CN102626348B - Mandibular movement imitating robot - Google Patents
Mandibular movement imitating robot Download PDFInfo
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- CN102626348B CN102626348B CN201210116186.8A CN201210116186A CN102626348B CN 102626348 B CN102626348 B CN 102626348B CN 201210116186 A CN201210116186 A CN 201210116186A CN 102626348 B CN102626348 B CN 102626348B
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Abstract
The invention discloses a mandibular movement imitating robot, which belongs to the technical field of bionic robots and can provide a scientific means for the research of the dentistry, the food science and the biomechanics. The mandibular movement imitating robot comprises a static platform, six driving devices, six movable branched chains and a mandibular platform, wherein the driving devices consist of motors and ball screw pair transmission systems and are used for driving the six movable branched chains to realize movement of the mandibular platform in a three-dimensional space. The mandibular movement imitating robot has the advantages that the dimension diameters of a human body mandibular system and the biomechanical characteristics of a mandibular muscle driving system are synthetically considered, the movement function and a chewing environment of a human mandible can be truly reproduced, and the requirements of realness in movement locus and rationality in occlusion strength are satisfied.
Description
Technical field
The invention belongs to bio-robot technical field, relate to a kind of imitative mandibular movement robot.
Background technology
The research of imitative mandibular movement robot starts from phase early 1990s, is that a class can the behavior of simulating human mandibular movement, reproduces the robot of mankind's mandibular movement and power.It is the multinomial technology such as collecting mechanism, kinesiology, kinetics, sensory perceptual system, motor control, biomechanics and mechatronics in the engineering science of one, can directly apply to the subject research fields such as odontology, Food Science, biomechanics.
Seldom, present patent application person once proposed a kind of flexible cable personalizing and drives redundant parallel to chew robot in the domestic research imitative mandibular movement robot field, and this mechanism adopts flexible cable to drive, and has good compliance.The morning that foreign study is carried out, in fields such as mechanism design, joint drive, kinematics analysis and controls, some achievements in research have been obtained, the bio-imitability aspect Shortcomings of Dan mechanism.US Patent No. 6120290 discloses a kind of mandibular movement simulator, this mechanism comprises six movement branched chain, side chain lower end is connected with the motor in fixed platform, upper end is connected with end effector (lower jaw platform), by electric machine rotation, realize the motion of lower jaw platform, due to the side chain of this mechanism and the junction point of fixed platform and lower jaw platform in one plane, do not consider the biomechanics characteristic of mankind's lower jaw system muscle, kinesiology function that can not true bionical lower jaw.
Current imitative mandibular movement robot major part has only been considered upper mandibular movement, do not consider the biomechanical characterization of lower jaw system drive muscle, can only realize part masticatory function, so that can not reproduce truly mandibular movement function comprehensively and chew environment, the exactly biomechanical characterization of simulating human lower jaw system.
Summary of the invention
The present invention is directed to mankind's lower jaw system drive muscle exist to distribute asymmetric, force direction is different and with the not coplanar biomechanics characteristic of maxillomandibular junction point, based on mechanical bionic principle, a kind of imitative mandibular movement robot based on 6-PSS parallel institution is proposed.Compare with similar robot, this robot can true reappearance mankind mandibular movement function and chews environment, meets movement locus verity and the requirement of reasonableness of interlock dynamics, solves the not high problem of bio-imitability.
Technical scheme of the present invention is:
Gai Fang mandibular movement robot comprises silent flatform, six driving devices, six movement branched chain and lower jaw platform.
Described silent flatform, comprises motor support plate, upper mounting plate gripper shoe, lower platform gripper shoe, connecting-rods with constant lengh.Six roots of sensation connecting-rods with constant lengh is according to driving muscle and upper jaw junction point position distribution, connecting-rods with constant lengh two ends adopt soket head cap screw to be fixedly connected with upper mounting plate gripper shoe and lower platform gripper shoe respectively, in motor support plate, there is screwed hole, be connected the weight of silent flatform for supporting and carry whole robot with upper mounting plate gripper shoe.
Described six driving devices, comprise motor, shaft coupling, ball-screw, feed screw nut, joint contiguous block, workbench, cushion block, slide block, guide rail, taper roll bearing and bearing block.Motor is fixed in motor support plate, and is connected with leading screw by shaft coupling; The lower spindle nose of ball-screw is fixedly connected with lead screw shaft bearing with axis head nut under leading screw by two taper roll bearings, and lead screw shaft bearing is fixed by screws on the connecting-rods with constant lengh of silent flatform; Feed screw nut is fixedly connected with by soket head cap screw with workbench, and workbench is fixedly connected with the slide block on guide rail by cushion block, and guide rail is fixedly connected on connecting-rods with constant lengh; Joint contiguous block on workbench is fixedly connected with the arbor of the spherical bearing of movement branched chain, and motor actuation movement side chain is realized the motion of lower jaw platform.
