Test module, oral cavity cleaning test device and test system

Abstract

The embodiment of the utility model provides a test module, an oral cavity cleaning test device and a test system. The test module comprises a connecting piece, a clamp and a sensor module or a camera module. The connecting piece is used for being connected with the mechanical arm and can move along with the mechanical arm. The clamp is installed on the connecting piece and used for clamping a to-be-detected piece, the to-be-detected piece is used for cleaning a to-be-cleaned piece, and the clamp is further used for driving the to-be-detected piece to rotate in the axis direction of the to-be-detected piece so as to adjust the orientation of the to-be-detected piece when the to-be-cleaned piece is cleaned. The sensor module is used for detecting acting force borne by the to-be-detected piece. The camera module is installed on the connecting piece and spaced from the clamp, and the camera module is used for shooting an image containing the to-be-detected piece and / or the to-be-cleaned piece. Compared with the prior art, the to-be-cleaned part does not need to be manually used for performance testing, and therefore on one hand, the accuracy and reliability of the testing result can be improved; on the other hand, manual intervention is not needed in the testing process, and therefore the testing efficiency can be improved.

Description

Technical Field

[0001] This application relates to the technical field of toothbrush testing, and in particular to a testing module, an oral cleaning testing device, and a testing system. Background Art

[0002] Oral care devices are electronic devices used for cleaning the oral cavity. In related technologies, the performance of oral care devices usually needs to be tested manually, that is, a person uses an oral care device to test the performance of the oral care device. However, manual testing is easily affected by subjective factors such as the operating habits, gripping force, and cleaning angle of the tester, making it difficult to ensure the reliability of the test results. Summary of the Utility Model

[0003] In view of the above problems, this application provides a testing module, an oral cleaning testing device, and a testing system, which can avoid the problem that the reliability of the test results is difficult to guarantee.

[0004] The testing module of the embodiment of this application is used for an oral cleaning testing device, and the oral cleaning testing device includes a robotic arm; the testing module includes a connecting piece, a fixture, and a sensor module or a camera module. The connecting piece is used to connect with the robotic arm and can move together with the robotic arm. The fixture is installed on the connecting piece, and the fixture is used to clamp the part to be detected, the part to be detected is used for cleaning the part to be cleaned, and the fixture is also used to drive the part to be detected to rotate along the axis direction of the part to be detected to adjust the orientation when the part to be detected cleans the part to be cleaned. The sensor module is used to detect the force received by the part to be detected. The camera module is installed on the connecting piece and is spaced from the fixture, and the camera module is used to capture an image including the part to be detected and / or the part to be cleaned.

[0005] In the testing module of the embodiment of this application, the fixture can clamp the part to be detected, and the robotic arm is connected to the connecting piece and can drive the testing module to move through the connecting piece, so that the part to be detected simulates cleaning the part to be cleaned, thereby realizing the performance test of the part to be detected. Compared with the related technologies, there is no need for manual use of the part to be cleaned for performance testing. Thus, on the one hand, the accuracy and reliability of the test results can be improved; on the other hand, there is no need for manual intervention during the testing process, thereby improving the testing efficiency.

[0006] In some embodiments, the fixture includes a mounting member, a driving component, and a clamping component. The mounting member is connected to the connecting member, and the mounting member is connected to the sensor module so that the sensor module is mounted on the connecting member through the mounting member. The driving component is connected to the sensor module. The clamping component is connected to the driving component. When the driving force of the driving component is transmitted to the clamping component, the clamping component is configured to clamp the component to be detected and / or drive the component to be detected to rotate self.

[0007] Wherein, when a force acts on the component to be detected, the force applied to the component to be detected can be transmitted to the sensor module through the clamping component and the driving component, so that the sensor module can detect the force applied to the component to be detected.

[0008] In some embodiments, the clamping component includes a rotating member and at least two clamping arms movably mounted on the rotating member. The at least two clamping arms enclose a clamping space for clamping the component to be detected. The driving component includes a loading member, a first driving member, and a first transmission member. The rotating member is rotatably mounted on the loading member and is located outside the loading member. The first driving member is mounted on the loading member. The first transmission member is mounted on the loading member and is connected to the first driving member and at least one of the clamping arms. The first driving member drives the first transmission member to drive at least one of the clamping arms to move through the first transmission member, so as to change the size of the clamping space.

[0009] Wherein, based on the force applied to the component to be detected, the first driving member can drive at least one clamping arm to move through the first transmission member to adjust the clamping force of the clamping arm on the component to be detected, thereby improving the clamping stability of the fixture on the component to be detected, preventing the component to be detected from falling off the fixture during the test, and improving the working stability and reliability of the test module.

[0010] In some embodiments, the clamping component includes a rotating member and at least two clamping arms movably mounted on the rotating member. The driving component further includes a second driving member and a second transmission member. The second driving member is mounted on the sensor module. The second transmission member is mounted on the second driving member and the rotating member. The second driving member drives the second transmission member to drive the rotating member to rotate relative to the connecting member through the second transmission member. Thus, when the clamping component clamps the component to be detected, the clamping component can rotate together with the rotating member to drive the component to be detected to rotate self, so as to adjust the angle of the component to be detected relative to the component to be cleaned.

[0011] In some embodiments, the fixture further includes a fixing member, and the driving assembly is connected to the sensor module through the fixing member. Thus, when the force applied to the workpiece to be detected is transmitted to the sensor module, the fixing member can provide a certain buffer for the force, reduce the possibility of damage to the sensor module, and extend the service life of the sensor module.

[0012] In some embodiments, when the test module includes a sensor module, the sensor module includes a force sensor, and the force sensor is used to detect the magnitude and direction of the force applied to the workpiece to be detected. Based on the magnitude and direction of the force: the robotic arm moves and drives the workpiece to be detected to move relative to the workpiece to be cleaned, so as to adjust the angle of the workpiece to be detected relative to the workpiece to be cleaned and / or the force applied by the workpiece to be detected to the workpiece to be cleaned; and / or, the fixture drives the workpiece to be detected to rotate, so as to adjust the angle of the workpiece to be detected relative to the workpiece to be cleaned.

[0013] In some embodiments, when the test module includes a camera module, based on the image captured by the camera module: the robotic arm moves and drives the workpiece to be detected to move relative to the workpiece to be cleaned, so as to adjust the angle of the workpiece to be detected relative to the workpiece to be cleaned and / or the force applied by the workpiece to be detected to the workpiece to be cleaned; and / or, the fixture drives the workpiece to be detected to rotate, so as to adjust the angle of the workpiece to be detected relative to the workpiece to be cleaned.

[0014] In some embodiments, when the test module includes a camera module, the connecting member includes a connected body portion and a connecting portion; in the height direction of the test module, the camera module and the fixture are respectively located on opposite sides of the body portion, and the camera module and the fixture are respectively located at opposite ends in the length direction of the test module.

[0015] In some embodiments, when the test module includes a camera module, the connecting member includes a connected body portion and a connecting portion; the connecting portion is connected between the body portion and the camera module and is used to adjust the relative position between the camera module and the body portion in the height direction of the test module. This can ensure the clarity of the image of the workpiece to be detected captured by the camera module, thereby improving the accuracy of the test results.

