CN205994583U - Multi-freedom intelligent oral cleaning systems - Google Patents

Abstract

Multi-freedom intelligent oral cleaning systems purpose is to provide a kind of brushing action trembleing brushing method based on level, instructs user to use multi-freedom intelligent oral cleaning systems.System includes the mechanical driving device of the multifreedom motion of the brushing action for completing level vibration brushing method, arm processor for the embedded system of system intelligent control module, wireless communication apparatus, transmission includes the micro electronmechanical module of the sensor composition of brushing time, dynamics and motion and position, reminds user to realize the sound broadcasting device of brushing action.Interacted by system and smart machine and the statistics to different crowd oral cavity related data information and to collect can be oral hygiene, dental health product and apparatus and oral cavity health relevant policies provide big data to support.

Description

Multi-freedom intelligent oral cleaning systems

Technical field

This utility model is related to field of toothbrushes, and more particularly, to one kind cleans oral cavity using head toothbrushes multifreedom motion, enters One step the intelligent oral cleaning systems using wireless communication technique transmission relevant information.

Background technology

Oral health is the important component part of health.World Health Organization (WHO) once pointed out, dental health refer to tooth, Periodontal tissue, oral cavity adjacent part and Maxillary region equal inorganization structure and dysfunction.There is data to show, have in the oral cavity of human body 800 various bacteria are it is easy to form dental plaque, and metabolism produces toxin, gingiva caused long-term chronic stimulate.According to related system Meter, gingivitiss and periodontitis result in the universal dental caries of Children in China and the periodontal sickness rate of adult 80%-97%, domestic reach Adult to oral hygiene good index only has 0.22%.It can be seen that oral health refers to there is good oral hygiene, Sound oral cavity function and do not have oral disease.Brushing teeth is a kind of common method that people keep oral hygiene, can be to bacterial plaque Play good cleaning action.Brush teeth and can prevent and treat the various oral disease such as dental caries, periodontal disease, but the incorrect side of brushing teeth Method also can cause various focusing depths represented, bleeding etc., and severe patient can cause periodontal disease, so correct method for brushing teeth is to the mouth keeping individual Chamber health is particularly important.Because China's Oral healthy education is scarcely out of swaddling-clothes, many people do not have grasp and correctly brush teeth Method.Health education can help people to grasp correct method for brushing teeth as early as possible, forms good oral sanitary habit, reduces The formation of dental plaque and accumulation, reach anti-caries effect.

Carefully conscientious custom to be formed, typically by dental pattern according to being divided into some regions up and down, so when brushing teeth Scrub in a certain order afterwards, such as first up and then down, first left and then right, first outside and then inside, make lip（Cheek）Face, tongue（Palate）Face and occlusal surfaces Can brush, be unlikely to omit.And repeat for several times, power used of brushing teeth is unlikely to the certain power of gingiva and tooth applying Produce pain.Should be gargled after brushing teeth, will be clean for the soft dirt wash dirt brushing down.

Level trembles brushing method（Improvement bayesian brushing）It is the method for brushing teeth that Chinese stomatology can be recommended.Brushing is exactly Lightly nuzzle up, grasp this method for brushing teeth, can help remove the dental plaque of each facing, can effectively remove neck simultaneously Dental plaque in portion and gingival sulcus.

The action of level vibration brushing method can be decomposed as follows：（1）Hand-held tooth-brush handle, first brush is positioned in oral cavity The backteeth neck portion of side, bristle and long axis of tooth are in about 45° angle, and bristle points to root of the tooth direction（Maxillary teeth upwards, lower jaw tooth to Under）, slight pressurization, so that bristle is partially in gingival sulcus, be partially disposed on gingiva；（2）Again with 2～3 teeth for one group（Or claim For a region）Start to brush teeth, with the reciprocating action of short distance level vibration in same position at least brush 10 times, then by tooth Brush and rotate to corona direction, continue the lip of brushing tooth（Cheek）Tongue（Palate）Face；（3）After having brushed first position, toothbrush is moved To next group（Region）The position of 2～3 teeth reapposes, and notes maintaining overlapping region with first position, continue into The row next one the brushing teeth of position；（4）When painting labial teeth lingual surface, brush is placed vertically on facing, make anterior bristle contact gum edge, from Upper and lower brushing.During the lower labial teeth lingual surface of brush, brushing from bottom to top；（5）During brush occlusal surfaces, bristle points to occlusal surfaces, slightly uses masterpiece Short distance carrys out backwash in front and back.