Described six movement branched chain, comprise oscillating bearing, the axis of guide, connecting plate, connecting rod.Described oscillating bearing, comprises holder and arbor.Movement branched chain is threaded with two axis of guides respectively by two oscillating bearings with driving device link, between two axis of guides, adopts connecting plate to connect by helicitic texture, and there is screwed hole at connecting plate center, for being connected of connecting rod; Described connecting rod, upper end is threaded with connecting plate centre bore, and lower end is threaded with oscillating bearing.Movement branched chain is threaded with mandibular joint contiguous block with the arbor of lower jaw platform link by oscillating bearing.
Described lower jaw platform, comprises mandibular joint contiguous block and lower jaw mechanism.Described lower jaw mechanism, represents the mandibular movement platform of robot; Described mandibular joint contiguous block, is the parts that connect movement branched chain and oscillating bearing arbor, by helicitic texture, is arranged in lower jaw mechanism.
Six driving devices and six movement branched chain are assembled by identical mode, jointly connected silent flatform and the lower jaw platform of robot, complete the assembling of imitating mandibular movement robot.
Effect of the present invention and benefit are:
1, design philosophy of the present invention derives from the prototype of mankind's lower jaw muscle drive system, and movement branched chain force direction and consistent with the biomechanical characterization of upper and lower jaw junction point position and lower jaw muscle can true reappearance mankind mandibular movement track.
2, the imitative lower jaw parallel institution of 6-PSS that the present invention proposes, its movement branched chain is to the active force of lower jaw in muscular force position direction, and application point is positioned at muscle on the junction point of lower jaw, and the bionical degree of mechanism design is higher.
3, the present invention considers high bio-imitability and the requirement of mechanism design feasibility, and interconnect function point and the side chain bar of deriving each side chain Yu Shang lower jaw mechanism in mechanism are long, and mechanism has good exercise performance.
4, the present invention is directed to the less feature in lower jaw system structure space, driving device is arranged in fixed platform, integrated model is relatively simple, and mechanism kinematic side chain has good dynamic characteristic.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is side view of the present invention.
Fig. 3 is silent flatform structure chart of the present invention.
Fig. 4 is driving device structure figure of the present invention.
Fig. 5 is movement branched chain structure chart of the present invention.
Fig. 6 is lower jaw platform structure figure of the present invention.
In figure: I silent flatform; II driving device; III movement branched chain; IV lower jaw platform; 1 motor support plate; 2 connecting-rods with constant lenghs; 3 upper mounting plate gripper shoes; 4 lower platform gripper shoes; 5 motors; 6 shaft couplings; 7 leading screws; 8 feed screw nuts; 9 joint contiguous blocks; 10 workbench; 11 cushion blocks; 12 slide blocks; 13 guide rails; 14 taper roll bearings; 15 lead screw shaft bearings; 16 oscillating bearings; 17 axis of guides; 18 connecting plates; 19 connecting rods; 20 mandibular joint contiguous blocks; 21 lower jaw mechanisms.
The specific embodiment
Below in conjunction with technical scheme and accompanying drawing, describe specific embodiments of the invention in detail.
Gai Fang mandibular movement robot comprises silent flatform, driving device, movement branched chain and lower jaw platform, adopts servo-drive to realize that lower jaw opens, the motion of closed, interlock.
Concrete course of action of the present invention
According to the mandibular movement that will realize, motor 5 is passed to leading screw 7 by rotation by shaft coupling 6, and leading screw 7 drives feed screw nut 8 motions, is converted into the rectilinear motion of feed screw nut 8, workbench 10 is fixed on feed screw nut 8, has realized workbench 10 moving linearly on guide rail 13.The two ends of movement branched chain III are threaded connection with being fixed on joint contiguous block 9 on workbench 10 and the mandibular joint contiguous block 20 on lower jaw platform IV respectively, thereby six workbench 10 are converted into lower jaw mechanism 21 moving in three dimensions along the rectilinear motion in the vertical direction of guide rail 13.
Concrete installation process of the present invention
Silent flatform I installs: silent flatform I is provided with installing hole, by bolt, lower platform gripper shoe 4 and ground are fixed, connecting-rods with constant lengh 2 two ends for fixed guide 13 adopt soket head cap screw to be fixedly connected with upper mounting plate gripper shoe 3 with lower platform gripper shoe 4 respectively, and motor support plate 1 is used hex screw and upper mounting plate gripper shoe 3 to connect firmly simultaneously.
Driving device II installs: motor 1 is fixed in motor support plate 1, and is connected with leading screw 7 by shaft coupling 6.Feed screw nut 8 is fixedly connected with by soket head cap screw with workbench 10, on two faces of workbench 10, leave installing hole, be respectively used to and being fixedly connected with of joint contiguous block 9, cushion block 11 and feed screw nut 8, slide block 12 is arranged on guide rail 13, and guide rail 13 is connected on connecting-rods with constant lengh 2; The lower spindle nose of leading screw 7 is installed and is connected with lead screw shaft bearing 15 with axis head nut under leading screw by two taper roll bearings 14, and lead screw shaft bearing 15 is fixed on connecting-rods with constant lengh 2.
Movement branched chain III installs: on connecting plate 18, leave three screwed holes, be respectively used to install two axis of guides 17 and connecting rod 19; The other end of the axis of guide 17 and connecting rod 19 is installed respectively oscillating bearing 16.
