CN102626348A - Mandibular movement imitating robot - Google Patents

Abstract

The invention discloses a mandible imitation robot, which belongs to the technical field of bionic robots and can provide scientific means for the research of dentistry, food science and biomechanics. The imitation jaw movement robot includes a static platform, six driving devices, six motion branch chains and a lower jaw platform. The driving device is composed of a motor and a ball screw transmission system, which drives six motion branch chains to realize the movement of the mandibular platform in three-dimensional space. The invention comprehensively considers the size parameters of the human mandibular system and the biomechanical characteristics of the mandibular muscle drive system, can truly reproduce the human mandibular movement function and chewing environment, and meets the requirements of the authenticity of the movement track and the rationality of the occlusal force.

Description

A Mandibular Motion Robot

technical field

The invention belongs to the technical field of bionic robots, and relates to a mandible-simulating robot.

Background technique

The research on mandible-imitating robot began in the early 1990s. It is a kind of robot that can simulate human jaw movement behavior and reproduce human jaw movement and force. It is an engineering science that integrates many technologies such as mechanism, kinematics, dynamics, perception system, motion control, biomechanics, and mechatronics, and can be directly applied to the research fields of dentistry, food science, biomechanics, etc. .

Domestically, there are few researches in the field of imitating jaw movement robots. The applicant of this patent once proposed an anthropomorphic flexible cable-driven redundant parallel masticating robot. The mechanism is driven by flexible cables and has good flexibility. Foreign research was carried out earlier, and some research results have been obtained in the fields of mechanism design, joint drive, kinematics analysis and control, etc., but there are deficiencies in the bionicity of the mechanism. U.S. Patent US6120290 discloses a mandibular motion simulator. This mechanism includes six motion branch chains. The lower end of the branch chain is connected to the motor on the fixed platform, and the upper end is connected to the end effector (mandibular platform). The movement of the mandibular platform is realized by the rotation of the motor. , because the connection point between the branch chain of the mechanism and the fixed platform and the mandibular platform is on the same plane, the biomechanical characteristics of the human mandibular system muscles are not considered, and the kinematic function of the bionic mandible cannot be truly simulated.

Most of the current artificial mandibular movement robots only consider the upper and lower jaw movement, without considering the biomechanical characteristics of the mandibular system driving muscles, and can only realize part of the chewing function, so that they cannot fully and truly reproduce the mandibular movement function and chewing environment, and cannot accurately simulate Biomechanical characterization of the human mandibular system.

Contents of the invention

Aiming at the biomechanical characteristics of human mandibular system driving muscles, such as asymmetric distribution, different force directions, and non-coplanar connection points with the upper and lower jaws, based on the principle of mechanical bionics, a 6-PSS parallel mechanism-based imitation mandibular movement is proposed. robot. Compared with similar robots, this robot can truly reproduce the human jaw movement function and chewing environment, meet the requirements of the authenticity of the movement trajectory and the rationality of the bite force, and solve the problem of low bionicity.

Technical scheme of the present invention is:

The imitation jaw movement robot includes a static platform, six driving devices, six motion branch chains and a lower jaw platform.

The static platform includes a motor support plate, an upper platform support plate, a lower platform support plate, and a fixed length rod. The six fixed-length rods are distributed according to the position of the connection point between the driving muscles and the upper jaw. Connected, the static platform is used to support and carry the weight of the entire robot.

The six driving devices include a motor, a shaft coupling, a ball screw, a screw nut, a joint connection block, a workbench, a pad, a slide block, a guide rail, a tapered roller bearing and a bearing seat. The motor is fixed on the motor support plate and connected to the lead screw through a coupling; the lower shaft head of the ball screw is fixedly connected to the screw bearing seat through two tapered roller bearings and the lower shaft head nut of the lead screw, and the screw bearing The seat is fixed on the fixed-length rod of the static platform by screws; the screw nut is fixedly connected to the worktable by hexagon socket screws, the worktable is fixedly connected to the slider on the guide rail through the spacer, and the guide rail is fixedly connected to the fixed-length rod; The joint connection block on the stage is fixedly connected with the shaft of the spherical bearing of the motion branch chain, and the motor drives the motion branch chain to realize the movement of the lower jaw platform.