Content of the invention

The purpose of this utility model is to provide a kind of the classification, based on brushing teeth of level vibration brushing method according to different crowd Action, instructs user to use multi-freedom intelligent oral cleaning systems.

In order to solve above-mentioned technical problem, this utility model adopts following technical scheme：

Described multi-freedom intelligent oral cleaning systems, including the battery of system power supply, provide the direct current of rotary motion Motor, the mechanical driving device that the level that completes trembles the multifreedom motion of brushing method brushing action, for system Based Intelligent Control The arm processor of the embedded system of module, wireless communication apparatus, transmission includes brushing time, dynamics and motion and position Sensor composition micro electronmechanical module, for reminding user to realize the sound broadcasting device of brushing action；

The mechanical driving device of described multifreedom motion, its multiple degrees of freedom action includes rotation and the tooth of head toothbrushes 14 Reciprocating screw under brush rod 12 drive for the brush 14 moves；

The mechanical driving device of described multifreedom motion is by the rotary motion of the direct current generator being built in toothbrush body As power source, equipped with cylindrical cam and driven member in direct current generator output shaft, the external part of this driven member with have interior spiral shell The brush rod cooperation of spin slot, the end of motor output shaft is provided with drive bevel gear, and drive bevel gear is nibbled with driven wheel of differential phase Close, carry out position with pedestal between gear and fix, the gear shaft of driven wheel of differential is connected with universal joint, the projecting shaft of universal joint and tooth Brush connects；

Described cylindrical cam pass through bonded on motor output shaft, cylindrical cam surface is provided with enclosed spiral groove, with The driven member matching in the rotary course of cylindrical cam, driven member top shoe along cylindrical cam surface-closed helicla flute move Dynamic, under the restriction of guide pad, the straight trough on driven member projecting shaft is made axial linear reciprocation along guide pad and is moved, so, circle The rotational movement driven member of post cam is made axial linear reciprocation and is moved；

There is a boss on described driven member projecting shaft surface, and the inner spiral groove of boss and brush rod matches resultant motion, that is, from The linear reciprocation of moving part is moved through boss and moves so that brush rod is capable of reciprocal spiral along the inner spiral groove of brush rod Motion, this motion can be regarded as the mobile compound motion with rotary motion of reciprocating linear, and this compound motion and level are quivered The action of dynamic brushing method is corresponding；

Described brush rod is cooperated with driven member projecting shaft, toothbrush body, motor output shaft and is connected, brush rod, from Offer for the groove between brush rod insertion driven member projecting shaft and toothbrush body on moving part projecting shaft and toothbrush body, motor is defeated Shaft is contacted with brush rod inner surface equipped with support set, and the terminal insertion of motor output shaft is threaded in the end of toothbrush rod end surface In lid endoporus；

The end of described motor output shaft is provided with drive bevel gear, and the end construction of motor output shaft is spline, main The gear shaft inner hole of dynamic bevel gear is splined hole, and the splined hole of drive bevel gear is enclosed within the end spline of motor output shaft, main Dynamic bevel gear can carry out axial slip along the end spline of motor output shaft；

Described drive bevel gear is meshed with driven wheel of differential, carries out position with pedestal and fix so that actively between gear The motion of bevel gear is transmitted by driven wheel of differential, to meet the demand of transmission head toothbrushes bristle rotation；

