Intelligent oral examination robot

A robot and dental technology, applied in dental mirrors, medical science, endoscopes, etc., can solve time-consuming and labor-intensive problems, and achieve the effect of eliminating operating steps and saving workload

Pending Publication Date: 2021-05-11
深圳格瑞健康科技有限公司
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AI-Extracted Technical Summary

Problems solved by technology

[0004] The purpose of the embodiment of the present application is to provide an intelligent oral inspection robot, which aims to solve the problem that the oral hea...
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Method used

In other embodiments of the present application, as shown in Figure 5 and Figure 7, the lifting mechanism 22 also includes a connecting rod and a shielding piece 235, the connecting piece is arranged on the screw nut 224, and the shielding piece 235 is then Connected to the connecting rod, when the intelligent oral inspection robot is not working, the shielding sheet 235 covers the gap of the casing 60 to improve the overall aesthetics of the casing 60, and also prevent children's fingers from accidentally inserting into the gap. The resulting injury, as well as the phenomenon that foreign matter enters the interior of the intelligent oral inspection robot through the gap. When the intelligent oral inspection robot is working, the lifting mechanism 22 can drive the connecting piece and the shielding piece 235 to move down, so as to move away from the notch in the inclined design, so that the clamping mechanism 23 can clamp and transport the bite sleeve 80 to the notch. .
In some other embodiments of the present application, as shown in Figure 10, the bottom of casing 60 is provided with guide rail member, and collection box 50 is slidably arranged on the guide rail member, and casing 60 is corresponding to collection box 50 The position is provided with a retrieving door 61, opening the retrieving door 61 like this, the collection box 50 can be easily taken out under the effect of sliding fit with the guide rail, thereby significantly improving the efficiency of taking out the bite sleeve 80.
In some other embodiments of the present application, as shown in Figure 4, clamping mechanism 23 also comprises locking device, and locking device comprises driving mechanism and locking piece 234, and driving mechanism is installed on the movable jaw 231, and Connected to the locking piece 234, the driving mechanism is used to flip the locking piece 234 to rotate to the clamping opening of the movable jaw 231 when the movable jaw 231 transfers the bite sleeve 80 from the first position 101 to the second position 102 position, so as to close the movable jaw 231, so as to ensure the stability of the bite sleeve 80 disposed in the movable jaw 231.
In some other embodiments of the present application, as shown in Figure 5 and Figure 10, collection box 50 comprises main box body 52 and feed hopper 51, and feed hopper 51 is arranged on the main box body 52, and It is set for the stripping knife 41. Specifically, by setting the feeding hopper 51 on the main box body 52, the bite sleeve 80 dropped from the movable jaw 231 can be accurately dropped into the main box body 52 under the guiding and collecting action of the feeding hopper 51. , so as to realize the stable collection operation of the bite sleeve 80.
In some other embodiments of the present application, as shown in Figure 6, bracket 14 comprises support plate 141 and fixed block 142, and fixed block 142 is arranged on the linear module 13, and support plate 141 is arranged on fixed block 142 Above, a plurality of material storage racks 15 are all arranged on the supporting sheet 141 . Specifically, by making the bracket 14 include the bracket 141 and the fixed block 142, the fixed block 142 is connected with the driving end of the linear module 13, and the bracket 141 can be connected with each storage rack 15, thus ensuring the support While the frame 14 is stable to the connection of the linear module 13 and each storage rack 15, the structure of the bracket 14 is further simplified.
In some other embodiments of the present application, as shown in Figure 6, material storage mechanism 11 comprises carriage 14 and is arranged on a plurality of storage racks 15 on bracket 14, is formed with storage rack 15 The trough 16 and the bracket 14 are arranged on the linear module 13 . Specifically, by arranging a plurality of independent material storage racks 15, and making each material storage tank 16 be formed in each material storage rack 15 respectively, the bite sleeve 80 in the material storage mechanism 11 can be realized batch partition storage like this, so can The classified storage of the snapping sleeves 80 of different specifications and models is realized, thereby significantly improving the adaptability of the storage mechanism 11 to the snapping sleeves 80 of different specifications and models.
In some other embodiments of the present application, as shown in Figure 7, swing mechanism 21 comprises rotating motor 211 and turret 212, and turret 212 is connected with rotating motor 211, and institute lifting mechanism 22 is arranged on turret 212 on. Specifically, when the swing mechanism 21 is working, its rotating motor 211 is arranged on the turret 212, and the lifting mechanism 22 is connected with the rotating motor 211, and rotates around the drive shaft of the rotating motor 211 under the drive of the rotating motor 211. In this way, the overall swing operation of the lifting mechanism 22 and the clamping mechanism 23 around the drive shaft of the rotating motor 211 can be realized simply and reliably. The swing mechanism 21 has a simple structure, which can effectively reduce the occupation of the assembly space in the intelligent oral inspection robot.
More specifically, the positions on both sides of the inspection window 65 of the casing 60 can be provided with limiters 64 respectively, so that when the inspector approaches the inspection window 65, the two sides of the head can be respectively abutted against the two limiters. 64, so that the inspector's mouth can be quickly aligned with the inspection window 65, and the bite sleeve 80 can be accurately bitten when the bite sleeve 80 is stretched out. Especially when the examiner is a child, the position of the stopper 64 The existence can also assist the child to stabilize the child's head and avoid shaking when the image acquisition device 30 checks the oral cavity image, so that the image acquisition device 30 can stably realize the acquisition ...
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Abstract

