CN117122435A - Mechanical arm for oral care - Google Patents

Abstract

The invention discloses an oral care mechanical arm which comprises a carrier, an arm body and a driving assembly, wherein the arm body is assembled on the carrier and is used for carrying out space-limited movement in an oral cavity of a human body, a channel is arranged in the arm body and is used for a care appliance to pass through so as to guide the care appliance to teeth, the arm body comprises a first arm section adjacent to an outlet of the channel, the first arm section can swing, the driving assembly is arranged on the carrier and is connected with the arm body, the driving assembly can drive the arm body to rotate and/or translate so as to realize the adjustment of the circumferential direction and/or depth of the care appliance, and the driving assembly is connected with the arm body in a traction way so as to realize the position adjustment of the care appliance by driving the first arm section to swing. The mechanical arm for oral care has good flexibility and universality, and the body shape of the operation end is smaller, so that the uncomfortable feeling of a user during use is reduced.

Description

Mechanical arm for oral care

Technical Field

The invention relates to the technical field of oral care, in particular to a mechanical arm for oral care.

Background

At present, medical oral equipment mainly comprises an oral scanner, a sand blasting tooth cleaner and the like, but the equipment has a complex structure and a large size and is not suitable for daily home care. Secondly, oral equipment needs to be nursed through the arm, namely need stretch into human oral cavity with the arm during the use, but the body type of the operating end of arm among the related art is great, has increased the uncomfortable sense that the user used. In addition, the flexibility and the universality of the mechanical arm in the related art are poor, so that the mechanical arm is inconvenient to adjust the azimuth and the position in the oral cavity, and the mechanical arm cannot meet the use requirements of the collocation of the flushing component, the cleaning component, the tooth filling component and the like.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent.

Therefore, the embodiment of the invention provides the mechanical arm for oral care, which has good flexibility and universality, and the size of the operation end is smaller, so that the uncomfortable feeling of a user during use is reduced.

The mechanical arm for oral care according to an embodiment of the present invention includes:

a carrier;

an arm mounted to the carrier and adapted for spatially constrained movement within an oral cavity of a human body, the arm having a channel therein for a care implement to pass therethrough for guiding the care implement to teeth, and the arm comprising a first arm segment adjacent an outlet of the channel, the first arm segment being swingable;

the driving assembly is arranged on the carrier and is connected with the arm body, the driving assembly can drive the arm body to rotate and/or translate so as to realize the adjustment of the circumferential direction and/or depth of the nursing appliance, and the driving assembly is connected with the arm body in a traction manner so as to realize the position adjustment of the nursing appliance by driving the first arm section to swing.

The mechanical arm for oral care provided by the embodiment of the invention has the advantages of good flexibility and universality, and smaller body shape of the operation end, so that the uncomfortable feeling of a user during use is reduced.

In some embodiments, the arm body includes a second arm segment and a third arm segment, the second arm segment is connected between the first arm segment and the third arm segment, and the second arm segment is elastically swingable and retractable, and the third arm segment is connected to the driving assembly.

In some embodiments, the drive assembly comprises:

a first drive coupled to the third arm segment and configured to drive circumferential rotation of the third arm segment;

and the second drive is connected with the first drive and is used for driving the first drive and the arm to translate relative to the carrier.

In some embodiments, the first drive comprises a first driver and a driving gear, a driven gear is arranged on the outer peripheral side of the third arm section, and the driving gear is connected with the first driver and is in meshed fit with the driven gear;

and/or the second drive comprises a second driver, a screw rod and a sliding block, wherein the sliding block is assembled on the outer peripheral side of the screw rod in a threaded manner and is connected with the first drive, and the second driver is connected with the screw rod to drive the first drive to translate through the rotation of the screw rod.

In some embodiments, the first arm segment comprises:

the snake bone pipe is provided with a channel, and a plurality of cutting holes formed by cutting and machining are uniformly distributed on the pipe wall of the snake bone pipe;

the sealing piece is arranged on the inner side and/or the outer side of the snake bone tube and is used for plugging the cutting hole on the snake bone tube so as to ensure the tightness of the snake bone tube.

