Humanoid chewing robot

Abstract

The invention discloses a humanoid chewing robot, and belongs to the technical field of biomimetic robots, the humanoid chewing robot comprises six branch chains, the six branch chains are mounted on a base, the six branch chains are divided into three groups, and the three groups of branch chains are respectively arranged corresponding to a masseter group, a temporalis group and a wing muscle group of a lower jaw; the driving ends of the branch chains are in driving connection with a masseter muscle group, a temporomuscle group and a wing muscle group which are correspondingly arranged, and are used for simulating six main open-close muscle groups in chewing; the two restraining assemblies are arranged at the condylar processes on the two sides of the mandible and used for simulating the condylar processes of the mandible to be restrained by the temporomandibular joint. According to the invention, the chewing condition can be truly simulated, and the obtained parameters are more accurate.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to a humanoid chewing robot. Background Art

[0002] The oral occlusal pressure testing machine (robot) is a type of equipment that can simulate human oral occlusal movement behavior, thereby providing reliability parameters for food texture and oral health. It is an engineering science that integrates multiple technologies such as mechanics, kinematics, dynamics, perception systems, motion control, and mechanical electronics.

[0003] At present, oral problems reflected by the aging population are becoming increasingly prominent, but the existing chewing robots have complex structures and are not stable enough. In addition, large errors are prone to occur during movement, resulting in low practicality.

[0004] Therefore, there is an urgent need for a robot that can be truly applied in dentistry and food science. Summary of the invention

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A humanoid chewing robot comprises a base and an oral cavity model arranged on the base, wherein the oral cavity model comprises an upper jaw and a lower jaw, and further comprises:

[0007] 6 branch chains, the 6 branch chains are installed on the base, the 6 branch chains are divided into 3 groups, the 3 groups of branch chains are respectively arranged corresponding to the masseter muscle group, temporalis muscle group and pterygoid muscle group of the mandible, and the driving ends of the branch chains are drivingly connected to the corresponding masseter muscle group, temporalis muscle group and pterygoid muscle group, so as to simulate the six main mouth opening and closing muscle groups in chewing;

[0008] Two constraint components are arranged at the condyles on both sides of the mandible to simulate the mandibular condyles being constrained by the temporomandibular joint.

[0009] Further, the branch chain includes a rotary motor, a crank and a connecting rod;

[0010] The rotating motor is fixed on the base, the output end of the rotating motor is connected to the crank, the end of the crank away from the rotating motor is connected to the first end of the connecting rod through a first passive ball pair, and the second end of the connecting rod is connected to the lower jaw through a second passive ball pair.

[0011] Further, the constraint assembly includes a limit block and a limit rod;

[0012] The limiting rod is arranged on the condyle of the mandible, and a sphere is arranged on one end of the limiting rod away from the mandible;

[0013] The limit block is arranged on the base, and is provided with a groove matching the sphere of the limit rod; the inner wall of the groove is provided with a silicone sheet for simulating a flexible condylar articular disc, and the sphere is arranged in the groove.

[0014] Furthermore, the mandible is also provided with a detection and control mechanism, which includes a plurality of pressure sensors installed on the teeth of the mandible, and the pressure sensors are connected to a host computer. The host computer issues instructions to control the six branches to complete the chewing movement. After receiving the pressure information, the pressure sensor transmits it back to the host computer, and the host computer outputs a chewing force curve graph showing the chewing force changing with time.

[0015] Furthermore, the pressure sensors are arranged at the lower incisors, lower canines, lower premolars and lower molars of the mandibular teeth.

[0016] Furthermore, the host computer includes a control module and a controller;

[0017] The control module has three working modes: teaching, food evaluation, and denture testing, and has a GUI-based human-computer interaction interface for selecting working modes and adjusting control parameters;

[0018] The control module is connected to the controller via a serial communication module, and the controller is connected to the pressure sensor and the branch chain respectively.

