Oral care device and method of manufacture

Abstract

The invention discloses an oral care device and a manufacturing method, the oral care device comprises a shell, an arm group, a first driving assembly and a second driving assembly, the shell is provided with a mounting hole penetrating through the shell, the arm group comprises an inner arm and an outer arm assembled on the outer side of the inner arm, the inner arm is provided with an inner hole for fluid to pass through, the inner arm comprises a nozzle located at the end, and the first driving assembly is connected with the second driving assembly. The outer arm is assembled in the mounting hole in a sliding mode, the two ends of the outer arm can stretch out of two end orifices of the mounting hole respectively when the arm set slides, the first driving assembly is arranged in the shell and connected with the outer arm, and the second driving assembly is arranged in the shell and connected with the inner arm. The oral care device can work in a narrow space of the oral cavity, is simple in structure and convenient to operate, and provides convenience for refined and complicated operation of oral care or treatment.

Description

Technical Field

[0001] The present invention relates to the technical field of oral care instruments, and in particular, to a portable oral care device with precise control and a manufacturing method thereof. Background Art

[0002] Oral diseases such as dental caries and periodontal diseases are common and frequently-occurring diseases. In order to slow down and avoid the occurrence of oral diseases, it is necessary for individuals to maintain oral hygiene and perform regular oral care in daily life. Common oral care devices include oral cleaning devices (such as electric toothbrushes, water flossers, etc.) that are operated by individuals themselves, as well as oral examination devices and treatment devices (such as oral scanners, dental scalers, etc.) that are used by doctors and nurses in dental hospitals and clinics. When individuals operate oral cleaning devices by themselves, on the one hand, because they don't know where cleaning is needed, they can only clean each position traversally, resulting in low efficiency. On the other hand, because they can't confirm the cleaning effect after cleaning, stains remain on the tooth surface or in the tooth gaps, leading to tooth decay and periodontal diseases. When doctors and nurses use oral examination devices and treatment devices, they need to aim at, clean, spray, and feed materials at specific positions (such as dental calculus, dental caries, etc.) of each tooth of the patient. These processes still require a lot of time and effort. For these reasons, providing an oral care device with good care effect and high automation has become an urgent problem to be solved.

[0003] The robotic arm is a common way to achieve automation. However, existing robotic arms generally use joint modules with built-in reduction motors. Its advantages are simple assembly, high precision, and large torque. The disadvantages are large volume, inconvenient to carry, and high cost. Therefore, this type of robotic arm is only suitable for dental comprehensive treatment machines and surgical robots, and is not suitable for common oral care devices.

[0004] Patent Application 2023109210663 discloses an oral care device with a small volume, convenient to carry, and low cost. Its robotic arm includes two degrees of freedom of telescoping and bending, and the front end of the robotic arm can extend into the oral cavity to perform motion control and precise positioning in two directions on the tooth surface. This technical solution has the following problems that can be further optimized.

[0005] (1) The problem of waterproof and dustproof inside the device. During the telescoping movement of the device, the arm body extends or retracts into the carrier, resulting in a change in the internal space capacity of the carrier, and then causing different air pressures inside and outside the carrier, which easily leads to water and dust entering the carrier, damaging the internal drive components such as motors and lead screws, and reducing the service life. The existing waterproof and dustproof methods for robotic arms require a large amount of space, resulting in an increase in the volume of the part extending into the oral cavity, affecting the user experience during use.

[0006] (2) The driving component for telescopic movement has a large load. During the telescopic movement of the device, the bending movement driving component is fixed to the arm body and moves telescopically together with the arm body, which increases the load of the telescopic movement driving component, affects the service life of the driving component and the flexibility of the front-end control of the robotic arm. In addition, the bending movement driving component, as a load, is located on one side of the telescopic movement driving component, which easily causes uneven force on the telescopic movement driving component, causing deformation of its connecting components, and further increasing the friction between the moving components and other parts inside the device, affecting the stability and service life of the device. Existing methods for reducing friction in robotic arms (such as ball bearings) require a large amount of space, resulting in an increase in the volume of the part extending into the oral cavity and affecting the user experience during use. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems in the related art to some extent.

[0008] To this end, an embodiment of the present invention provides an oral care device. The oral care device achieves waterproof and dustproof with as little space as possible, reduces the load during the automatic control process, and improves the stability of the motion driving component. This enables it to operate in the narrow space of the oral cavity, with a simple structure and convenient operation, providing convenience for the refined and complex operations of oral care or treatment.

[0009] An embodiment of the present invention also provides a manufacturing method for the above-mentioned oral care device.

[0010] The oral care device according to the embodiment of the present invention includes:

[0011] A housing, the housing is provided with an installation hole penetrating through the housing;

[0012] An arm group, the arm group includes an inner arm and an outer arm assembled outside the inner arm. The inner arm is provided with a fluid inlet and an inner hole for the fluid to pass through. The inner arm includes a nozzle at the end, and the fluid sprays out from the nozzle to achieve care for the target position. The outer arm is slidably assembled in the installation hole. When the arm group slides, the two ends of the outer arm can respectively extend out of and retract into the two end openings of the installation hole, and the volume of the outer arm extending into and retracting into the housing is the same to maintain the stability of the air pressure inside the housing;

[0013] A first driving component, the first driving component is arranged inside the housing and is connected to the outer arm, and the first driving component is used to drive the arm group to reciprocally slide in the installation hole;

[0014] A second driving component, the second driving component is arranged inside the housing and is connected to the inner arm, and the second driving component is used to drive the inner arm to bend and swing or rotate to adjust the position or spraying direction of the nozzle.

[0015] The oral care device according to the embodiments of the present invention can operate in the narrow space of the oral cavity, has a simple structure and is convenient to operate, providing convenience for the refined and complex operations of oral care or treatment.

[0016] In some embodiments, the housing includes a catheter and a housing body. The catheter penetrates through the housing body in a sealed manner. The mounting hole is formed in the catheter. The arm group is slidably assembled in the catheter. The catheter provides support for the arm group in the front end, rear end and all circumferential directions to improve the movement stability of the arm group. The first driving component and the second driving component are both arranged in the housing body. The first driving component is connected to the catheter, and through the limitation of the catheter, the movement of the first driving component is more smoothly transmitted to the arm group. And the catheter is provided with a side opening, and the first driving component and the second driving component are connected to the arm group through the side opening.

[0017] In some embodiments, a plurality of suspensions are provided on the outer peripheral side of the catheter. The first driving component and the second driving component are arranged at intervals in the axial direction of the catheter, and the first driving component is hung and connected to the catheter through at least part of the suspensions.

[0018] In some embodiments, the first driving component includes:

[0019] A slider, which is slidably assembled on the outer peripheral side of the catheter along the axial direction of the catheter. The outer arm is provided with two first support pieces extending from the side opening and slidable along the side opening. The slider and the first support pieces are tightly assembled in the axial direction of the catheter, so that there is no dead space when the slider drives the arm group to move in the reverse direction;

[0020] A first motor and a lead screw. The first motor and the lead screw are arranged between two adjacent suspensions. The lead screw is threadedly assembled with the slider. The first motor is connected to the lead screw and is used to drive the lead screw to rotate. The lead screw is parallel to the catheter;

[0021] In the vertical direction of the plane passing through the lead screw and the catheter, the slider is tightly assembled with the catheter to prevent the slider from following the rotation of the lead screw and generating dead space;

[0022] In the direction away from the lead screw, the slider and the catheter are loosely assembled to reduce the assembly difficulty of the slider and improve the fault tolerance of the structural deviation between the first driving component and the arm group.

[0023] In some embodiments, the second driving component includes a second motor, a runner, and a connecting member. The second motor is connected to the runner and is configured to drive the runner to rotate. The connecting member is bendable and wound around the runner. The rotation of the runner can drive the connecting member to generate a traction displacement. The connecting member passes through the conduit and the outer arm and is connected to the inner arm, and is configured to drive the inner arm to bend or rotate;

[0024] The inner arm includes a bent arm section connected to the nozzle. The end of the outer arm is provided with a first extension portion. The connecting member is laid along the outer arm to the first extension portion, and is lapped on the first extension portion and then connected to the nozzle. The traction displacement applied by the connecting member causes the bent arm section to generate a bending deformation;

[0025] Alternatively, the connecting member is connected to the circumferential side of the inner arm, and the force on the circumferential side of the inner arm by the connecting member generates a rotational torque to drive the inner arm to rotate about the central axis of the inner arm.

[0026] In some embodiments, the first driving component includes a first position sensor. The first position sensor is disposed at one end or both ends of the lead screw and is configured to emit an arrival signal when contacting the slider to provide reference information on the position of the slider. The second driving component includes a second position sensor. The second position sensor is disposed adjacent to the connecting member. When the connecting member reaches a specific traction displacement, the second position sensor is triggered to emit an arrival signal for providing reference information on the traction displacement of the connecting member;

[0027] Both the first driving component and the second driving component adopt motors with controllable rotation angles. Based on the reference information and the rotation angle of the motor at a certain moment, the position of the slider at that moment and the traction displacement of the connecting member at that moment can be calculated, and further used to accurately control the position or spraying direction of the nozzle.

[0028] In some embodiments, the second driving component includes a bent and extended tendon sheath. The outer arm is provided with a second support piece that protrudes from the side opening and is slidable along the side opening. A limiting hole is provided on the side of the runner. One end of the tendon sheath is connected to the second support piece. The other end of the tendon sheath is inserted into the limiting hole and is disposed opposite to the runner. The connecting member is fitted in the tendon sheath and passes through the second support piece. One end of the tendon sheath can follow the sliding of the second support piece while the other end remains fixed, and at the same time maintains axial support for the connecting member, so that the traction displacement of the connecting member is not affected by the sliding of the second support piece.

[0029] In some embodiments, the second motor is directly or indirectly connected to the catheter through a driving bracket. Two limiting holes and two slots are provided on the driving bracket. The two slots are respectively and correspondingly connected to the two limiting holes. There are two connecting pieces, which are respectively a first connecting piece and a second connecting piece. The first connecting piece passes through one of the slots, and the tendon sheath on the outer peripheral side of the first connecting piece is inserted and fitted in one of the limiting holes. The second connecting piece passes through the other slot, and the tendon sheath on the outer peripheral side of the second connecting piece is inserted and fitted in the other limiting hole;

[0030] A buckle is provided on the driving bracket. The buckle abuts against the second motor to limit the second motor in the axial direction of the limiting hole, so as to prevent the traction force of the connecting piece from causing the second motor to move within the driving bracket.

