanics.
Domestic in the research of imitating the mandibular movement robot field seldom present patent application person once proposed a kind of gentle rope driving redundant parallel that personalizes and chewed robot, and this mechanism adopts gentle rope to drive, and has compliance preferably.The morning that foreign study is carried out, obtained some achievements in research in fields such as mechanism design, joint driving, kinematics analysis and controls, but aspect the bio-imitability of mechanism, existed not enough.U.S. Pat 6120290 discloses a kind of mandibular movement simulator; This mechanism comprises six movement branched chain, and the side chain lower end links to each other with motor on the fixed platform, and the upper end links to each other with end effector (lower jaw platform); Rotate the motion that realizes the lower jaw platform through motor; Because the junction point of the side chain of this mechanism and fixed platform and lower jaw platform in one plane, do not consider the biomechanics characteristic of human lower jaw system muscle, kinesiology function that can not true bionical lower jaw.
Present imitative mandibular movement robot major part has only been considered last mandibular movement; Do not consider the biomechanical characterization of lower jaw system drive muscle; Can only the implementation part masticatory function; So that can not reproduce the mandibular movement function comprehensively truly and chew environment, the biomechanical characterization of simulating human lower jaw system exactly.
Summary of the invention
The present invention is directed to human lower jaw system drive muscle exist distribute asymmetric, force direction is different and with the not coplanar biomechanics characteristic of maxillomandibular junction point; Based on mechanical bionic principle, a kind of imitative mandibular movement robot based on the 6-PSS parallel institution is proposed.With similar machine physiognomy relatively, but the human mandibular movement function of this robot true reappearance with chew environment, satisfy movement locus verity and the requirement of reasonableness of interlock dynamics, the not high problem of solution bio-imitability.
Technical scheme of the present invention is:
Should imitative mandibular movement robot comprise silent flatform, six driving devices, six movement branched chain and lower jaw platform.
Said silent flatform comprises motor support plate, upper mounting plate gripper shoe, lower platform gripper shoe, connecting-rods with constant lengh.Six roots of sensation connecting-rods with constant lengh is according to driving muscle and upper jaw junction point position distribution; The connecting-rods with constant lengh two ends adopt soket head cap screw to be fixedly connected with upper mounting plate gripper shoe and lower platform gripper shoe respectively; Screwed hole is arranged on the motor support plate; Be connected with the upper mounting plate gripper shoe, silent flatform is used to support and carry entire machine people's weight.
Said six driving devices comprise motor, shaft coupling, ball-screw, feed screw nut, joint contiguous block, workbench, cushion block, slide block, guide rail, taper roll bearing and bearing block.Motor is fixed on the motor support plate, and is connected with leading screw through shaft coupling; The following spindle nose of ball-screw is fixedly connected with the lead screw shaft bearing through axis head nut under two taper roll bearings and the leading screw, and the lead screw shaft bearing is fixed on the connecting-rods with constant lengh of silent flatform through screw; Feed screw nut is fixedly connected through soket head cap screw with workbench, and workbench is fixedly connected with slide block on the guide rail through cushion block, and guide rail is fixedly connected on the connecting-rods with constant lengh; Joint contiguous block on the workbench is fixedly connected with the arbor of the spherical bearing of movement branched chain, and the motor-driven movement branched chain realizes the motion of lower jaw platform.
Said six movement branched chain comprise oscillating bearing, the axis of guide, connecting plate, connecting rod.Said oscillating bearing comprises holder and arbor.Movement branched chain is threaded with two axis of guides respectively by two oscillating bearings with the driving device link, adopts connecting plate to connect through helicitic texture between two axis of guides, and there is screwed hole at the connecting plate center, is used for and being connected of connecting rod; Said connecting rod, the upper end is threaded with the connecting plate centre bore, and the lower end is threaded with oscillating bearing.Movement branched chain is threaded with the mandibular joint contiguous block with the arbor of lower jaw platform link through oscillating bearing.
Said lower jaw platform comprises mandibular joint contiguous block and lower jaw mechanism.Said lower jaw mechanism represents the mandibular movement platform of robot; Said mandibular joint contiguous block is the parts that connect movement branched chain and oscillating bearing arbor, is installed in the lower jaw mechanism through helicitic texture.
Six driving devices are assembled through identical mode with six movement branched chain, connected the silent flatform and the lower jaw platform of robot jointly, accomplish the assembling of imitative mandibular movement robot.