[0016] In some embodiments, the connecting portion includes a first sub-portion and a second sub-portion. The first sub-portion is fixedly connected to the main body portion and extends along the height direction. The second sub-portion is fixedly connected to the camera module. The extending direction of the second sub-portion is perpendicular to the extending direction of the first sub-portion. The first sub-portion and the second sub-portion are movably connected to adjust the relative position between the camera module and the main body portion in the height direction of the test module. In this way, the clarity of the image of the workpiece to be detected captured by the camera module can be ensured, thereby improving the accuracy of the test results.

[0017] In some embodiments, the second sub-portion is provided with a through hole, and a notch communicating with the through hole is provided at the end of the second sub-portion to form a first side wall and a second side wall that are spaced apart relatively. The first sub-portion passes through the through hole, and a fastener passes through the first side wall, the notch and the second side wall to lock the end of the second sub-portion at any height position of the first sub-portion. In this way, the clarity of the image of the workpiece to be detected captured by the camera module can be ensured, thereby improving the accuracy of the test results.

[0018] In some embodiments, the main body portion is provided with at least one first weight-reducing space; and / or, the connecting portion is provided with at least one second weight-reducing space. Thereby, the weight of the connecting member can be reduced, which is beneficial to realizing the light weight of the test module and reducing the power consumption required for the robotic arm to drive the test module to move.

[0019] In some embodiments, the test module further includes a liquid supply module, and the liquid supply module is arranged on the connecting member. The liquid supply module is used to provide liquid to the workpiece to be cleaned. In this way, the authenticity of the simulated cleaning can be improved, thereby improving the accuracy and reliability of the test.

[0020] In some embodiments, the liquid supply module includes a nozzle and an adjusting member. The nozzle is used to provide liquid to the workpiece to be detected. One end of the adjusting member is connected to the nozzle, and the other end is movably connected to the connecting member to adjust the relative position between the nozzle and the connecting member in the height direction of the test module. Thereby, the adaptability of the liquid supply module can be improved, ensuring that the liquid supply module can provide liquid to the workpiece to be detected and / or the workpiece to be cleaned, and improving the accuracy and reliability of the test.

[0021] In some embodiments, the workpiece to be detected includes an oral care device.

[0022] In some embodiments, the workpiece to be cleaned includes a dental model, a hydroxyapatite sheet or an enamel block.

[0023] In some embodiments, the workpiece to be detected includes an oral care device. The workpiece to be cleaned includes a dental model or an enamel block.

[0024] The oral cleaning test device according to the embodiment of the present application includes the test module and the robotic arm described in any one of the above embodiments. The robotic arm is connected to the test module and is used to drive the test module to move in any orientation.

[0025] In the oral cleaning test device according to the embodiment of the present application, the fixture can clamp the test piece to be detected, and the robotic arm is connected to the connecting piece and can drive the test module to move through the connecting piece, so that the test piece to be detected simulates cleaning of the piece to be cleaned, thereby realizing the performance test of the test piece to be detected. Compared with the related art, there is no need to manually use the piece to be cleaned for performance testing. Thus, on the one hand, the accuracy and reliability of the test results can be improved; on the other hand, there is no need for manual intervention during the test process, so the test efficiency can be improved.

[0026] In some embodiments, the oral cleaning test device further includes a carrier, a first loading module, and a second loading module. The robotic arm, the first loading module, and the second loading module are all arranged on the carrier. The first loading module is used to load the test piece to be detected, and the second loading module is used to load the piece to be cleaned.

[0027] In some embodiments, the second loading module includes a liquid storage member and a loading table. The liquid storage member is provided with a liquid storage cavity and an opening, and the opening is communicated with the liquid storage cavity. The loading table is arranged at the opening and includes a connected main body portion and a loading portion. The loading portion is used to load the piece to be cleaned, and the liquid storage cavity is used to store the liquid for cleaning the piece to be cleaned.

[0028] In some embodiments, the second loading module further includes a power assembly. The power assembly is arranged on the liquid storage member and includes a power member and a transmission component. One end of the transmission component is connected to the power member, and the other end is connected to the loading portion. The transmission component is used to transmit the driving force of the power member to the loading portion to drive the loading portion to rotate relative to the main body portion.

[0029] The test system according to the embodiment of the present application includes the oral cleaning test device described in any one of the above embodiments.

[0030] In the test system according to the embodiment of the present application, the fixture can clamp the test piece to be detected, and the robotic arm is connected to the connecting piece and can drive the test module to move through the connecting piece, so that the test piece to be detected simulates cleaning of the piece to be cleaned, thereby realizing the performance test of the test piece to be detected. Compared with the related art, there is no need to manually use the piece to be cleaned for performance testing. Thus, on the one hand, the accuracy and reliability of the test results can be improved; on the other hand, there is no need for manual intervention during the test process, so the test efficiency can be improved.

[0031] In some embodiments, the test system further includes a workbench, a display device, and a lighting device. The oral cleaning test device is disposed on the workbench. The display device is at least used to display the captured image of the camera module of the test module and the detection data of the sensor module of the test module. The lighting device is used to provide light to the oral cleaning test device.

[0032] In some embodiments, the projection of the oral cleaning test device on the workbench is within the range of the workbench. This can provide protection for the oral cleaning test device, prevent accidental contact by the robotic arm, and reduce the possibility of damage to the robotic arm.

[0033] The above description is only an overview of the technical solution of the present application. In order to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present application more obvious and understandable, the following specific embodiments of the present application are specifically given. Brief Description of the Drawings

[0034] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 is a schematic three-dimensional structure diagram of a test module according to some embodiments of the present application;

[0036] Figure 2 is Figure 1 a schematic exploded three-dimensional diagram of the test module shown;

[0037] Figure 3 is a schematic structure diagram of a test system according to some embodiments of the present application;

[0038] Figure 4 is Figure 3 a schematic structure diagram of a partial structure of the oral cleaning test device in the test system shown;

[0039] Figure 5 is Figure 3 a schematic structure diagram of the second loading module and the part to be cleaned in the test system shown;

[0040] Figure 6 is Figure 5 a schematic exploded diagram of the second loading module and the part to be cleaned shown.

[0041] Main Element Symbol Description:

[0042] Test system 5000;

[0043] Oral cleaning test device 1000; workbench 2000; display device 3000; light-emitting device 4000;

[0044] Test module 100; robotic arm 200; carrier 300; first loading module 400; second loading module 500, liquid storage member 510, liquid storage chamber 5101, opening 5103, loading table 530, main body portion 5301, loading portion 5303, power assembly 550, power member 5501, transmission member 5503; test piece to be detected 600; piece to be cleaned 700;

[0045] Connecting member 10, body portion 11, first weight-reducing space 110, connecting portion 13, second weight-reducing space 130, first sub-portion 131, second sub-portion 133, through hole 1331, notch 1333, first side wall 1335, second side wall 1337;

[0046] Fixture 20, mounting member 21, drive assembly 23, loading member 231, first drive member 233, second drive member 235, second transmission member 237, clamping assembly 25, clamping space 201, rotating member 251, clamping arm 253, fixing member 27;

[0047] Sensor module 30; camera module 40; liquid supply module 50, nozzle 51, adjusting member 53. Detailed implementation manners

[0048] The following details the implementation manners of the present application. The examples of the implementation manners are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The implementation manners described below with reference to the drawings are exemplary and are only used to explain the implementation manners of the present application, and should not be construed as a limitation to the implementation manners of the present application.

