Lower jaw masticatory robot based on pneumatic artificial muscle

A technology of pneumatic artificial muscles and chewing robots, applied in the field of bionic robots, can solve the problems of poor bionicity and complex structure, and achieve the effects of weight reduction, bionicity improvement, and light weight

Inactive Publication Date: 2016-12-21
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The invention overcomes the deficiencies of the prior art, provides a mandibular chewing robot with good compliance and compact structure, and solves the problems of poor bionicity and complex structure of the existing chewing robots

Method used

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  • Lower jaw masticatory robot based on pneumatic artificial muscle
  • Lower jaw masticatory robot based on pneumatic artificial muscle
  • Lower jaw masticatory robot based on pneumatic artificial muscle

Examples

Experimental program
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Effect test

Embodiment 1

[0029] An artificial muscle chewing robot based on human bionics, which uses pneumatic muscles 8 to replace the three main types of chewing muscles in the human body. The mandible cooperates with each pneumatic muscle 8 as a moving platform. The robot was built on a biomechanical model of the mandible structure and masticatory muscles. The chewing process is divided into two major processes: opening and closing. Since the opening process has the effect of gravity, and it is a preparation for closed chewing, no useful work is done. Therefore, we will focus on the closing muscles (masserus, temporalis, and pterygium). ) and temporomandibular joint ligament for bionic design. The main closed mouth muscles to consider include the masseter, pterygoid, and temporal muscles. The chewing robot is driven by a linear actuator—pneumatic muscle 8. The connection between muscles is modeled as a ball hinge connection, which improves the degree of freedom of each joint. According to human...

Embodiment 2

[0033] An artificial muscle chewing robot based on human bionics, which uses pneumatic muscles 8 to replace the three main types of chewing muscles in the human body. The mandible cooperates with each pneumatic muscle 8 as a moving platform. A spring is used to replace the damping action of the ligaments of the temporomandibular joint. The robot was built on a biomechanical model of the mandible structure and masticatory muscles. The chewing process is divided into two major processes: opening and closing. Since the opening process has the effect of gravity, and it is a preparation for closed chewing, no useful work is done. Therefore, we will focus on the closing muscles (masserus, temporalis, and pterygium). ) and temporomandibular joint ligament for bionic design. The main closed mouth muscles to consider include the masseter, pterygoid, and temporal muscles. The chewing robot is driven by a linear actuator—pneumatic muscle 8. The connection between muscles is modeled a...

Embodiment 3

[0037] An artificial muscle chewing robot based on human bionics, which uses pneumatic muscles 8 to replace the three main types of chewing muscles in the human body. The mandible cooperates with each pneumatic muscle 8 as a moving platform. A spring is used to replace the damping action of the ligaments of the temporomandibular joint. The robot was built on a biomechanical model of the mandible structure and masticatory muscles. The chewing process is divided into two major processes: opening and closing. Since the opening process has the effect of gravity, and it is a preparation for closed chewing, no useful work is done. Therefore, we will focus on the closing muscles (masserus, temporalis, and pterygium). ) and temporomandibular joint ligament for bionic design. The main closed mouth muscles to consider include the masseter, pterygoid, and temporal muscles. The chewing robot is driven by a linear actuator—pneumatic muscle 8. The connection between muscles is modeled a...

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Abstract

The invention relates to the field of biomimetic robots, in particular to a lower jaw masticatory robot based on pneumatic artificial muscle. The lower jaw masticatory robot is good in softness and compact in structure. According to the technical scheme, the lower jaw masticatory robot based on the pneumatic artificial muscle comprises a support, a vertical plate of the support is fixedly provided with an upper jaw fixed platform, and a lower jaw movable platform is arranged between the upper jaw fixed platform and a base plate of the support; a temporalis mechanism and a wing muscle mechanism are connected between the support and the lower jaw movable platform; a masseter mechanism is arranged between the upper jaw fixed platform and the lower jaw movable platform; and the temporalis mechanism, the masseter mechanism and the wing muscle mechanism each comprise the pneumatic muscle, the pneumatic muscle is connected with pneumatic circuits through gas circuits, and the pneumatic circuits are electrically connected with a control system. The lower jaw masticatory robot based on the pneumatic artificial muscle is provided.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a mandibular chewing robot based on pneumatic artificial muscles. Background technique [0002] Mastication is a complex reflex activity composed of successive contractions of the masticatory muscles. The contraction of the masticatory muscles moves the mandible up and down, left and right, and forward, so that the upper and lower dentition contact each other, cutting and grinding large pieces of food. The contraction of the buccinator and tongue muscles places food between the upper and lower teeth for easy chewing. Coupled with the stirring of the tongue, the food and saliva are fully mixed to form a food group, which is easy to swallow and is conducive to chemical digestion. Chewing robots are a class of robots that can simulate human chewing behavior. It can truly reproduce the human chewing action and collect and analyze chewing information, including chewing force, speed, vi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J11/00
CPCB25J9/0006B25J11/00
Inventor 汤文杰徐尚龙张晓飞王瑞甫
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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