The invention belongs to the technical field of oral examination nursing equipment, and particularly relates to an intelligent oral examination robot. The intelligent oral examination robot comprises a feeding device, a transferring device, an image collecting device, a material returning device and a communication module, wherein the feeding device is used for conveying biting sleeves to a first position, the transferring device is used for transferring the biting sleeves from the first position to a second position outside the intelligent oral examination robot; an image acquisition device is used for extending into the biting sleeves to perform image acquisition operation after the biting sleeves move to the second position; and the material returning device comprises a material returning cutter, wherein the material returning cutter pushes the biting sleeves away from the transferring device when the transferring device transfers the biting sleeves into the intelligent oral examination robot from the second position. In this way, automatic collecting operation of the biting sleeves can be achieved, the operation step of manually picking the biting sleeves is omitted, and the workload of an operator is reduced.

Application Domain

EndoscopesSomatoscope

Technology Topic

EngineeringBiomedical engineering +7

Image

  • Intelligent oral examination robot
  • Intelligent oral examination robot
  • Intelligent oral examination robot

Examples

  • Experimental program(1)

Example Embodiment

[0051]The embodiments of the present application are described in detail below, and examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are indicated by the same or similar elements or elements having the same or similar functions. By the followingFigure 1 ~ 10 The described embodiments are exemplary, intended to explain the present application, and cannot be understood as limiting the present application.
[0052]In the description of this application, it is to be understood that the terms "length", "width", "upper", "lower", "front", "post", "left", "right", "vertical", The orientation relationship between "horizontal", "top", "bottom", "outside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, just to facilitate the description of this application and simplified description, not Indicates or implies that the device or element must have a specific orientation, constructed and operated in a particular direction, so it is not understood to limit the limitations of the present application.
[0053]Moreover, the term "first", "second" is used only for the purpose of describing, and cannot be understood as an indication or implicit relative importance or implicitting the number of techniques indicated. Thereby, the features of "first", "second" may be defined, and one or more of this feature may be further included. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically defined.
[0054]In this application, the terms "installation", "connected", "connection", "fixed", such as the term "installation", "connected", "connection", "fixed", unless otherwise clear, and may be a fixed connection, or a detachable connection. One integration; may be mechanical connection, or electrical connection; may be directly connected, or indirectly connected by an intermediate medium, which may be a communication between two elements or two components. Relationship. The specific meaning of the above terms in the present application can be understood in terms of specific cases.
[0055]Such asFigure 1 ~ 3As shown, the present application provides an intelligent oral examination robot, including a charge device 10, a transfer device 20, an image acquisition device 30, a retracting device 40, and a communication module. Among them, the intelligent oral examination robot also includes a casing 60 and a display device 90. The appearance of the casing 60 can be designed as a variety of shapes such as humanoid, robotic shape, and animal shape, which can increase the funality of oral detection, eliminate the inspectors for the initial use of intelligent oral examination of the tension of the robot.
[0056]Specifically, the upper device 10 is used to transfer the bite jacket 80 to the first position 101. The first location 101 is located within the intelligent oral examination robot, which indicates that the bite 80 moves down the driving device 10 to a position corresponding to the transfer device 20. When the smart oral check robot is operated, the upper device 10 can sequentially transport each biticle 80 sequentially to the first position 101, and the transfer device 20 can sequentially grab the bite cover 80 located in the first position 101.