[0031] In some embodiments, a protective sleeve is provided between the connecting piece and the tendon sheath. The protective sleeve has self-lubricity to reduce the frictional resistance between the connecting piece and the tendon sheath.

[0032] In some embodiments, the aperture diameter of the mounting hole is consistent along the extending direction of the mounting hole, and the radial dimension of the arm group is consistent along the extending direction of the arm group;

[0033] And / or, it includes a track. The track is connected to the housing and is provided with a track cavity. The outer arm is slidably assembled in the track cavity.

[0034] In some embodiments, a lubricating component is provided between the outer arm and the hole wall of the mounting hole. The lubricating component is used to reduce the frictional force between the outer arm and the hole wall of the mounting hole;

[0035] And / or, the outer arm and the mounting hole are assembled in a rotation-stopping manner along the circumferential direction.

[0036] The manufacturing method of the embodiment of the present invention includes the following steps:

[0037] Using processing techniques such as precision cutting, welding, and bending to process tubular materials with different diameters into the prototypes of the inner arm, catheter, and outer arm;

[0038] Setting a lubricating and sealing layer for the outer arm prototype and / or the catheter prototype, and setting a lubricating layer on the outer peripheral side of the connecting piece;

[0039] Assembling and coupling the outer arm prototype with components such as the catheter prototype and the front suspension into one body by bending the support piece on the outer arm prototype, and inserting and fixing the image acquisition module, the connecting piece, and the inner arm inside the outer arm;

[0040] Fixing the first driving assembly to the side of the catheter by means of hanging and fixing;

[0041] Assemble the second drive assembly and perform overall encapsulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a three-dimensional schematic diagram of the overall structure of the oral care device according to an embodiment of the present invention.

[0043] Figure 2 is Figure 1 a three-dimensional schematic diagram of the structure inside the housing body of the oral care device in from a downward perspective.

[0044] Figure 3 is Figure 1 a three-dimensional schematic diagram of the structure inside the housing body of the oral care device in from an upward perspective.

[0045] Figure 4 is Figure 1 a rear view schematic diagram of the oral care device in .

[0046] Figure 5 is Figure 4 a cross-sectional schematic diagram at A-A in .

[0047] Figure 6 is an assembly schematic diagram of the arm group, catheter, image acquisition module, and tendon sheath of the present invention.

[0048] Figure 7 is Figure 6 a partially enlarged schematic diagram of the front part in .

[0049] Figure 8 is Figure 6 a bottom side schematic diagram in .

[0050] Figure 9 is a schematic diagram of the outer arm and tendon sheath according to an embodiment of the present invention.

[0051] Figure 10 is a schematic diagram of the inner arm according to an embodiment of the present invention.

[0052] Figure 11 is a schematic diagram of the track according to an embodiment of the present invention.

[0053] Figure 12 is a rear side schematic diagram of the suspension connected to the second motor according to an embodiment of the present invention.

[0054] Figure 13 is a schematic diagram of the first drive assembly according to another embodiment of the present invention.

[0055] Figure 14 is a schematic diagram of the structure of the connecting member and the arm group according to another embodiment of the present invention.

[0056] REFERENCE SIGNS:

[0057] Housing 1; housing body 11; conduit 12; side opening 121; sliding groove 122;

[0058] Track 2; track cavity 21; first guide groove 22; second guide groove 23;

[0059] Arm group 3; inner arm 31; nozzle 311; curved arm section 312; transmission 313; outer arm 32; first support piece 321; second support piece 322; first extension 323; second extension 324; wire passing hole 325; connection block 326; steering hole 3261;

[0060] Image acquisition module 4;

[0061] Suspension 5; front suspension 51; middle suspension 52; rear suspension 53;

[0062] First drive assembly 6; slider 61; first motor 62; lead screw 63; first position sensor 64; optical axis 65; linear bearing 66;

[0063] Second drive assembly 7; runner 71; connecting piece 72; first connecting piece 721; second connecting piece 722; second motor 73; tendon sheath 74; second position sensor 75; drive bracket 76; limit hole 761; slotted groove 762; buckle 763. Detailed implementation manner

[0064] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0065] The oral care device according to the embodiments of the present invention includes a housing 1, a track 2, an arm group 3, an image acquisition module 4, a first drive assembly 6, a second drive assembly 7, and an embedded electronic system.

[0066] As Figure 1 shown, the housing 1 generally mainly includes two independent parts, which are respectively a housing body 11 and a conduit 12. The housing body 11 can generally be a columnar structure, and the conduit 12 can be a circular tube. The internal space of the conduit 12 forms an installation hole. Through holes can be provided on both the front end cover and the rear end cover of the housing body 11. The conduit 12 is fitted in the two through holes and passes through the housing body 11 along the front-rear direction, and the conduit 12 and the two end covers can be hermetically connected.

[0067] In some other embodiments, the conduit 12 can also be integrally formed with the housing body 11. At this time, the installation hole can be regarded as a through hole directly penetrating the housing 1.

[0068] The track 2 is connected to the housing 1 and is provided with a track cavity 21, asFigure 1 and Figure 2 As shown in Figure 2 , the track 2 can be connected to the front side of the housing 1, specifically, it can be connected to the front end of the conduit 12. The track 2 is of a shell-like structure, and the internal space of the track 2 forms a track cavity 21. The track cavity 21 communicates with the mounting hole in the conduit 12 and is an open chamber, that is, the track cavity 21 is provided with an opening, and the opening can be located on the top side of the track 2.

[0069] In some embodiments, for the purpose of making the track 2 detachable / replaceable, the track 2 includes an arc-shaped jaw and a pin. The arc-shaped jaw is located at the connection between the track 2 and the conduit 12. The inner arm of the arc-shaped jaw matches the shape of the outer wall of the conduit 12, and the radian is greater than 180 degrees (for example, 210 degrees). The pin is located at the connection between the track 2 and the front side of the housing 1. During installation, first place the conduit 12 at the opening of the arc-shaped jaw, and press the conduit 12 to snap it into the arc-shaped jaw; then move the track 2 backward along the conduit 12 and insert the pin into the front side of the housing 1. It can be disassembled by following the steps and methods opposite to the installation, that is, first move the track 2 forward along the conduit 12 and pull out the pin from the front side of the housing 1; then break the conduit 12 out of the track 2 from the opening direction of the arc-shaped jaw.

[0070] During use, the track 2 can extend into the human oral cavity, and the arm group 3 can extend into the track cavity 21 through the mounting hole, and then can be exposed from the opening, so as to realize the cleaning and care of the human oral cavity and the treatment of teeth, etc.

[0071] As Figure 1 shown, the main body of the arm group 3 is assembled in the mounting hole, and the arm group 3 can slide back and forth in the mounting hole. The cross-sectional shape of the mounting hole is basically the same as the cross-sectional shape of the arm group 3, so as to minimize the gap between the two. On the one hand, it can reduce space waste, and on the other hand, it is convenient for waterproof and dustproof treatment. The arm group 3 includes an inner arm 31 and an outer arm 32. Both the inner arm 31 and the outer arm 32 are generally tubular structures. Among them, the outer arm 32 can be slidably assembled in both the mounting hole and the track cavity 21 at the same time. During use, the outer arm 32 can slide in both the track cavity 21 and the mounting hole at the same time. The inner arm 31 is assembled inside the outer arm 32, and the inner arm 31 and the outer arm 32 can be sealed and fixedly connected. For example, the inner arm 31 can be inserted into the outer arm 32, and the inner arm 31 can be connected and fixed to the outer arm 32 by means of welding, key fitting, etc. Thus, when the outer arm 32 moves back and forth in the mounting hole, the inner arm 31 can move synchronously with the outer arm 32.

[0072] The inner arm 31 is provided with an inner hole, as Figure 5 and Figure 10As shown, the inner arm 31 includes a nozzle 311 at the end (front end) and a fluid inlet. During use, the fluid inlet can be connected to a device that can generate high-pressure fluid, such as tap water or a dental irrigator, through a guiding tube. Fluids such as clear water, oral cleaning liquid, and medicine are transported to the nozzle 311 through the inner hole and then ejected through the nozzle 311.

[0073] In some embodiments, the inner arm 31 includes a bent arm segment 312 connected to the nozzle 311, and the bent arm segment 312 can be connected behind the nozzle 311. The bending of the bent arm segment 312 can adjust the position and direction of the nozzle 311, thus meeting the usage requirements of jets at different positions and directions, and realizing the care of different target positions through the jets. In some other embodiments, the inner arm 31 can rotate circumferentially within the outer arm 32, and the nozzle 311 can rotate circumferentially following the inner arm 31, causing the jet direction of the nozzle 311 to change, so as to realize the care of different target positions through the jets.

[0074] The aperture diameter of the mounting hole is consistent along the extending direction of the mounting hole, and the radial dimension of the arm group 3 is consistent along the extending direction of the arm group 3. For example, the mounting hole can be a circular hole, the aperture diameter of the mounting hole can remain unchanged along the front-back direction, and the part of the outer arm 32 of the arm group 3 that fits into the mounting hole can be a circular tube, and the outer diameter dimension of this part of the outer arm 32 also remains unchanged along the front-back direction. During use, both the front and rear ends of the outer arm 32 can extend out from the front and rear end openings of the mounting hole.

[0075] Thus, during the reciprocating movement of the outer arm 32 back and forth, the spatial changes in the front and rear parts of the mounting hole will be complementary, that is, within the relatively sealed space in the housing 1, the overall volume of the part of the outer arm 32 located within the housing 1 during the sliding process remains substantially unchanged. That is, the volume of the outer arm 32 extending out / retracting from the front outlet of the mounting hole is exactly equal to the volume of the outer arm 32 retracting / extending from the rear outlet of the mounting hole, so that the space capacity within the housing 1 does not change during the sliding process of the outer arm 32, thus maintaining the air pressure stability within the housing 1 and facilitating the waterproof and dustproof design within the housing 1.

[0076] It should be noted that the retraction and extension of the outer arm 32 from the rear outlet of the mounting hole are concepts of relative movement and can be set in a hidden form. Specifically, when the maximum displacement of the retraction / extension movement of the outer arm 32 is WL, the rear end of the outer arm 32 can retract inward by WL relative to the rear pipe orifice of the conduit 12, so that the retraction / extension movement of the outer arm 32 is all hidden within the conduit 12.