The gear shaft of described driven wheel of differential is connected with universal joint, and the structure of universal joint can adopt spherical or stauros It is therefore intended that when the rotary motion of driven wheel of differential passes to head toothbrushes bristle by universal joint, brush rod can also will be past for structure Multiple screw passes to head toothbrushes, interferes without producing；

The external part of described universal joint is connected with head toothbrushes, and there are bristle, the other end endoporus of head toothbrushes in head toothbrushes one end It is connected using replaceable mode with the projecting shaft of universal joint, such as plug-in type connects, and realizes the rotary motion of head toothbrushes；

According to the above, by direct current generator, toothbrush body, cylindrical cam, driven member, brush rod, drive bevel gear, The connection of the first-class power part of driven wheel of differential, universal joint, toothbrush and transmission parts is so that head toothbrushes can complete level quivers The corresponding multifreedom motion of brushing action of dynamic brushing method.

The described sensor for transmitting brushing time, dynamics, motion and position, including timer, force transducer, adds Velometer, gyroscope；

Described timer is used for carrying out timing to effective brushing time；

Described effective brushing time refers to the time that head toothbrushes move under certain dynamics；

Described force transducer refers to head toothbrushes are acted on tooth or the power at oral cavity cleaning position detects；

Described accelerometer refers to that the movement velocity to head toothbrushes and displacement detect；

Described gyroscope refers to the locus of head toothbrushes are detected；

According to the above, timer, force transducer, accelerometer, gyroscope can be built in toothbrush body or toothbrush In bar, timer, force transducer, accelerometer, gyroscope can be independent, or several composition microcomputer that is packaged together Electric module.

Described wireless communication apparatus refer to bluetooth module or the arrowband Internet of Things NB-IoT based on honeycomb（Narrow Band Internet of Things）Module, can meet the information transmission under multiple conditions and environment；

The arm processor 21 of the embedded system of system intelligent control module 2 is used for management and includes direct current generator 3

The arm processor of the described embedded system for system intelligent control module is used for management and includes unidirectional current Machine, wireless communication apparatus, the micro electronmechanical module such as timer, force transducer, accelerometer, gyroscope, sound broadcasting device etc. is simultaneously Processed, realize collection, process and the communication to sensor information, relevant information is transmitted to reception device, such as mobile phone, clothes Business device etc., is with reference to initial point with user oral cavity specific region（As above front tooth region or lower front tooth region）, according to user of toothbrushing When the information such as the signal of power, speed and position sensor that feeds back and time, by wireless communication apparatus pass the information on to Reception device, such as mobile phone or server etc., after software processes, with image mode Overlapping display in user's dental pattern image mould In type, the image being applied can be reflected dynamics, position and the coverage rate of user of toothbrushing with different color, this mechanism can set It is set to user of toothbrushing to this region, under the conditions of certain dynamics, the position of head toothbrushes movement and path and the area pair that generates The coverage rate that should brush teeth；

Described arm processor can pass through interactive software, and such as the software in mobile phone A PP or server, according to user Age, the situation customization in oral cavity be suitable for the brushing regimen of oneself, and the brushing condition of a certain period can be compared And analysis.

Described sound broadcasting device, by level is trembleed with the decomposition of movement of brushing method, by the title of each action on time Between sequentially reported, also can be carried out the control of report information, the great efforts such as brushed teeth according to feedback information by arm processor Whether little, the time length, all regions in oral cavity are all cleaned.

According to above-mentioned content, arm processor in system intelligent control module, wireless communication apparatus, micro electronmechanical module and May be constructed after sound broadcasting device is integrated oral cavity is cleaned control and interaction platform, user according to oneself age, The order of feature-set oral cavity cleaning and the step such as custom and dental health degree, such as child or adult, the right hand or left hand hold tooth Brush, the species from toothpaste, the number of tooth, the health status of tooth, whether there are artificial tooth and position wherein etc., this setting Interaction can be carried out on smart machine, is such as completed using the APP software of mobile phone or the web interface of server.With the registered permanent residence After the relevant information in chamber is collected, system can provide the suggestion of oral cavity cleaning, and after user confirms, within one period, system will According to relative program and step, oral cavity is cleaned, user can also change cleaning procedure and the step of system at any time.