Lower jaw platform IV installs: in lower jaw mechanism 21, leave six screwed holes, respectively six mandibular joint contiguous blocks 20 are installed in these six screwed holes.
Six driving device II and six movement branched chain III are assembled in the same manner, and be connected with lower jaw platform IV with silent flatform I by oscillating bearing 16, complete the assembling of imitating mandibular movement robot.
Claims (1)
1.Yi Zhongfang mandibular movement robot, comprises silent flatform (I), driving device (II), movement branched chain (III) and lower jaw platform (IV); It is characterized in that:
Silent flatform (I) is the fixed platform of parallel robot, comprises motor support plate (1), upper mounting plate gripper shoe (3), lower platform gripper shoe (4), connecting-rods with constant lengh (2); Six roots of sensation connecting-rods with constant lengh (2) is according to driving muscle and upper jaw junction point position distribution, connecting-rods with constant lengh (2) two ends adopt soket head cap screw to be fixedly connected with upper mounting plate gripper shoe (3) and lower platform gripper shoe (4) respectively, motor support plate has screwed hole on (1), be connected with upper mounting plate gripper shoe (3), silent flatform (I) is for supporting and carry the weight of whole robot;
Six driving devices (II) comprise motor (5), shaft coupling (6), ball-screw (7), feed screw nut (8), joint contiguous block (9), workbench (10), cushion block (11), slide block (12), guide rail (13), taper roll bearing (14) and lead screw shaft bearing (15); It is upper that motor (5) is fixed on motor support plate (1), by shaft coupling (6), is connected with leading screw (7); The lower spindle nose of leading screw (7) is fixedly connected with lead screw shaft bearing (14) by the lower axis head nut of two taper roll bearings (14) and leading screw (7), and lead screw shaft bearing (14) is fixed by screws on connecting-rods with constant lengh (2); Feed screw nut (8) is fixedly connected with by soket head cap screw with workbench (10), and workbench (10) is fixedly connected with slide block (12) by cushion block (11), and guide rail (13) is fixedly connected on connecting-rods with constant lengh (2); Joint contiguous block (9) on workbench (10) is fixedly connected with the spherical bearing (16) of movement branched chain (III), and motor (5) actuation movement side chain (III) is realized the motion of lower jaw mechanism (21);
Article six, movement branched chain (III) comprises oscillating bearing (16), the axis of guide (17), connecting plate (18), connecting rod (19); Movement branched chain (III) is threaded with two axis of guides (17) respectively by two oscillating bearings (16) with the link of driving device (II), between two axis of guides (17), adopt connecting plate (18) to be threaded, there is screwed hole at connecting plate (18) center, for with being connected of connecting rod (19), connecting rod (19) upper end is threaded with connecting plate (18) centre bore, lower end is threaded with oscillating bearing (16), movement branched chain (III) drives the biomechanics characteristic of muscle to arrange according to lower jaw, drives the motion of lower jaw mechanism in three dimensions;
Lower jaw platform (IV) comprises mandibular joint contiguous block (20) and lower jaw mechanism (21); Mandibular joint contiguous block (20) is arranged in lower jaw mechanism by helicitic texture, and by the linking together of movement branched chain (III) and lower jaw mechanism (21), realizes the motion of lower jaw mechanism (21).
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| CN201210116186.8A CN102626348B (en) | 2012-04-19 | 2012-04-19 | Mandibular movement imitating robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| IT201700110539A1 (en) * | 2017-10-03 | 2019-04-03 | Giuseppe Rampulla | METHOD FOR CUSTOMIZING DENTAL PROSTHESES, AND A VERIFICATION SYSTEM THAT ENABLES THIS METHOD |
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| CN103610506B (en) * | 2013-11-22 | 2015-06-10 | 大连理工大学 | Redundant actuation chewing robot with bionic temporal-mandibular joint |
| CN104786224B (en) * | 2015-04-07 | 2016-11-30 | 上海大学 | Anthropomorphic robot lower jaw masticatory movement mechanism |
| CN105204394B (en) * | 2015-08-26 | 2017-08-08 | 电子科技大学 | A kind of six degree of freedom chews the control system of robot |
| CN105459114B (en) * | 2015-12-14 | 2017-05-03 | 大连理工大学 | Redundant drive parallel mechanism driving force optimization method and shaft set control verification platform |
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| CN108748103B (en) * | 2018-06-22 | 2021-04-09 | 东北大学 | 6-degree-of-freedom humanoid chewing mechanism |
| CN110849651B (en) * | 2019-12-04 | 2021-01-05 | 大连理工大学 | Bionic chewing robot for false tooth performance test and use method |
| CN113520630B (en) * | 2021-09-02 | 2022-05-10 | 青岛市口腔医院 | Individualized metal dental pile of simulation natural tooth mechanical properties |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| IT201700110539A1 (en) * | 2017-10-03 | 2019-04-03 | Giuseppe Rampulla | METHOD FOR CUSTOMIZING DENTAL PROSTHESES, AND A VERIFICATION SYSTEM THAT ENABLES THIS METHOD |
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