[0077] The image acquisition module 4 is provided on the outer arm 32 and is slidably fitted within the track cavity 21. For example, as Figure 1 and Figure 5As shown, the image acquisition module 4 may include a camera end 41 and a video cable 42. The camera end 41 may include one or more cameras. The video cable 42 may be an FPC flexible circuit board or a shielded multi-conductor wire. One end of the video cable 42 is connected to the camera end, and the other end passes through the outer arm 32 and is connected to the embedded electronic system. The camera end 41 may be fixed to the front end of the outer arm 32 and may be slidably assembled with the cavity wall of the track cavity 21. In some other embodiments, the camera end 41 may also be fixed to the front end of the nozzle 311 and may be controlled by the bending arm segment 312 to move following the nozzle 311. Among them, the embedded electronic system may include an image / video processing, image / video analysis, or image / video transmission system.

[0078] During use, the image acquisition module 4 can be used to acquire images of the oral cavity interior. Further, by means of the forward and backward sliding of the outer arm 32 or the bending movement of the bending arm segment 312, multi-position and multi-angle photographing of the corresponding area of the opening of the track 2 can be achieved. Visualized operation is realized, further improving the convenience of operation and providing a basis for visual data for automatic control.

[0079] The first driving component 6 is arranged in the housing 1 and is connected to the outer arm 32, and the first driving component 6 is used to drive the arm group 3 to reciprocate and slide in the mounting hole. For example, as Figure 2 shown, the first driving component 6 can be installed in the housing body 11. The first driving component 6 can be a linear module such as a telescopic device. As Figure 3 shown, a side opening 121 is provided on the catheter 12. The output end of the first driving component 6 can pass through the side opening 121 and be connected to the outer arm 32 of the arm group 3. During use, the outer arm 32 can be driven to slide by the telescoping of the first driving component 6, and further, the reciprocating driving of the arm group 3 can be realized, meeting the use requirements for the operation of the oral cavity depth.

[0080] The second driving component 7 is arranged in the housing 1 and is connected to the inner arm 31, and the second driving component 7 is used to drive the bending arm segment 312 to swing to adjust the position of the nozzle 311. For example, as Figure 2 shown, the second driving component 7 can be installed in the housing body 11 and can be located at the rear side of the first driving component 6. The second driving component 7 can adopt a rope-driven driving component. The rope of the second driving component 7 and the like can also extend into the catheter 12 through the side opening 121 of the catheter 12, and then the rope and the like can be laid along the front end of the inner arm 31 arranged in the catheter 12 and be connected to the nozzle 311 on the inner wall. During use, the nozzle 311 can be pulled by the rope, and the position and spraying direction of the nozzle 311 can be adjusted by the adaptive swing of the bending arm segment 312.

[0081] It should be noted that in some other embodiments, the inner arm 31 and the outer arm 32 can either move synchronously along the mounting hole, or the inner arm 31 and the outer arm 32 can generate relative movement, so that the nozzle 311 on the inner arm 31 can be adjusted axially in the mounting hole relative to the outer arm 32 or rotated circumferentially relative to the outer arm 32, making the adjustment of the specific position and spraying direction of the nozzle 311 more variable and facilitating the improvement of the operation flexibility. At this time, the inner arm 31 and the outer arm 32 can be sealed through a sealing ring or the like, so as to ensure the seal between the inner arm 31 and the outer arm 32 while meeting the use requirements of the relative displacement between the inner arm 31 and the outer arm 32.

[0082] The oral care device according to the embodiment of the present invention can operate in the narrow space of the oral cavity, has a simple structure, low material and labor costs, and is convenient to operate, providing convenience for the refined and complex operations of oral care or treatment.

[0083] Since the main part of the arm group 3 is fitted inside the catheter 12, and with the support of the catheter 12 wall in the front end, rear end and circumferential directions, the arm group 3 can be prevented from tilting up and down or deflecting left and right, so that the movement of the first driving component 6 can be transmitted to the arm group 3 more smoothly, making the reciprocating movement of the arm group 3 smoother and more stable, providing convenience for operations such as oral care or treatment.

[0084] Secondly, since the arm group 3 is arranged in an independent mounting hole, the space between the arm group 3 and the inside of the housing 1 is separated, realizing independent protection of components such as the arm group 3. Furthermore, when the arm group 3 slides and bends, the resistance is small, and it is not easy to touch and interfere with other components inside the housing 1, nor is it easy to wear, ensuring the stability and independence of the adjustment and movement of the arm group 3.

[0085] In addition, the setting of the mounting hole can also play a role of limiting and constraining. That is, except for the front end of the arm group 3 that can be bent and deformed, other parts can be straight tubular and can have a relatively high structural strength, thus providing convenience for the placement of the oral care device and its operation in the oral cavity.

[0086] In some embodiments, a plurality of suspensions 5 are provided on the outer peripheral side of the catheter 12. The first driving component 6 and the second driving component 7 are arranged at intervals in the axial direction of the catheter 12, and the first driving component 6 is hung and connected to the catheter 12 through at least part of the suspensions 5. Since the arm group 3 is located inside the catheter 12, compared with fixing the first driving component 6 to the housing body 11, the method of fixing the first driving component 6 to the catheter 12 can reduce the matching error between the first driving component 6 and the arm group 3, and further make the movement of the first driving component 6 more accurately transmitted to the arm group 3.

[0087] For example, as Figures 2 to 5As shown, there can be three suspensions 5. All three suspensions 5 can be sleeved and fixed on the outer peripheral side of the conduit 12 and arranged at intervals along the front-back direction (the axial direction of the conduit 12). For the convenience of description, the three suspensions 5 will be respectively referred to as the front suspension 51, the middle suspension 52, and the rear suspension 53 according to the different front-back sequences in the following.

[0088] Among them, the first driving assembly 6 can be installed between the front suspension 51 and the middle suspension 52, and the second driving assembly 7 can be installed between the middle suspension 52 and the rear suspension 53. This suspension installation method can, on the one hand, simplify the installation structure and provide convenience for installation, and on the other hand, enable the first driving assembly 6 and the second driving assembly 7 to be equidistantly spaced from the conduit 12, thereby further avoiding the interference between the arm group 3 and the first driving assembly 6 and the second driving assembly 7 during use.

[0089] In some embodiments, as Figures 2 to 5 shown, the first driving assembly 6 includes a slider 61, a first motor 62, and a lead screw 63. Among them, the first motor 62 is connected to the embedded electronic system and is controlled by the embedded electronic system. The slider 61 is slidably assembled on the outer peripheral side of the conduit 12. For example, through holes can be provided on the slider 61, and the conduit 12 can be fitted into the through holes of the slider 61. The outer wall of the conduit 12 and the inner wall of the through holes of the slider 61 can be made relatively smooth by techniques such as polishing to reduce the resistance of the slider 61 to move back and forth along the axial direction of the conduit 12. The outer arm 32 is provided with two first support pieces 321 extending from the side opening 121. The first support pieces 321 can be integrally formed with the outer arm 32, and the two first support pieces 321 can generally be in a shape like an inverted V. The side opening 121 of the conduit 12 can have a certain length in the front-back direction, so that the two first support pieces 321 can slide back and forth in the side opening 121.

[0090] As Figure 5 shown, the slider 61 can be clamped between the two first support pieces 321. When the slider 61 moves back and forth, the slider 61 can abut against the corresponding first support piece 321, thereby driving the outer arm 32 to move back and forth, realizing the sliding drive of the arm group 3.

[0091] Specifically, the slider 61 drives the outer arm 32 to slide through the first support piece 321, and then drives the inner arm 31 and the nozzle 311 to move back and forth to meet the nursing needs of different depths in the oral cavity. The close cooperation between the slider 61 and the outer arm 32, the inner arm 31, and the nozzle 311 enables the displacement of the slider 61 to be accurately transmitted to the nozzle 311, facilitating the precise control of the position of the nozzle 311 by the first driving assembly 6.

[0092] The first motor 62 and the lead screw 63 are arranged between two adjacent suspensions 5. The first motor 62 is connected to the lead screw 63 and is used to drive the lead screw 63 to rotate. The lead screw 63 is in threaded assembly with the slider 61 and is parallel to the conduit 12. Specifically, as Figure 2 , Figure 3 and Figure 5 shown, the first motor 62 can be installed on the rear side of the front suspension 51, and the lead screw 63 can be arranged between the front suspension 51 and the middle suspension 52. The front end of the lead screw 63 can be connected to the drive shaft of the first motor 62, and the rear end of the lead screw 63 can be rotationally assembled with the middle suspension 52. A threaded hole can be provided on the slider 61, and the lead screw 63 can be helically assembled in the threaded hole of the slider 61.

[0093] In use, the first motor 62 can drive the lead screw 63 to rotate. Due to the threaded fit between the slider 61 and the lead screw 63, the rotation of the lead screw 63 drives the slider 61 to move axially along the conduit 12, so that the reciprocating drive of the arm group 3 can be realized.

[0094] Referring to Figure 2 the direction shown, the size of the through hole of the slider 61 in the left-right direction is set to be substantially equal to the outer diameter of the conduit 12, which makes the slider 61 not rotate with the lead screw 63, avoiding the problem of backlash in the lead screw drive due to the rotation of the slider 61. In some other embodiments, the problem of backlash in the lead screw drive can also be avoided by a linear module, as Figure 13 shown. The linear module includes an optical axis parallel to the lead screw. The slider 61 is connected to the optical axis through a linear bearing. The optical axis makes the slider not rotate with the lead screw but only move axially along the lead screw. Therefore, in Figure 2 the lead screw drive structure shown, the conduit 12 also has the effect of replacing the optical axis, whereby the cost of the first drive assembly can be reduced and the installation space requirement can be reduced.

[0095] The size of the through hole of the slider 61 in the up-down direction is set to be larger than the outer diameter of the conduit 12, which makes the slider 61 also slide in the up-down direction relative to the conduit 12. This feature reduces the assembly difficulty between the slider 61 and the conduit 12 on the one hand, and reduces the parallelism requirement between the lead screw 61 and the conduit 12 on the other hand, improving the tolerance to structural deviations. For example, there are deviations in the production or assembly of the front suspension 51 and the middle suspension 52, or the front suspension 51 expands and contracts due to motor heating, etc. These reasons may all cause the lead screw 61 not to be parallel to the conduit 12, that is, there is a small deviation in the distance between the front and rear ends of the lead screw 61 and the conduit 12. This difference can be offset by the sliding of the slider 61 relative to the conduit 12.