[0049] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "thickness", "upper", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 thus should not be construed as a limitation to the present application. Also, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of the indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0050] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. In one example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, or a connection capable of mutual communication; it may be a direct connection, or an indirect connection through an intermediate medium, and may be the communication inside two components or the interaction relationship between two components.

[0051] An oral care device is an electronic device for cleaning the oral cavity. In the related art, the performance of the oral care device is usually tested manually, that is, a person uses the oral care device to test the performance of the oral care device. However, manual testing is easily affected by factors such as the operating habits of the tester, the holding force, and the cleaning angle, and it is difficult to ensure the reliability of the test results. To solve this problem, please refer to Figure 1 and Figure 3 , the present application provides a test module 100, an oral cleaning test device 1000, and a test system 5000.

[0052] Please refer to Figure 1 and Figure 3 , the test module 100 of the embodiment of the present application includes a connecting member 10, a fixture 20, and a sensor module 30 or a camera module 40. The connecting member 10 is used to connect with the robotic arm 200 and can move together with the robotic arm 200. The fixture 20 is installed on the connecting member 10. The fixture 20 is used to clamp the workpiece to be detected 600, and the workpiece to be detected 600 is used to clean the workpiece to be cleaned 700 ( Figure 5 as shown), and the fixture 20 is further used to drive the workpiece to be detected 600 to rotate along the axis direction of the workpiece to be detected 600 to adjust the orientation when the workpiece to be detected 600 cleans the workpiece to be cleaned 700. The sensor module 30 is used to detect the force received by the workpiece to be detected 600. The camera module 40 is installed on the connecting member 10 and is spaced from the fixture 20. The camera module 40 is used to capture an image including the workpiece to be detected 600 and / or the workpiece to be cleaned 700.

[0053] Specifically, in one example, the test module 100 may include a connecting member 10, a fixture 20, and a sensor module 30. In another example, the test module 100 may include a connecting member 10, a fixture 20, and a camera module 40. It can be understood that, in other embodiments, the test module 100 may include a connecting member 10, a fixture 20, a sensor module 30, and a camera module 40.

[0054] Among them, the connecting member 10 is a structure in the test module 100 for connecting with the robotic arm 200. The material of the connecting member 10 can be a metallic material or a non-metallic material. Metallic materials include but are not limited to aluminum, iron, steel, or aluminum alloy, etc. Non-metallic materials include but are not limited to plastics, etc. In one example, the connecting member 10 can be made of a metallic material, thereby enabling the connecting member 10 to have higher structural strength and improving the stability of the connection between the connecting member 10 and the robotic arm 200.

[0055] It should be noted that in some embodiments, the robotic arm 200 can include but is not limited to a Cartesian robotic arm, a cylindrical coordinate robotic arm, a spherical coordinate robotic arm, and an articulated robotic arm, etc. The robotic arm 200 is connected to the connecting member 10, that is, the robotic arm 200 is connected to the test module 100 through the connecting member 10. In this way, the robotic arm 200 can drive the test module 100 to move in any orientation, so that the test module 100 can adapt to different test scenarios, better simulate the behavior of artificially using the to-be-tested part 600, and improve the accuracy and reliability of the performance test of the test module 100 on the to-be-tested part 600.

[0056] In some embodiments, the to-be-tested part 600 includes an oral care device; and / or, the to-be-cleaned part 700 includes a tooth model, a hydroxyapatite sheet, or an enamel block. It should be noted that in some embodiments, the oral care device can include but is not limited to an electric toothbrush, a dental cleaner, an oral irrigator, an interdental cleaning device, and a dental floss cleaning device, etc. In the embodiments of the present application, only an electric toothbrush is taken as an example for the oral care device for illustration.

[0057] Specifically, in some embodiments, when the to-be-tested part 600 includes an oral care device and the to-be-cleaned part 700 includes a tooth model, the test module 100 can hold the oral care device through the fixture 20, and the robotic arm 200 can drive the test module 100 to move, so that the oral care device simulates cleaning the tooth model, thereby realizing the performance test of the oral care device. Among them, the robotic arm 200 can drive the oral care device to move in any orientation through the fixture 20 to adjust the angle of the oral care device relative to the tooth model, so as to improve the accuracy of the simulation, and thus improve the accuracy and reliability of the test results.

[0058] More specifically, in some embodiments, the oral care device includes a brush handle and an electric toothbrush head. A motor is provided in the brush handle, and the electric toothbrush head is connected to the output shaft of the motor. When the motor runs stably, the motor can drive the electric toothbrush head to vibrate at a high frequency through the output shaft to clean the tooth model.

[0059] Exemplarily, during the test, the robotic arm 200 can drive the oral care device to move through the fixture 20 to adjust the relative position between the electric toothbrush head and the tooth model, so as to align the relative position between the electric toothbrush head and the tooth model; when the relative position between the electric toothbrush head and the tooth model is aligned, the fixture 20 can drive the oral care device to rotate along the axis direction of the oral care device to adjust the orientation when the oral care device cleans the tooth model, so that the bristles of the electric toothbrush head face the tooth model, thereby ensuring that the electric toothbrush can effectively clean the tooth model.

[0060] Moreover, compared with the robotic arm 200 driving the workpiece 600 to be detected to move to adjust the orientation when the workpiece 600 to be detected cleans the workpiece 700 to be cleaned, the fixture 20 drives the workpiece 600 to be detected to rotate along the axis direction of the workpiece 600 to be detected to adjust the orientation when the workpiece 600 to be detected cleans the workpiece 700 to be cleaned, thereby reducing the movement steps of the robotic arm 200 and being beneficial to improving the test efficiency.

[0061] It should be noted that in some embodiments, the rotation of the workpiece 600 to be detected along the axis direction of the workpiece 600 to be detected includes: the workpiece 600 to be detected rotates along the axis of the workpiece 600 to be detected; or, the workpiece 600 to be detected rotates along the rotation direction, and the rotation direction is parallel to and spaced from the axis of the workpiece 600 to be detected.

[0062] In the test module 100 of the embodiment of the present application, the fixture 20 can clamp the workpiece 600 to be detected, and the robotic arm 200 is connected to the connecting member 10 and can drive the test module 100 to move through the connecting member 10, so that the workpiece 600 to be detected simulates cleaning the workpiece 700 to be cleaned, thereby realizing the performance test of the workpiece 600 to be detected. Compared with the related art, there is no need for manual use of the workpiece 700 to be cleaned for performance testing. Thus, on the one hand, the accuracy and reliability of the test results can be improved; on the other hand, there is no need for manual intervention during the test process, thereby improving the test efficiency.

[0063] In addition, the sensor module 30 can detect the force applied to the workpiece 600 to be detected, and the camera module 40 is used to capture images including the workpiece 600 to be detected and / or the workpiece 700 to be cleaned, so as to further improve the accuracy and reliability of the test results.

[0064] In addition, the robotic arm 200 drives the test module 100 to move through the connecting member 10. In this way, the robotic arm 200 can adjust and control the position, angle, force, etc. of the workpiece 600 to be detected relative to the workpiece 700 to be cleaned. Compared with only using a lead screw motor to drive the workpiece to move linearly, the setting of the robotic arm 200 can better simulate the behavior mode of manually using the workpiece 600 to be detected and improve the accuracy and reliability of the performance test of the test module 100 on the workpiece 600 to be detected.

