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Six-freedom-degree humanoid chewing mechanism

A technology of a degree of freedom and a rotating drive mechanism, applied in the field of bionic mechanisms, can solve problems such as difficult control, complex structure, and large space occupation, and achieve the effects of convenient control, precise movement, and simple structure

Active Publication Date: 2018-11-06
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing technologies mostly use parallel mechanisms, which have complex structures, take up a large space, and are difficult to control; other structures have low degrees of freedom and cannot completely simulate humanoid chewing movements

Method used

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Embodiment Construction

[0031] The object of the present invention is to address the deficiencies of the prior art and provide a humanoid chewing mechanism with 6 degrees of freedom, which has a simple and compact structure, low noise, low cost, improved power density ratio, and can realize highly simulated chewing movements.

[0032] In order to achieve the above-mentioned purpose, the idea of ​​the present invention is to use a DC motor to drive, and in the up and down moving platform and forward and backward moving platform, the movement along the z-axis and the rotation around the z-axis can be realized through the movement of the DC motor at the same speed or at a different speed , move along the y-axis, and rotate around the y-axis; in the left and right moving platforms, use two DC motors to control the movement along the x-axis and the rotation around the x-axis, thereby completing the six degrees of freedom of the humanoid mandible and realizing a highly anthropomorphic chewing exercise.

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PUM

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Abstract

The invention discloses a six-freedom-degree humanoid chewing mechanism. The six-freedom-degree humanoid chewing mechanism comprises a base plate, an up-down moving platform, a front-back moving platform, a left-right moving platform, a rotary driving mechanism, a humanoid upper jaw and a humanoid lower jaw. The six-freedom-degree humanoid chewing mechanism is driven by six direct-current motors,the direct-current motors are large in starting torque and good in speed adjusting performance, smooth speed adjusting can be achieved, and the humanoid head requirements can be met. The humanoid upper jaw is fixed to a base plate, and the humanoid lower jaw is connected with the left-right moving platform. According to the up-down moving platform and the front-back moving platform, through motionof the different direct-current motors at the same speed or the different speeds, the effects of moving along the z axis, rotating along the z axis, moving along the y axis and rotating along the y axis can be achieved; and according to the left-right moving platform, the effects of moving along the x axis and rotating along the x axis can be achieved through two of the direct-current motors, thus, fix freedom degrees of the lower jaw is completed, and high-degree humanoid chewing motion is achieved. The six-freedom-degree humanoid chewing mechanism can be applied to food detection, tooth testing and other occasions, or a humanoid head robot, a service robot and other man-machine interaction situations.

Description

technical field [0001] The invention belongs to the technical field of bionic mechanisms, and relates to a 6-degree-of-freedom humanoid chewing mechanism. Background technique [0002] The human mandibular system is composed of the maxilla, mandible, opening and closing muscles, and temporomandibular joints; among them, the mandible can realize spatial movement under the action of the opening and closing muscles. The mandibular system plays an irreplaceable role in controlling expressions, chewing food and expressing language. [0003] Chewing robots are a class of robots that can simulate human chewing behavior. It can truly reproduce human chewing behavior and collect and analyze chewing information, including chewing force, speed, vibration, etc. The chewing robot is a comprehensive bionic robot system integrating trajectory planning, perception system, real-time control system and biological simulation. It is widely used in dental training, food evaluation, speech medi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 郝丽娜谷红生蒋欣波殷鹏
Owner NORTHEASTERN UNIV
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