[0096] In some other embodiments, the first support piece 321 can be installed from the side. As Figure 13As shown, the side wall of the conduit 12 includes sliding grooves parallel to the central axis. The upper end of the first support piece 321 faces the central axis of the conduit 12 and passes through the sliding grooves to be connected to the arm group 3. The sliding grooves are strip-shaped, with a width slightly larger than the thickness of the first support piece, and the length is determined by the stroke of the slider and can be the same as the length of the lead screw. The lower end of the first support piece 321 is fixed to the slider 61. The fixing method can be to screw the first support piece 321 to the left and right sides of the slider 61 with screws, so that the upper end of the first support piece 321 tightly holds both sides of the arm group 3. During use, the first motor 62 drives the lead screw 63 to rotate. The slider 61 is restricted in the left and right directions by the first support pieces 321 and the arm group 3 on both sides and can only move in the front and back directions, thereby driving the first support piece 321 and the arm group 3 to move in the front and back directions. When there is a small deviation in the distance between the front and rear ends of the lead screw 61 and the conduit 12, the sliding grooves on the side wall of the conduit 12 cause the support piece 321 to elastically deform in the up and down directions, and the deviation can also be offset.

[0097] In the above structure, the slider 61, the first support piece 321, and the arm group 3 are closely matched in the front and back directions and allow deviations in the up and down directions. This way of transmission is stable, has less dead space and high precision during forward and reverse movement, meeting the usage requirements for fine adjustment of the arm group 3. Secondly, compared with the telescopic drive, the volume of the drive mode of the lead screw 63 and the motor itself does not change, thereby reducing the assembly requirements for the internal space of the housing 1.

[0098] Optionally, bearings can be assembled on the middle suspension 52. Specifically, the bearings can be ball bearings, and the lead screw 63 can be rotationally assembled with the middle suspension 52 through these bearings, thereby reducing the rotational resistance when the lead screw 63 rotates.

[0099] The first drive assembly 6 includes a first position sensor 64. The first position sensor 64 is connected to the embedded electronic system and is used to provide reference information for the slider to reach a specific position. The first position sensor 64 can adopt a mechanical key sensor (such as a micro tactile switch of model KW-03), which is set on the running path of the slider 61. When the slider 61 reaches a specific position, it touches the key sensor, and then an arrival electrical signal is sent out. The first position sensor 64 can also adopt an optoelectronic sensor or a magnetic induction Hall sensor (such as a Hall switch of model HAL251), which is set near the running path of the slider 61. When the slider 61 reaches a specific position, it causes the state of the sensor to change, and then an arrival electrical signal is sent out.

[0100] In some embodiments, the number of the first position sensors 64 is only one, and the first motor 62 is of a type that can precisely control the rotation angle, such as a stepper motor. In this case, based on the position of the slider 61 when it reaches the first position sensor 64, the rotation angle of the motor at a certain moment after the arrival electrical signal, and the relationship between the motor rotation angle and the displacement of the slider 61, the embedded electronic system can calculate the displacement of the slider 61 at that moment. For example, the first motor 62 is a two-phase stepper motor with a step angle a, and the lead pitch of the lead screw 63 is b (i.e., the displacement of the slider 61 when the first motor 62 rotates 360° is b). After the arrival signal, given the number of pulses x of the stepper motor at a certain moment, the rotation angle of the first motor 62 is a*x, and the displacement of the slider 61 is a*b*x / 360.

[0101] The first position sensor 64 can also be a grating sensor, which can be arranged on the motor or the lead screw. When the motor or the lead screw rotates a certain angle, the grating sensor emits an electrical signal (an electrical pulse). Starting from a specific position (such as the starting point), the embedded electronic system can calculate the total rotation angle of the motor or the lead screw by accumulating the electrical signals at a certain moment, and then calculate the position of the slider 61 at that moment.

[0102] In some embodiments, the number of the first position sensors 64 is two, which are respectively arranged at both ends of the lead screw 63 and used to emit arrival signals when the slider 61 reaches both ends of the lead screw 63. When the embedded electronic system receives the arrival signal, it prohibits the motor from continuing to rotate in the direction of the previous moment and only allows the motor to move in the opposite direction, so that the slider 61 cannot exceed the range between the two first position sensors 64, achieving the limit effect. Setting two first position sensors can provide reference information for the slider to reach two positions, and accordingly, the operating state and problems of the first driving component can be detected. For example, faults such as the loss of steps of the stepper motor can be found through self-check, which is convenient for subsequent maintenance and repair.

[0103] For example, as Figure 2 and Figure 3 shown, one first position sensor 64 can be installed on the rear end face (front side) of the first motor 62, and the other first position sensor 64 can be installed on the middle suspension 52. Both first position sensors 64 are used to feedback whether the slider 61 reaches the limit position. For example, when the slider 61 touches the first position sensor 64 on the front side, the first position sensor 64 will give an arrival starting point signal; when the slider 61 touches the first position sensor 64 on the rear side, the first position sensor 64 on the rear side will give an arrival end point signal.

[0104] The two first position sensors 64 can better understand the position of the slider 61 , thereby ensuring the safety of the robot arm operation and limiting the sliding stroke of the slider 61 .

[0105] In some embodiments, Figure 2 and Figure 3 As shown, the second driving assembly 7 includes a rotating wheel 71, a connecting member 72 and a second motor 73, wherein the second motor 73 is connected to the embedded electronic system and controlled by the embedded electronic system, and the rotating wheel 71 can be a winding wheel, and the whole can be in the shape of a wheel disk. The rear end of the connecting member 72 is fixed to the rotating wheel 71, and can be bent and wound on the side of the rotating wheel 71. For example, the connecting member 72 can be a steel wire rope, and the diameter of the steel wire rope can be 0.3 mm. In some other embodiments, the connecting member 72 can also be other high-strength ropes such as fiber ropes.

[0106] The connector 72 passes through the conduit 12 and the outer arm 32 and is laid along the outer arm 32 to the nozzle 311, for example, Figure 8 As shown, the outer arm 32 may be provided with a wire hole 325, and the connecting piece 72 may pass through the side opening 121 of the conduit 12 and the wire hole 325 of the outer arm 32 into the outer arm 32, and then the connecting piece 72 may be laid along the outer arm 32, and the front end of the connecting piece 72 may extend from the front port of the outer arm 32 and be connected to the nozzle 311.

[0107] like Figure 3 As shown, the second drive assembly 6 includes a drive bracket 76, and the second motor 73 can be integrated with a gear assembly and the like to form a drive assembly, which is assembled inside the drive bracket 76. The output shaft of the second motor 73 can be connected to the rotating wheel 71 through the gear assembly. The drive bracket 76 can be fixed to the side of the conduit 12 through the rear suspension 53. For example, the drive bracket 76 can be integrally formed with the rear suspension 53, or can be fixed to the inner wall of the shell body 11.

[0108] When in use, the second motor 73 can drive the rotating wheel 71 to rotate, and the rotating wheel 71 can realize the winding or releasing of the connecting member 72, and then the traction of the connecting member 72 can be realized, and then the nozzle 311 can be pulled by the connecting member 72. The bent arm section 312 of the inner arm 31 will bend and deform under the traction of the connecting member 72, so that the position of the nozzle 311 can be adjusted.

[0109] In some embodiments, the second drive assembly 7 includes a tendon sheath 74 that is bent and extended, such as Figure 2 , Figure 3 and Figure 5As shown in the figure. The tendon sheath 74 is used to cooperate with the connecting member 72 to achieve deformable flexible traction, that is, when the traction path of the connecting member 72 deforms, the traction force of the runner 71 on the connecting member 72 can be effectively transmitted to the inside of the arm group 3. To achieve this purpose, the tendon sheath 74 can be a bendable but effectively supportive pipe, such as a flat wire spring tube. Among them, the reason for the deformation of the traction path is that the first driving assembly 6 drives the arm group 3 to reciprocally slide in the mounting hole, causing the arm group 3 to have a relative displacement with respect to the runner 71, and further causing the traction path of the connecting member 72 to deform.

[0110] The tendon sheath 74 is sleeved on a partial area on the outer peripheral side of the connecting member 72, and this area mainly includes the deformable traction path of the connecting member 72. The tendon sheath 74 can generally be arranged in a U shape, with one end supported on the outer arm 32 and the other end supported on the side of the runner 71. In this arrangement, when the arm group 3 has a relative displacement with respect to the runner 71, the traction force of the runner 71 is transmitted to the inside of the arm group 3 through the support of the tendon sheath 74 and the sliding of the connecting member 72 on the tendon sheath 74, thereby realizing the control of the bending arm segment 312.

[0111] In some embodiments, the outer arm 32 is provided with a second support piece 322 extending from the side opening 121. The second support piece 322 is generally a rectangular piece and can be integrally formed with the outer arm 32. The second support piece 322 is generally perpendicular to the central axis of the outer arm 32. The top end of the tendon sheath 74 can be connected to the second support piece 322, and the second support piece 322 is provided with a through hole. The bottom end of the tendon sheath 74 can be arranged opposite to the runner 71. For example, the bottom end of the tendon sheath 74 can be located directly behind the runner 71. After the connecting member 72 is led out from the runner 71, it can pass through the tendon sheath 74 and the through hole on the second support piece 322, and then can extend into the outer arm 32 through the side opening 121 on the catheter 12 and the wire passing hole on the outer arm 32.

[0112] The setting of the tendon sheath 74 can, on the one hand, play a protective role for the connecting member 72, avoiding the situation that the connecting member 72 is prone to touch and interfere with the first driving assembly 6, the second driving assembly 7, etc. during use, and realizing the shaping of the position of the connecting member 72; on the other hand, the tendon sheath 74 has a guiding function, so that the traction direction of the connecting member 72 on the arm group 3 with respect to the second support piece 322 can always be kept consistent, ensuring the stability of the traction drive and the consistency of the direction, keeping the pulling force and the pulling displacement of the connecting member 72 from changing due to the deformation of the traction path, and ultimately ensuring that the traction force of the connecting member 72 is effectively transmitted into the arm group 3.

[0113] In the prior art 2023109210663, the second motor 73 is fixed to the arm group 3 to avoid the deformation of the traction path, so that there is no need to provide a tendon sheath. This method requires the second motor 73 and accessories (such as the runner 71, drive circuit, etc.) to reciprocate with the arm group 3 in the mounting hole, which will reduce the flexibility of the movement of the arm group 3 and increase the load of the first drive assembly 6. Compared with the prior art, the load of the first drive assembly 6 is smaller, and the space requirement of the second drive assembly 7 can be reduced.

[0114] In some embodiments, such as Figure 6 and Figure 7 shown, the connecting member 72 includes a first connecting member 721 and a second connecting member 722. Both the first connecting member 721 and the second connecting member 722 are rope-like structures. One end of the rope-like structure is fixed to the runner 71 and wound around the circumferential side of the runner 71, and the other end of the rope is connected to the nozzle 311. Specifically, the connecting member 72 can have two steel wires. The two connecting members are respectively the first connecting member 721 and the second connecting member 722. Among them, the first connecting member 721 is lapped on the outer wall surface of the left side of the outer arm 32 and connected to the left side of the nozzle 311, and the second connecting member 722 is lapped on the outer wall surface of the right side of the outer arm 32 and connected to the right side of the nozzle 311. The connecting member 72 is partially fixed to the runner 71 to prevent the connecting member 72 from sliding on the surface of the runner 71, so as to ensure that the angle of rotation of the runner 71 forms an accurate mapping relationship with the displacement pulled by the connecting member 72.