[0065] The test module will be further explained below in conjunction with the accompanying drawings.

[0066] Please refer to Figure 1 , in some embodiments, the fixture 20 includes a mounting member 21, a driving assembly 23 and a clamping assembly 25. The mounting member 21 is connected to the connecting member 10, and the mounting member 21 is connected to the sensor module 30, so that the sensor module 30 is mounted on the connecting member 10 through the mounting member 21. The driving assembly 23 is connected to the sensor module 30. The clamping assembly 25 is connected to the driving assembly 23. When the driving force of the driving assembly 23 is transmitted to the clamping assembly 25, the clamping assembly 25 is used to clamp the workpiece to be detected 600 and / or drive the workpiece to be detected 600 to rotate.

[0067] Specifically, in some embodiments, the force exerted on the workpiece to be detected 600 may be: during the process of the workpiece to be cleaned 700 ( Figure 5 as shown) cleaning the workpiece to be detected 600, the force generated by the workpiece to be cleaned 700 on the workpiece to be detected 600. Among them, when the workpiece to be detected 600 is subjected to a force, the force exerted on the workpiece to be detected 600 can be transmitted to the sensor module 30 through the clamping assembly 25 and the driving assembly 23, so that the sensor module 30 can detect the force exerted on the workpiece to be detected 600.

[0068] In some embodiments, the sensor module 30 and the mounting member 21 may be combined by a detachable connection method, and the detachable connection method includes but is not limited to snap connection or threaded connection, etc. In other embodiments, the sensor module 30 and the mounting member 21 may be combined by a non-detachable connection method, and the non-detachable connection method includes but is not limited to bonding or welding, etc. It can be understood that the connection method between the connecting member 10 and the mounting member 21 is substantially the same as the connection method between the sensor module 30 and the mounting member 21, and will not be elaborated here. The difference between the connection method between the connecting member 10 and the mounting member 21 and the connection method between the sensor module 30 and the mounting member 21 is that the connecting member 10 and the mounting member 21 may be an integral structure, that is, the connecting member 10 and the mounting member 21 may be formed as a whole by an integral molding method.

[0069] Please refer to Figure 1 and Figure 2 , in some embodiments, the clamping assembly 25 includes a rotating member 251 and at least two clamping arms 253 movably mounted on the rotating member 251. The at least two clamping arms 253 enclose a clamping space 201 for clamping the workpiece to be detected 600.

[0070] Specifically, in some embodiments, when the driving force of the driving component 23 is transmitted to the clamping component 25, at least two clamping arms 253 can move relatively away from or relatively close to each other to change the size of the clamping space 201. Among them, when the at least two clamping arms 253 move relatively close to each other, the clamping space 201 decreases, and the clamping component 25 can clamp the workpiece 600 to be detected; when the at least two clamping arms 253 move relatively away from each other, the clamping space 201 increases, and the clamping component 25 can release the workpiece 600 to be detected.

[0071] Exemplarily, there are two clamping arms 253, and the two clamping arms 253 jointly enclose a clamping space 201 for clamping the workpiece 600 to be detected. The two clamping arms 253 moving relatively away from each other can be: both of the two clamping arms 253 move in a direction away from each other relative to the rotating member 251; or, one clamping arm 253 moves in a direction away from the other clamping arm 253 relative to the rotating member 251, and the other clamping arm 253 remains stationary relative to the rotating member 251. The two clamping arms 253 moving relatively close to each other can be: both of the two clamping arms 253 move in a direction close to each other relative to the rotating member 251; or, one clamping arm 253 moves in a direction close to the other clamping arm 253 relative to the rotating member 251, and the other clamping arm 253 remains stationary relative to the rotating member 251.

[0072] Please continue to refer to Figure 1 and Figure 2 In some embodiments, the driving component 23 includes a loading member 231, a first driving member 233, and a first transmission component. The rotating member 251 is rotatably mounted on the loading member 231 and is located outside the loading member 231. The first driving member 233 is mounted on the loading member 231. The first transmission component is mounted on the loading member 231 and is connected to the first driving member 233 and at least one clamping arm 253. The first driving member 233 drives the first transmission component to drive at least one clamping arm 253 to move through the first transmission component, so as to change the size of the clamping space 201.

[0073] Specifically, in some embodiments, when the first driving member 233 operates stably, the driving force of the first driving member 233 can be transmitted to at least one clamping arm 253 through the first transmission component to drive at least one clamping arm 253 to move, thereby changing the size of the clamping space 201. It can be understood that based on the acting force received by the workpiece 600 to be detected, the first driving member 233 can drive at least one clamping arm 253 to move through the first transmission component to adjust the clamping force of the clamping arm 253 on the workpiece 600 to be detected, thereby improving the clamping stability of the fixture 20 on the workpiece 600 to be detected, preventing the workpiece 600 to be detected from falling off the fixture 20 during the test, and improving the working stability and reliability of the test module 100.

[0074] In some embodiments, the driving assembly 23 further includes a second driving member 235 and a second transmission member 237. The second driving member 235 is installed on the sensor module 30. The second transmission member 237 is installed on the second driving member 235 and the rotating member 251. The second driving member 235 drives the second transmission member 237 to drive the rotating member 251 to rotate relative to the connecting member 10 through the second transmission member 237.

[0075] Specifically, in some embodiments, when the second driving member 235 operates stably, the driving force of the second driving member 235 can be transmitted to the rotating member 251 through the second transmission member 237 to drive the rotating member 251 to rotate relative to the connecting member 10. Thus, when the clamping assembly 25 clamps the workpiece to be detected 600, the clamping assembly 25 can rotate together with the rotating member 251 to drive the workpiece to be detected 600 to rotate self - sufficiently, so as to adjust the angle of the workpiece to be detected 600 relative to the workpiece to be cleaned 700, thereby improving the accuracy of simulation and the accuracy and reliability of the test results. Exemplarily, when the workpiece to be detected 600 is an electric toothbrush, the clamping assembly 25 driving the workpiece to be detected 600 to rotate self - sufficiently can adjust the brushing surface orientation of the electric toothbrush head of the electric toothbrush, so as to ensure that the workpiece to be detected 600 can clean the workpiece to be cleaned 700 and ensure the reliability of the test. When the clamping assembly 25 does not clamp the workpiece to be detected 600, the clamping assembly 25 can rotate together with the rotating member 251, so as to adjust the angle of the clamping assembly 25 relative to the workpiece to be detected 600, and thus facilitate the clamping assembly 25 to clamp the workpiece to be detected 600.

[0076] In some embodiments, the fixture 20 further includes a fixing member 27. The driving assembly 23 is connected to the sensor module 30 through the fixing member 27. Thus, when the acting force received by the workpiece to be detected 600 is transmitted to the sensor module 30, the fixing member 27 can provide a certain buffer for the acting force, reduce the possibility of damage to the sensor module 30, and extend the service life of the sensor module 30.

[0077] In some embodiments, the fixing member 27 and the sensor module 30 can be combined together by a detachable connection method. The detachable connection method includes but is not limited to snap connection or threaded connection, etc. In other embodiments, the fixing member 27 and the sensor module 30 can be combined together by a non - detachable connection method. The non - detachable connection method includes but is not limited to bonding or welding, etc.

