CN109102751A - A kind of emulation oral cavity machining robot and its control method - Google Patents
A kind of emulation oral cavity machining robot and its control method Download PDFInfo
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- CN109102751A CN109102751A CN201710306008.4A CN201710306008A CN109102751A CN 109102751 A CN109102751 A CN 109102751A CN 201710306008 A CN201710306008 A CN 201710306008A CN 109102751 A CN109102751 A CN 109102751A
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- maxilla
- lower jaw
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 210000000214 mouth Anatomy 0.000 title claims abstract description 25
- 238000003754 machining Methods 0.000 title claims abstract description 19
- 210000002050 maxilla Anatomy 0.000 claims abstract description 69
- 238000004088 simulation Methods 0.000 claims abstract description 11
- 238000009987 spinning Methods 0.000 claims description 5
- 241000208340 Araliaceae Species 0.000 claims 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 2
- 235000008434 ginseng Nutrition 0.000 claims 2
- 239000007787 solid Substances 0.000 claims 1
- 235000013305 food Nutrition 0.000 abstract description 19
- 230000029087 digestion Effects 0.000 abstract description 12
- 230000001055 chewing effect Effects 0.000 abstract description 8
- 238000004886 process control Methods 0.000 abstract description 5
- 238000010521 absorption reaction Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 description 5
- 230000018984 mastication Effects 0.000 description 3
- 238000010077 mastication Methods 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- WQZGKKKJIJFFOK-GASJEMHNSA-N Glucose Natural products OC[C@H]1OC(O)[C@H](O)[C@@H](O)[C@@H]1O WQZGKKKJIJFFOK-GASJEMHNSA-N 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 235000015111 chews Nutrition 0.000 description 2
- 210000004913 chyme Anatomy 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 239000008103 glucose Substances 0.000 description 2
- 210000001847 jaw Anatomy 0.000 description 2
- 238000012369 In process control Methods 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 235000008429 bread Nutrition 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001976 enzyme digestion Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010965 in-process control Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000003296 saliva Anatomy 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses a kind of emulation oral cavity machining robot and its control methods, including a support, controller and the human body of emulation maxilla and human body lower jaw；Simulated humanbody maxilla is fixedly connected with the first driving device being set on support, simulated humanbody lower jaw is fixedly connected with the second driving device being set on support, controller is electrically connected with first driving device, the second driving device respectively, the co-operating for process control first driving device and the second driving device；First driving device does linear reciprocation grinding movement for driving simulation human body maxilla, and the second driving device makes rotating motion for driving simulation human body lower jaw, controls the folding between simulated humanbody lower jaw and maxilla.The present invention passes through the cooperation of the alternating of first driving device and the second driving device, lower jaw movement when making the relative motion for emulating the upper jaw and the lower jaw that human body copied to chew, realize chew of the height simulated humanbody in chewing, process of the accurate simulation food in oral cavity processes, to provide accurate data using the digestion and absorption that external digestion system simulates human consumption and measures food.
Description
Technical field
The invention belongs to external digestions to emulate field, specifically, the present invention relates to a kind of emulation oral cavity machining robots
And its control method.
Background technique
Traditional External digestion experiment has ignored importance of the oral cavity in digestion cooking cycle, often using simple cutting
Food is smashed with stirring, and the chewing of people is a complicated process, and main function: food self structure is divided and ground
Little particle is worn into, and saliva, which is added, makes its softening form deglutible chyme.Structure of the food in the process of oral cavity generates
Huge variation, the size and distribution for generating particle directly affect enzyme digestion reaction rate, stomach empties rate even blood glucose
Variation.So the simple particle that food is mechanically polished into unified size, will seriously constrain existing conventional external
Ability of the simulation system to its blood glucose value of the true digestion process of food and prediction.
Summary of the invention
Therefore, technical problem solved by the invention is: the method for innovation conventional bulk cavitas oris externa processing sticks on it more
Nearly true human body mastication processes, to more accurately simulate human consumption using external digestion system and measure disappearing for food
Change absorption process.Therefore, the present invention provides a kind of emulation oral cavity machining robot and its control methods.
On the one hand, the present invention provides a kind of emulation oral cavity machining robot, the robot includes a support, control
Device, simulated humanbody maxilla and simulated humanbody lower jaw, the simulated humanbody maxilla are filled with the first driving being set on the support
It sets and is fixedly connected, the simulated humanbody lower jaw is fixedly connected with the second driving device being set on the support, the control
Device is electrically connected with the first driving device, the second driving device respectively, for first driving device described in process control
With the co-operating of the second driving device；The first driving device is ground for driving the simulated humanbody maxilla to do linear reciprocation
Mill movement, second driving device control under the simulated humanbody for driving the simulated humanbody lower jaw to make rotating motion
Folding between jaw and simulated humanbody maxilla.
