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Multi-degree-of-freedom simulation chewing robot and control method

A chewing robot, a degree of freedom technology, applied in general control systems, control/adjustment systems, testing of machines/structural components, etc., to improve reliability and authenticity, achieve simulation, and assist in the performance testing of oral prostheses

Pending Publication Date: 2021-09-07
苏州苏穗绿梦生物技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Obviously, with the rapid increase in the number of patients with oral diseases, and my country is gradually entering an aging society, the importance of oral health issues will continue to be highlighted. At present, there is no relatively mature bionics for stomatology and food testing in the market in my country. chewing device

Method used

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  • Multi-degree-of-freedom simulation chewing robot and control method
  • Multi-degree-of-freedom simulation chewing robot and control method
  • Multi-degree-of-freedom simulation chewing robot and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] The first aspect of the present invention provides a multi-degree-of-freedom simulation chewing robot, such as figure 1 As shown, it includes an upper jaw simulation component 1 , a lower jaw simulation component 2 , a dental model fixing component 3 and a fixing frame 4 .

[0044] Such as figure 2 As shown, the maxillary simulation assembly includes a maxillary platform 201 and a plurality of linkage mechanisms 202 that drive the movement of the upper jaw platform. A coupling 204 is arranged, and the other end of the coupling 204 is matched with a drive motor 205, and the drive motor 205 is fixed with a plurality of guide rods 207 through a fixed block 206, and the guide rod 207 is connected with the trapezoidal screw lead screw. 203 are arranged in parallel, the linkage mechanism 202 also includes a slider 208, the slider 208 is provided with a threaded hole and a plurality of guide holes, the threaded hole is used to connect the trapezoidal thread screw 203, the gu...

Embodiment 2

[0057] The second aspect of the present invention provides a multi-degree-of-freedom simulated chewing robot control method, which is applied to any one of the multi-degree-of-freedom simulated chewing robots, characterized in that, as Figure 9shown, including the following steps:

[0058] S102: Acquire mechanism coordinate position information, and establish a global coordinate system;

[0059] S104: Analyzing the kinematic relationship among various parts of the mechanism, establishing a kinematic model, and generating kinematic model information;

[0060] S106: Analyzing the forward and reverse solutions of the kinematics model, and determining the pose relationship of each mechanism;

[0061] S108: Establish the workspaces of each institution and generate work models;

[0062] S110: Comparing the working model with a preset model to obtain a deviation rate;

[0063] S112: Determine whether the deviation rate is greater than a preset deviation rate threshold;

[0064] ...

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Abstract

The invention discloses a multi-degree-of-freedom simulation chewing robot which comprises an upper jaw simulation assembly, a lower jaw simulation assembly, a dental cast fixing assembly and a fixing frame, the upper jaw simulation assembly comprises an upper jaw platform and a plurality of connecting rod mechanisms driving the upper jaw platform to move, and each connecting rod mechanism comprises a trapezoidal threaded lead screw; one ends of the trapezoidal threaded lead screws are connected with a coupler in a matched mode, the other end of the coupler is connected with a driving motor in a matched mode, the driving motor is fixed to a plurality of guide rods through fixing blocks, the guide rods and the trapezoidal threaded lead screw are arranged in parallel, and a connecting rod mechanism further comprises a sliding block which is provided with a threaded hole and a plurality of guide holes. The threaded hole is used for being connected with the trapezoidal threaded lead screw, the guide hole is correspondingly connected with the guide rod in a matched mode, the other ends of the threaded lead screws are connected with the bearing in a matched mode, and the bearing is fixed through the bearing pedestal. The lower jaw simulation assembly and the upper jaw simulation assembly are matched to work, so that the simulation of the chewing track of the chewing robot is realized. The robot is used for rehabilitation of patients with oral diseases and performance detection of oral prostheses.

Description

[0001] Application field [0002] The invention relates to the field of medical equipment, in particular to a multi-freedom simulated chewing robot. Background technique [0003] Teeth are important masticatory organs of the human body. Under the control of the central nervous system, the tooth friction pair is driven by masticatory muscles and restrained by occlusal contact. Through the left and right linkage of the mandibular joint, circular chewing motion is realized. From a macroscopic point of view, the complex three-dimensional space movement of mastication can be simplified into three kinds of movements: opening and closing movement, lateral movement and longitudinal movement. Tooth loss is a common disease in oral diseases in the medical field. Tooth loss causes masticatory and language dysfunction to patients, which seriously affects the life and physical and mental health of patients. Therefore, it is necessary to use dentures to treat patients. For prosthetic treat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02G01M13/00G01N3/38G01N19/00
CPCG05B17/02G01N3/38G01N19/00G01M13/00G01N2203/0005G01N2203/005
Inventor 卢扬建
Owner 苏州苏穗绿梦生物技术有限公司