The six motion branch chains include joint bearings, guide shafts, connecting plates and connecting rods. The joint bearing includes a fixed seat and an arbor. The connecting end of the motion branch chain and the driving device is connected by two joint bearings and two guide shafts respectively. The two guide shafts are connected by a connecting plate through a threaded structure. There is a threaded hole in the center of the connecting plate for connecting with the connecting rod. ; The upper end of the connecting rod is threaded with the central hole of the connecting plate, and the lower end is threaded with the joint bearing. The connecting end of the kinematic branch chain and the mandibular platform is threadedly connected with the mandibular joint connecting block through the handle shaft of the joint bearing.

The mandibular platform includes a mandibular joint connection block and a mandibular mechanism. The mandibular mechanism represents the mandibular motion platform of the robot; the mandibular joint connection block is a component connecting the kinematic branch chain and the joint bearing shaft, and is installed on the mandibular mechanism through a threaded structure.

The six driving devices and six motion branch chains are assembled in the same way, and the static platform and the lower jaw platform of the robot are connected together to complete the assembly of the imitative jaw movement robot.

Effect and benefit of the present invention are:

1. The design idea of the present invention is derived from the prototype of the human mandibular muscle drive system. The direction of the force of the kinematic branch chain and the position of the connection point between the upper and lower jaws are consistent with the biomechanical characteristics of the mandibular muscles, which can truly reproduce the human mandibular movement trajectory.

2. In the 6-PSS mandibular imitation parallel mechanism proposed by the present invention, the force of the kinematic branch chain on the mandible is in the direction of the muscle force action line, and the action point is located at the connection point of the muscle on the mandible. The degree of bionic mechanism design is higher.

3. The present invention comprehensively considers the requirements of high bionicity and the feasibility of mechanism design, and deduces the connection point of each branch chain in the mechanism with the upper and lower jaw mechanism and the length of the branch chain rod, and the mechanism has good motion performance.

4. The present invention aims at the small structural space of the mandibular system, and installs the driving device on the fixed platform. The overall mechanism is relatively simple, and the movement branch chain of the mechanism has good dynamic characteristics.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Figure 2 is a side view of the present invention.

Fig. 3 is a structural diagram of the static platform of the present invention.

Fig. 4 is a structural diagram of the driving device of the present invention.

Fig. 5 is a structural diagram of the kinematic branch chain of the present invention.

Fig. 6 is a structure diagram of the mandibular platform of the present invention.

In the figure: I static platform; II driving device; III motion branch chain; IV lower jaw platform; 1 motor support plate; 2 fixed length rod; 3 upper platform support plate; 4 lower platform support plate; 5 motor; 6 coupling; 7 lead screw; 8 lead screw nut; 9 joint connection block; 10 workbench; 11 cushion block; 12 slider; 13 guide rail; 14 tapered roller bearing; Connecting plate; 19 connecting rods; 20 mandibular joint connection block; 21 mandibular mechanism.

Detailed ways

Specific embodiments of the present invention will be described in detail below in conjunction with technical solutions and accompanying drawings.

The imitation mandible movement robot includes a static platform, a driving device, a kinematic branch chain and a mandibular platform, and adopts servo drive to realize the movement of mandible opening, closing and occlusal.

Concrete action process of the present invention

According to the jaw movement to be realized, the motor 5 transmits the rotation to the lead screw 7 through the coupling 6, and the lead screw 7 drives the lead screw nut 8 to move, which is converted into a linear motion of the lead screw nut 8. The workbench 10 is fixed on the lead screw nut 8, the workbench 10 is realized to move linearly on the guide rail 13. The two ends of the motion branch chain III are respectively threaded with the joint connection block 9 fixed on the workbench 10 and the mandibular joint connection block 20 on the mandibular platform IV, so that the six workbenches 10 along the guide rail 13 in the vertical direction The linear motion is converted into the motion of the jaw mechanism 21 in three-dimensional space.