By setting up personal oral hygiene information site, integrate the APP software of mobile phone or the information of the webpage of server, inhale Draw dental health product and apparatus manufacturing enterprise is joined, on the premise of user is voluntary, to a large amount of different crowd oral cavities dependency number It is believed that the statistics of breath and collection can be oral hygiene, dental health product and apparatus and the offer of oral cavity health relevant policies is several greatly According to support.

Brief description

Fig. 1 is the structural representation of this utility model embodiment.In figure：1- battery, 2- intelligent control module, 21- Arm processor, 22- wireless communication apparatus, the micro electronmechanical module of 23-（Sensor including time, dynamics, motion and position）, 24- Sound broadcasting device, 3- direct current generator, 4- motor output shaft, 5- toothbrush body, 6- key, 7- slide block, 8- cylindrical cam, 9- is driven Part, 10- guide pad, 11- boss, 12- brush rod, 13- pedestal, 14- head toothbrushes, 15- end cap, 16- universal joint, 17- initiative taper Gear, 18- driven wheel of differential, 19- support set.

Specific embodiment

Provide one of the present utility model preferable embodiment with reference to Fig. 1, in order to structure of the present utility model to be described Feature, technical performance and functional characteristics, rather than be used for limiting scope of the present utility model.

Fig. 1 represents multi-freedom intelligent oral cleaning systems, the battery 1 of system power supply, provides the unidirectional current of rotary motion Machine 3, the mechanical driving device that the level that completes trembles the multifreedom motion of brushing method brushing action, for system Based Intelligent Control mould The arm processor 21 of the embedded system of block, wireless communication apparatus 22, transmission includes brushing time, dynamics and motion and position The micro electronmechanical module 23 of the sensor composition put, reminds user to realize the sound broadcasting device 24 of brushing action.

The mechanical driving device of described multifreedom motion, its multiple degrees of freedom action includes rotation and the tooth of head toothbrushes 14 Reciprocating screw under brush rod 12 drive for the brush 14 moves；

The mechanical driving device of described multifreedom motion is transported by the rotation of the direct current generator 3 being built in toothbrush body 5 Action be power source, equipped with cylindrical cam 8 and driven member 9 in direct current generator output shaft 4, the external part of this driven member 9 with open The brush rod 12 having inner spiral groove coordinates, and the end of motor output shaft 4 is provided with drive bevel gear 17, drive bevel gear 17 with from Dynamic bevel gear 18 is meshed, and carries out position with pedestal 13 and fixes, the gear shaft of driven wheel of differential 18 is connected with universal joint between gear 16, the projecting shaft of universal joint 16 is connected with head toothbrushes 14；

Described cylindrical cam 8 is connected on motor output shaft 4 by key 6, and cylindrical cam 8 surface is provided with enclosing coil Groove, in the rotary course of cylindrical cam 8, driven member 9 top shoe seals driven member 9 with matching along cylindrical cam 8 surface Close helicla flute to move, under the restriction of guide pad 10, it is past that the straight trough on driven member 9 projecting shaft makees axial straight line along guide pad 10 Multiple movement, so, the rotational movement driven member 9 of cylindrical cam 8 is made axial linear reciprocation and is moved；

There is a boss 11 on described driven member 9 projecting shaft surface, and boss 11 is matched with the inner spiral groove of brush rod 12 fortune Dynamic, that is, the linear reciprocation of driven member 9 is moved through boss 11 and moves so that brush rod 12 can along the inner spiral groove of brush rod 12 Realize reciprocating screw motion, this motion can be regarded as the mobile compound motion with rotary motion of reciprocating linear, and this is combined The action that motion trembles brushing method with level is corresponding；