[0115] In some other embodiments, the connecting member 72 can also be provided with only one. At this time, the middle part of the connecting member 72 can be fixed to the runner 71 and wound around the circumferential side of the runner 71, and the two extending segments of the connecting member 72 extending from the runner 71 respectively form the first connecting member 721 and the second connecting member 722.

[0116] Such as Figure 6 、 Figure 8 and Figure 9 shown, two tendon sheaths 74 can be provided. The shapes of the two tendon sheaths 74 can be the same and can be arranged in parallel at intervals in the left-right direction, and the two tendon sheaths 74 can be respectively sleeved on the outer peripheral sides of the first connecting member 721 and the second connecting member 722.

[0117] In use, the rotation of the runner 71 can simultaneously achieve the traction or release of the first connecting member 721 and the second connecting member 722, but the movement modes of the first connecting member 721 and the second connecting member 722 are opposite. For example, when the runner 71 rotates forward, the first connecting member 721 can be wound up, and the second connecting member 722 can be released. At this time, the first connecting member 721 pulls the nozzle 311 to the left, so that the nozzle 311 can deflect to the left around the bending arm section 312. When the runner 71 rotates in the reverse direction, the first connecting member 721 can be released, and the second connecting member 722 can be wound up. At this time, the second connecting member 722 pulls the nozzle 311 to the right, so that the nozzle 311 can deflect to the right, realizing the adjustment of the nozzle 311 in two opposite directions.

[0118] In some embodiments, as Figure 6 and Figure 7 shown, two first extension parts 323 and one second extension part 324 are provided at the end of the outer arm 32. The first extension parts 323 and the second extension part 324 can both be long sheet-shaped and generally extend along the front-back direction. Among them, the two first extension parts 323 are arranged symmetrically in the left-right direction. The first connecting member 721 can pass through the left first extension part 323 twice and lap with the first extension part 323. The second connecting member 722 can pass through the right first extension part 323 twice and lap with the first extension part 323. The first extension part 323 constitutes a bracket structure relative to the nozzle 311, and the first connecting member 721 and the second connecting member 722 can slide on the bracket structure. The bracket structure is similar to a fixed pulley and can change the traction direction of the first connecting member 721 and the second connecting member 722, so that the pulling force direction is close to perpendicular to the inner arm central axis direction near the nozzle 311, thereby increasing the lever arm of the pulling force for pulling the nozzle 311 to rotate around the rear end of the bending arm section 312. Therefore, when the torque requirement remains unchanged, the load of the second driving assembly can be reduced, and thus the space requirement of the second driving assembly 7 can be reduced.

[0119] As Figure 11 shown, two first guide grooves 22 and one second guide groove 23 can be provided on the cavity wall of the track cavity 21. The first guide grooves 22 and the second guide groove 23 both generally extend along the front-back direction. Among them, the track 2 has two side walls arranged oppositely in the left-right direction, and the two first guide grooves 22 are respectively arranged on the two side walls.

[0120] The part of the first connecting member 721 that laps with the left first extension part 323 and is located on the left side of the first extension part 323 can be embedded in the left first guide groove 22, and when the arm group 3 moves back and forth, the first connecting member 721 will also slide back and forth in the first guide groove 22.

[0121] A first connecting member 721 that overlaps with a first extension portion 323 on the right side may have a portion located on the right side of the first extension portion 323 embedded in a first guide groove 22 on the right side, and when the arm group 3 moves back and forth, the first connecting member 721 will also slide back and forth in the first guide groove 22.

[0122] As Figure 6 and Figure 7 shown, a second extension portion 324 may be located between two first extension portions 323. As Figure 11 shown, a second guide groove 23 may also be located between two first guide grooves 22. An image acquisition module 4 is provided at the front end of the second extension portion 324 and is slidably engaged in the second guide groove 23. When the arm group 3 moves back and forth, the image acquisition module 4 will also move back and forth in the track cavity 21, so that an adaptive adjustment of the position can be achieved. The settings of the first guide groove 22 and the second guide groove 23 enhance the guiding property and stability of the movement of the front end of the arm group 3.

[0123] In some embodiments, as Figure 12 shown, a driving bracket 76 includes two limiting holes 761 and two slotted openings 762. The two limiting holes 761 may be stepped holes and are arranged oppositely in the left-right direction. The smaller-diameter end of the stepped hole is slightly larger than the outer diameter of the connecting member 72 but smaller than the outer diameter of the tendon sheath 74, and is arranged oppositely toward the front side (i.e., toward the side of the runner 71); the larger-diameter end is slightly larger than the outer diameter of the tendon sheath 74 and faces the rear side. This enables the connecting member 72 to pass through and slide in the limiting hole 761, but the tendon sheath 74 can only be inserted into the larger-diameter end and is supported by the smaller-diameter end.

[0124] The supporting actions of the tendon sheath 74, the limiting hole 761, and the second supporting piece 322 enable the connecting member 72 to achieve deformable flexible traction. That is, when the first driving assembly 6 drives the arm group 3 and the second supporting piece 322 to slide along the side opening of the catheter 12, the tendon sheath 74 undergoes corresponding deformation, such that one end of the tendon sheath 74 follows the second supporting piece 322 to slide while the other end remains stationary, and at the same time, axial support for the connecting member 72 is maintained. As a result, the traction displacement of the connecting member 72 is not affected by the sliding of the second supporting piece 322 and can still be accurately transmitted through the tendon sheath 74 to the inside of the arm group 3, and the position of the nozzle 311 is changed, ultimately realizing the adjustment of the spraying position. The traction displacement refers to the distance that the connecting member 72 moves relative to the surrounding supporting components (such as the limiting hole 761, the tendon sheath 74, the second supporting piece 322, etc.) under the traction force of the second motor 73 and the runner 71. The spraying position refers to the position where the fluid reaches the nursing target after being ejected from the nozzle, such as the position with stains on the teeth.

[0125] The two slots 762 are connected to the two limiting holes 761 in a one-to-one correspondence. The two slots 762 are respectively connected to the two limiting holes 761, and the internal spaces of the two limiting holes 761 communicate with the bottom side of the driving bracket 76 through the two slots 762. During assembly, the first connecting member 721 can be horizontally inserted into a limiting hole 761 through a slot 762, and the tendon sheath 74 on the outer peripheral side of the first connecting member 721 is inserted and fitted in the limiting hole 761; the second connecting member 722 can be horizontally inserted into another limiting hole 761 through the other slot 762, and the tendon sheath 74 on the outer peripheral side of the second connecting member 722 is inserted and fitted in the covering limiting hole 761.

[0126] Thus, on the one hand, the limiting hole 761 can limit and constrain the two connecting members 72 to prevent them from swinging, thereby further enhancing the stability of the connecting members 72 during traction. On the other hand, it can limit and constrain the tendon sheath 74, avoiding the situation where the tendon sheath 74 is prone to swing and cause large deformation when the connecting members 72 are pulled.

[0127] In some other embodiments, the adjustment of the spraying position can also be achieved by changing the spraying direction of the nozzle 311. The second driving assembly 7 is connected to the periphery of the inner arm 31 through the connecting member 72. The force of the connecting member 72 on the periphery of the inner arm 31 generates a rotational torque, driving the inner arm 31 to rotate around the central axis of the inner arm 31. The nozzle 311 is arranged at the end of the inner arm 31 and rotates with the inner arm 31.

[0128] For example, the second driving assembly 7 adopts a rope-driven driving assembly similar to the previous embodiment. The difference is that the second support piece 322 is generally parallel to the central axis of the outer arm 32. After the connecting member 72 is led out from the runner 71, passes through the tendon sheath 74 and the through hole on the second support piece 322, it is wound around the periphery of the inner arm 31 at the position corresponding to the through hole. During use, the traction force of the connecting member 72 causes the inner arm 31 to rotate relative to the outer arm 32, and the nozzle 311 rotates synchronously with the inner arm 31, thereby changing the spraying direction of the nozzle 311. Accordingly, the spraying position can be adjusted. To prevent the connecting member 72 from sliding relative to the inner arm 31, the middle position of the winding section of the connecting member 72 can be fixed to the inner arm 31, and the fixing method can be, for example, gluing, welding, etc. The rotation radian of the inner arm 31 and the nozzle is the ratio of the traction displacement of the connecting member 72 to the outer diameter of the inner arm 31.

[0129] Another example is that a transmission device 313 can also be arranged on the periphery of the inner arm 31. The transmission device is fixedly connected to the inner arm 31 in a direction perpendicular to the central axis of the inner arm 31. The connecting member 72 is connected to the transmission device 313 and drives the inner arm 31 to rotate through the transmission device 313. The transmission device 313 is used to increase the force arm of the connecting member 72 relative to the central axis of the inner arm 31.

[0130] Such as Figure 14As shown in the figure, the transmission device 313 is a pipe clamp. One end of the pipe clamp is fixed to the circumferential side of the inner arm 31 by clamping, and the other end extends away from the central axis of the inner arm 31 and is fixed to the middle of the connecting member 72 by means such as buckling and welding. At the fixed position, the distance between the connecting member 72 and the central axis of the inner arm 31 is defined as NL. On the premise of not affecting the sliding of the outer arm 32 relative to the catheter 12, a connecting block 326 is provided on the tubular structure of the outer arm 32, and the connecting block 326 is fixed to a certain side of the circumference of the outer arm 32 by means such as buckling and bonding. The second support piece 322 is arranged on the connecting block 326. The through-hole shape of the second support piece 322 can refer to the stepped hole shape of the limit hole 761, and is used to pass through the connecting member 72 and provide a limiting effect on the tendon sheath 74. The two second support pieces 322 are arranged opposite to each other on both sides of the transmission device 313, facilitating the connecting member 72 to be pulled in two directions respectively. The central axis of the through-hole on the second support piece 322 is set to be NL and is substantially perpendicular to the central axis of the inner arm 31, so as to ensure the stability of the traction force on the connecting member 72. A steering hole 3261 is additionally provided on the connecting block 326, and the central axis of the steering hole 3261 is substantially parallel to the central axis of the inner arm 31. The tendon sheath 74 is passed through the steering hole 3261 to change its extension direction, from being perpendicular to the central axis of the inner arm 31 to being parallel to the central axis of the inner arm 31, so as to facilitate further connection to the limit hole 761.