[0078] Please refer to Figure 1 and Figure 3, in some embodiments, when the test module 100 includes the sensor module 30, the sensor module 30 includes a force sensor, and the force sensor is used to detect the magnitude and direction of the acting force applied to the workpiece 600 to be detected. Based on the magnitude and direction of the acting force: the robotic arm 200 moves and drives the workpiece 600 to be detected to move relative to the workpiece 700 to be cleaned ( Figure 5 as shown) to adjust the angle of the workpiece 600 to be detected relative to the workpiece 700 to be cleaned and / or the force applied by the workpiece 600 to the workpiece 700 to be cleaned; and / or, the fixture 20 drives the workpiece 600 to rotate itself to adjust the angle of the workpiece 600 to be detected relative to the workpiece 700 to be cleaned; and / or, the robotic arm 200 moves and drives the workpiece 600 to be detected to move relative to the workpiece 700 to be cleaned so that the workpiece 600 to be detected moves in a direction closer to or away from the workpiece 700 to be cleaned. It should be noted that, in some embodiments, the force sensor includes but is not limited to a three-dimensional force sensor or a six-dimensional force sensor, etc.

[0079] Specifically, in some embodiments, when the workpiece 600 to be detected is an oral care device and the workpiece 700 to be cleaned is a tooth model, the force sensor can detect the magnitude and direction of the acting force when the oral care device cleans the tooth model. Based on the magnitude and direction of the acting force, the robotic arm 200 moves and drives the oral care device to move relative to the tooth model; and / or, the fixture 20 drives the workpiece 600 to rotate itself.

[0080] Exemplarily, when the oral care device switches from cleaning the outer side of the teeth of the tooth model to cleaning the inner side of the teeth of the tooth model, the force sensor can detect the change in the acting force of the oral care device. Based on the change in the acting force, the robotic arm 200 can rotate and drive the oral care device to move relative to the tooth model; and / or, the fixture 20 drives the oral care device to rotate itself to adjust the angle of the oral care device relative to the tooth model, so that the oral care device can be in full contact with the inner side of the teeth.

[0081] Exemplarily, during the process of the oral care device cleaning the tooth model, the force sensor can detect the magnitude of the acting force of the oral care device. Based on the magnitude of the acting force, the robotic arm 200 can rotate and drive the oral care device to move relative to the tooth model to adjust the force applied by the oral care device to the tooth model; for example, when the acting force is less than a preset threshold, the robotic arm 200 can rotate and drive the oral care device to move relative to the tooth model to increase the force applied by the oral care device to the tooth model.

[0082] Exemplarily, during the process of the oral care device cleaning the tooth model, the force sensor can detect the acting force of the oral care device. Based on the acting force, the robotic arm 200 moves and drives the oral care device to move relative to the tooth model, so that the oral care device moves in a direction approaching or away from the tooth model, thereby adjusting the force applied by the oral care device to the tooth model.

[0083] In some embodiments, when the test module 100 includes the camera module 40, based on the images captured by the camera module 40: the robotic arm 200 moves and drives the test piece 600 to move relative to the piece to be cleaned 700, so as to adjust the movement trajectory of the test piece 600, the angle of the test piece 600 relative to the piece to be cleaned 700, and / or the force applied by the test piece 600 to the piece to be cleaned 700; and / or, the fixture 20 drives the test piece 600 to rotate self - sufficiently, so as to adjust the angle of the test piece 600 relative to the piece to be cleaned 700. It should be noted that the camera module 40 includes a camera.

[0084] Specifically, in some embodiments, when the test piece 600 is an oral care device and the piece to be cleaned 700 is a tooth model, the camera module 40 can capture images of the oral care device and / or the tooth module. Based on the images captured by the camera module 40, the robotic arm 200 moves and drives the oral care device to rotate relative to the tooth model; and / or, the fixture 20 drives the test piece 600 to rotate self - sufficiently.

[0085] Exemplarily, during the process of clamping the oral care device, the camera module 40 can capture images of the oral care device. Based on the images of the oral care device captured by the camera module 40, the robotic arm 200 can drive the fixture 20 to move together; and / or, the clamping assembly 25 rotates relative to the connecting member 10, so that the clamping assembly 25 can accurately clamp the oral care device.

[0086] Exemplarily, when the fixture 20 clamps the oral care device, the camera module 40 can capture images of the tooth model. Based on the images of the tooth model captured by the camera module 40, the robotic arm 200 can move and drive the oral care device to move relative to the tooth model; and / or, the fixture 20 drives the oral care device to rotate self - sufficiently, so as to adjust the angle of the oral care device relative to the tooth model, thereby enabling the oral care device to make sufficient contact with different regions of the teeth.

[0087] Exemplarily, when the fixture 20 holds the oral care device, the camera module 40 can capture an image of the tooth model. Based on the image of the tooth model captured by the camera module 40, the robotic arm 200 can move and drive the oral care device to move relative to the tooth model to adjust the force exerted by the oral care device on the tooth model, so that the oral care device can effectively clean the dirtier areas (such as areas with more dental plaque) on the tooth model.

[0088] Exemplarily, during the process of gripping the oral care device, the camera module 40 can capture an image of the oral care device. Based on the image of the oral care device captured by the camera module 40, the robotic arm 200 can move and drive the oral care device to move relative to the tooth model to adjust the movement trajectory of the oral care device. Specifically, based on the image of the oral care device captured by the camera module 40, the controller can determine the movement trajectory of the oral care device and evaluate whether it is regular. When the movement trajectory of the oral care device is irregular, the controller can control the robotic arm 200 to move and drive the oral care device to move relative to the tooth model to adjust the movement trajectory of the oral care device.

[0089] Please refer to Figure 1 、 Figure 3 and Figure 5 , in some embodiments, when the test module 100 includes the sensor module 30 and the camera module 40, based on the magnitude and direction of the acting force detected by the force sensor and the image captured by the camera module 40: the robotic arm 200 moves and drives the workpiece to be detected 600 to move relative to the workpiece to be cleaned 700 to adjust the angle of the workpiece to be detected 600 relative to the workpiece to be cleaned 700 and / or the force exerted by the workpiece to be detected 600 on the workpiece to be cleaned 700; and / or, the fixture 20 drives the workpiece to be detected 600 to rotate to adjust the angle of the workpiece to be detected 600 relative to the workpiece to be cleaned 700.

[0090] It can be understood that, in some embodiments, the test module 100 may further include a controller, and the controller can be electrically connected to both the robotic arm 200 and the test module 100. The controller can control the movement of the robotic arm 200 based on the magnitude and direction of the acting force and the image captured by the camera module 40; and / or, control the operation of the fixture 20.

[0091] Please combine with Figure 1 , in some embodiments, when the test module 100 includes the camera module 40, the connector 10 includes a connected body portion 11 and a connecting portion 13. In the height direction H of the test module 100, the camera module 40 and the fixture 20 are respectively located on opposite sides of the body portion 11, and the camera module 40 and the fixture 20 are respectively located at opposite ends in the length direction X of the test module 100.