Effect of the present invention and benefit are:
1, design philosophy of the present invention derives from the prototype of human lower jaw muscle drive system, movement branched chain force direction and consistent with the biomechanical characterization of upper and lower jaw junction point position and lower jaw muscle, but the human mandibular movement track of true reappearance.
2, the imitative lower jaw parallel institution of 6-PSS that proposes of the present invention, on muscular force position direction, application point is positioned at muscle on the junction point of lower jaw to its movement branched chain to the active force of lower jaw, and the bionical degree of mechanism design is higher.
3, the present invention takes all factors into consideration high bio-imitability and the requirement of mechanism design feasibility, and interconnect function point and the side chain bar of deriving each side chain in the mechanism and last lower jaw mechanism are long, and mechanism has good exercise performance.
4, the present invention is directed to lower jaw system structure space features of smaller, driving device is installed on the fixed platform, whole mechanism is simple relatively, and the mechanism kinematic side chain has good dynamic characteristic.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a silent flatform structure chart of the present invention.
Fig. 4 is driving device structure figure of the present invention.
Fig. 5 is a movement branched chain structure chart of the present invention.
Fig. 6 is lower jaw platform structure figure of the present invention.
Among the figure: the I silent flatform; The II driving device; The III movement branched chain; IV lower jaw platform; 1 motor support plate; 2 connecting-rods with constant lenghs; 3 upper mounting plate gripper shoes; 4 lower platform gripper shoes; 5 motors; 6 shaft couplings; 7 leading screws; 8 feed screw nuts; 9 joint contiguous blocks; 10 workbench; 11 cushion blocks; 12 slide blocks; 13 guide rails; 14 taper roll bearings; 15 lead screw shaft bearings; 16 oscillating bearings; 17 axis of guides; 18 connecting plates; 19 connecting rods; 20 mandibular joint contiguous blocks; 21 lower jaw mechanisms.
The specific embodiment
Be described in detail specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.
Should comprise silent flatform, driving device, movement branched chain and lower jaw platform by imitative mandibular movement robot, and adopt servo-drive to realize that lower jaw opens, the motion of closed, interlock.
Concrete course of action of the present invention
According to the mandibular movement that will realize; Motor 5 will rotate through shaft coupling 6 and pass to leading screw 7, and leading screw 7 drives feed screw nut 8 motions, be converted into the rectilinear motion of feed screw nut 8; Workbench 10 is fixed on the feed screw nut 8, has realized workbench 10 moving linearly on guide rail 13.The two ends of movement branched chain III respectively be fixed on workbench 10 on joint contiguous block 9 and lower jaw platform IV on mandibular joint contiguous block 20 through being threaded, thereby six workbench 10 are converted into lower jaw mechanism 21 moving in three dimensions along the rectilinear motion in vertical direction of guide rail 13.
Concrete installation process of the present invention
Silent flatform I installs: silent flatform I is provided with installing hole; Through bolt lower platform gripper shoe 4 and ground are fixed; Connecting-rods with constant lengh 2 two ends that are used for fixing guide rail 13 adopt soket head cap screw to be fixedly connected with upper mounting plate gripper shoe 3 with lower platform gripper shoe 4 respectively, and motor support plate 1 uses hex screw and upper mounting plate gripper shoe 3 to connect firmly simultaneously.
Driving device II installs: motor 1 is fixed on the motor support plate 1, and is connected with leading screw 7 through shaft coupling 6.Feed screw nut 8 and workbench 10 are fixedly connected through soket head cap screw; Leave installing hole on two faces of workbench 10; Be respectively applied for and being fixedly connected of joint contiguous block 9, cushion block 11 and feed screw nut 8, slide block 12 is installed on the guide rail 13, and guide rail 13 is connected on the connecting-rods with constant lengh 2; The following spindle nose of leading screw 7 is connected with 15 installations of lead screw shaft bearing through axis head nut under two taper roll bearings 14 and the leading screw, and lead screw shaft bearing 15 is fixed on the connecting-rods with constant lengh 2.
Movement branched chain III installs: leave three screwed holes on the connecting plate 18, be respectively applied for two axis of guides 17 and connecting rod 19 are installed; The other end of the axis of guide 17 and connecting rod 19 is installed oscillating bearing 16 respectively.
Lower jaw platform IV installs: leave six screwed holes in the lower jaw mechanism 21, respectively six mandibular joint contiguous blocks 20 are installed in these six screwed holes.
Six driving device II and six movement branched chain III are assembled in the same manner, and link to each other with lower jaw platform IV with silent flatform I, accomplish the assembling of imitative mandibular movement robot through oscillating bearing 16.