[0057]The transfer device 20 is used to transfer the bite housing 80 from the first position 101 to a second position 102 outside the smart oral examination robot. Among them, the second position 102 is located outside the intelligent oral examination, so that the bite 80 is reached after reaching the second position 102, exhibiting the intelligent oral examination robot, thereby facilitating the inspectors of the oral examination bites the bite 80.
[0058]Specifically, and the case 60 can also be designed on the check window 65, and the second position 102 is located at the check window 65, so that after reaching the second position 102, it is also equivalent to the exposure of the inspection window 65, so It can be convenient for the inspector to bite the bite 80, which is also advantageous to extend in the mouth of the bite 80.
[0059]More specifically, the casing 60 is located on both sides of the check window 65, which may be provided with a finite member 64, so that when the check is close to the check window 65, it can directly abut the two limit members 64, respectively. Thus, the mouthpiece of the inspector can quickly align the check window 65, and when the bit jacket 80 is extended, the bitbite 80 is accurately bitten, especially when the inspectors are children, the presence of the limit piece 64 can also be When the auxiliary child checks the oral image in the image acquisition device 30, the child's head is stabilized to avoid shaking, so that the image acquisition device 30 stabilizes the acquisition of the oral image.
[0060]More specifically, the image acquisition device 30 is used to move into the bite housing 80, and perform an image acquisition operation, such as the image acquisition operation, so that the image acquisition device 30 is formed after the inspectineries 80. It is possible to take the inspectors 'oral images, such as the inspectors' dental image, tongue image or throat image, and the like. It can be understood that in order to facilitate the intake of the oral image, the bite 80 should be a transparent. Moreover, the bite housing 80 is preferably made of food grade silica gel.
[0061]The retracting device 40 is used to take the bite jacket 80 that is transferred from the transfer device 20 after the image acquisition device 30 is completed, and the bite housing 80 is stripped from the transfer device 20; the communication module is used to collect image acquisition The image information collected by the device 30 is transmitted to the cloud device.
[0062]Specifically, the communication module may be a WiFi module, a 5G module, a 4G module or a Bluetooth module, or the like, and the communication module can upload a dental image acquired by the image acquisition device 30 to the cloud image to the cloud. The device is analyzed by the cloud device according to the database established by a large number of training, which gives the corresponding tooth decay and the oral problem analysis of the tonsil stones, and transmitted to the user or physician data terminal (specifically can be sent to the data) On the application of the Terminal WeChat public account), to achieve the analytical conclusion of the checkman or physician gives the reference.
[0063]More specifically, the display device 90 is mounted on the casing 60 and is located at the upper position of the check window 65 such that the display device 90 corresponds to the checkter's eye position, when the inspector performs oral examination, display device 90 You can send an operation guidance information to the inspector by image, video or voice reminder, so that the inspectors quickly complete the oral examination according to the guidelines, after the oral examination is completed, the display device 90 can also analyze the oral problem of the cloud device. The result of the judgment is presented in the inspectors so that the inspectors can quickly obtain the oral examination results information. Alternatively, the casing 60 includes a main casing 62 and a front casing 63, and the front case 63 is disposed on the main casing 62, and the check window 65 is opened on the front case 63.
[0064]More specifically, the intelligent oral examination robot also includes a ventilation device 70, and the ventilation device 70 includes a gas pipe and a gas supply mechanism for supplying a gas to the gas pipe at a gas having a gas at 25 ° C or more, and the trachea corresponds to the second position 102. Since the bite 80 is invered in the second position 102, since the thermal generated by the oral cavity when the inspectors bite the jacket 80, the thermal gas generated in the bite 80 is inconsistent and causes the inner wall of the bite 80 to cause an image. The acquisition device 30 cannot acquire the high-definition image of the oral cavity. The presence of the trachea can pass into a gas above 25 ° C, such that the temperature inside and outside the bite 80 tends to be consistent, thereby preventing the inner wall of the bite 80 This ensures that the image acquisition device 30 can effectively acquire a HD image of the oral cavity in a low temperature environment.