Described brush rod 12 cooperates and is connected with driven member 9 projecting shaft, toothbrush body 5, motor output shaft 4, toothbrush Offer on bar 12, driven member 9 projecting shaft and toothbrush body 5 and insert between driven member 9 projecting shaft and toothbrush body 5 for brush rod 12 Groove, motor output shaft 4 contacted with brush rod 12 inner surface equipped with support set 19, the terminal insertion screw thread of motor output shaft 4 It is connected in end cap 15 endoporus of brush rod 12 end face；

The end of described motor output shaft 4 is provided with drive bevel gear 17, and the end construction of motor output shaft 4 is flower Key, the gear shaft inner hole of drive bevel gear 17 is splined hole, and the splined hole of drive bevel gear 17 is enclosed within the end of motor output shaft 4 On spline, drive bevel gear 17 can carry out axial slip along the end spline of motor output shaft 4；

Described drive bevel gear 17 is meshed with driven wheel of differential 18, carries out position with pedestal 13 and fixes, make between gear The motion obtaining drive bevel gear 17 is transmitted by driven wheel of differential 18, to meet the demand of transmission head toothbrushes 14 bristle rotation；

The gear shaft of described driven wheel of differential 17 is connected with universal joint 16, the structure of universal joint 16 can using spherical or Cross structure it is therefore intended that when the rotary motion of driven wheel of differential 18 passes to head toothbrushes 14 bristle by universal joint 16, toothbrush Reciprocating screw motion can also be passed to head toothbrushes 14 by bar 12, interfere without producing；

The described external part of universal joint 16 is connected with head toothbrushes 14, and there is a bristle head toothbrushes 14 one end, head toothbrushes 14 another One end endoporus is connected using replaceable mode with the projecting shaft of universal joint 16, and such as plug-in type connects, and realizes the rotation of head toothbrushes 14 Motion；

According to the above, by direct current generator 3, toothbrush body 5, cylindrical cam 8, driven member 9, brush rod 12, actively The connection of the power parts such as bevel gear 17, driven wheel of differential 18, universal joint 16, head toothbrushes 14 and transmission parts is so that toothbrush 14 can complete the corresponding multifreedom motion of brushing action that level trembles brushing method.

The described sensor for transmitting brushing time, dynamics, motion and position, including timer, force transducer, adds Velometer, gyroscope；

Described timer is used for carrying out timing to effective brushing time；

Described effective brushing time refers to the time that head toothbrushes 14 move under certain dynamics；

Described force transducer refers to head toothbrushes 14 are acted on tooth or the power at oral cavity cleaning position detects；

Described accelerometer refers to the movement velocity of head toothbrushes 14 and displacement are detected；

Described gyroscope refers to the locus of head toothbrushes 14 are detected；

According to the above, timer, force transducer, accelerometer, gyroscope can be built in toothbrush body 5 or toothbrush In bar 12, timer, force transducer, accelerometer, gyroscope can be independent, or several composition that is packaged together is micro- Electromechanical module 23.

Described wireless communication apparatus refer to bluetooth module or the arrowband Internet of Things NB-IoT based on honeycomb（Narrow Band Internet of Things）Module, can meet the information transmission under multiple conditions and environment；

The arm processor 21 of the described embedded system for system intelligent control module 2 is used for management and includes direct current Motor 3, wireless communication apparatus 22, the micro electronmechanical module such as timer, force transducer, accelerometer, gyroscope 23, Voice command fills Put 24 grades and processed, realize collection, process and the communication to sensor information, relevant information is transmitted to reception device, As mobile phone, server etc., it is with reference to initial point with user oral cavity specific region（As above front tooth region or lower front tooth region）, according to The information such as the signal of power, speed and position sensor feeding back during user of toothbrushing and time, will by wireless communication apparatus 22 Information transmission to reception device, such as mobile phone or server etc., after software processes, complete in user with image mode Overlapping display On mouth tooth iconic model, the image being applied can be reflected dynamics, position and the coverage rate of user of toothbrushing with different color, should Mechanism can be set as user of toothbrushing to this region, under the conditions of certain dynamics, the position of head toothbrushes movement and path and give birth to The coverage rate that the area correspondence becoming is brushed teeth；

Described arm processor 21 can pass through interactive software, such as the software on mobile phone A PP or server, according to The age at family, the situation customization in oral cavity are suitable for the brushing regimen of oneself, and can be compared the brushing condition of a certain period Relatively and analysis.