The first driving device is a linear actuators, and a slide unit, the human simulation is arranged on the linear actuators
Body maxilla is set on the slide unit, and when the controller drives linear actuators movement, the slide unit drives described imitative
True man's body maxilla makees linear grinding movement.
Second driving device is a revolving actuator, one rotation branch of setting in the drive shaft of the revolving actuator
Frame, the simulated humanbody lower jaw are fixed on the runing rest；When starting the revolving actuator, the revolving actuator
Drive shaft drives runing rest rotation, and the simulated humanbody lower jaw and the simulated humanbody maxilla is driven to realize opening and closing movement.
The grinding section of the first driving device is 0~7mm, and grinding rate is 0~10mm/s.
The rotating folding angle of second driving device is 0~10 °, and rotating folding angular speed is 0~10 °/s.
On the other hand, the present invention also provides a kind of control method for emulating oral cavity machining robot, the control methods
Include the following steps:
Step 1, setting controller execute parameter；
Step 2 drives the second driving device, rotates simulated humanbody lower jaw towards simulated humanbody maxilla direction, until imitative
True man's body maxilla and simulated humanbody lower jaw are in occlusive state；
Step 3, the second driving device of control are stopped rotating movement；
Step 4 drives first driving device, makes it that simulated humanbody maxilla be driven to make a reciprocal linear abrasive action；
Step 5, control first driving device stop linear abrasive action；
Step 6 drives the second driving device, rotates simulated humanbody lower jaw away from the direction of simulated humanbody maxilla,
Until simulated humanbody maxilla and simulated humanbody lower jaw are in the open state；
Step 2 is repeated to step 6, until completing the chew of a serial predetermined number of times.
Setting controller in the step 1 executes parameter, specifically includes: first driving device linearly grind section and
The parameter setting of the parameter setting of its grinding rate and the second driving device rotating folding angle and rotating folding angular speed.
Or preferably, the present invention also provides a kind of control method for emulating oral cavity machining robot, the control methods
Include the following steps:
Step 1, setting controller execute parameter；
Step 2 drives the second driving device, rotates simulated humanbody lower jaw towards simulated humanbody maxilla direction, until imitative
True man's body maxilla is in occlusive state and reaches with simulated humanbody lower jaw is engaged torque threshold set by controller；
Step 3, the second driving device are automatically stopped spinning movement after detecting occlusion torque threshold；
Step 4 drives first driving device, makes it that simulated humanbody maxilla be driven to make a reciprocal linear abrasive action；
Step 5, control first driving device stop linear abrasive action；
Step 6 drives the second driving device, rotates simulated humanbody lower jaw away from the direction of simulated humanbody maxilla,
Until simulated humanbody maxilla and simulated humanbody lower jaw are in the open state；
Step 2 is repeated to step 6, until completing the chew of a serial predetermined number of times.
Setting controller in the step 1 executes parameter, specifically includes: first driving device linearly grind section and
The setting of torque threshold is engaged between the parameter setting and simulated humanbody maxilla and simulated humanbody lower jaw of its grinding rate.
Technical solution of the present invention has the advantages that
A. the present invention controls simulated humanbody maxilla by first driving device, realizes that the grinding that anti-true man's body maxilla carries out is dynamic
Make, simulated humanbody lower jaw controlled using the second driving device, realizes spinning movement to simulated humanbody lower jaw, it is therefore an objective to realize with
Under the process control of controller, first is driven for the opening and closing movement of simulated humanbody maxilla, first driving device and the second driving device
Lower jaw movement when relative motion between dynamic device and the second driving device copies human body to chew, realizes height simulated humanbody
Chew in chewing, process of the accurate simulation food in oral cavity processes, to simulate human body using external digestion system
Digestion and the digestion and absorption of measurement food provide accurate data.
B. the Kinematic Decomposition of lower jaw is simplified the complicated property of design to two parts of maxilla and lower jaw by the present invention, and is mentioned
The controllability of Gao Liao robot, can dynamic analog personification body mastication processes change with time, choose different chewing degree for after
Chyme provide may.
C. the present invention can set the occlusion torque threshold of simulated humanbody maxilla and simulated humanbody lower jaw by controller, can
To carry out the setting of occlusion torque for different food, the folding angle of simulated humanbody lower jaw can control according to the size of food
Degree, it is adaptable, have can process control grinding section and grinding rate, different severities of grind and cutting can be carried out to food
The test of dynamics.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is emulation cavity machining robot overall structure main view provided by the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the motion profile gradually parameter setting flow chart of present invention control maxilla and lower jaw；
Fig. 5 is that maxilla provided by the present invention is engaged torque restriction control flow chart with lower jaw.