[0065]Seefigure 1 ,image 3 withFigure 4 The intelligent oral cavity inspection robot provided by the present application embodiment is further explained: The present application provides a smart oral check robot, and when it is operated, the upper device 10 can first transmit the bite housing 80 to the first position 101, After the bite housing 80 is transmitted to the first position 101, the transfer device 20 can transfer the bite cover 80 to the second position 102, at which point the bite 80 is exposed to the smart oral examination robot so that the inspectors can bite the bite 80. This is also equivalent to the oral cavity of the bit jacket 80 that extends into the inspectors, and the image acquisition device 30 can extend into the bite 80, and then take the image information of the oral cavity from the bite housing 80, and the communication module can also put the image. The information is uploaded to the outer cloud device, and the cloud device is given according to the uploaded oral image information, the corresponding analysis evaluation information is given. As such, the inspectors only need to bite the bite 80 to complete the oral examination, then the intelligent oral examination of the intelligent oral examination of the present application implements the full automatic convenient operation of oral examination. After completing the image information, the bite cover 80 can reach the retreat device 40 under the transfer of the transfer device 20, thereby achieving the depulence. In this conveying device 20, the image acquisition device 30 and the returns device 40 repeat the looping operation, the transfer operation of the plurality of bit shaders 80 can be completed, thereby achieving a short-range oral oral check job.
[0066]In some other embodiments of the present application, such asFigure 5 withFigure 6 As shown, the upper device 10 includes a storage mechanism 11, a trust mechanism 12, and a linear module 13, and the storage mechanism 11 is disposed on the linear module 13 to move along the preset path under the drive of the linear module 13, The storage mechanism 11 includes a plurality of storage tank 16, and the lower stack is provided with a plurality of bite housing 80 in the storage tank 16, and the trunk mechanism corresponds to the motion path setting of the storage mechanism 11, and is used to use the storage tank The bite housing 80 in 16 is lifted to the first position 101.
[0067]Specifically, the upper device 10 is in operation, and the storage mechanism 11 is disposed on the linear module 13, such that the linear module 13 can move the storage mechanism 11 according to the preset program, and make the storage mechanism 11 The various storage tanks 16 correspond to the lower one of the first position 101, while the trophy mechanism 12 can correspond to the bite housing 80 in the tray 16 when the storage tank 16 corresponds to the first position 101. Move, so that the individual bite 80 in the storage tank 16 is moved to the first position 101 such that the transfer device 20 is transferred from the bite 80 from the first position 101 to the second position 102. In this way, a plurality of bite housing 80 is realized by the uniform fit of the storage mechanism 11 having the plurality of storage tank 16, thereby achieving a large capacity of the storage mechanism 11. At the same time, the above-mentioned efficiency of the bite 80 is also improved.
[0068]In some other embodiments of the present application, such asFigure 6 As shown, the storage mechanism 11 includes a bracket 14 and a plurality of storage frames 15 disposed on the bracket 14, and a storage slot 16 is formed in the storage frame 15, and the bracket 14 is disposed on the linear module 13. Specifically, by providing a plurality of separate reservoir 15, each of the storage tanks 16 is formed in each storage frame 15, respectively, such that the bite housing 80 in the storage mechanism 11 achieves a bulk partition storage, so that The classification store of the bite 80 of different specifications model is achieved, thereby significantly improving the adaptability of the bite cover 80 on the different specification models of the storage mechanism 11.
