Chewing robot simulating masticatory muscle group and temporal-mandibular joint

Abstract

The invention discloses a chewing robot simulating a masticatory muscle group and a temporal-mandibular joint and belongs to the technical field of bionic robots. The chewing robot comprises a main body support, an upper jaw structure, a lower jaw structure, six drive branch chains and a pneumatic control system, wherein the drive branch chains are of bilateral symmetry and are distributed in parallel. The main body support serves as a foundation support of the drive branch chains and the upper jaw structure. Two connecting relationships exist between the upper jaw structure and the lower jawstructure and comprise slideway and sphere contact of the elastic temporal-mandibular joint and rope connection of the drive branch chains. Each drive branch chain is composed of pneumatic muscles connected in series and a rope. The chewing robot has the characteristics of chewing muscle elasticity restoring, telescopic motion mode, upper and lower adhesion point position, elastic contact of the temporal-mandibular joint and redundancy driving. By means of the novel drive manner, the chewing robot has the biology advantage of human body stomatognathic system driving, and can form accurate chewing track and occlusal force more beneficially.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a chewing robot with dual bionics of masticatory muscles and temporomandibular joints. Background technique [0002] Chewing robot is a special robot used to imitate human chewing behavior. It can reproduce the real human chewing trajectory and bite force. It can be applied in the fields of denture material testing, food physical property testing, and mandibular movement disorder rehabilitation. The stronger the bionicity of the trajectory and force performance of the chewing robot, the higher the reliability of the material test results and the success rate of movement disorder rehabilitation will be. At present, the bionic chewing robot designed with reference to the biological characteristics of the human oral and jaw system has become the direction of design and optimization of this type of robot because of its superior bionic performance. Oral biomechanics literature sh...

AI Technical Summary

Problems solved by technology

[0006] To sum up, the existing bionic chewing robots involve rigid drive chains, single pneumatic muscles, and motors with ropes, etc., which have the following technical deficiencies: lack of flexibility in the drive, large deviation of the attachment points of the maxillary structure, and non-telescopic motion modes. , Temporomandibular joint structural contact is not good, specifically showing performance problems such as poor flexibility, large space occupation, force and power fluctuations, etc.

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