In figure: 1- support；2- simulated humanbody maxilla；3- simulated humanbody lower jaw；4- first driving device；The driving dress of 5- second
It sets；6- slide unit；7- runing rest.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 3, the present invention provides a kind of emulation oral cavity machining robots, including a support 1, controller
And simulated humanbody maxilla 2 and simulated humanbody lower jaw 3, simulated humanbody maxilla 2 are consolidated with the first driving device 4 being set on support 1
Fixed connection, simulated humanbody lower jaw 3 are fixedly connected with the second driving device 5 being set on support 1, and controller drives with first respectively
Dynamic device 4, the second driving device 5 are electrically connected, the collaboration for process control first driving device 4 and the second driving device 5
Movement；First driving device 4 does linear reciprocation grinding movement for driving simulation human body maxilla 2, and the second driving device 5 is for driving
Dynamic simulated humanbody lower jaw 3 makes rotating motion, and controls the folding between simulated humanbody lower jaw 3 and simulated humanbody maxilla 2.The present invention passes through
First driving device 4 carries out straight reciprocating motion to control simulated humanbody maxilla 2, realizes that the grinding to simulated humanbody maxilla 2 is dynamic
Make, and the second driving device 5 is used to control simulated humanbody lower jaw 3, realizes the spinning movement to simulated humanbody lower jaw 3, pass through control
Making the rotation of the second driving device 5 may be implemented the folding of simulated humanbody lower jaw 3.First driving device 4 and the second driving device 5 exist
Under the process control of controller, chew of the height simulated humanbody in chewing is realized, accurate simulation food adds in oral cavity
Process in work, to provide accurate data using the digestion and absorption that external digestion system simulates human consumption and measures food.
First driving device 4 in the present invention preferably uses linear actuators, and a slide unit 6 is arranged on linear actuators,
Simulated humanbody maxilla 2 is set on slide unit 6, and when controller drives linear actuators movement, slide unit 6 drives simulated humanbody maxilla 2
Make linear grinding movement.Can by the preset parameter of controller institute, come control first driving device 4 grinding section and
Grinding rate, currently preferred grinding section are set as 0-7mm, and grinding rate is preferably 0~10mm/s.Here linear drive
Dynamic device is the prior art, the EZSM6D010AZAC actuator produced using Oriental Motor company, motion range and fortune
Maxilla kinematic parameter when dynamic speed reference people really chews.
In addition, the second driving device 5 uses revolving actuator, a runing rest 7 is set in the drive shaft of revolving actuator,
Simulated humanbody lower jaw 3 is fixed on runing rest 7；When starting revolving actuator, the drive shaft of revolving actuator drives rotation branch
Frame 7 rotates, and driving simulation human body lower jaw 3 and simulated humanbody maxilla 2 realize opening and closing movement.The present invention passes through director demon control
The rotating folding angle for making the second driving device 5 is 0~10 °, and rotating folding angular speed is 0~10 °/s, can be according to difference
Test food type carry out parameter in the controller and preset.Revolving actuator is produced using Oriental Motor company
AZM66AC-HS100 revolving actuator, when the parameter of this movement angle and angular velocity of satellite motion needs reference man really to chew under
Jaw movement parameter.
The two methods of the control of emulation oral cavity machining robot are specifically described by Fig. 4 and Fig. 5, first method is specific
Include the following steps:
Step 1, setting controller execute parameter；
Here execution parameter includes the setting and the second driving device of first driving device grinding section and grinding rate
The setting of rotating folding angle and folding angle.It can be set in advance in the controller according to different test materials, height
The chew of human simulation.
Step 2 drives the second driving device, rotates simulated humanbody lower jaw towards simulated humanbody maxilla direction, until imitative
True man's body maxilla and simulated humanbody lower jaw are in occlusive state；
Step 3, the second driving device of control are stopped rotating movement；
Step 4 drives first driving device, makes it that simulated humanbody maxilla be driven to make a reciprocal linear abrasive action；
Step 5, control first driving device stop linear abrasive action；
Step 6 drives the second driving device, rotates simulated humanbody lower jaw away from the direction of simulated humanbody maxilla,
Until simulated humanbody maxilla and simulated humanbody lower jaw are in the open state；
Step 2 is repeated to step 6, until completing the chew of a serial predetermined number of times.