Claims (1)
1. an imitative mandibular movement robot comprises silent flatform (I), driving device (II), movement branched chain (III) and lower jaw platform (IV); It is characterized in that:
Silent flatform (I) is the fixed platform of parallel robot, comprises motor support plate (1), upper mounting plate gripper shoe (3), lower platform gripper shoe (4), connecting-rods with constant lengh (2); Six roots of sensation connecting-rods with constant lengh (2) is according to driving muscle and upper jaw junction point position distribution; Connecting-rods with constant lengh (2) two ends adopt soket head cap screw to be fixedly connected with upper mounting plate gripper shoe (3) and lower platform gripper shoe (4) respectively; Motor support plate has screwed hole on (1); Be connected with upper mounting plate gripper shoe (3), silent flatform (I) is used to support and carry entire machine people's weight;
Six driving devices (II) comprise motor (5), shaft coupling (6), ball-screw (7), feed screw nut (8), joint contiguous block (9), workbench (10), cushion block (11), slide block (12), guide rail (13), taper roll bearing (14) and lead screw shaft bearing (15); Motor (5) is fixed on the motor support plate (1), is connected with leading screw (7) through shaft coupling (6); The following spindle nose of leading screw (7) is fixedly connected with lead screw shaft bearing (14) through the following axis head nut of two taper roll bearings (14) and leading screw (7), and lead screw shaft bearing (14) is fixed on the connecting-rods with constant lengh (2) through screw; Feed screw nut (8) is fixedly connected through soket head cap screw with workbench (10), and workbench (10) is fixedly connected with slide block (12) through cushion block (11), and guide rail (13) is fixedly connected on the connecting-rods with constant lengh (2); Joint contiguous block (9) on the workbench (10) is fixedly connected with the spherical bearing (16) of movement branched chain (III), and motor (5) drive movement side chain (III) is realized the motion of lower jaw mechanism (21);
Article six, movement branched chain (III) comprises oscillating bearing (16), the axis of guide (17), connecting plate (18), connecting rod (19); Movement branched chain (III) is threaded with two axis of guides (17) respectively by two oscillating bearings (16) with the link of driving device (II); Adopt connecting plate (18) to be threaded between two axis of guides (17); There is screwed hole at connecting plate (18) center; Be used for and being connected of connecting rod (19), connecting rod (19) upper end is threaded with connecting plate (18) centre bore, and the lower end is threaded with oscillating bearing (16); Movement branched chain (III) is arranged according to the biomechanics characteristic that lower jaw drives muscle, is driven the motion of lower jaw mechanism in three dimensions;
Lower jaw platform (IV) comprises mandibular joint contiguous block (20) and lower jaw mechanism (21); Mandibular joint contiguous block (20) is installed in the lower jaw mechanism through helicitic texture, and with the linking together of movement branched chain (III) and lower jaw mechanism (21), realizes the motion of lower jaw mechanism (21).
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| CN201210116186.8A CN102626348B (en) | 2012-04-19 | 2012-04-19 | Mandibular movement imitating robot |
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| CN201210116186.8A CN102626348B (en) | 2012-04-19 | 2012-04-19 | Mandibular movement imitating robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103610506A (en) * | 2013-11-22 | 2014-03-05 | 大连理工大学 | Redundant actuation chewing robot with bionic temporal-mandibular joint |
| CN104786224A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | Human-simulated robot lower jaw chewing movement mechanism |
| CN105204394A (en) * | 2015-08-26 | 2015-12-30 | 电子科技大学 | Six-degree-of-freedom chewing robot control system |
| CN105459114A (en) * | 2015-12-14 | 2016-04-06 | 大连理工大学 | Redundant drive parallel mechanism driving force optimization method and shaft set control verification platform |
| CN105699221A (en) * | 2016-03-23 | 2016-06-22 | 大连理工大学 | Multi-posture implanted tooth testing device capable of simulating tooth occlusion |
| CN105832498A (en) * | 2016-06-13 | 2016-08-10 | 华北理工大学 | Lower jaw rehabilitation robot |