In some embodiments, the driving assembly includes a third drive including a third driver, a rotating member, and a connecting member, the connecting member passing through the channel and connected to the first arm segment, and the connecting member being flexibly deformable and wound around the rotating member, the connecting member being configured to wind or release by rotation of the rotating member to achieve traction swing adjustment of the first arm segment, the third driver being connected to the rotating member and configured to drive rotation of the rotating member.

In some embodiments, the oral care robotic arm includes a vision module, at least a portion of which is disposed on the front end of the arm body and at the outlet of the channel, the vision module configured to collect image information for a visualization task of dental care.

In some embodiments, the oral care robotic arm includes a pipette disposed on the carrier with an inlet of the pipette adjacent the first arm segment, the pipette for aspirating liquid within the oral cavity of a person.

In some embodiments, the carrier is provided with a tube protruding from the surface of the carrier and connected at the outlet of the channel, the arm is fitted in the tube, and the tube is for plug-in fitting with the oral track.

In some embodiments, the oral care robotic arm includes a control module disposed on the carrier and electrically connected to the drive assembly, and the control module is configured to control the action of the drive assembly.

Drawings

Fig. 1 is a schematic view of the internal structure of an oral care robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of the use state of the mechanical arm for oral care according to the embodiment of the present invention.

Fig. 3 is a schematic perspective view of an oral care robot according to an embodiment of the present invention.

Fig. 4 is a second perspective view of an oral care robot according to an embodiment of the present invention.

Fig. 5 is a left side perspective view of the internal structure of an oral care robotic arm according to an embodiment of the invention.

Fig. 6 is a right side perspective view of the internal structure of the oral care robotic arm of an embodiment of the present invention.

Fig. 7 is an enlarged partial schematic view at a in fig. 6.

Fig. 8 is a schematic top view of a snake bone tube.

Fig. 9 is a schematic side view of a snake bone tube.

Reference numerals:

a robot arm 100;

a carrier 1; a tube portion 11;

an arm body 2; a first arm segment 21; a second arm segment 22; a third arm segment 23; a driven gear 231; a channel 24; a channel outlet 241; rotating the joint female 25; a projection 251; rotating the male joint 26; a protruding portion 261; bending the reserve tank 27; a wire-hole support 28;

a drive assembly 3; a first drive 31; a first driver 311; a drive gear 312; a second drive 32; a lead screw 321; a slider 322; a second driver 323; a third drive 33; a third driver 331; a rotating member 332; a connector 333;

a pipette 4;

a connection terminal 5;

a control module 6;

a vision module 7;

an oral track 200;

teeth 300.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

As shown in fig. 1, an oral care robot 100 (hereinafter referred to as a robot 100) according to an embodiment of the present invention includes a carrier 1, an arm body 2, and a driving unit 3.

The material of the carrier 1 may be plastic and may be molded by injection molding, as shown in fig. 3 and 4, the carrier 1 may be a shell-like structure, for example, the carrier 1 may be a rectangular parallelepiped housing, a cylindrical housing, etc., and the arm 2 may be installed in the carrier 1. In other embodiments, the carrier 1 may be a bracket structure, where the arm 2 is assembled to the carrier 1.

A channel 24 is provided in the arm 2, the channel 24 being for passage of a care implement for guiding the care implement to the teeth 300. For example, as shown in fig. 1, the arm body 2 may have a generally tubular structure, the inner space of the arm body 2 forms a channel 24, the channel 24 extends along the extending direction of the arm body 2, and the inlet of the channel 24 may be located at the rear end of the arm body 2, and the outlet of the channel 24 (abbreviated as a channel outlet 241) may be located at the front end of the arm body 2.

In use, an oral care implement such as a nozzle, probe, scraper, air tap, etc. can be passed through the channel 24 and exposed from the channel outlet 241, whereby the cleaning, fluoridation, rinsing, etc. of the teeth 300 can be achieved.