[0069]By setting the bracket 14 and makes the plurality of storage frames 15 are provided on the bracket 14 while the bracket 14 is provided on the linear module 13, so that only the bracket 14 is connected to the connection linear mode. The action of the group 13 and each reservoir 15 also simplifies the manufacturing cost and structural complexity of the storage mechanism 11, and also optimizes the assembly space occupancy of the storage mechanism 11, saving the assembly of the smart oral check robot. space.
[0070]In some other embodiments of the present application, such asFigure 6 As shown, the bracket 14 includes a tray 141 and a fixed block 142, and the fixing block 142 is disposed on the linear module 13, and the stroller 141 is disposed on the fixed block 142, and the plurality of storage frames 15 are each disposed on the tray 141. Specifically, by enabling the bracket 14 including the tray 141 and the fixing block 142, the fixed block 142 and the driving end of the linear module 13 can be connected to each of the storage frames 15, which is guaranteed. The frame 14 also further simplifies the structure of the bracket 14 while the connecting stability of the linear module 13 and the respective storage frame 15.
[0071]In some other embodiments of the present application, such asFigure 6 As shown, the linear module 13 is a rod linear module 13, and the fixed block 142 is coupled to the drive nut of the wire type linear module 13. Specifically, by setting the linear module 13 as a rod linear module 13, since the spatial linear module 13 space is relatively small, the space occupancy rate of the storage mechanism 11 can be further optimized, saving intelligent mouth cavities. Check the assembly space in the robot.
[0072]In some other embodiments of the present application, such asFigure 6 As shown, the storage frame 15 includes a vertical guide rail 151 provided with two spacers, and both vertical guide rails 151 are provided on the transes 141, and one end of the storage tank 16 and the bite cover 80 are formed between the two vertical guide rails 151. The sliding card is set in the storage tank 16.
[0073]Specifically, as a specific arrangement form of the storage frame 15, the storage tank 16 is formed between the two vertical rails 151, so that one end of the bite 80 can be slid to be provided in the storage tank 16, and can be relative The two vertical guide 151 achieves up and down, so that the bite 80 can be moved under the trust of the trunk mechanism 12 to the first position 101.
[0074]In some other embodiments of the present application, such asFigure 6 As shown, the trunk mechanism 12 includes a lifting module 121, a tab 122, and a fixing frame 123, and the lifting module 121 is disposed on the fixing frame 123, and corresponding to the motion path setting of the storage mechanism 11, the support piece 122 is set. The lifting module 121 and is used to lift the bite housing 80 to the first position 101 in the storage tank 16 under the drive of the lifting module 121.
[0075]Specifically, the trunk mechanism 12 operates in the fixing frame 123 to achieve a stable support of the lifting module 121, when the storage tank 16 moves to the position corresponding to the holder piece 122. The transes 141 can be mounted upward on the bite 80 of the bottom layer of the storage tank 16, in which all the bite hits 80 in the storage tank 16 are moved to achieve the sequential delivery of each of the bite 80 to the first. Location 101.
[0076]Alternatively, the transes 141 includes a fixing sheet and a fixing sheet, and each of the reservoir 15 is provided on the coupling sheet, and the spacer is formed by the spacer between the fixing sheets, and the bottom of the respective storage tank 16 is formed. There is an opening that is connected to the passage of the gap, so that the insulation sheet 122 can rely into the passage through the gap, and when the linear module 13 drives each reservoir 15, the opening of the corresponding storage tank 16 can be correspondingly In the underwind piece 122, the tab 122 can be moved and enforce the lifting of the bite 80 by opening and achieves the lifting operation of the bite 80.
[0077]In some other embodiments of the present application, such asimage 3 withFigure 7 As shown, the transfer device 20 includes a swing mechanism 21, a lift mechanism 22, and a clamping mechanism 23, and the lift mechanism 22 is disposed on the swing mechanism 21, and the clamping mechanism 23 is disposed on the lifting mechanism 22, and the lifting mechanism 22 is used for The driving clamping mechanism 23 moves vertically, and the swing mechanism 21 is used to boost the lifting mechanism 22 and the holding mechanism 23, so that the clamping mechanism 23 holds the jacket 80 and causes the clamping mechanism 23 to pass the jacket. 80 moves to the first position 101 or at the second location 102.