[0092] Specifically, in some embodiments, the camera module 40 and the fixture 20 are respectively located at opposite ends in the length direction X of the test module 100, which can be: the camera module 40 and the fixture 20 are respectively located at opposite ends in the length direction of the oral care device, and the camera module 40 and the fixture 20 are respectively opposite to the electric toothbrush head and the brush handle. Moreover, in the height direction H of the test module 100, the camera module 40 and the fixture 20 are respectively located on opposite sides of the body portion 11. That is, when the fixture 20 clamps the oral care device, the camera module 40 is located above the oral care device and corresponds to the electric toothbrush head, and the camera module 40 can capture an image of the electric toothbrush head. It can be understood that when the fixture 20 does not clamp the oral care device, the camera module 40 can capture an image of the whole oral care device; or, an image of a part of the oral care device (such as the brush handle or the electric toothbrush head).

[0093] In some embodiments, the connecting portion 13 is connected between the body portion 11 and the camera module 40 and is used to adjust the relative position between the camera module 40 and the body portion 11 in the height direction H of the test module 100. Thus, the connecting portion 13 can adjust the relative position between the camera module and the workpiece 600 to be detected in the height direction H of the test module 100, so as to ensure the clarity of the image of the workpiece 600 captured by the camera module 40, thereby improving the accuracy of the test result.

[0094] Please refer to Figure 1 and Figure 5 , in some embodiments, the connecting portion 13 includes a first sub-portion 131 and a second sub-portion 133. The first sub-portion 131 is fixedly connected to the body portion 11 and extends along the height direction H. The second sub-portion 133 is fixedly connected to the camera module 40. The extending direction of the second sub-portion 133 is perpendicular to the extending direction of the first sub-portion 131. The first sub-portion 131 and the second sub-portion 133 are movably connected to adjust the relative position between the camera module 40 and the body portion 11 in the height direction H of the test module 100.

[0095] Among them, the movable connection refers to a connection method between two or more components, which allows relative movement between the connected components. The first sub-portion 131 and the second sub-portion 133 are movably connected, that is, relative rotation, relative sliding or relative lifting can be achieved between the first sub-portion 131 and the second sub-portion 133. In some embodiments of the present application, the first sub-portion 131 and the second sub-portion 133 can be relatively lifted to adjust the relative position between the camera module 40 and the body portion 11 in the height direction H of the test module 100.

[0096] Further, please combine Figure 2, in some embodiments, the second sub - part 133 is provided with a through - hole 1331, and a notch 1333 communicating with the through - hole 1331 is provided at the end of the second sub - part 133 to form spaced - apart first side wall 1335 and second side wall 1337. The first sub - part 131 is inserted through the through - hole 1331, and a fastener is inserted through the first side wall 1335, the notch 1333, and the second side wall 1337 to lock the end of the second sub - part 133 at any height position of the first sub - part 131.

[0097] Specifically, in some embodiments, the second sub - part 133 includes a top wall and a bottom wall opposite to each other in the height direction H of the test module 100, and the through - hole 1331 penetrates the top wall and the bottom wall. When the first sub - part 131 is inserted through the through - hole 1331 and the fastener is not inserted through the first side wall 1335, the notch 1333, and the second side wall 1337, the first side wall 1335 and the second side wall 1337 remain spaced apart, and the second sub - part 133 can move relative to the first sub - part 131 along the height direction H of the test module 100, so that the relative position between the first sub - part 131 and the second sub - part 133 can be adjusted; when the first sub - part 131 is inserted through the through - hole 1331 and the fastener is inserted through the first side wall 1335, the notch 1333, and the second side wall 1337, the spacing between the first side wall 1335 and the second side wall 1337 is reduced or even disappears, and the second sub - part 133 cannot move relative to the first sub - part 131 along the height direction H of the test module 100, that is, the second sub - part 133 can be locked to the first sub - part 131.

[0098] In some embodiments, the body part 11 is provided with at least one first weight - reducing space 110; and / or, the connecting part 13 is provided with at least one second weight - reducing space 130, thereby reducing the weight of the connecting member 10, which is beneficial to the lightweight of the test module 100 and reduces the power consumption required for the robotic arm 200 to drive the test module 100 to move. It should be noted that, in some embodiments, the first weight - reducing space 110 can be the through - hole 1331; or, the first weight - reducing space 110 can be a blind groove; the second weight - reducing space 130 can be the through - hole 1331; or, the second weight - reducing space 130 can be a blind groove.

[0099] It can be understood that, in other embodiments, at least one of the connecting member 10, the mounting member 21, and the loading member 231 is provided with a weight - reducing space, thereby also reducing the overall weight of the test module 100 and reducing the power consumption required for the robotic arm 200 to drive the test module 100 to move.

[0100] In some embodiments, the test module 100 further includes a liquid supply module 50, and the liquid supply module 50 is disposed on the connecting member 10. The liquid supply module 50 is used to supply liquid to the workpiece 600 to be detected.

[0101] Specifically, in some embodiments, when the component to be detected 600 is an oral care device and the component to be cleaned 700 is a tooth model, the liquid supply module 50 can supply liquid to the oral care device and / or the tooth model to simulate saliva, so as to improve the authenticity of the simulated cleaning, thereby improving the accuracy and reliability of the test. It can be understood that, in some embodiments, the liquid may include but is not limited to water or toothpaste water, etc.

[0102] In some embodiments, the liquid supply module 50 includes a nozzle 51 and an adjusting member 53. The nozzle 51 is used to supply liquid to the component to be detected 600. One end of the adjusting member 53 is connected to the nozzle 51, and the other end is movably connected to the connecting member 10 to adjust the relative position between the nozzle 51 and the connecting member 10 in the height direction H of the test module 100. Thereby, the adaptability of the liquid supply module 50 can be improved, ensuring that the liquid supply module 50 can supply liquid to the component to be detected 600 and / or the component to be cleaned 700, and improving the accuracy and reliability of the test.

[0103] Specifically, in some embodiments, the connecting member 10 is provided with a through hole 1331 penetrating the top wall and the bottom wall. Among them, when the adjusting member 53 passes through the through hole 1331 and the pressing member does not pass through the connecting member 10 to abut against the adjusting member 53, the adjusting member 53 can move along the height direction H of the test module 100 in the through hole 1331 to adjust the relative position between the nozzle 51 and the connecting member 10 in the height direction H of the test module 100; when the adjusting member 53 passes through the through hole 1331 and the pressing member passes through the connecting member 10 to abut against the adjusting member 53, the pressing member can press the adjusting member 53 in the through hole 1331 to realize the fixation of the adjusting member 53 relative to the connecting member 10. It should be noted that, in some embodiments, the pressing member may include but is not limited to a pin or a bolt, etc.

[0104] Please refer to Figure 1 and Figure 3 , the oral cleaning test device 1000 according to the embodiment of the present application includes the test module 100 and the robotic arm 200 according to any of the above embodiments. The robotic arm 200 is connected to the test module 100 and is used to drive the test module 100 to move in any orientation.

[0105] In the oral cleaning test device 1000 according to the embodiment of the present application, the fixture 20 can clamp the component to be detected 600, and the robotic arm 200 is connected to the connecting member 10 and can drive the test module 100 to move through the connecting member 10, so that the component to be detected 600 performs simulated cleaning on the component to be cleaned 700, thereby realizing the performance test of the component to be detected 600. Compared with the related art, there is no need to manually use the component to be cleaned 700 for performance testing. On the one hand, the accuracy and reliability of the test results can be improved; on the other hand, there is no need for manual intervention during the test process, thereby improving the test efficiency.

