A chewing robot with dual bionics of masticatory muscles and temporomandibular joint

Abstract

The invention discloses a chewing robot with double bionics of masticatory muscles and temporomandibular joints, belonging to the technical field of bionic robots. It consists of a main body bracket, an upper jaw structure, a lower jaw structure, six left and right symmetrically distributed parallel driving branch chains and a pneumatic control system. The main frame serves as the base support for the drive branches and maxillary structures. There are two connection relationships between the upper and lower jaw structures, including the slide-ball contact of the elastic temporomandibular joint and the rope connection of the drive branch. The driving branch chain is composed of pneumatic muscles and ropes connected in series. The invention can restore the elasticity of the masticatory muscles, the stretching motion mode, the position of the upper and lower attachment points, and the elastic contact and redundant driving characteristics of the temporomandibular joint. The new driving method makes the bionic chewing robot have the biological advantages of the human mouth and jaw system, which is more conducive to the chewing robot to form accurate chewing trajectory and bite force.

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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