[0078]Specifically, the transfer device 20 operates in operation, the lift mechanism 22 can first drive or move down to the horizontal position corresponding to the first position 101, and then complete the first stage of the clamping mechanism 23, When the oscillating mechanism 21 can be swung together when the clamping mechanism 23 reaches the horizontal position 101, the booster mechanism 22 and the clamping mechanism 23 are swung together, thereby causing the clamping mechanism 23 to reach the first position 101, Realize the clamping operation of the bite cover 80. After the clamping mechanism 23 completes the clamping operation of the bite 80, the swing mechanism 21 can be swung together to swing together to the vertical corresponding to the second position 102, and then lifted by the lift mechanism 22 and the clamping mechanism 23 The mechanism 22 drives or moves onto the clamping mechanism 23 so that the clamping mechanism 23 is allowed to reach the second position 102, or by the swing mechanism 21 directly drive the lifting mechanism 22 and the clamping mechanism 23 to swing together to The second location is 102. Thus only through the clever cooperation of the lifting mechanism 22 and the clamping mechanism 23, the clamping mechanism 23 has a flexible movement of the clamping mechanism 23 in the three-dimensional space to achieve a simple and flexible transfer operation of the bite 80.
[0079]In some other embodiments of the present application, such asFigure 7 As shown, the swing mechanism 21 includes a rotating motor 211 and a rotating frame 212, a rotating frame 212, and a rotating motor 211, and the lift mechanism 22 is disposed on the rotating frame 212. Specifically, the swing mechanism 21 is disposed on the rotating frame 212, and the rising mechanism 22 is connected to the rotating frame 212, and the driving axis of the rotating motor 211 is connected, and the drive shaft of the rotating motor 211 is rotated. In this way, the overall swinging operation of the lift mechanism 22 and the holding mechanism 23 by the drive shaft of the rotating motor 211 can be easily and reliably realized. The swing mechanism 21 is simple and can effectively reduce the occupancy of assembly spaces within the smart oral examination robot.
[0080]In some other embodiments of the present application, such asFigure 7 As shown, the lifting mechanism 22 includes a runner 221, a drive motor 222, a wire rod 223, and a screw nut 224 screwed to the driving screw 223, and the stepping 221 is fixed to the rotating frame 212, and the drive motor 222 is fixed to stand. On one side of the frame 221, the driving screw 223 is rotated within the frame 221, and is connected to the drive motor 222, and the clamping mechanism 23 is disposed on the screw nut 224.
[0081]Specifically, the lifting mechanism 22 is operated at operation, the drive motor 222 of the frame 221 can drive the screw 223 to rotate, so that the screw nut 224 is screwed axially move axially along the rod, so the rod nut 224 In the motion, the holding mechanism 23 can be moved axially along the rod, thereby simply and reliably realizing the lifting operation of the clamping mechanism 23.
[0082]In some other embodiments of the present application, such asFigure 5 withFigure 7 As shown, the lifting mechanism 22 also includes a connecting rod and a shutdown sheet 235, and the connecting piece is disposed on the screw nut 224, and the occlusion sheet 235 is connected to the connecting rod, and when the smart oral check the robot, the occlusion sheet 235 is covered At the gap of the casing 60, the overall beauty of the casing 60 is also prevented from accidentally led to the injection of the gap, and the foreign matter can enter the intelligent oral cavity inside the smart oral cavity. When the intelligent oral cavity checks the robot, the lifting mechanism 22 can drive the connecting piece and the occlusion sheet 235 so that the notch of the tilt design is removed to facilitate the clamping mechanism 23 to hold the bite cover 80 to be passed to the gap. .