[0106] In addition, the sensor module 30 can detect the force applied to the component 600 to be detected, and the camera module 40 is used to capture images including the component 600 to be detected and / or the component 700 to be cleaned, thereby further improving the accuracy and reliability of the test results.

[0107] Furthermore, the robotic arm 200 drives the test module 100 to move through the connecting member 10. In this way, the robotic arm 200 can adjust and control the position, angle, and force of the component 600 to be detected relative to the component 700 to be cleaned. Compared with only using a lead screw motor to drive the component 600 to move in a straight line, the setting of the robotic arm 200 can better simulate the behavior of artificially using the component 600 to be detected, improving the accuracy and reliability of the performance test of the test module 100 on the component 600 to be detected.

[0108] In some embodiments, the oral cleaning test device 1000 further includes a carrier 300, a first loading module 400, and a second loading module 500. The robotic arm 200, the first loading module 400, and the second loading module 500 are all arranged on the carrier 300. The first loading module 400 is used to load the component 600 to be detected, and the second loading module 500 is used to load the component 700 to be cleaned.

[0109] Specifically, please refer to Figure 4 , in some embodiments, there may be multiple first loading modules 400, and multiple first loading modules 400 are all arranged on the carrier 300. Exemplarily, the first loading module 400 includes a first type of loading module and a second type of loading module. The first type of loading module is used to load the component 600 to be detected, and the second type of loading module is used to load the component 600 that has been detected. Among them, the robotic arm 200 can drive the test module 100 to move to clamp the component 600 to be detected in the first type of loading module for detection, and after the detection is completed, the component 600 to be detected can be placed in the second type of loading module.

[0110] In some embodiments, the robotic arm 200, the first loading module 400, and the second loading module 500 can all be combined with the carrier 300 in a detachable connection manner. The detachable connection manner includes but is not limited to snap connection or threaded connection, etc. In other embodiments, the robotic arm 200, the first loading module 400, and the second loading module 500 can all be combined with the carrier 300 in a non-detachable connection manner. The non-detachable connection manner includes but is not limited to bonding or welding, etc.

[0111] Please refer to Figure 5 and Figure 6, in some embodiments, the second loading module 500 includes a liquid storage member 510 and a loading table 530. The liquid storage member 510 is provided with a liquid storage cavity 5101 and an opening 5103, and the opening 5103 communicates with the liquid storage cavity 5101. The loading table 530 is disposed at the opening 5103 and includes an adjacent main body portion 5301 and a loading portion 5303. The loading portion 5303 is used for loading the part to be cleaned 700, and the liquid storage cavity 5101 is used for storing the liquid for cleaning the part to be cleaned 700.

[0112] Specifically, in some embodiments, when the liquid supply module 50 supplies liquid to the part to be cleaned 700, the liquid can flow into the liquid storage cavity 5101 for storage, thereby preventing the liquid from flowing to other positions of the loading table 530 and affecting the normal operation of other devices.

[0113] In some embodiments, the second loading module 500 further includes a power assembly 550. The power assembly 550 is disposed on the liquid storage member 510 and includes a power member 5501 and a transmission member 5503. One end of the transmission member 5503 is connected to the power member 5501, and the other end is connected to the loading portion 5303. The transmission member 5503 is used to transmit the driving force of the power member 5501 to the loading portion 5303 to drive the loading portion 5303 to rotate relative to the main body portion 5301.

[0114] Please refer to Figure 1 and Figure 3 , the test system 5000 of the embodiment of the present application includes the oral cleaning test device 1000 of any of the above embodiments.

[0115] In the test system 5000 of the embodiment of the present application, the fixture 20 can clamp the part to be detected 600, and the robotic arm 200 is connected to the connecting member 10 and can drive the test module 100 to move through the connecting member 10, so that the part to be detected 600 performs simulated cleaning on the part to be cleaned 700, thereby realizing the performance test of the part to be detected 600. Compared with the related art, there is no need to manually use the part to be cleaned 700 for performance testing. On the one hand, the accuracy and reliability of the test results can be improved; on the other hand, there is no need for manual intervention during the test process, thereby improving the test efficiency.

[0116] In some embodiments, the test system 5000 further includes a workbench 2000, a display device 3000 and a lighting device 4000. The oral cleaning test device 1000 is disposed on the workbench 2000. The display device 3000 is at least used to display the captured images of the camera module 40 of the test module 100 and the detection data of the sensor module 30 of the test module 100. The lighting device 4000 is used to provide light to the oral cleaning test device 1000.

[0117] Among them, the workbench 2000 is a structure in the test system 5000 for loading devices such as the oral cleaning test device 1000. The material of the workbench 2000 can be a metal material or a non-metal material. Metal materials include but are not limited to aluminum, iron, steel, or aluminum alloy, etc. Non-metal materials include but are not limited to plastics, etc. In one example, the workbench 2000 can be made of a metal material, which can make the structural strength of the workbench 2000 higher, reduce the possibility of collision damage to the workbench 2000, and thus improve the stability and reliability of the operation of the test system 5000. In some embodiments of the present application, the workbench 2000 includes a cabinet body and a cabinet door movably connected to the cabinet body. The cabinet door is used to open the cabinet body, so as to facilitate the installation and maintenance of the internal structure of the workbench 2000.

[0118] It can be understood that in some embodiments, a controller and a liquid supply member can be accommodated in the workbench 2000. The liquid supply member stores liquid, and the liquid supply module 50 can supply the liquid stored in the liquid supply member to the component to be detected 600 ( Figure 5 as shown). Among them, the workbench 2000 can protect devices such as the controller and the liquid supply member.

[0119] The display device 3000 is a device in the test system 5000 for displaying content. In some embodiments of the present application, the display device 3000 includes a display screen, and the display screen is at least used for the captured images of the camera module 40 and the detection data of the sensor module 30. Among them, the display device 3000 can be arranged on the workbench 2000; or, the display device 3000 can also be arranged at other positions except the workbench 2000. It can be understood that the display device 3000 can also be used to display content such as working modes, working requirements, and test requirements.

[0120] The lighting device 4000 is a device in the test system 5000 for providing light to the oral cleaning test device 1000. In some embodiments of the present application, during the operation of the oral cleaning test device 1000, the operator needs to turn off the external ambient light and provide light to the oral cleaning test device 1000 through the lighting device 4000, so as to ensure the uniformity of light during the operation of the oral cleaning test device 1000 and improve the accuracy of the test results. In some embodiments, the lighting device 4000 can be arranged on the top of the workbench 2000.

[0121] In some embodiments, the projection of the oral cleaning test device 1000 on the workbench 2000 is within the range of the workbench 2000. This can protect the oral cleaning test device 1000, prevent the robotic arm 200 from accidentally touching, and reduce the possibility of damage to the robotic arm 200.

[0122] In the description of this specification, the descriptions referring to the terms "certain embodiments", "in one example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. 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.