[0019] Furthermore, the controller comprises:

[0020] An execution module, connected to the control module, controls the six branches to complete the chewing movement according to the three working modes selected by the control module;

[0021] An information acquisition module, connected to the pressure sensor, to acquire pressure information of a plurality of the pressure sensors;

[0022] An information storage module, connected to the information collection module, and used to store data collected by the information collection module;

[0023] An information processing module is connected to the information storage module, and obtains the real-time chewing force according to the real-time pressure data of the plurality of pressure sensors; and draws a chewing force curve according to the obtained real-time chewing force;

[0024] The display module is connected to the information processing module and is used to display the chewing force curve graph and real-time pressure data.

[0025] Further, according to the pressure data obtained by the pressure sensor, Get the chewing force; where F is the chewing force, F i is the maximum force measured by each pressure sensor, and n is the number of sensors.

[0026] Beneficial effects:

[0027] The present invention uses 6 branches to simulate the six main mouth opening and closing muscle groups in chewing and a constraint component to simulate the constraint of the mandibular condyle by the temporomandibular joint. Through the set controller, a chewing force curve can be automatically generated to truly simulate the test of chewing conditions and obtain more accurate parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the humanoid chewing robot of the present invention;

[0029] Figure 2 is a schematic diagram of the structure of the constraint assembly of the present invention;

[0030] Explanation of the reference numerals: 1. base; 2. branch chain; 21. crank; 22. connecting rod; 3. constraint assembly; 31. limit rod; 311. sphere; 312. groove; 32. limit block. DETAILED DESCRIPTION

[0031] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0034] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0035] Example 1

[0036] refer to Figure 1-Figure 2 A humanoid chewing robot comprises a base 1 and an oral cavity model arranged on the base 1, wherein the oral cavity model comprises an upper jaw and a lower jaw, and further comprises:

[0037] 6 branch chains 2 are installed on the base 1, and the 6 branch chains 2 are evenly divided into 3 groups. The 3 groups of branch chains 2 are respectively arranged corresponding to the masseter muscle group, the temporalis muscle group and the pterygoid muscle group of the mandible, and the driving ends of the branch chains 2 are drivingly connected with the corresponding masseter muscle group, the temporalis muscle group and the pterygoid muscle group, so as to simulate the six main mouth opening and closing muscle groups in chewing;

[0038] Two constraint components 3 are arranged at the condyles on both sides of the mandible, and are used to simulate the mandibular condyles being constrained by the temporomandibular joint.

[0039] Preferably, the branch chain 2 includes a rotary motor, a crank 21 and a connecting rod 22;

[0040] The rotating motor is fixed on the base 1, and the output end of the rotating motor is connected to the crank. The end of the crank 21 away from the rotating motor is connected to the first end of the connecting rod 22 through the first passive ball joint, and the second end of the connecting rod 22 is connected to the lower jaw through the second passive ball joint.

[0041] Preferably, the constraint assembly 3 includes a limit block 32 and a limit rod 31;

[0042] The limiting rod 31 is arranged on the condyle of the mandible, and a ball 311 is arranged on one end of the limiting rod 31 away from the mandible;

[0043] The limit block 32 is arranged on the base 1 , and is provided with a groove 312 matching the sphere 311 of the limit rod 31 ; the inner wall of the groove 312 is provided with a silicone sheet for simulating the flexible articular disc of the condyle, and the sphere 311 is arranged in the groove 312 .

[0044] Example 2

[0045] This embodiment is further configured on the basis of the embodiment 1.

[0046] The mandible is also provided with a detection and control mechanism, which includes a plurality of pressure sensors installed on the teeth of the mandible. The pressure sensors are connected to a host computer. The host computer issues instructions to control the six branches 2 to complete the chewing movement. After receiving the pressure information, the pressure sensors transmit it back to the host computer, and the host computer outputs a chewing force curve showing the chewing force changing with time.

[0047] Preferably, the pressure sensors are arranged at the lower incisors, lower canines, lower premolars and lower molars of the mandibular teeth.

[0048] Example 3

[0049] This embodiment is further configured on the basis of the second embodiment.

[0050] The host computer includes a control module and a controller;

[0051] The control module has three working modes: teaching, food evaluation, and denture testing, and has a GUI-based human-computer interaction interface for selecting working modes and adjusting control parameters;

[0052] The control module is connected with the controller through the serial communication module, and the controller is connected with the pressure sensor and the branch chain respectively.