The arm body 2 comprises a first arm segment 21 adjacent to the outlet of the channel 24, the first arm segment 21 being elastically swingable. For example, as shown in fig. 1, the first arm segment 21 may be located substantially in the middle of the arm body 2, wherein the first arm segment 21 may be of a spring-like structure, whereby the arm body 2 may be elastically swung at the first arm segment 21, thereby facilitating adjustment of the orientation and angle of the arm body 2.

The driving component 3 is arranged on the carrier 1 and connected with the arm body 2, the driving component 3 can drive the arm body 2 to rotate and/or translate so as to realize the adjustment of the circumferential direction and/or depth of the nursing appliance, and the driving component 3 is connected with the arm body 2 in a traction way so as to realize the position adjustment of the nursing appliance by driving the first arm section 21 to swing.

For example, the driving assembly 3 may be installed in the carrier 1, the driving assembly 3 may include an electric push rod, the electric push rod may be connected with the arm body 2, when in use, the arm body 2 may extend from the carrier 1 and extend into the oral cavity of the human body, and the arm body 2 may be driven to reciprocate in the front-back direction by the action of the electric push rod, so that depth adjustment of the arm body 2 in the oral cavity may be achieved, and further nursing needs of teeth 300 at different positions are satisfied.

In other embodiments, the driving assembly 3 may also include a rotation driving device, where the rotation driving device may be connected to the arm 2, and the rotation driving device may drive the arm 2 to rotate around its axis, so that the rotation of the arm 2 may implement circumferential adjustment of the orientation of the channel outlet 241, thereby implementing circumferential adjustment of the orientation of the care implement, and facilitating care of different positions of the same tooth 300.

The driving component 3 can be connected with the first arm section 21 or the front end of the arm body 2 in a traction way through the connecting piece 333 such as a rope and a steel wire, and in the use process, the driving component 3 can drive the first arm section 21 to swing through the connecting piece 333, so that the fine adjustment of the direction and the position of a nursing appliance can be realized, and the control precision and accuracy are improved.

It should be noted that, when the mechanical arm 100 of the embodiment of the present invention is used, the mechanical arm 100 needs to be matched with the oral cavity rail 200, as shown in fig. 2, the oral cavity rail 200 may be fixed in the oral cavity in a snap-in manner, a rail cavity may be provided in the oral cavity rail 200, the arm body 2 of the mechanical arm 100 may be fitted in the rail cavity and may reciprocate in the rail cavity, and a through hole for extending a care implement is provided on the outer peripheral side of the rail cavity. Thus, the arm 2 can make a space-limited movement in the oral cavity, and nursing of teeth 300 at different positions and different surface positions of the same tooth 300 can be realized through movement and azimuth adjustment of the arm 2.

Compared with the condition of movement in free space in the prior art, the mechanical arm 100 for oral care provided by the embodiment of the invention can perform space-limited operation in the oral cavity, so that the nursing process has the advantages of definite target, guarantee of control accuracy, simplification of oral care operation, improvement of the condition of gum or cheek irritation caused by improper operation in the related art, reduction of uncomfortable feeling and enhancement of child friendliness.

Secondly, through setting up passageway 24 in the arm body 2, various types of nursing utensil can reach corresponding tooth 300 position through passageway 24, then can accomplish the nursing to tooth 300 under the action of arm body 2 to make the arm 100 can match more nursing utensil, promoted the commonality of using.

In addition, the driving component 3 is connected with the first arm segment 21 in a traction manner, and the driving component 3 can drive the arm body 2 to swing and adjust, so that the fine adjustment and correction of the position of a nursing appliance can be realized, the driving manner is high in flexibility, the use needs of various adjustments are met, and compared with the direct driving manner of a motor and the like in the related art, the whole structure is simple, the space occupation is small, the size of the operation end (front end in fig. 1) of the arm body 2 is small, the accurate control of nursing is facilitated, and the discomfort of a user in use is further reduced.