[0123] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A test module for an oral cleaning test device, characterized in that: The oral cleaning test device comprises a robotic arm; the test module comprises: A connecting piece, the connecting piece is used to be connected to the mechanical arm and can move together with the mechanical arm; A clamp, the clamp is mounted on the connecting member, the clamp is used to clamp the piece to be detected, the piece to be detected is used to clean the piece to be cleaned, and the clamp is also used to drive the piece to be detected to rotate along the axis direction of the piece to be detected to adjust the direction of the piece to be detected when cleaning the piece to be cleaned; and A sensor module, the sensor module is used to detect the force applied to the detected object; or A camera module is installed on the connecting member and spaced apart from the clamp, and is used to capture an image containing the part to be inspected and / or the part to be cleaned.

2. The test module according to claim 1, characterized in that: The fixture comprises: a mounting member, the mounting member being connected to the connecting member, the mounting member being connected to the sensor module, so that the sensor module is mounted on the connecting member through the mounting member; a driving component connected to the sensor module; and A clamping assembly is connected to the driving assembly. When the driving force of the driving assembly is transmitted to the clamping assembly, the clamping assembly is used to clamp the part to be detected and / or drive the part to be detected to rotate.

3. The test module according to claim 2, characterized in that: The clamping assembly includes a rotating member and at least two clamping arms movably mounted on the rotating member, and the at least two clamping arms enclose a clamping space for clamping the to-be-detected member; the driving assembly includes: A loading member, wherein the rotating member is rotatably mounted on the loading member and is located outside the loading member; A first driving member, the first driving member is mounted on the loading member; and A first transmission component is installed on the loading member and connected to the first driving member and at least one of the clamping arms. The first driving member drives the first transmission component to drive at least one of the clamping arms to move through the first transmission component to change the size of the clamping space.

4. The test module according to claim 2, characterized in that: The clamping assembly includes a rotating member and at least two clamping arms movably mounted on the rotating member; the driving assembly also includes: A second driving member, the second driving member is mounted on the sensor module; and The second transmission component is installed on the second driving member and the rotating member, and the second driving member drives the second transmission component to drive the rotating member to rotate relative to the connecting member through the second transmission component.

5. The test module according to claim 2, characterized in that: The fixture further comprises a fixing member, and the driving assembly is connected to the sensor module via the fixing member.

6. The test module according to claim 1, characterized in that: In the case where the test module includes a sensor module, the sensor module includes a force sensor, and the force sensor is used to detect the magnitude and direction of the force applied to the test piece, based on the magnitude and direction of the force: The mechanical arm moves and drives the object to be detected to move relative to the object to be cleaned, so as to adjust the angle of the object to be detected relative to the object to be cleaned and / or the force applied by the object to be detected to the object to be cleaned; and / or, The fixture drives the object to be detected to rotate, so as to adjust the angle of the object to be detected relative to the object to be cleaned; and / or, The mechanical arm moves and drives the object to be detected to move relative to the object to be cleaned, so that the object to be detected moves in a direction close to or away from the object to be cleaned.

7. The test module according to claim 1, characterized in that: In the case where the test module includes a camera module, based on the image captured by the camera module: The mechanical arm moves and drives the object to be detected to move relative to the object to be cleaned, so as to adjust the movement trajectory of the object to be detected, the angle of the object to be detected relative to the object to be cleaned, and / or the force applied by the object to be detected to the object to be cleaned; and / or, The clamp drives the object to be detected to rotate so as to adjust the angle of the object to be detected relative to the object to be cleaned.

8. The test module according to claim 1, characterized in that: When the test module includes a camera module, the connecting member includes a main body portion and a connecting portion connected to each other; in the height direction of the test module, the camera module and the clamp are respectively located on opposite sides of the main body portion, and the camera module and the clamp are respectively located at opposite ends in the length direction of the test module.

9. The test module according to claim 1, characterized in that: When the test module includes a camera module, the connecting member includes a main body portion and a connecting portion connected to each other; the connecting portion is connected between the main body portion and the camera module, and is used to adjust the relative position between the camera module and the main body portion in the height direction of the test module.

10. The test module according to claim 9, characterized in that: The connecting portion includes a first sub-portion and a second sub-portion, the first sub-portion is fixedly connected to the main body and extends along the height direction, the second sub-portion is fixedly connected to the camera module, the extension direction of the second sub-portion is perpendicular to the extension direction of the first sub-portion, and the first sub-portion and the second sub-portion are movably connected to adjust the relative position between the camera module and the main body in the height direction of the test module.

11. The test module according to claim 10, characterized in that: The second sub-section is provided with a through hole, and the end of the second sub-section is provided with a notch connected to the through hole to form a first side wall and a second side wall spaced relative to each other. The first sub-section is passed through the through hole, and a fastener is passed through the first side wall, the notch and the second side wall to lock the end of the second sub-section at any height position of the first sub-section.

12. The test module according to claim 9, characterized in that: The main body portion is provided with at least one first weight-reducing space; and / or the connecting portion is provided with at least one second weight-reducing space.

13. The test module according to claim 1, characterized in that: The test module also includes: A liquid supply module is arranged on the connecting member, and is used to provide liquid to the object to be cleaned.

14. The test module according to claim 13, characterized in that: The liquid supply module includes a nozzle and an adjusting member, wherein the nozzle is used to provide liquid to the part to be tested, one end of the adjusting member is connected to the nozzle, and the other end is movably connected to the connecting member to adjust the relative position between the nozzle and the connecting member in the height direction of the test module.

15. The test module according to any one of claims 1 to 14, characterized in that: The part to be tested includes an oral care device; and / or The object to be cleaned includes a tooth model, a hydroxyapatite sheet or an enamel block.

16. An oral cleaning test device, characterized in that: include: The test module according to any one of claims 1 to 15; and A mechanical arm is connected to the test module and is used to drive the test module to move in any direction.

17. The oral cleaning testing device according to claim 16, characterized in that: The oral cleaning testing device also includes a carrier, a first loading module and a second loading module. The robotic arm, the first loading module and the second loading module are all arranged on the carrier. The first loading module is used to load the part to be tested, and the second loading module is used to load the part to be cleaned.

18. The oral cleaning testing device according to claim 17, characterized in that: The second loading module comprises: A liquid storage member, wherein the liquid storage member is provided with a liquid storage cavity and an opening, wherein the opening is communicated with the liquid storage cavity; The loading platform is arranged at the opening and comprises a main body and a loading part connected to each other, the loading part is used to load the object to be cleaned, and the liquid storage cavity is used to store liquid for cleaning the object to be cleaned.

19. The oral cleaning testing device according to claim 18, characterized in that: The second loading module also includes: A power component is arranged on the liquid storage part and includes a power part and a transmission part. One end of the transmission part is connected to the power part, and the other end is connected to the loading part. The transmission part is used to transmit the driving force of the power part to the loading part to drive the loading part to rotate relative to the main body.

20. A testing system, characterized in that: include: An oral cleaning test device as claimed in any one of claims 16 to 19.

21. The test system according to claim 20, characterized in that: The testing system also includes a workbench, a display device and a light-emitting device. The oral cleaning testing device is arranged on the workbench. The display device is at least used to display the captured image of the camera module of the testing module and the detection data of the sensor module of the testing module. The light-emitting device is used to provide light to the oral cleaning testing device.

22. The test system according to claim 21, characterized in that: The projection of the oral cleaning testing device on the workbench is located within the range of the workbench.

Images