A humanoid chewing robot

Abstract

This invention discloses a humanoid chewing robot, belonging to the field of bionic robot technology. It includes six branches mounted on a base. Each branch is divided into three groups, corresponding to the masseter, temporalis, and pterygoid muscles of the mandible. The driving ends of the branches are connected to the corresponding masseter, temporalis, and pterygoid muscles to simulate the six main opening and closing muscle groups during chewing. Two constraint components are located at the condyles on both sides of the mandible to simulate the constraint of the temporomandibular joint on the mandibular condyles. This invention allows for more accurate simulation of chewing tests.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, specifically relating to a humanoid chewing robot. Background Technology

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

[0003] Currently, oral health issues stemming from the aging population are becoming increasingly prominent. However, existing chewing robots are complex in structure and not stable enough; moreover, they are prone to significant errors during movement, resulting in low practicality.

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

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

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

[0007] Six branches are installed on the base. Each of the six branches is divided into three groups. The three groups of branches are respectively set to correspond to the masseter muscle group, temporalis muscle group and pterygoid muscle group of the mandible. The driving end of the branch is driven to drive the corresponding masseter muscle group, temporalis muscle group and pterygoid muscle group, which is used to simulate the six main opening and closing muscle groups in chewing.

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

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

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

[0011] Furthermore, the constraint component includes a limiting block and a limiting rod;

[0012] The limiting rod is disposed at the condyle of the mandible, and a ball is disposed at the end of the limiting rod away from the mandible;

[0013] The limiting block is disposed on the base, and the limiting block has a groove that matches the ball of the limiting rod; the inner wall of the groove is provided with a silicone sheet for simulating a condylar flexible articular disc, and the ball is disposed in the groove.

[0014] Furthermore, the mandible is also equipped with a detection and control mechanism, which includes multiple pressure sensors installed on the teeth of the mandible. The pressure sensors are connected to a host computer. The host computer issues commands to control the six branches 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 graph showing the change of chewing force over time.

[0015] Furthermore, the pressure sensor is disposed at the lower incisors, lower canines, lower premolars, and lower molars of the mandible.

[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. It also has a GUI-based human-computer interaction interface for selecting the working mode and adjusting the 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 respectively.

[0019] Furthermore, the controller includes:

[0020] The execution module is connected to the control module and controls the six branches to complete the chewing motion according to the three working modes selected by the control module.

[0021] An information acquisition module is connected to the pressure sensors to acquire pressure information from multiple pressure sensors.

[0022] An information storage module, connected to the information acquisition module, is used to store the data acquired by the information acquisition module;

[0023] An information processing module, connected to the information storage module, obtains real-time chewing force based on real-time pressure data from multiple pressure sensors; and plots a chewing force curve based on the obtained real-time chewing force.

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

[0025] Furthermore, based on the pressure data obtained from the pressure sensor, through... The chewing force is obtained; where F is the chewing force, F i The maximum force measured by each pressure sensor is n, where n is the number of sensors.

[0026] Beneficial effects:

[0027] This invention uses six branches to simulate the six main opening and closing muscle groups in chewing, as well as constraint components, to simulate the constraint of the temporomandibular joint on the mandibular condyle. Through the set controller, a chewing force curve can be automatically generated to realistically simulate the chewing test and obtain more accurate parameters. Attached Figure Description

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

[0029] Figure 2 This is a schematic diagram of the constraint component of the present invention;

[0030] Explanation of reference numerals in the attached drawings: 1. Base; 2. Branch; 21. Crank; 22. Connecting rod; 3. Constraint assembly; 31. Limiting rod; 311. Sphere; 312. Groove; 32. Limiting block. Detailed Implementation

[0031] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0032] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0033] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0034] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0035] Example 1

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

[0037] Six branches 2 are installed on the base 1. The six branches 2 are divided into three groups. The three groups of branches 2 are respectively set to the masseter muscle group, temporalis muscle group and pterygoid muscle group of the mandible. The driving end of the branch 2 is driven and connected to the corresponding masseter muscle group, temporalis muscle group and pterygoid muscle group to simulate the six main opening and closing muscle groups in chewing.

[0038] Two constraint components 3 are set at the condyles on both sides of the mandible to simulate the constraint of the mandibular condyles by the temporomandibular joint.