In some embodiments, as shown in fig. 1, the arm body 2 includes a second arm segment 22 and a third arm segment 23, the second arm segment 22 is connected between the first arm segment 21 and the third arm segment 23, that is, the first arm segment 21 may be connected to a front end of the second arm segment 22, and the third arm segment 23 may be connected to a rear end of the second arm segment 22.

The second arm segment 22 may be resiliently swingable and retractable, for example, the second arm segment 22 may be a spring, thereby meeting the operational requirements of telescopic adjustment and swing. The third arm segment 23 is connected to the drive assembly 3, for example, the third arm segment 23 may be a hard material, for example, the third arm segment 23 may be a metal tube or a hard plastic. Thereby, the connection with the drive assembly 3 is facilitated, and the stability of the transmission is also ensured.

In some embodiments, the elasticity of the second arm segment 22 is greater than the elasticity of the first arm segment 21. For example, both the first arm segment 21 and the second arm segment 22 may be springs, wherein the elastic deformation properties of the first arm segment 21 are smaller than the elastic deformation properties of the second arm segment 22.

Thus, the flexibility of adjustment can be fully satisfied by virtue of the high elasticity of the second arm segment 22, so that the arm body 2 can be adaptively adjusted as required. The second arm section 22 has a smaller elasticity, so that the use requirement of swing adjustment is satisfied, and the effect of controlling the deformation amount can be achieved, so that the accuracy of adjustment can be ensured. In addition, the first arm segment 21 can also have a better supporting effect, that is, the teeth 300 can generate a reverse acting force on the nursing apparatus during the operation, and the smaller deformation of the first arm segment 21 can reduce the influence of the reverse acting force, so that the accuracy and stability of the operation can be ensured.

In some embodiments, as shown in fig. 5 and 6, the length dimension of the second arm segment 22 in the front-rear direction is longer than the length dimension of the first arm segment 21 in the front-rear direction. Thereby, the elastic deformability of the arm body 2 at the second arm segment 22 can be further improved, and the use requirement of deformation in the track cavity with limited space is fully satisfied. The shorter first arm segment 21 also serves to further reduce the impact of the opposing forces.

In some embodiments, as shown in fig. 1, the drive assembly 3 comprises a first drive 31 and a second drive 32, the first drive 31 being connected to the third arm segment 23 and being adapted to drive the third arm segment 23 in circumferential rotation, the second drive 32 being connected to the first drive 31, and the second drive 32 being adapted to drive the first drive 31 and the arm body 2 in translation relative to the carrier 1.

Thereby, the use requirements of circumferential rotation adjustment and depth adjustment of the arm body 2 are satisfied at the same time. The arm body 2 is indirectly connected with the second drive 32 through the first drive 31, so that the adjustment requirement of linear adjustment of the second drive 32 is met while rotation around the axis of the arm body is ensured, the matching form between the first drive 31 and the second drive 32 is simplified, and the interference of rotation and translation is avoided.

In some embodiments, the first drive 31 includes a first driver 311 and a driving gear 312, the outer peripheral side of the third arm segment 23 is provided with a driven gear 231, and the driving gear 312 is connected to the first driver 311 and is in meshing engagement with the driven gear 231. For example, as shown in fig. 5, the first driver 311 may be a motor, the driving gear 312 may be fixed on a driving shaft of the first driver 311, the driven gear 231 may be integrally formed on an outer peripheral side of the third arm segment 23, and the driving gear 312 and the driven gear 231 may be engaged and matched.

Optionally, the first drive 31 may further include an intermediate gear, which may be engaged between the driving gear 312 and the driven gear 231, so that the intermediate gear may be configured to facilitate the design of a transmission ratio between gears, and to enhance the self-locking capability between gears, so that the arm 2 may be conveniently maintained in a rotationally adjusted position.

In some embodiments, the second driver 32 includes a second driver 323, a screw 321, and a slider 322, the slider 322 is screw-fitted to an outer circumferential side of the screw 321 and connected to the first driver 31, and the second driver 323 is connected to the screw 321 to drive the first driver 31 to translate by rotation of the screw 321.