| CN105929121A (en) * | 2016-04-25 | 2016-09-07 | 吉林大学 | Mastication robot for detecting tenderness of beef |
| CN106093305A (en) * | 2016-06-08 | 2016-11-09 | 电子科技大学 | A kind of for artificial tooth and food inspection is bionical chews robot |
| CN107571239A (en) * | 2017-08-29 | 2018-01-12 | 电子科技大学 | A kind of six degree of freedom masticatory force control and monitoring system |
| CN108469322A (en) * | 2018-03-27 | 2018-08-31 | 电子科技大学 | A kind of masticatory force integration test machine people |
| CN108717818A (en) * | 2018-05-31 | 2018-10-30 | 东北电力大学 | Multiple degrees of freedom mouth motion dummy robot |
| CN108748103A (en) * | 2018-06-22 | 2018-11-06 | 东北大学 | A kind of 6DOF apery chewing mechanism |
| CN110849651A (en) * | 2019-12-04 | 2020-02-28 | 大连理工大学 | Bionic chewing robot for false tooth performance test and use method |
| CN113520630A (en) * | 2021-09-02 | 2021-10-22 | 青岛市口腔医院 | Individualized metal dental pile for simulating mechanical property of natural tooth |
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| IT201700110539A1 (en) * | 2017-10-03 | 2019-04-03 | Giuseppe Rampulla | METHOD FOR CUSTOMIZING DENTAL PROSTHESES, AND A VERIFICATION SYSTEM THAT ENABLES THIS METHOD |
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Cited By (23)
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| CN103610506A (en) * | 2013-11-22 | 2014-03-05 | 大连理工大学 | Redundant actuation chewing robot with bionic temporal-mandibular joint |
| CN104786224A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | Human-simulated robot lower jaw chewing movement mechanism |
| CN105204394A (en) * | 2015-08-26 | 2015-12-30 | 电子科技大学 | Six-degree-of-freedom chewing robot control system |
| CN105204394B (en) * | 2015-08-26 | 2017-08-08 | 电子科技大学 | A kind of six degree of freedom chews the control system of robot |
| CN105459114A (en) * | 2015-12-14 | 2016-04-06 | 大连理工大学 | Redundant drive parallel mechanism driving force optimization method and shaft set control verification platform |
| CN105699221A (en) * | 2016-03-23 | 2016-06-22 | 大连理工大学 | Multi-posture implanted tooth testing device capable of simulating tooth occlusion |
| CN105699221B (en) * | 2016-03-23 | 2018-07-24 | 大连理工大学 | A kind of multi-pose tooth-implanting test device of simulation dental articulation |
| CN105929121B (en) * | 2016-04-25 | 2018-07-03 | 吉林大学 | Detect the chewing robot of tenderness of beef utilizing |
| CN105929121A (en) * | 2016-04-25 | 2016-09-07 | 吉林大学 | Mastication robot for detecting tenderness of beef |
| CN106093305A (en) * | 2016-06-08 | 2016-11-09 | 电子科技大学 | A kind of for artificial tooth and food inspection is bionical chews robot |
| CN106093305B (en) * | 2016-06-08 | 2018-03-09 | 电子科技大学 | One kind is used for artificial tooth and the bionical chewing robot of food inspection |
| CN105832498A (en) * | 2016-06-13 | 2016-08-10 | 华北理工大学 | Lower jaw rehabilitation robot |
| CN107571239A (en) * | 2017-08-29 | 2018-01-12 | 电子科技大学 | A kind of six degree of freedom masticatory force control and monitoring system |
| CN107571239B (en) * | 2017-08-29 | 2020-11-17 | 电子科技大学 | Six-degree-of-freedom chewing force control and monitoring system |
| CN108469322A (en) * | 2018-03-27 | 2018-08-31 | 电子科技大学 | A kind of masticatory force integration test machine people |
| CN108717818A (en) * | 2018-05-31 | 2018-10-30 | 东北电力大学 | Multiple degrees of freedom mouth motion dummy robot |
| CN108717818B (en) * | 2018-05-31 | 2020-07-28 | 东北电力大学 | Multi-degree-of-freedom oral cavity motion simulation robot |
| CN108748103A (en) * | 2018-06-22 | 2018-11-06 | 东北大学 | A kind of 6DOF apery chewing mechanism |
| CN108748103B (en) * | 2018-06-22 | 2021-04-09 | 东北大学 | 6-degree-of-freedom humanoid chewing mechanism |
| CN110849651A (en) * | 2019-12-04 | 2020-02-28 | 大连理工大学 | Bionic chewing robot for false tooth performance test and use method |
| CN110849651B (en) * | 2019-12-04 | 2021-01-05 | 大连理工大学 | Bionic chewing robot for false tooth performance test and use method |
| CN113520630A (en) * | 2021-09-02 | 2021-10-22 | 青岛市口腔医院 | Individualized metal dental pile for simulating mechanical property of natural tooth |
| CN113520630B (en) * | 2021-09-02 | 2022-05-10 | 青岛市口腔医院 | Individualized metal dental pile of simulation natural tooth mechanical properties |
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