[0131] For another example, the second driving assembly and its driving bracket 76 can be fixed to the outer arm 32 or the slider 61 and move back and forth with the outer arm 32. In this case, the connecting member 72 can be a transmission component such as a gear or a synchronous pulley, and at this time, the transmission device 313 can be an engaging part such as a gear ring fixed to the circumferential side of the inner arm.

[0132] A support layer (such as a metal round pipe) and a lubricating layer (such as a polytetrafluoroethylene thin-walled pipe, a bearing, etc.) can be provided between the inner arm 31 and the outer arm 32 to reduce the resistance of the inner arm 31 to rotate relative to the outer arm 32. The advantages of this embodiment are that the inner arm 31 does not need to be provided with a bent arm section 312, the connecting member 72 does not need to be laid to the front end of the inner arm 31, and the outer arm 32 does not need to be provided with a first extension portion 323.

[0133] In the above several embodiments, the second driving assembly 7 has 1 degree of freedom of movement, enabling the inner arm 31 to perform one of the movements of bending swing or rotation. In some other embodiments, the second driving assembly can have 2 degrees of freedom of movement, enabling the inner arm 31 to perform bending swing and rotation simultaneously, and further enabling the nozzle to spray in different directions at different positions. Specifically, the second driving assembly is a combination of the driving structures corresponding to the above two movement modes, that is, the second driving assembly 7 can have 2 groups, one group referring to the above embodiment to drive the inner arm to perform bending swing, and the other group referring to the above embodiment to drive the inner arm 31 to rotate.

[0134] The second driving component 7 includes a second position sensor 75. The second position sensor 75 is connected to the embedded electronic system and is used to provide reference information on the connecting member 72 reaching a specific traction displacement. Similar to the first position sensor 64, the second position sensor 75 can adopt a mechanical key sensor (such as a micro tactile switch of model KW-03), which is arranged near the running path of the connecting member 72. When the connecting member 72 reaches a specific traction displacement, the key sensor is triggered, and then an arrival electrical signal is sent out. The second position sensor 75 can also adopt an optical sensor or a magnetic induction Hall sensor (such as a Hall switch of model HAL251), which is arranged near the traction path of the connecting member 72. When the connecting member 72 reaches a specific traction displacement, the state of the sensor changes, and then an arrival electrical signal is sent out.

[0135] In order to trigger the second position sensor 75 to generate an arrival electrical signal, a limiting member can be arranged on the connecting member 72. Specifically, when the connecting member 72 is a rope-like structure, a spherical limiting bead can be fixed on the outer side of the rope-like structure, so that the spherical limiting bead generates the same traction displacement as the connecting member 72 and can trigger the second position sensor when the traction displacement reaches a specific value. The triggering method can be key pressing, optical sensing, etc. If the limiting member has magnetism, the triggering method can also be magnetic induction.

[0136] In some embodiments, the first connecting member 721 and the second connecting member 722 are respectively wound and released, and the traction displacements caused by winding and the displacements caused by releasing are equal in magnitude and opposite in direction. In this case, the number of the second position sensors 75 can be set to one, and the second motor 73 adopts a type that can accurately control the rotation angle, such as a stepping motor. During the motion control process, based on the traction displacement when the limiting member reaches the second position sensor 75, the rotation angle of the motor at a certain moment after the arrival electrical signal, and the relationship between the motor rotation angle and the traction displacement of the connecting member 72, the embedded electronic system can calculate the traction displacement of the connecting member 72 at this moment. For example, the second motor 73 adopts a two-phase stepping motor with a step angle a, the reduction ratio of the gear assembly is b, and the radius of the runner 71 is r. At a certain moment, when the number of pulses x given to the stepping motor is given, the rotation angle of the second motor 73 is ax, and the traction displacement of the connecting member 72 is a*b*r*x / 360.

[0137] The second position sensor 75 can also adopt a grating sensor, which can be arranged on the second motor 73 or the corresponding gear assembly. When the second motor 73 or the corresponding gear assembly rotates a certain angle each time, the grating sensor sends out an electrical signal (an electrical pulse). Starting from a specific position (such as the starting point), the embedded electronic system can calculate the total rotation angle of the motor or the gear assembly at a certain moment through the accumulation of the electrical signals, and then calculate the traction displacement of the connecting member 72 at this moment.

[0138] In some embodiments, the number of the second position sensors 75 is two, which are respectively arranged at the limit positions of the connecting member 72 in two traction directions. The limit position means that when the connecting member 72 pulls the nozzle 311 to reach the limitation range of structures such as the first extension portion 323 and the track 2, the connecting member 72 cannot continue to pull in the same direction, otherwise the relevant structures may be damaged. At this time, the corresponding position of the connecting member 72 is its limit position. The two second position sensors 75 are used to send arrival signals when the connecting member 72 reaches the limit positions in two traction directions. When the embedded electronic system receives the arrival signal, the motor is prohibited from continuing to rotate in the same direction and is only allowed to move in the opposite direction, so that the connecting member 72 cannot exceed the range between the two second position sensors 75, achieving the effect of position limitation. Arranging two second position sensors can provide reference information for the slider to reach two positions, and accordingly, the operating state and problems of the second driving assembly 7 can be detected. For example, faults such as the loss of steps of the stepping motor can be found through self-check, which is convenient for subsequent maintenance and repair.

[0139] When the first driving assembly 6 moves, the first motor 62 drives the nozzle 311 to move back and forth through the slider 61, the outer arm 32 and the inner arm 31, and the displacement is set as X1. There is a mapping relationship between X1 and the rotation angle of the first motor 62, which is set as the first mapping relationship. When the second driving assembly 7 moves, the second motor 73 is connected to the nozzle 311 through the runner 71 and the connecting member 72, and the rotation of the second motor 73 drives the nozzle 311 to generate displacement. Due to the constraint of the bending arm section 312, the displacement of the nozzle 311 occurs in both the left-right and front-back directions. Among them, the displacement in the left-right direction is set as Y2, and the displacement in the front-back direction is set as X2. When the first driving assembly 6 is fixed, both Y2 and X2 have a mapping relationship with the traction displacement of the connecting member 72, which is set as the second mapping relationship. In some embodiments, the slider 61 is rigidly connected to the outer arm 32 and the inner arm 31, and X1 is equal to the displacement of the slider 61 and can be directly calculated from the rotation angle of the first motor 62 and the lead screw transmission parameters. Generally, the first mapping relationship and the second mapping relationship can be obtained by function fitting by sampling several data points, or can be modeled and estimated through the structural characteristics of the transmission system. The data points include the rotation angles of the first motor 62 and the second motor 73, and the relative coordinate position of the nozzle, where the relative coordinate position of the nozzle can be obtained by actual measurement or can be obtained based on multi-perspective visual analysis.

[0140] In the above embodiments, the movements of the first driving assembly 6 and the second driving assembly 7 can be considered independent. Therefore, the displacement of the nozzle 311 is obtained by linearly superimposing the displacements generated by the first driving assembly 6 and the second driving assembly 7, that is, (X1 + X2, Y2). Based on the rotation angles of the first motor 62 and the second motor 73 at a certain moment, as well as the first mapping relationship and the second mapping relationship, the embedded electronic system can inversely deduce the angles that the first motor 62 and the second motor 73 need to further rotate for a certain target position (within the stroke range). Accordingly, the nozzle 311 can be driven to the target position by the first driving assembly 6 and the second driving assembly 7, achieving the effect of precise and rapid control.

[0141] In some embodiments, the embedded electronic system includes a dead - zone compensation algorithm for solving the possible small dead - zone problems existing between the first driving assembly 6, the second driving assembly 7, and the arm group 3, thereby improving the control accuracy of the nozzle 311. The dead - zone problem refers to the situation in the transmission system that after the motor rotates in the reverse direction, it needs to rotate a certain angle before effectively driving the target, and this angle is the dead - zone of the transmission system. The reasons for the dead - zone problem include the thread gap between the lead screw and the slider, the gap between the gear components, the change in the rope drive tension, etc. Specifically, the dead - zone compensation algorithm includes the following steps: (1) Control the motor to rotate uniformly in one direction while performing video acquisition. (2) Identify the nozzle pattern (such as the image pattern of the nozzle itself or the fluid it ejects) in the video and calculate its position. When the position changes significantly, control the motor to stop and record the position of the nozzle pattern after the motor stops. (3) Control the motor to gradually rotate in the other direction. When the position of the nozzle pattern changes significantly again, the angle that the motor rotates is the corresponding dead - zone. (4) During the control process of the nozzle 311, if the first motor or the second motor needs to rotate in the reverse direction, first control the corresponding motor to rotate by the angle corresponding to the dead - zone and then perform subsequent operations.

[0142] In some embodiments, as Figure 12 shown, the driving bracket 76 is provided with a buckle 763. During use, the buckle 763 abuts against the rear end face of the second motor 73, thereby realizing the constraint and limit of the second motor 73 along the axial direction of the limiting hole 761, avoiding the traction force of the connecting member 72 relative to the limiting hole 761 from causing the runner 71 and the second motor 73 to move within the driving bracket 76 or slip out from the rear side of the driving bracket 76, and improving the overall structural stability.

[0143] In some embodiments, a protective sleeve is further provided on the outer peripheral side of the connecting member 72. The protective sleeve has self-lubricity and an inner diameter slightly larger than the outer diameter of the connecting member 72. It is arranged between the connecting member and its supporting member to reduce the frictional resistance between the connecting member 72 and its supporting member, thereby improving the traction conduction efficiency of the connecting member 72 and the smoothness of the traction displacement, and reducing the load requirement of the second motor 73. The supporting member includes a tendon sheath 74, a second supporting piece 322, the inner wall of the outer arm 32, a first extension portion 323, etc. Specifically, the protective sleeve can be arranged in the section of the connecting member 72 between the limiting hole 761 and the front end of the first extension portion 323. The protective sleeve can be a polytetrafluoroethylene tube.

[0144] In some embodiments, a lubricating member is provided between the outer arm 32 and the hole wall of the mounting hole. The lubricating member is used to reduce the frictional force between the outer arm 32 and the hole wall of the mounting hole. The lubricating member is a deformable flexible material, so that there is no gap between the outer arm 32 and the mounting hole, and thus dust cannot enter the housing 1 from the mounting hole. The lubricating member can also have hydrophobic / oil-repellent properties, so that small water droplets will not enter the housing 1 along with the outer arm 32 through the mounting hole, thereby achieving a waterproof effect; at the same time, it can also prevent small oil droplets in the housing 1 from escaping along with the outer arm 32, and extend the service life of the lubricating oil on transmission components such as the lead screw and gear assembly in the housing 1. The lubricating member can specifically be a polytetrafluoroethylene thin layer with self-lubricating characteristics, and the lubricating member can also be a linear bearing, etc., thus ensuring the smooth movement of the outer arm 32 in the mounting hole.