For example, as shown in fig. 5 and 6, the second driver 323 may be a motor, and the screw 321 may extend generally in the front-rear direction, wherein a front end of the screw 321 may be coupled to a driving shaft of the second driver 323, and a rear end of the screw 321 may be rotatably assembled with the carrier 1. The slider 322 may be screw-fitted on the screw 321.

The connection plates can be arranged between the first drive 31 and the second drive 32, the two connection plates can be oppositely arranged in the front-back direction, the driving gear 312 and the driven gear 231 can be assembled between the two connection plates, the first driver 311 can be fixed on one connection plate, and the sliding block 322 can be clamped and fixed between the two connection plates.

Therefore, when the second driver 323 rotates, the sliding block 322 can move along the screw rod 321, so that the first driver 31 can be driven to move back and forth, and the depth of the arm body 2 is adjusted. The driving mode of the screw rod 321 transmission is good in stability and high in precision, and the accuracy of translational adjustment of the arm body 2 is guaranteed.

In some embodiments, the first arm segment 21 includes a snake bone tube and a sealing member, the channel 24 is disposed in the snake bone tube, a plurality of cutting holes formed by cutting are uniformly distributed on the wall of the snake bone tube, the sealing member is disposed on the inner side and/or the outer side of the snake bone tube, and the sealing member is used for plugging the cutting holes on the snake bone tube to ensure the tightness of the snake bone tube.

For example, the snake bone pipe can be stainless steel pipe, and the snake bone pipe can be through laser cutting process shaping, can cut a plurality of cutting holes on stainless steel pipe through laser in the course of working promptly, and the setting of cutting hole makes the snake bone pipe have certain flexible deformation performance to the use needs of wobbling have been satisfied.

The sealing element can be made of plastic, rubber and the like, and can be of a tubular structure, and when the sealing element is installed, a layer of sealing element can be arranged on the outer periphery side of the snake bone pipe, and the sealing element can be used for sealing the cutting hole, so that the sealing performance of the first arm section 21 is guaranteed. In other embodiments, the seal may be secured to the inside of the snake bone tube, and in other embodiments both the inside and outside of the snake bone tube may be provided with seals. In some embodiments, the driving assembly 3 includes a third driving member 33, the third driving member 33 includes a third driving member 331, a rotating member 332, and a connecting member 333, the connecting member 333 passes through the channel 24 and is connected to the first arm segment 21, and the connecting member 333 is flexibly deformable and wound around the rotating member 332, the connecting member 333 is used for winding or releasing by rotation of the rotating member 332 to implement traction swing adjustment on the first arm segment 21, and the third driving member 331 is connected to the rotating member 332 and is used for driving the rotating member 332 to rotate.

For example, as shown in fig. 5 and 6, the third driver 331 may be a motor, and the rotator 332 may be a reel or a winding drum, etc. The rotating member 332 may be connected to a driving shaft of the third driver 331, the connecting member 333 may be a rope, a wire rope, or the like, the connecting member 333 may be wound around an outer peripheral side of the rotating member 332, and the connecting member 333 may pass through the passage 24 of the arm body 2 and may be fixedly connected to the first arm segment 21, and the connection fixing manner may be welding, hooking, or the like.

In use, the third driver 331 may drive the rotating member 332 to rotate, for example, when the rotating member 332 rotates in a forward direction, the connecting member 333 may be wound around the rotating member 332, and at this time, the connecting member 333 may enable pulling of the first arm segment 21. When the turning member 332 is turned in the opposite direction, the connection member 333 wound around the turning member 332 is released, and at this time, the first arm segment 21 can be elastically restored.

Alternatively, a plurality of third drives 33 may be provided, and the connection 333 of each third drive 33 may be wound around the corresponding rotation member 332 and connected to the first arm segment 21. In use, the pivoting drive of the first arm segment 21 can be achieved by winding or releasing the various connecting elements 333, in which case the first arm segment 21 may not have elastic properties, but only have the ability to pivot.