Concrete installation process of the present invention

Static platform I installation: The static platform 1 is provided with mounting holes, and the lower platform support plate 4 is fixed to the ground by bolts, and the two ends of the fixed-length bar 2 for fixing the guide rail 13 are connected with the upper platform support plate 3 and the lower platform support plate respectively. 4 Use hexagon socket screws to fix the connection, and at the same time, the motor support plate 1 is fixedly connected to the upper platform support plate 3 with hexagon screws.

Installation of the driving device II: the motor 1 is fixed on the motor support plate 1 and connected with the lead screw 7 through the shaft coupling 6 . The lead screw nut 8 is fixedly connected to the workbench 10 through the hexagon socket head cap screws, and there are mounting holes on both surfaces of the workbench 10, which are respectively used for fixed connection with the joint connection block 9, the spacer 11 and the lead screw nut 8. The block 12 is installed on the guide rail 13, and the guide rail 13 is fixedly connected on the fixed-length rod 2; the lower shaft head of the leading screw 7 is installed and connected with the screw bearing seat 15 through two tapered roller bearings 14 and the lower shaft head nut of the leading screw, Fix the screw bearing seat 15 on the fixed length rod 2.

Motion branch chain III installation: Three threaded holes are left on the connecting plate 18, which are respectively used to install two guide shafts 17 and connecting rods 19; the other ends of the guide shafts 17 and connecting rods 19 are respectively equipped with joint bearings 16.

Mandibular platform IV installation: six threaded holes are left on the mandibular mechanism 21, and six mandibular joint connecting blocks 20 are respectively installed in these six threaded holes.

The six driving devices II and the six motion branch chains III are assembled in the same way, and connected with the static platform I and the lower jaw platform IV through joint bearings 16 to complete the assembly of the imitation jaw movement robot.

Claims (1)

1. A robot for mandibular imitation, comprising a static platform (I), a drive unit (II), a kinematic branch chain (III) and a lower jaw platform (IV); it is characterized in that: Static platform (1) is the fixed platform of parallel robot, comprises motor support plate (1), upper platform support plate (3), lower platform support plate (4), fixed-length rod (2); six fixed-length rods (2) According to the location distribution of the connecting points between the driving muscles and the upper jaw, the two ends of the fixed-length rod (2) are fixedly connected with the upper platform support plate (3) and the lower platform support plate (4) respectively with hexagon socket head screws, and the motor support plate (1) has Threaded hole is connected with upper platform support plate (3), and static platform (1) is used for supporting and carrying the weight of whole robot; Six driving devices (II) include motor (5), shaft coupling (6), ball screw (7), screw nut (8), joint connection block (9), workbench (10), spacer ( 11), slider (12), guide rail (13), tapered roller bearing (14) and screw bearing housing (15); the motor (5) is fixed on the motor support plate (1), through the coupling (6 ) is connected with the lead screw (7); the lower shaft head of the lead screw (7) is fixedly connected with the screw bearing housing (14) through two tapered roller bearings (14) and the lower shaft head nut of the lead screw (7), and the screw The rod bearing seat (14) is fixed on the fixed-length rod (2) by screws; The block (12) is fixedly connected, and the guide rail (13) is fixedly connected on the fixed length rod (2); the joint connection block (9) on the workbench (10) is fixedly connected with the spherical bearing (16) of the motion branch chain (III) , the motor (5) drives the kinematic branch chain (III) to realize the movement of the lower jaw mechanism (21); Six motion branch chains (III) comprise joint bearings (16), guide shafts (17), connecting plates (18), connecting rods (19); The joint bearing (16) is threadedly connected with two guide shafts (17) respectively, and the connection plate (18) is threaded between the two guide shafts (17), and the center of the connection plate (18) has a threaded hole for connecting with the connecting rod. (19), the upper end of the connecting rod (19) is threaded with the center hole of the connecting plate (18), and the lower end is threaded with the joint bearing (16). Movement of the jaw mechanism in three-dimensional space; The mandibular platform (IV) includes a mandibular joint connecting block (20) and a mandibular mechanism (21); the mandibular joint connecting block (20) is installed on the mandibular mechanism through a threaded structure, and the kinematic branch chain (III) is connected with the mandibular mechanism (21) are connected together to realize the movement of the jaw mechanism (21).

Images