[0145] In some embodiments, the outer arm 32 and the mounting hole are assembled in a non-rotating manner along the circumferential direction. For example, the first supporting piece 321 and the second supporting piece 322 are fixed to the outer arm 32, and their widths are the same as the width of the side opening 121, so that the outer arm 32 cannot rotate relative to the mounting hole, realizing the non-rotating assembly of the outer arm 32 and the mounting hole. Another example is that the cross-section of the mounting hole can be a rounded rectangle, and the shape of the outer arm 32 can also be a rounded rectangle. Thus, the non-rotating assembly of the outer arm 32 and the mounting hole can be achieved. It avoids the situation that the outer arm 32 is prone to rotation when moving in the mounting hole, and further improves the stability of use.

[0146] In some embodiments, as Figure 9 shown, the material of the outer arm 32 can be metal, specifically stainless steel. Both the first supporting piece 321 and the second supporting piece 322 can be formed by laser cutting. After laser cutting, the first supporting piece 321 and the second supporting piece 322 can be bent. At the position where bending is required, a small slit can be obtained through laser cutting. The length of the slit is about 1 / 4 of the bending length, which can make the corresponding position easier to bend, thereby assisting the bending process and improving the consistency of the bent forming structure.

[0147] The first extension portion 323 and the second extension portion 324 can also be integrally formed with the outer arm 32, and both the first extension portion 323 and the second extension portion 324 can also be processed and formed by laser cutting.

[0148] In some embodiments, such as Figure 10 shown, the material of the inner arm 31 can be metal, specifically stainless steel. The nozzle 311 and the bent arm segment 312 of the inner arm 31 can both be formed by laser cutting, and the bent arm segment 312 can be in a snake bone shape. The bent arm segment 312 can use a flexible material to seal the gaps generated by cutting to prevent the fluid inside the inner arm 31 from leaking from the bent arm segment. For example, a silicone tube is sleeved on the outer peripheral side of the bent arm segment 312. One end of the silicone tube is hermetically connected to the front end of the bent arm segment 312, and the other end is hermetically connected to the rear end of the bent arm segment 312. All the gaps of the bent arm segment 312 are located inside the silicone tube.

[0149] The fluid inlet of the inner arm 31 is connected to a high-pressure fluid device such as tap water or a dental irrigator through a diversion tube. The high-pressure fluid device can generate high-pressure fluid and output it through the diversion tube. The diversion tube is a bendable and deformable pipe, such as a silicone tube. The fluid inlet can be located at the rear end of the arm group 3 (as Figure 2 shown), or it can be located at the wire passing hole of the outer arm 32. (1) When the fluid inlet is located at the rear end of the arm group 3, the diversion tube does not pass through the inside of the housing body 11 and moves in the front-back direction following the arm group 3 outside the housing body 11. In this way, the assembly of the diversion tube is relatively simple, but it is easily affected by external interference and affects the movement of the arm group 3. (2) When the fluid inlet is located at the wire passing hole of the outer arm 32, the diversion tube passes through the inside of the housing body 11. One arrangement is to be arranged substantially parallel to the tendon sheath 74. One end moves back and forth following the arm group 3, and the other end is fixed inside the housing 1 and passes through the housing body 11 to reach the outside. In this way, the movement of the diversion tube is inside the housing body 11, making the movement of the arm group 3 more stable without being affected by external interference. Since there is fluid passing through the inside of the diversion tube, the diversion tube can also pass through the surface of the heating components (such as motors, embedded electronic systems) inside the housing body 11 to achieve the purpose of heat dissipation and temperature reduction.

[0150] In some embodiments, the embedded electronic system is connected to the high-pressure fluid device by means of wired electrical connection (such as a serial bus with RS232 protocol), and automatically controls the output or shutdown of the high-pressure fluid device through electrical signals. In this way, the oral care device and the high-pressure fluid device can share a power supply, and the power supply is a battery or a power adapter for external alternating current. The oral care device obtains the required power input through wired electrical connection. This can reduce the space and weight required for the oral care device, making it more portable and more flexible to use.

[0151] In some other embodiments, the embedded electronic system is connected to the high-pressure fluid device by means of a radio connection (such as Bluetooth) to automatically control the high-pressure fluid device. In this way, the oral care device and the high-pressure fluid device need to be provided with power supplies respectively.

[0152] In some other embodiments, the high-pressure fluid device and the oral care device are integrally assembled.

[0153] The manufacturing method of the oral care device according to the embodiments of the present invention will be described below.

[0154] The oral care device of the present invention relates to a precision controllable multi-degree-of-freedom transmission instrument with a high coupling between modules. Therefore, a specific manufacturing process is required, including the following key steps for the oral care device:

[0155] 1) Using processing techniques such as precision cutting, welding, and bending to process tubular materials with different diameters into the prototypes of the inner arm 31, the conduit 12, and the outer arm 32;

[0156] 2) Setting a lubricating and sealing layer for the prototype of the outer arm 32 and / or the conduit prototype, and setting a lubricating layer on the outer peripheral side of the connecting member 72;

[0157] 3) Assembling and coupling the outer arm 32 with components such as the conduit 12 and the front suspension 51 into one body by bending the support piece on the outer arm 32, and inserting and fixing the image acquisition module 4, the connecting member 72, and the inner arm 31 inside the outer arm 32;

[0158] 4) Fixing the first driving assembly to the side of the conduit 12 by means of suspension fixation;

[0159] 5) Assembling the second driving assembly and performing overall encapsulation.

[0160] The manufacturing method of the oral care device according to a specific example of the present invention will be described below, which specifically includes the following steps.

[0161] 1) Tube material processing and pretreatment. First, the tube material is precisely cut. The precise cutting technology can be laser cutting, water jet cutting, etc. In some embodiments, three specifications of tube materials are selected, specifically metal round tubes with diameters of 2 mm, 5 mm, and 6 mm respectively, and wall thicknesses of 0.25 mm, 0.3 mm, and 0.3 mm respectively. Cut the first metal round tube according to the length of the inner arm 31 and the shapes and relative positions of structures such as the spray holes to obtain the prototype of the inner arm 31; cut the second metal round tube according to the length of the outer arm 32 and the shapes and relative positions of structures such as the first extension part 323, the second extension part 324, the first support piece 321, the second support piece 322, and the wire passing hole to obtain the prototype of the outer arm 32; cut the third metal round tube according to the length of the conduit 12 and the shape and relative position of the side opening to obtain the prototype of the conduit 12. Then, seal the prototype of the inner arm 31. For example, seal the cut surface of the metal round tube by welding, so that the fluid input from one end of the metal round tube can only output from the spray holes. Thus, the processing of the inner arm 31 is completed; bend the prototype of the outer arm 32 according to the shape of the outer arm 32 to obtain the first extension part 323 and the second extension part 324. To facilitate bending processing, small slits are pre-cut at the positions to be bent on the premise that the strength permits.

[0162] 2) Set the lubrication and sealing layers of the dynamic components. Set a lubrication layer on the prototypes of the outer arm 32 and the conduit 12. The lubrication layer can be fixed to one of the inner wall of the conduit 12 and the outer arm 32, or lubrication layers can be fixed to both of them; set a lubrication layer on the connecting piece 72, specifically, it can be a protective sleeve made of polytetrafluoroethylene. In some embodiments, the lubrication layer is fixed to the inner wall of the conduit 12 because the outer wall of the metal round tube is easier to polish smoothly than the inner wall. When the lubrication layer is fixed to the inner wall of the conduit 12, the requirement for polishing the inner wall can be reduced, thereby reducing the processing cost. Specifically, thin-walled polytetrafluoroethylene tubes can be pasted on the inner walls at the front and rear ends of the conduit 12. The inner diameter of the thin-walled tube is slightly larger than 5 mm (for example, 5.03 mm), and the outer diameter is slightly smaller than 5.4 mm (for example, 5.37). The fixing method is glue bonding, and the surface of the thin-walled polytetrafluoroethylene tube is treated before bonding; or a uniform polytetrafluoroethylene spray coating is attached to the inner wall of the conduit 12 by spraying technology. In other embodiments, setting the lubrication layer is prior to precise cutting, that is, first bond the thin-walled polytetrafluoroethylene tube / spray coating to the inner wall of the original tube material of the conduit 12, and then use laser cutting processing technology to obtain the lateral outlet. In still other embodiments, thin-walled polytetrafluoroethylene tubes are provided on both the inner wall of the conduit 12 and the outer wall of the outer arm 32. On the one hand, the self-lubricating property of polytetrafluoroethylene is used to reduce the sliding resistance of the outer arm 32, and on the other hand, the hydrophobic / oil-repellent property of polytetrafluoroethylene is used to achieve the sealing effect of the installation hole, and solve the problem that the outer arm 32 is prone to water ingress and oil ingress during the dynamic process of extending / retracting.

[0163] 3) The assembly arm group 3 and its coupling components. Outside the conduit 12, the slider 61 and the front suspension 51 are inserted in sequence from the front end; inside the conduit 12, the prototype of the outer arm 32 is inserted. At the side opening of the conduit 12, the first support piece 321 and the second support piece 322 of the prototype of the outer arm 32 are bent. For example, the two first support pieces 321 can be bent by 30° respectively, and the second support piece 322 can be bent by 90°. The slider 61 is pushed between the two first support pieces 321 for fixation. Thus, the processing of the outer arm 32 is completed, and the outer arm 32 is coupled with the conduit 12, the slider 61 and the front suspension 51 into an integral body. That is, the outer arm can only slide axially along the conduit 12, cannot exceed the range of the side opening of the conduit 12, and cannot rotate relative to the conduit 12; the slider 61 and the front suspension 51 are fixed on the conduit 12. On the one hand, they are restricted by the extension part of the outer arm 32 and cannot be taken out / inserted from the front end. On the other hand, they are restricted by the first support piece 321 and the second support piece 322 and cannot be taken out / inserted from the rear end.

[0164] Further, assemble the image acquisition module 4, the inner arm 31, and the connecting piece 72. Insert the camera end 41 of the image acquisition module 4 into the outer arm 32 from the side opening 121 and the wire passing hole of the outer arm 32, and pull it from the front end to the second extension part 324. Then fix the camera end 41 to the front end of the second extension part 324, lay and fix the video cable 42 on the inner wall of the outer arm 32, and the other end of the video cable 42 passes out from the wire passing hole 325 and the side opening 121 of the outer arm 32. Connect one end of the connecting piece 72 and its protective sleeve to the first extension part 323 and connect it to the inner arm 31, and insert the other end into the outer arm 32 from the front end, pass through the wire passing hole of the outer arm 32 and the side opening 121, and pass out from the rope driving hole of the second support piece 322. Insert the inner arm 31 into and fix it to the outer arm 32, and seal the gap between the inner arm 31 and the outer arm 32.