In other embodiments, the first arm segment 21 uses a four-way curved serpentine tube structure, a laser cut machining schematic of which is shown in fig. 9. The inside of the snake bone pipe is provided with 4 steel wire ropes, and the snake bone pipe can be respectively bent towards 4 directions by respectively pulling one of the steel wire ropes. The 4 directions correspond to the X positive direction, the X negative direction, the Y positive direction and the Y negative direction of the plane coordinates. The third drive 33 includes two, the first rotating member 332 is connected to the wire ropes corresponding to the X positive direction and the X negative direction, and the second rotating member 332 is connected to the wire ropes corresponding to the Y positive direction and the Y negative direction. When the rotating piece 332 rotates positively, pull the wire rope corresponding to the positive direction of X, release the wire rope corresponding to the negative direction of X, and drive the first arm segment 21 of the snake bone tube structure to bend towards the positive direction of X; when the rotating member 332 rotates negatively, the wire rope corresponding to the X negative direction is pulled, and the wire rope corresponding to the X positive direction is released, so that the first arm segment 21 is driven to bend towards the X negative direction. Similarly, when the rotating member 332 rotates, the first arm segment 21 is driven to bend in the positive or negative direction of Y.

By quantitatively controlling the rotation angle of the rotator 332, the pulling displacement of the wire rope pulling rope can be quantitatively controlled in a certain range, thereby quantitatively controlling the bending angle of the first arm segment 21 and the displacement amplitude of the front end (including the channel outlet 241) of the arm body 2 in the X direction. Similarly, by quantitatively controlling the rotation angle of the turning member 332, the bending angle of the first arm segment 21 and the displacement amplitude of the front end of the arm body 2 (including the passage outlet 241) in the Y direction can be quantitatively controlled. Further, by adjusting the rotation direction of the combined rotation member 332, bending of the first arm segment 21 in any direction and at a predetermined angle can be achieved.

The second drive 32 drives the translational direction of the arm 2 to be the Z direction perpendicular to the XY plane with respect to the XY plane coordinate system described above. The combination of the second drive 32 and the third drive 33 can quantitatively control the passage outlet 241 (the front end of the arm body 2) to an arbitrary position in XYZ three-dimensional space within the stroke range. Wherein the range of travel is defined by the orbital cavity. Further, the first driver 31 can control the channel outlet 241 at the front end of the arm 2 and the vision module 7 to face different angles.

Alternatively, as shown in fig. 8, the snake bone tube structure includes a plurality of segments, one of the two adjacent segments is provided with a rotary joint female head 25, the other is provided with a rotary joint male head 26, and a bending reservation groove 27 is provided between the rotary joint female head 25 and the rotary joint male head 26. As shown in fig. 9, the rotational joint female 25 may include three protrusions 251, the rotational joint male 26 may include two protrusions 261, the rotational joint male 26 is embedded between the three protrusions of the rotational joint female 25, and both sides of the rotational joint female 25 are provided with curved pre-grooves 27. When the snake bone tube is bent, the rotary joint male head 26 rotates around the rotary joint female head 25, and meanwhile the bending reserved groove 27 in the bending direction is contracted, and the bending reserved groove 27 in the opposite direction is expanded.

As shown in fig. 8 and 9, each section of the snake bone tube structure may be further provided with a wire-passing hole support 28, the wire-passing hole support 28 may be formed by die grooving, and the wire-passing hole support 28 and the surrounding portion may form a shuttle-shaped small hole, the direction of the small hole is parallel to the direction of the channel 24 of the steel tube, and the small hole is used for installing a traction steel wire for traction of bending of the snake bone tube.

In some embodiments, the oral care robotic arm 100 includes a vision module 7, at least a portion of the vision module 7 being disposed on the front end of the arm body 2 and at the outlet of the channel 24, the vision module 7 being configured to collect image information for a visualization of the teeth 300.