Second method specifically comprises the following steps:
Step 1, setting controller execute parameter；
Here execution parameter includes the parameter setting and that first driving device linearly grinds section and its grinding rate
Two driving device rotating folding angles, rotating folding angular speed and the parameter setting for being engaged torque threshold.
Step 2, the second driving device of driving rotate simulated humanbody lower jaw towards simulated humanbody maxilla direction, until imitative
True man's body maxilla is in occlusive state and reaches with simulated humanbody lower jaw is engaged torque threshold；
Step 3, the second driving device are automatically stopped spinning movement after detecting occlusion torque threshold；
Step 4 drives first driving device, makes it that simulated humanbody maxilla be driven to make a reciprocal linear abrasive action；
Step 5, control first driving device stop linear abrasive action；
Step 6 drives the second driving device, rotates simulated humanbody lower jaw away from the direction of simulated humanbody maxilla,
Until simulated humanbody maxilla and simulated humanbody lower jaw are in the open state；
Step 2 is repeated to step 6, until completing the chew of a serial predetermined number of times.
The following two kinds parameter setting mode, gradually parameter setting and occlusion are preferably used in emulation oral cavity machining robot
Torque parameter setting is described by embodiment 1 and embodiment 2 separately below.
Embodiment 1
As shown in figure 4, the kinematic parameter of linear actuators and revolving actuator is set and is guaranteed in the controller respectively
Cooperation between it.
1, linear actuators waits 1 second, and revolving actuator carries out 10 ° of rotation with the angular velocity of rotation of 10 °/s, until lower jaw
Close occlusion food；
2, revolving actuator waits 1.3s；
3, start linear actuators, make its one direction mobile 6.5mm, grinding rate 10mm/s；
4, starting linear actuators opposite direction carries out grinding 6.5mm, and grinding rate is that grinding rate is 10mm/s；
5, revolving actuator is opened to open configuration, is repeated the above steps, until completing the nozzle of number specified by controller
Chew work.
The waiting time of above-mentioned linear actuators and revolving actuator can set in the controller.
Embodiment 2
As shown in figure 5, the braking between emulation the upper jaw and the lower jaw, which fits through occlusion torque, is defined control.
1, linear actuators waits 1 second, and revolving actuator is rotated with the angular velocity of rotation of 10 °/s, until lower jaw closes
Close occlusion food；
2, occlusion torque is formed by between emulating the upper jaw and the lower jaw when reaching specified dynamics, revolving actuator waits, here
The size of specified occlusion torque can be set by controller, be detected by revolving actuator；
Here occlusion torque chews dynamics really by test human body to obtain, and specifically, is tested using myoelectric apparatus
Bite force in human body mastication processes, and (such as being averaged, select the elderly's chewing dynamics etc.) is selected to data,
The corresponding control numerical value of setting on the controller.
3, start linear actuators, make its 6.5mm that once reciprocatingly slides, grinding rate 10mm/s；
4, revolving actuator is opened to open configuration, is repeated the above steps, until completing the nozzle of number specified by controller
Chew work.
When emulating closing between the upper jaw and the lower jaw and gradually stinging tight food, revolving actuator Moment can be gradually increased, when
When torque increases to set numerical value, the snap-action of simulated humanbody lower jaw stops, at this moment horizontal by simulated humanbody maxilla
The grinding in direction is to tear apart the effect that the structure of bread has reached chewing.
It is set by the numerical value in the controller to occlusion torque, it can oral cavity process to different age group
Carry out chewing test research, adaptability is wider.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (9)
1. a kind of emulation oral cavity machining robot, which is characterized in that the robot includes a support (1), controller, human simulation
Body maxilla (2) and simulated humanbody lower jaw (3), the simulated humanbody maxilla (2) and the first driving being set on the support (1)
Device (4) is fixedly connected, and the simulated humanbody lower jaw (3) and the second driving device (5) being set on the support (1) are fixed
Connection, the controller are electrically connected with the first driving device (4), the second driving device (5) respectively, are used for program control
Make the co-operating of the first driving device (4) and the second driving device (5)；The first driving device (4) is for driving
The simulated humanbody maxilla (2) does linear reciprocation grinding movement, and second driving device (5) is for driving the simulated humanbody
Lower jaw (3) makes rotating motion, and controls the folding between the simulated humanbody lower jaw (3) and simulated humanbody maxilla (2).
2. emulation oral cavity according to claim 1 machining robot, which is characterized in that the first driving device (4) is
One linear actuators is arranged a slide unit (6) on the linear actuators, and the simulated humanbody maxilla (2) is set to the slide unit
(6) on, when the controller drives linear actuators movement, the slide unit (6) drives the simulated humanbody maxilla (2) to make
Linear grinding movement.