Described sound broadcasting device 24, by level is trembleed with the decomposition of movement of brushing method, the title of each action is pressed Time sequencing is reported, and also can be carried out the control of report information, the dynamics such as brushed teeth according to feedback information by arm processor 21 Whether size, the length of time, all regions in oral cavity are all cleaned.

According to above-mentioned content, arm processor 21, wireless communication apparatus 22, micro electronmechanical mould in system intelligent control module 2 Block 23 and sound broadcasting device 24 integrated after may be constructed oral cavity is cleaned control and interaction platform.User is according to oneself Age, the order of feature-set oral cavity cleaning and the step such as custom and dental health degree, such as child or adult, the right hand or a left side Hand-held toothbrush, the species from toothpaste, the number of tooth, the health status of tooth, whether there are artificial tooth and position wherein etc., this One setting interaction can be carried out on smart machine, is such as completed using the APP software of mobile phone or the web interface of server.? After the relevant information in user oral cavity is collected, system can provide the suggestion of oral cavity cleaning, after user confirms, within one period, System will be cleaned to oral cavity according to relative program and step, and user can also change cleaning procedure and the step of system at any time Suddenly.

In sum, embodiment content as of the present utility model, and obviously embodiment of the present utility model not only It is limited to this, the description to specific embodiments, only understand this utility model for help, rather than be used for limiting this practicality newly Type.Any those skilled in the art, it is possible to use thought of the present utility model carries out some and changes and change, as long as its technology Means without departing from thought of the present utility model and main points, still in protection domain of the present utility model.

Claims (5)