For example, as shown in fig. 6 and 7, the vision module 7 may include a camera that may be mounted at the front end of the arm body 2 and located at the front side of the channel outlet 241. In the use process, the camera can be used for collecting images of the inside of the oral cavity, the collected image information can be transmitted to the processing module in a wired or wireless mode, the processing module can be used for completing the functions of image processing, three-dimensional surface modeling, target recognition, positioning and the like, and the whole movement of the mechanical arm 100 can be guided by the processing data.

In some embodiments, the vision module 7 may also include a local computing module and a transmission module. After the primary processing of the video image is carried out by the local computing module, the local computing module is connected with an external calculator through a transmission module, and the external calculator can comprise a network server, a mobile phone, a tablet and other computer systems, so that on one hand, a user or medical staff can conveniently and intuitively acquire corresponding data, and on the other hand, more complex computation and analysis and larger data storage can be completed by means of an external advanced calculator.

The video image primary processing may include, among other things, denoising, transcoding, object recognition, and the like. The transcoding includes converting interface data of the MIPI protocol of the camera into interface data of the USB protocol, etc. The transmission module can adopt USB wired transmission or WIFI wireless transmission.

In some embodiments, the vision module 7 may further comprise a display module, which is connected to the vision module, which may be implemented by means of an external calculator. When a user uses the device, the vision module transmits the intra-oral video image information acquired by the camera to the display module in real time, and the display module displays the intra-oral video image information in real time. The display module can be further integrated into an animation game effect to perform augmented reality display so as to attract the attention of the child user and improve the coordination degree of the child user in the tooth care process.

In some embodiments, the vision module 7 may further comprise an interaction module, which is connected to the vision module, comprising a display screen of the video/image, and means for user input for a relative position on the video/image, such as a touch pad, a touch screen, a mouse, etc.

In some embodiments, the processing module may also be connected to an external calculator in a wired or wireless manner, where the external calculator may include a network server, a mobile phone, a tablet, and other computer systems, so that, on one hand, a user or a medical staff may conveniently and intuitively obtain corresponding data, and on the other hand, more complex calculation and analysis may also be completed by means of an external advanced calculator.

In some embodiments, the oral care robotic arm 100 includes a pipette 4, the pipette 4 being disposed on the carrier 1 with an inlet of the pipette 4 adjacent the first arm segment 21, the pipette 4 for aspirating liquid within the oral cavity of a person.

For example, as shown in fig. 3 to 6, the pipette 4 may be fitted in the carrier 1, and the pipette 4 may be a flexible tube, specifically, a silicone tube, a rubber tube, or the like, so that the sense of discomfort in use may be reduced. The free end of the liquid suction pipe 4 can extend to the outer side of the carrier 1, and when the mechanical arm 100 is operated, the liquid suction pipe 4 can suck saliva, cleaning liquid and other waste liquid, so that the liquid quantity in the oral cavity can be controlled, the condition that the operation is easily affected when the liquid quantity is more is avoided, and the uncomfortable feeling of the operation is further improved.

In some embodiments, the carrier 1 is provided with a tube portion 11, the tube portion 11 protrudes from the surface of the carrier 1 and is connected at the outlet of the channel 24, the arm 2 fits within the tube portion 11, and the tube portion 11 is adapted for a plug-in fitting with the oral track 200.

For example, as shown in fig. 1 and 4, the tube 11 may be integrally formed with the carrier 1, the tube 11 may be circular tube-shaped, and the arm 2 may extend from the tube 11. By means of the pipe portion 11, on one hand, the structural strength of the outlet on the arm body 2 and the carrier 1 can be enhanced, a certain protection effect such as wear resistance is achieved, and on the other hand, when the oral cavity rail 200 is used, the pipe portion 11 can be inserted into the inlet of the oral cavity rail 200, so that the effect of enhancing the connection limit with the oral cavity rail 200 can be achieved, and the stability of operation can be improved.

In some embodiments, the oral care mechanical arm 100 includes a control module 6, where the control module 6 is disposed on the carrier 1 and electrically connected to the driving component 3, and the control module 6 is used for controlling the driving component 3 to operate.