3. emulation oral cavity according to claim 1 machining robot, which is characterized in that second driving device (5) is
One revolving actuator is arranged a runing rest (7) in the drive shaft of the revolving actuator, and the simulated humanbody lower jaw (3) is solid
Due on the runing rest (7)；When starting the revolving actuator, the drive shaft of the revolving actuator drives runing rest
(7) it rotates, and the simulated humanbody lower jaw (3) and the simulated humanbody maxilla (2) is driven to realize opening and closing movement.
4. emulation oral cavity according to claim 1 to 3 machining robot, which is characterized in that the first driving device
(4) grinding section is 0~7mm, and grinding rate is 0~10mm/s.
5. emulation oral cavity according to claim 1 to 3 machining robot, which is characterized in that second driving device
(5) rotating folding angle is 0~10 °, and rotating folding angular speed is 0~10 °/s.
6. a kind of control method for emulating oral cavity machining robot, which is characterized in that the control method includes the following steps:
Step 1, setting controller execute parameter；
Step 2 drives the second driving device (5), rotates simulated humanbody lower jaw (3) towards simulated humanbody maxilla (2) direction,
Until simulated humanbody maxilla (2) and simulated humanbody lower jaw (3) are in occlusive state；
Step 3, control the second driving device (5) are stopped rotating movement；
Step 4 drives first driving device (4), makes it that simulated humanbody maxilla (2) be driven to make a reciprocal linear abrasive action；
Step 5, control first driving device (4) stop linear abrasive action；
Step 6 drives the second driving device (5), makes simulated humanbody lower jaw (3) away from the direction of simulated humanbody maxilla (2)
Rotation, until simulated humanbody maxilla (2) and simulated humanbody lower jaw (3) are in the open state；
Step 2 is repeated to step 6, until completing the chew of a serial predetermined number of times.
7. control method according to claim 6, which is characterized in that the setting controller in the step 1 executes ginseng
Number, specifically includes: first driving device (4) linearly grinds the parameter setting and the second driving device of section and its grinding rate
The parameter setting of rotating folding angle and rotating folding angular speed.
8. a kind of control method for emulating oral cavity machining robot, which is characterized in that the control method includes the following steps:
Step 1, setting controller execute parameter；
Step 2 drives the second driving device (5), rotates simulated humanbody lower jaw (3) towards simulated humanbody maxilla (2) direction,
Until simulated humanbody maxilla (2) are in occlusive state and reach and be engaged torque set by controller with simulated humanbody lower jaw (3)
Threshold value；
Step 3, the second driving device (5) are automatically stopped spinning movement after detecting occlusion torque threshold；
Step 4 drives first driving device (4), makes it that simulated humanbody maxilla (2) be driven to make a reciprocal linear abrasive action；
Step 5, control first driving device (4) stop linear abrasive action；
Step 6 drives the second driving device (5), makes simulated humanbody lower jaw (3) away from the direction of simulated humanbody maxilla (2)
Rotation, until simulated humanbody maxilla (2) and simulated humanbody lower jaw (3) are in the open state；
Step 2 is repeated to step 6, until completing the chew of a serial predetermined number of times.
9. control method according to claim 8, which is characterized in that the setting controller in the step 1 executes ginseng
Number, specifically includes: first driving device (4) linearly grinds the parameter setting and simulated humanbody maxilla of section and its grinding rate
(2) setting of torque threshold is engaged between simulated humanbody lower jaw (3).
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| CN201710306008.4A CN109102751A (en) | 2017-06-20 | 2017-06-20 | A kind of emulation oral cavity machining robot and its control method |
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| CN201710306008.4A CN109102751A (en) | 2017-06-20 | 2017-06-20 | A kind of emulation oral cavity machining robot and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111709282A (en) * | 2020-05-07 | 2020-09-25 | 中粮营养健康研究院有限公司 | Method for characterizing food oral processing |
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| CN103909527A (en) * | 2014-03-27 | 2014-07-09 | 北京邮电大学 | Bionics based robot mouth device |
| CN205375945U (en) * | 2015-12-02 | 2016-07-06 | 哈尔滨市美中牙博士口腔研究院 | Oral cavity training robot |
| CN105699221A (en) * | 2016-03-23 | 2016-06-22 | 大连理工大学 | Multi-posture implanted tooth testing device capable of simulating tooth occlusion |
| CN106053730A (en) * | 2016-07-14 | 2016-10-26 | 云南中烟工业有限责任公司 | Full simulation chewing machine |
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Application publication date: 20181228 |