1. multi-freedom intelligent oral cleaning systems it is characterised in that：Battery including system power supply（1）, rotary motion is provided Direct current generator（3）, the mechanical driving device that the level that completes trembles the multifreedom motion of brushing method brushing action, for system The arm processor of the embedded system of intelligent control module（21）, wireless communication apparatus（22）, transmit and include brushing time, power The micro electronmechanical module of the sensor composition of degree and motion and position（23）, remind user to realize the voice broadcast dress of brushing action Put（24）；The mechanical driving device of multifreedom motion is by being built in toothbrush body（5）Direct current generator（3）Rotary motion make For power source, in direct current generator output shaft（4）On equipped with cylindrical cam（8）And driven member（9）, this driven member（9）External part With the brush rod having inner spiral groove（12）Cooperation, motor output shaft（4）End drive bevel gear is installed（17）, initiative taper Gear（17）With driven wheel of differential（18）It is meshed, between gear, use pedestal（13）Carry out position to fix, driven wheel of differential（18）'s Gear shaft is connected with universal joint（16）, universal joint（16）Projecting shaft and head toothbrushes（14）Connect；Cylindrical cam（8）By key （6）It is connected to motor output shaft（4）On, cylindrical cam（8）Surface is provided with enclosed spiral groove, driven member with matching（9） In cylindrical cam（8）Rotary course in, driven member（9）Top shoe is along cylindrical cam（8）Surface-closed helicla flute moves, and is leading To block（10）Restriction under, driven member（9）Straight trough on projecting shaft is along guide pad（10）Make axial linear reciprocation to move, this Sample, cylindrical cam（8）Rotational movement driven member（9）Make axial linear reciprocation to move；Driven member（9）Projecting shaft surface has One boss（11）, boss（11）With brush rod（12）Inner spiral groove match resultant motion, i.e. driven member（9）Linear reciprocation move By boss（11）Along brush rod（12）Inner spiral groove motion so that brush rod（12）It is capable of reciprocating screw motion, this One motion can be regarded as the mobile compound motion with rotary motion of reciprocating linear, and this compound motion trembles brushing method with level Action corresponding；Brush rod（12）With driven member（9）Projecting shaft, toothbrush body（5）, motor output shaft（4）The company of cooperating Connect, brush rod（12）, driven member（9）Projecting shaft and toothbrush body（5）On offer and supply brush rod（12）Insertion driven member（9）Stretch Shaft and toothbrush body（5）Between groove, motor output shaft（4）Equipped with support set（19）With brush rod（12）Inner surface contacts, Motor output shaft（4）Terminal insertion be threaded in brush rod（12）The end cap of end face（15）In endoporus；Motor output shaft（4） End drive bevel gear is installed（17）, motor output shaft（4）End construction be spline, drive bevel gear（17）Gear Axle endoporus is splined hole, drive bevel gear（17）Splined hole be enclosed within motor output shaft（4）End spline on, drive bevel gear （17）Can be along motor output shaft（4）End spline carry out axial slip；Drive bevel gear（17）With driven wheel of differential（18） It is meshed, between gear, use pedestal（13）Carry out position and fix so that drive bevel gear（17）Motion pass through driven wheel of differential （18）Transmission, to meet transmission head toothbrushes（14）The demand of bristle rotation；Driven wheel of differential（17）Gear shaft be connected with universal Section（16）, universal joint（16）Structure can be using spherical or cross structure it is therefore intended that driven wheel of differential（18）Rotation fortune Move and pass through universal joint（16）Pass to head toothbrushes（14）During bristle, brush rod（12）Reciprocating screw motion can also be passed to tooth Brush（14）, interfere without producing；Universal joint（16）External part and head toothbrushes（14）Connect, head toothbrushes（14）There is brush one end Hair, head toothbrushes（14）Other end endoporus and universal joint（16）Projecting shaft connected using replaceable mode, realize head toothbrushes （14）Rotary motion；By direct current generator（3）, toothbrush body（5）, cylindrical cam（8）, driven member（9）, brush rod（12）、 Drive bevel gear（17）, driven wheel of differential（18）, universal joint（16）, head toothbrushes（14）Power part and the company of transmission parts Connect so that head toothbrushes（14）The corresponding multifreedom motion of brushing action that level trembles brushing method can be completed.

2. the multi-freedom intelligent oral cleaning systems according to claim 1 it is characterised in that：Multifreedom motion Mechanical driving device, its multiple degrees of freedom action includes head toothbrushes（14）Rotation and head toothbrushes（14）In brush rod（12）Under drive Reciprocating screw move.

3. the multi-freedom intelligent oral cleaning systems according to claim 1 it is characterised in that：When brushing teeth for transmission Between, the sensor of dynamics, motion and position, including timer, force transducer, accelerometer, gyroscope, toothbrush can be built in Body（5）Or brush rod（12）Or head toothbrushes（14）In, timer, force transducer, accelerometer, gyroscope can be independent , or several micro electronmechanical module of composition that is packaged together（23）；Its Timer is based on carrying out to effective brushing time When；Effectively brushing time has referred to head toothbrushes（14）The time of the motion under certain dynamics；Force transducer refers to head toothbrushes （14）Act on tooth or the power at oral cavity cleaning position is detected；Accelerometer refers to head toothbrushes（14）Movement velocity and Displacement is detected；Gyroscope refers to head toothbrushes（14）Locus detected.

4. the multi-freedom intelligent oral cleaning systems according to claim 1 it is characterised in that：Wireless communication apparatus （22）Refer to bluetooth module or the arrowband Internet of Things NB-IoT based on honeycomb（Narrow Band Internet of Things）Module, can meet the information transmission under multiple conditions and environment.

5. the multi-freedom intelligent oral cleaning systems according to claim 1 it is characterised in that：System Based Intelligent Control mould Block（2）Embedded system arm processor（21）Include direct current generator for management（3）, wireless communication apparatus（22）, microcomputer Electric module（23）, sound broadcasting device（24）And processed, realize collection, process and the communication to sensor information, by phase Close information transfer to reception device.