For example, as shown in fig. 5 and 6, the control module 6 may be a circuit board, the drivers of the first driver 31, the second driver 32, and the third driver 33 may be electrically connected to the control module 6, and by using the data images collected by the vision module 7, the control module 6 may plan a motion track of the mechanical arm 100 and may overall control motion parameters such as start and stop time, rotational speed, etc. of the corresponding drivers, so as to implement automation of a nursing process, and also ensure high efficiency and accuracy of nursing.

In some embodiments, as shown in fig. 3 to 6, the mechanical arm 100 may further include a connection terminal 5, and the control module 6 may be electrically connected to the outside through the connection terminal 5, so as to facilitate providing power support and data transmission.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims (10)

1. An oral care robotic arm comprising:

a carrier;

an arm mounted to the carrier and adapted for spatially constrained movement within an oral cavity of a human body, the arm having a channel therein for a care implement to pass therethrough for guiding the care implement to teeth, and the arm comprising a first arm segment adjacent an outlet of the channel, the first arm segment being swingable;

the driving assembly is arranged on the carrier and is connected with the arm body, the driving assembly can drive the arm body to rotate and/or translate so as to realize the adjustment of the circumferential direction and/or depth of the nursing appliance, and the driving assembly is connected with the arm body in a traction manner so as to realize the position adjustment of the nursing appliance by driving the first arm section to swing.

2. The oral care robotic arm of claim 1, wherein the arm body comprises a second arm segment and a third arm segment, the second arm segment being connected between the first arm segment and the third arm segment, and the second arm segment being resiliently swingable and retractable, the third arm segment being connected to the drive assembly.

3. The oral care robotic arm of claim 2, wherein the drive assembly comprises:

a first drive coupled to the third arm segment and configured to drive circumferential rotation of the third arm segment;

and the second drive is connected with the first drive and is used for driving the first drive and the arm to translate relative to the carrier.

4. The oral care robotic arm of claim 3, wherein the first drive comprises a first driver and a drive gear, the third arm segment having a driven gear disposed on an outer peripheral side thereof, the drive gear being coupled to the first driver and in meshing engagement with the driven gear;

and/or the second drive comprises a second driver, a screw rod and a sliding block, wherein the sliding block is assembled on the outer peripheral side of the screw rod in a threaded manner and is connected with the first drive, and the second driver is connected with the screw rod to drive the first drive to translate through the rotation of the screw rod.

5. The oral care robotic arm of claim 1, wherein the first arm segment comprises:

the snake bone pipe is provided with a channel, and a plurality of cutting holes formed by cutting and machining are uniformly distributed on the pipe wall of the snake bone pipe;

the sealing piece is arranged on the inner side and/or the outer side of the snake bone tube and is used for plugging the cutting hole on the snake bone tube so as to ensure the tightness of the snake bone tube.

6. The mechanical arm for oral care according to claim 1, wherein the drive assembly comprises a third drive comprising a third driver, a rotating member, and a connecting member, the connecting member passing through the passage and being connected to the first arm section, and the connecting member being flexibly deformable and being wound around the rotating member, the connecting member being adapted to be rolled up or released by rotation of the rotating member to effect traction swing adjustment of the first arm section, the third driver being connected to the rotating member and being adapted to drive the rotating member to rotate.

7. The mechanical arm for oral care according to claim 1, comprising a vision module, at least a portion of the vision module being disposed on the front end of the arm body and at the outlet of the channel, the vision module being configured to collect image information for a visualization operation of dental care.

8. The oral care robotic arm of claim 1, comprising a pipette, the pipette being disposed on the carrier with an inlet of the pipette adjacent the first arm segment, the pipette being configured to aspirate liquid within a human oral cavity.

9. The mechanical arm for oral care according to claim 1, wherein the carrier is provided with a tube portion protruding from a surface of the carrier and connected at an outlet of the channel, the arm body is fitted in the tube portion, and the tube portion is for plug-in fitting with an oral track.

10. The oral care robotic arm of any one of claims 1-9, comprising a control module disposed on the carrier and electrically coupled to the drive assembly, and configured to operate the drive assembly.