[0165] Thus, the arm group 3 is coupled with the conduit 12, the image acquisition module 4, the connecting piece 72, the front suspension 51, etc. into a whole, and provides interfaces for connecting other components such as the video cable 42, the slider 61, and the connecting piece 72.

[0166] 4) Assemble the first driving component 6. Rotate and insert the lead screw 63 into the slider 61, and fix one end of the first motor 62 to the front suspension 51. The fixing method can be snap fixing or screw fixing, etc. Assemble the middle suspension 52 onto the conduit 12 and fix it to the lead screw 63. Lubricating components such as bearings can be arranged between the middle suspension 52 and the lead screw 63 motor to reduce friction. Two first position sensors 64 are respectively arranged at the two extreme positions of the front and rear of the slider 61. In some other embodiments, the slider 61 is split into a threaded part and a bracket part. The threaded part can be a hexagon screw that cooperates with the lead screw 63. Therefore, the lead screw 63 can be first rotated and inserted into the threaded part, and then cooperated with the bracket part by means of snap or the like.

[0167] 5) Assemble the second drive assembly 7. Insert the second motor 73 into the drive bracket 76, and fix the two second position sensors 75 to the drive bracket 76 respectively. Insert the connecting member 72 and its protective sleeve into the tendon sheath 74, and assemble them onto the runner 71 in a winding manner. Then insert both sides of the connecting member 72 into the limiting holes 761 through two slots 762 respectively, insert one end of the tendon sheath 74 into the limiting hole 761, and then assemble the runner 71 onto the second motor 73. Fix the drive bracket 76 by means such as suspension.

[0168] 6) Overall encapsulation. Connect the video cable 42, the wires of the two drive assemblies, and the wires of the four position sensors to the embedded electronic system. Insert one end of the arm group 3 and the catheter 12 into the housing body 11, and use the front suspension 51 to connect the front end of the housing body 11. Additionally, set a rear cover plate to connect the rear end of the housing body 11. Rubber rings are provided at the joints of the catheter 12, the front suspension 51, the rear cover plate, and the housing body 11 for sealing to prevent dust, water droplets, etc. from entering the housing body 11 from the connection gaps. In addition, a waterproof electrical socket (such as a USB Type-C interface) can be provided on the rear cover plate for connecting the power supply and the high-pressure fluid device.

[0169] In a specific example of the above manufacturing method, the motor, the lead screw, the position sensor, etc. are existing standard modules, and components such as the housing body 11, the suspension 5, the slider 61, the drive bracket 76, etc. are obtained by mold processing, such as common methods like injection molding, and will not be elaborated in detail.

[0170] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0171] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0172] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0173] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0174] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0175] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present invention.

Claims

1. An oral care device, characterized in that, Comprising: A housing, the housing being provided with a mounting hole penetrating through the housing; An arm group, the arm group including an inner arm and an outer arm assembled outside the inner arm. The inner arm is provided with a fluid inlet and an inner hole for the fluid to pass through. The inner arm includes a nozzle at the end, and the fluid is ejected from the nozzle to achieve the care of the target position. The outer arm is slidably assembled in the mounting hole. When the arm group slides, the two ends of the outer arm can respectively extend out of and retract into the two end openings of the mounting hole, and the volume of the outer arm extending into and retracting into the housing is the same to maintain the stability of the air pressure inside the housing; A first driving assembly, the first driving assembly being arranged inside the housing and connected to the outer arm, and the first driving assembly being used to drive the arm group to reciprocally slide in the mounting hole; A second driving assembly, the second driving assembly being arranged inside the housing and connected to the inner arm, and the second driving assembly being used to drive the inner arm to bend and swing or rotate to adjust the position or the spraying direction of the nozzle.

2. The oral care device according to claim 1, characterized in that, The housing includes a conduit and a housing body. The conduit penetrates through the housing body in a sealed manner. The mounting hole is formed in the conduit. The arm group is slidably assembled in the conduit. The conduit provides support for the arm group in the front end, the rear end, and all circumferential directions to improve the movement stability of the arm group. The first driving assembly and the second driving assembly are both arranged inside the housing body. The first driving assembly is connected to the conduit, and the movement of the first driving assembly is more smoothly transmitted to the arm group through the limit of the conduit. And the conduit is provided with a side opening, and the first driving assembly and the second driving assembly are connected to the arm group through the side opening.

3. The oral care device according to claim 2, wherein A plurality of suspensions are provided on the outer peripheral side of the conduit. The first driving assembly and the second driving assembly are arranged at intervals in the axial direction of the conduit, and the first driving assembly is hung and connected to the conduit through at least part of the suspensions.

4. The oral care device according to claim 3, wherein The first driving assembly includes: A slider, the slider being slidably assembled on the outer peripheral side of the conduit along the axial direction of the conduit. The outer arm is provided with two first support pieces extending out of the side opening and slidable along the side opening. The slider is tightly assembled with the first support pieces in the axial direction of the conduit, so that there is no dead zone when the slider drives the arm group to move in the reverse direction; A first motor and a lead screw, the first motor and the lead screw being arranged between two adjacent suspensions. The lead screw is threadedly assembled with the slider. The first motor is connected to the lead screw and is used to drive the lead screw to rotate. The lead screw is parallel to the conduit; In the vertical direction of the plane passing through the lead screw and the conduit, the slider is tightly assembled with the conduit to avoid the slider following the rotation of the lead screw to generate a dead zone; In the direction away from the lead screw, the slider is loosely assembled with the conduit to reduce the assembly difficulty of the slider and improve the fault tolerance of the structural deviation between the first driving assembly and the arm group.

5. The oral care device according to claim 4, wherein The second driving component includes a second motor, a runner and a connecting piece. The second motor is connected to the runner and is used to drive the runner to rotate. The connecting piece is bendable and wound around the runner. The rotation of the runner can drive the connecting piece to generate a traction displacement. The connecting piece passes through the conduit and the outer arm and is connected to the inner arm, and is used to drive the inner arm to bend or rotate; The inner arm includes a bent arm section connected to the nozzle. A first extension is provided at the end of the outer arm. The connecting piece is laid along the outer arm to the first extension, and after overlapping on the first extension, it is connected to the nozzle. The traction displacement applied by the connecting piece causes the bent arm section to generate a bending deformation; Alternatively, the connecting piece is connected to the circumferential side of the inner arm, and the force of the connecting piece on the circumferential side of the inner arm generates a rotational torque to drive the inner arm to rotate around the central axis of the inner arm.

6. The oral care device according to claim 5, characterized in that, The first driving component includes a first position sensor. The first position sensor is provided at one end or both ends of the lead screw and is used to send a reach signal when contacting the slider to provide reference information on the position of the slider; the second driving component includes a second position sensor. The second position sensor is arranged adjacent to the connecting piece. When the connecting piece reaches a specific traction displacement, the second position sensor is triggered to send a reach signal to provide reference information on the traction displacement of the connecting piece; Both the first driving component and the second driving component adopt motors that can control the rotation angle. Based on the reference information and the rotation angle of the motor at a certain moment, the position of the slider at that moment and the traction displacement of the connecting piece at that moment can be calculated, and further can be used to accurately control the position or spraying direction of the nozzle.

7. The oral care device according to claim 6, wherein, The second driving component includes a bent and extended tendon sheath. The outer arm is provided with a second support piece that protrudes from the side opening and can slide along the side opening. A limiting hole is provided on the side of the runner. One end of the tendon sheath is connected to the second support piece. The other end of the tendon sheath is inserted into the limiting hole and is arranged opposite to the runner. The connecting piece is fitted in the tendon sheath and passes through the second support piece. One end of the tendon sheath can slide along with the second support piece while the other end remains stationary, and at the same time maintains axial support for the connecting piece, so that the traction displacement of the connecting piece is not affected by the sliding of the second support piece.

8. The oral care device according to claim 7, characterized in that, The second motor is directly or indirectly connected to the conduit through a driving bracket. Two limiting holes and two slots are provided on the driving bracket. The two slots are connected to the two limiting holes in one-to-one correspondence. There are two connecting pieces, which are respectively a first connecting piece and a second connecting piece. The first connecting piece passes through one of the slots, and the tendon sheath on the outer peripheral side of the first connecting piece is inserted and fitted in one of the limiting holes. The second connecting piece passes through the other slot, and the tendon sheath on the outer peripheral side of the second connecting piece is inserted and fitted in the other limiting hole; The driving bracket is provided with a buckle, and the buckle abuts against the second motor to limit the second motor in the axial direction of the limiting hole, so as to prevent the traction force of the connecting piece from causing the second motor to move within the driving bracket.

9. The oral care device according to claim 5, wherein, A protective sleeve is provided between the connecting piece and the tendon sheath, and the protective sleeve has self-lubricity to reduce the frictional resistance between the connecting piece and the tendon sheath.

10. The oral care device according to claim 1, characterized in that, The aperture diameter of the mounting hole is consistent along the extension direction of the mounting hole, and the radial dimension of the arm group is consistent along the extension direction of the arm group; And / or, it includes a track, the track is connected to the housing and is provided with a track cavity, and the outer arm is slidably assembled in the track cavity.

11. The oral care device according to any one of claims 2-10, characterized in that, A lubricating component is provided between the outer arm and the pore wall of the mounting hole, and the lubricating component is used to reduce the frictional force between the outer arm and the pore wall of the mounting hole; And / or, the outer arm and the mounting hole are rotationally stopped and assembled along the circumferential direction.

12. A manufacturing method of an oral care device according to any one of the above claims 1-11, characterized in that, It includes the following steps: Using processing techniques such as precision cutting, welding, and bending to process tubular materials with different diameters into the prototypes of the inner arm, the conduit, and the outer arm; Setting a lubricating and sealing layer for the prototype of the outer arm and / or the prototype of the conduit, and setting a lubricating layer on the outer peripheral side of the connecting piece; Assembling and coupling the prototype of the outer arm with components such as the prototype of the conduit and the front suspension into one body by bending the support piece on the prototype of the outer arm, and inserting and fixing the image acquisition module, the connecting piece, and the inner arm to the inner side of the outer arm; Fixing the first driving component to the side of the conduit by means of suspension fixing; Assembling the second driving component and performing overall encapsulation.

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