[0053] Preferably, the controller comprises:

[0054] The execution module is connected to the control module and controls the six branches to complete the chewing movement according to the teaching mode selected by the control module;

[0055] An information acquisition module is connected to the pressure sensor to obtain pressure information of multiple pressure sensors;

[0056] An information storage module, connected to the information collection module, for storing data collected by the information collection module;

[0057] The information processing module is connected to the information storage module, and obtains the real-time chewing force according to the real-time pressure data of the multiple pressure sensors; and draws a chewing force curve according to the obtained real-time chewing force;

[0058] The display module is connected to the information processing module and is used to display a chewing force curve graph and real-time pressure data.

[0059] Preferably, according to the pressure data obtained by the pressure sensor, Get the chewing force; where F is the chewing force, F i is the maximum force measured by each pressure sensor, and n is the number of sensors.

[0060] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A humanoid chewing robot, comprising a base and an oral cavity model arranged on the base, wherein: The oral cavity model comprises an upper jaw and a lower jaw, and is characterized in that it also comprises: 6 branch chains, the 6 branch chains are installed on the base, the 6 branch chains are divided into 3 groups, the 3 groups of branch chains are respectively arranged corresponding to the masseter muscle group, temporalis muscle group and pterygoid muscle group of the mandible, and the driving ends of the branch chains are drivingly connected to the corresponding masseter muscle group, temporalis muscle group and pterygoid muscle group, so as to simulate the six main mouth opening and closing muscle groups in chewing; Two constraint components are arranged at the condyles on both sides of the mandible to simulate the mandibular condyles being constrained by the temporomandibular joint.

2. The humanoid chewing robot according to claim 1, characterized in that: The branch chain includes a rotary motor, a crank and a connecting rod; The rotating motor is fixed on the base, the output end of the rotating motor is connected to the crank, the end of the crank away from the rotating motor is connected to the first end of the connecting rod through a first passive ball pair, and the second end of the connecting rod is connected to the lower jaw through a second passive ball pair.

3. The humanoid chewing robot according to claim 1, characterized in that: The constraint assembly includes a limit block and a limit rod; The limiting rod is arranged on the condyle of the mandible, and a sphere is arranged on one end of the limiting rod away from the mandible; The limit block is arranged on the base, and is provided with a groove matching the sphere of the limit rod; the inner wall of the groove is provided with a silicone sheet for simulating a flexible condylar articular disc, and the sphere is arranged in the groove.

4. A humanoid chewing robot according to any one of claims 1 to 3, characterized in that: The mandible is also provided with a detection and control mechanism, which includes a plurality of pressure sensors installed on the teeth of the mandible. The pressure sensors are connected to a host computer, and the host computer issues instructions to control the six branches to complete the chewing movement. After receiving the pressure information, the pressure sensor transmits it back to the host computer, and the host computer outputs a chewing force curve graph showing the chewing force changing with time.

5. The humanoid chewing robot according to claim 4, characterized in that: The pressure sensors are arranged at the lower incisors, lower canines, lower premolars and lower molars of the mandibular teeth.

6. The humanoid chewing robot according to claim 5, characterized in that: The host computer includes a control module and a controller; The control module has three working modes: teaching, food evaluation, and denture testing, and has a GUI-based human-computer interaction interface for selecting working modes and adjusting control parameters; The control module is connected to the controller via a serial communication module, and the controller is connected to the pressure sensor and the branch chain respectively.

7. The humanoid chewing robot according to claim 6, characterized in that: The controller comprises: An execution module, connected to the control module, controls the six branches to complete the chewing movement according to the three working modes selected by the control module; An information acquisition module, connected to the pressure sensor, to acquire pressure information of a plurality of the pressure sensors; An information storage module, connected to the information collection module, and used to store data collected by the information collection module; An information processing module is connected to the information storage module, and obtains the real-time chewing force according to the real-time pressure data of the plurality of pressure sensors; and draws a chewing force curve according to the obtained real-time chewing force; The display module is connected to the information processing module and is used to display the chewing force curve graph and real-time pressure data.

8. The humanoid chewing robot according to claim 7, characterized in that: According to the pressure data obtained by the pressure sensor, Get the chewing force; where F is the chewing force, F i is the maximum force measured by each pressure sensor, and n is the number of sensors.

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