[0083]In some other embodiments of the present application, such asFigure 7 As shown, the clamping mechanism 23 includes a fixed block 142 and a movable jaw 231, and the fixing block 142 is disposed on the screw nut 224, and the movable clamp 231 is disposed on the fixed block 142. Specifically, the clamping mechanism 23 is operated, and its fixed block 142 is disposed on the screw nut 224 to achieve a stable connection of the lift mechanism 22, and its movable jaw 231 is disposed on the fixed block 142, and Under the common driving of the lifting mechanism 22 and the swing mechanism 21, move toward the first position 101 or the second position 102. Alternatively, the active jaw 231 includes a two clamping sheet, and the movable jaws 231 can be clamped at one end of the bite housing 80 when reaching the first position 101, in which the reliable clamping of the bite housing 80 is achieved. .
[0084]In some other embodiments of the present application, such asFigure 4 As shown, the clamping mechanism 23 also includes a fixed jaw 232, and the fixed jaw 232 is disposed at the first position 101 and is used to limit the bite housing 80 at the first position 101 to make the rotation to the first position 101. The active jaw 231 holds the bite 80.
[0085]Specifically, by providing the fixed jaws 232 at the first position 101, when the bite 80 moves to the first position 101, it can be stabilized by the clamping effect of the fixing jaw 232 to facilitate the movable clip. The claws 231 pair the clamping operation of the bite cover 80. This further improves the reliability of the clamping mechanism 23 clamping the bite 80 operation.
[0086]In some other embodiments of the present application, such asFigure 4 As shown, the clamping mechanism 23 includes a locking device including a drive mechanism and a locking piece 234, and the drive mechanism is mounted on the moving jaw 231 and is coupled to the lock piece 234, the drive mechanism is used for the active jaw 231 In the process of transferred from the first position 101 to the second position 102, the flip lock sheet 234 rotates to the clamping opening of the moving clamp 231 to close the movable clamp 231, so that the jacket can be guaranteed 80 is disposed in the stability of the active jaw 231.
[0087]In some other embodiments of the present application, such asFigure 8 As shown, the image acquisition device 30 includes an X-axis motion mechanism 31, a Y-axis motion mechanism 32, a Z-axis motion mechanism 33, and a visual module 34, and the Y-axis motion mechanism 32 is disposed on the X-axis moving mechanism 31, Z-axis moving mechanism 33 The Y-axis motion mechanism 32 is disposed, and the visual module 34 is disposed on the Z-axis moving mechanism 33, and the visual module 34 is used to drive under the X-axis motion mechanism 31, the Y-axis moving mechanism 32, and the Z-axis moving mechanism 33. The jacket 80 is located in the second position 102.
[0088]Specifically, the image acquisition device 30 operates at operation, the X-axis motion mechanism 31, the Y-axis moving mechanism 32, and the Z-axis moving mechanism 33 can be mounted, and the visual module 34 is achieved in the X-axis, the Y-axis and the Z-axis. The flexible movement of the three-dimensional spatial coordinate system is applied, then when the image acquisition device 30 is applied to the intelligent oral check robot, it can be in the X-axis motion mechanism 31, the Y-axis motion mechanism 32, and / or the Z-axis moving mechanism 33. Driven, flexible adjustment thereof, so that it is possible to accurately extend into the bite cover 80, and the acquisition of oral images is realized through the bite cover 80.
[0089]In some other embodiments of the present application, such asFigure 8 withFigure 9 As shown, the visual module 34 includes a rotary electric machine 35, a fixing rod 36, and a camera 37, and the rotating motor 35 is disposed in the Z-axis moving mechanism 33, the fixed lever 36, and the drive shaft of the rotary electric machine 35, and the camera 37 is disposed on the fixed bar 36. And communicate with the communication module.
[0090]Specifically, by means of a rotary electric machine 35, the camera 37 can be connected by the fixing rod 36 and the rotary electric machine 35 such that the camera 37 can be rotated by the drive of the rotary motor 35, thereby combining X-axis moving mechanisms 31, Y-axis motion mechanism. The driving of the 32 and the Z-axis moving mechanism 33 achieves four-axis movement, which in turn can be flexibly adjusted in the relative position and the imaging angle within the bite cover 80, thereby achieving image acquisition of all zero dead angles of the oral cavity. Alternatively, the trachea of ​​the ventilation device 70 can be placed in the fixed lever 36, and the fixing rod 36 is adjusted to the gas hole 71 by the air hole 71 to access the gas into the accessory of the camera 37.
