A 6-DOF humanoid chewing mechanism
A technology of a degree of freedom, rotary drive mechanism, applied in the field of bionic mechanisms, can solve the problems of large occupied space, low structural freedom, complex structure, etc.
Active Publication Date: 2021-04-09
NORTHEASTERN UNIV LIAONING
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Problems solved by technology
[0004] Existing technologies mostly use parallel mechanisms, which have complex structures, take up a large space, and are difficult to control; other structures have low degrees of freedom and cannot completely simulate humanoid chewing movements
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[0031] The object of the present invention is to address the deficiencies of the prior art and provide a humanoid chewing mechanism with 6 degrees of freedom, which has a simple and compact structure, low noise, low cost, improved power density ratio, and can realize highly simulated chewing movements.
[0032] In order to achieve the above-mentioned purpose, the idea of the present invention is to use a DC motor to drive, and in the up and down moving platform and forward and backward moving platform, the movement along the z-axis and the rotation around the z-axis can be realized through the movement of the DC motor at the same speed or at a different speed , move along the y-axis, and rotate around the y-axis; in the left and right moving platforms, use two DC motors to control the movement along the x-axis and the rotation around the x-axis, thereby completing the six degrees of freedom of the humanoid mandible and realizing a highly anthropomorphic chewing exercise.
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The invention discloses a six-degree-of-freedom humanoid chewing mechanism, which comprises a base plate, an up-and-down moving platform, a front-and-back moving platform, a left-right moving platform, a rotary drive mechanism, a humanoid upper jaw and a humanoid lower jaw. The mechanism is driven by 6 DC motors. The DC motors have large starting torque and good speed regulation performance, can realize smooth speed regulation, and can meet the requirements of animating a human head. The humanoid upper jaw is fixed to the base plate, and the humanoid lower jaw is connected to the left and right moving platform. In the up and down moving platform and forward and backward moving platform, the movement along the z axis, the rotation around the z axis, the movement along the y axis and the rotation around the y axis can be realized through the movement of different DC motors at the same speed or at a different speed; in the left and right platforms, use The two DC motors control the movement along the x-axis and the rotation around the x-axis respectively, so as to complete the six degrees of freedom of the lower jaw and realize highly anthropomorphic chewing movements. The present invention can be applied to occasions such as food detection and tooth testing, or scenarios of human-computer interaction such as human-like head robots and service robots.
Description
technical field [0001] The invention belongs to the technical field of bionic mechanisms, and relates to a 6-degree-of-freedom humanoid chewing mechanism. Background technique [0002] The human mandibular system is composed of the maxilla, mandible, opening and closing muscles, and temporomandibular joints; among them, the mandible can realize spatial movement under the action of the opening and closing muscles. The mandibular system plays an irreplaceable role in controlling expressions, chewing food and expressing language. [0003] Chewing robots are a class of robots that can simulate human chewing behavior. It can truly reproduce human chewing behavior and collect and analyze chewing information, including chewing force, speed, vibration, etc. The chewing robot is a comprehensive bionic robot system integrating trajectory planning, perception system, real-time control system and biological simulation. It is widely used in dental training, food evaluation, speech medi...
Claims
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IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 郝丽娜谷红生蒋欣波殷鹏
Owner NORTHEASTERN UNIV LIAONING