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

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

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

[0042] The limiting rod 31 is located at the condyle of the lower jaw, and a ball 311 is provided at the end of the limiting rod 31 away from the lower jaw;

[0043] The limiting block 32 is set on the base 1. The limiting block 32 has a groove 312 that matches the ball 311 of the limiting rod 31. The inner wall of the groove 312 is provided with a silicone sheet for simulating the flexible articular disc of the condyle. The ball 311 is set in the groove 312.

[0044] Example 2

[0045] This embodiment is a further modification based on embodiment 1.

[0046] The lower jaw is also equipped with a detection and control mechanism, which includes multiple pressure sensors installed on the teeth of the lower jaw. The pressure sensors are connected to a host computer. The host computer issues commands 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 graph showing the change of chewing force over time.

[0047] Preferably, the pressure sensor is located at the lower incisor, lower canine, lower premolar and lower molar of the mandible.

[0048] Example 3

[0049] This embodiment is a further modification based on embodiment 2.

[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. It also has a GUI-based human-computer interaction interface for selecting the working mode and adjusting the control parameters.

[0052] 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.

[0053] Preferably, the controller includes:

[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] The information acquisition module connects to the pressure sensors to acquire pressure information from multiple pressure sensors.

[0056] The information storage module, connected to the information acquisition module, is used to store the data acquired by the information acquisition module.

[0057] The information processing module, connected to the information storage module, obtains real-time chewing force based on real-time pressure data from multiple pressure sensors; and plots a chewing force curve based on the obtained real-time chewing force.

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

[0059] Preferably, based on the pressure data obtained from the pressure sensor, through The chewing force is obtained; where F is the chewing force, F i The maximum force measured by each pressure sensor is n, where n is the number of sensors.

[0060] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall 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 disposed on the base, wherein, The oral cavity model includes an upper jaw and a lower jaw, characterized in that it further includes: Six branches are installed on the base. Each of the six branches is divided into three groups. The three groups of branches are respectively set to correspond to the masseter muscle group, temporalis muscle group and pterygoid muscle group of the mandible. The driving end of the branch is driven to drive the corresponding masseter muscle group, temporalis muscle group and pterygoid muscle group, which is used to simulate the six main opening and closing muscle groups in chewing. Two constraint components are disposed on the condyles on both sides of the mandible to simulate the constraint of the mandibular condyles by the temporomandibular joint. The branch includes a rotary motor, a crank, and a connecting rod; The rotary motor is fixed on the base, the output end of the rotary motor is connected to the crank, the end of the crank away from the rotary motor is connected to the first end of the connecting rod through a first passive ball joint, and the second end of the connecting rod is connected to the lower jaw through a second passive ball joint. The constraint assembly includes a limiting block and a limiting rod; The limiting rod is disposed at the condyle of the mandible, and a ball is disposed at the end of the limiting rod away from the mandible; The limiting block is disposed on the base, and the limiting block has a groove that matches the ball of the limiting rod; the inner wall of the groove is provided with a silicone sheet for simulating a condylar flexible articular disc, and the ball is disposed in the groove; The lower jaw is also equipped with a detection and control mechanism, which includes multiple pressure sensors installed on the teeth of the lower jaw. The pressure sensors are connected to a host computer. The host computer issues commands to control the six branches 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 graph showing the change of chewing force over time.

2. The humanoid chewing robot according to claim 1, characterized in that, The pressure sensor is located at the lower incisors, canines, premolars, and molars of the mandible.

3. The humanoid chewing robot according to claim 2, 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. It also has a GUI-based human-computer interaction interface for selecting the working mode and adjusting the 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 respectively.

4. The humanoid chewing robot according to claim 3, characterized in that, The controller includes: The execution module is connected to the control module and controls the six branches to complete the chewing motion according to the three working modes selected by the control module. An information acquisition module is connected to the pressure sensors to acquire pressure information from multiple pressure sensors. An information storage module, connected to the information acquisition module, is used to store the data acquired by the information acquisition module; An information processing module, connected to the information storage module, obtains real-time chewing force based on real-time pressure data from multiple pressure sensors; and plots a chewing force curve based on the obtained real-time chewing force. The display module, connected to the information processing module, is used to display the chewing force curve and real-time pressure data.

5. A humanoid chewing robot according to claim 4, characterized in that, Based on the pressure data obtained from the pressure sensor, through... The chewing force is obtained; where F is the chewing force. The maximum force measured by each pressure sensor is n, where n is the number of sensors.

Images