[0091]In some other embodiments of the present application, such asFigure 9 As shown, the fixing lever 36 extends toward the second position 102, and the camera 37 is disposed at one end of the stationary rod 36 toward the second position 102. Specifically, by extending the fixing rod 36 toward the second position 102, the imaging 37 can significantly shorten the feed distance of the bite 80 located at the second position 102, so that the motion stroke of the Y-axis motion mechanism 32 can be saved. The overall size of the Y-axis motion mechanism 32 can be smaller, saving the intelligent oral examination of the assembly space within the robot.
[0092]In some other embodiments of the present application, such asimage 3 ,Figure 5 withFigure 10 As shown, the returning device 40 includes a retracting knife 41 and a collector cartridge 50, and the retracting knife 41 is disposed in a smart oral check robot and is used to transfer the bite 80 from the second position 102 to the intelligent oral examination in the transfer device 20. When the robot is inserted, the bite 80 is pushed away from the transfer device 20, and the collector cartridge 50 is disposed below the retracting knife 41 and is used to collect the bite cover 80 detached from the transfer device 20.
[0093]Specifically, the retracting device 40 is operated at operation, and the retreat knife 41 can be located on the path of the transfer bite 80 of the transfer device 20, so that when the image acquisition device 30 completes the oral image acquisition operation within the bite 80, transfer When the device 20 transmits the bite housing 80 from the second position 102 to the intelligent oral cavity, the retreat knife 41 located on the transfer path of the transfer device 20 can contact the bite 80, so that the bite can 80 push away the transfer device 20, realizing the automated charge of the bite 80, eliminating the operation steps of manual picking jacket 80, saving the operator's workload. The collector box 50 is disposed below the retreat knife 41 so that the bite jacket 80 can fall within the aggregate cartridge 50, thereby achieving automation collection processing of the bite 80.
[0094]In some other embodiments of the present application, such asFigure 4 As shown, the retracting knife 41 is bent, and one end may be disposed at the fixed jaw 232, and the other end is the abutment, the abutment level extends to the position away from the fixed jaw 232, and corresponds to the transfer device 20. The transfer path is provided so as when the active jaw 231 is rotated from the second position 102 to the intelligent oral cavity inside the smart orally, the bite cover 80 can be in contact with the abutment knife 41. The end phase is touched, so that the moving jaw 231 is detached to the assembly case 50. However, the retreat knife 41 is bent, which can also achieve the air transfer device 20 while being fixed to the fixed jaw 232, so that the retracting knife 41 can be firmly installed in the intelligent oral robot, On the one hand, the reasonable utilization of assembly space within the intelligent oral robot is also realized, and the structure form of the retreat knife 41 is also simplified. Alternatively, the actuators 233 are opened in the position of the movable jaw 231, and the abutting end can pass through the avoidance port 233 and push the bite 80 into the actuating clamp 231.
[0095]In some other embodiments of the present application, such asFigure 5 withFigure 10 As shown, the collector box 50 includes a main box body 52 and a feed strip 51, and the feed strip 51 is disposed on the main box 52, and is disposed for the retreat knife 41. Specifically, by disposing the feed strip 51 on the main box 52, the bite 80 so as to fall from the active jaw 231 can be accurately falling within the main box 52 under the guiding collection of the feed strip 51. Thus, the stable collection of the bite 80 is achieved.
[0096]In some other embodiments of the present application, such asFigure 10 As shown, the bottom of the casing 60 is provided with a guide rail, and the collector cartridge 50 is slid on, and the casing 60 corresponds to the position of the collector case 50, so that the tapping door 61 is opened. The cartridge 50 can be easily removed under the action of sliding cooperation with the rail member, thereby significantly increasing the efficiency of removing the bite 80.
[0097]The preferred embodiments of the present application are not intended to limit the present application, any modifications, equivalents and improvements made in the spirit and principles of this application, should be included in the scope of protection of this application. Inside.

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