Oral care device

Abstract

The utility model discloses an oral cavity nursing device, including casing, arm group, first drive subassembly and second drive subassembly, casing is equipped with the mounting hole that runs through casing, arm group includes inner arm and the outer arm that is assembled in the inner arm outside, inner arm is equipped with the inner hole that the fluid passes through, inner arm includes the nozzle that is located at the end portion, outer arm is assembled in the mounting hole in slip, and the first drive subassembly is equipped with the second drive subassembly. The two ends of the outer arm can stretch out of the 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 disclosed by the utility model 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 utility model relates to the technical field of oral care appliances, and in particular to a portable oral care device that can be precisely controlled. Background Art

[0002] Oral diseases such as caries and periodontal disease are common and frequently occurring diseases. To slow down and prevent the occurrence of oral diseases, individuals need to maintain oral hygiene and perform regular oral care in their daily lives. Common oral care devices include oral cleaning devices (e.g., electric toothbrushes, water flossers, etc.) operated by individuals, as well as oral examination devices and treatment devices (e.g., oral scanners, dental scalers, etc.) used by doctors and nurses in dental hospitals and clinics. When individuals use oral cleaning devices by themselves, on the one hand, because they do not know where to clean, they can only traverse each location to clean, which is very inefficient. On the other hand, because the cleaning effect cannot be confirmed after cleaning, stains remain on the tooth surface or in the teeth, which in turn leads to tooth corrosion and periodontal disease. When doctors and nurses use oral examination devices and treatment devices, they need to aim, clean, spray, and cut materials at specific locations on each patient's teeth (e.g., tartar, cavities, etc.), and these processes still require a lot of time and effort. In view of the above reasons, providing an oral care device with good care effect and high degree of automation has become an urgent problem to be solved.

[0003] Robotic arms are a common approach to automation, but existing robotic arms typically utilize joint modules with built-in reduction motors. While these advantages include simple assembly, high precision, and high torque, they are also bulky, unportable, and expensive. Consequently, these robotic arms are only suitable for integrated dental treatment units and surgical robots, and are not suitable for common oral care devices.

[0004] Invention application 2023109210663 discloses a compact, portable, and low-cost oral care device. Its robotic arm has two degrees of freedom: telescopic and flexural. The front end of the robotic arm can be extended into the oral cavity, enabling bidirectional motion control and precise positioning on the tooth surface. This technical solution has the following issues that could be further optimized.

[0005] (1) Waterproof and dustproof issues inside the device. During the telescopic movement of the device, the arm extends or retracts into the carrier, causing the space capacity inside the carrier to change, which in turn causes the air pressure inside and outside the carrier to be different, which can easily cause water and dust to enter the carrier, damaging the internal motor, screw and other drive components, and reducing the service life. Existing waterproof and dustproof methods for robotic arms require a large space, resulting in an increase in the volume of the part that extends into the mouth, affecting the user experience during use.

[0006] (2) The load on the telescopic motion drive component is large. During the telescopic motion of the device, the bending motion drive component is fixed to the arm body and performs telescopic motion along with the arm body, which increases the load on the telescopic motion drive component, affecting the service life of the drive component and the flexibility of the front-end control of the robotic arm. In addition, the bending motion drive component is located on one side of the telescopic motion drive component as a load, which can easily cause uneven force on the telescopic motion drive component, causing its connecting parts to deform, thereby increasing the friction between the moving parts 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 space, resulting in an increase in the volume of the part that extends into the mouth, affecting the user experience during use. Utility Model Content

[0007] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0008] To this end, the present invention provides an oral care device that utilizes minimal space, achieves waterproof and dustproof properties, reduces loads during automatic control, and improves the stability of the motion drive assembly. This allows the device to operate within the confined space of the oral cavity, offers a simple structure, and is easy to operate, facilitating both refined and complex oral care or treatment procedures.

[0009] The oral care device of the present invention comprises:

[0010] a housing, wherein the housing is provided with a mounting hole passing through the housing;

[0011] An armset, the armset comprising an inner arm and an outer arm mounted on the outer side of the inner arm, the inner arm being provided with a fluid inlet and an inner hole for fluid passage, the inner arm comprising a nozzle at an end thereof, the fluid being ejected from the nozzle to achieve care of a target location, the outer arm being slidably mounted in the mounting hole, the ends of the outer arm being respectively able to extend from and retract into the mounting hole when the armset slides, and the volumes of the outer arm being extended and retracted into the housing being consistent to maintain stable air pressure within the housing;

[0012] a first driving assembly, the first driving assembly being disposed in the housing and connected to the outer arm, and the first driving assembly being used to drive the arm assembly to slide back and forth in the mounting hole;

[0013] A second drive assembly is disposed in the housing and connected to the inner arm, and is used to drive the inner arm to bend, swing or rotate to adjust the position or spray direction of the nozzle.

[0014] The oral care device of the embodiment of the utility model can operate in the narrow space of the oral cavity, has a simple structure, and is easy to operate, providing convenience for the refined and complicated operation of oral care or treatment.

[0015] In some embodiments, the shell includes a conduit and a shell body, the conduit seal passes through the shell body, the mounting hole is formed in the conduit, the arm group is slidably assembled in the conduit, and the conduit provides support for the arm group at the front end, rear end and various circumferential directions to improve the movement stability of the arm group. The first drive assembly and the second drive assembly are both arranged in the shell body, the first drive assembly is connected to the conduit and is limited by the conduit so that the movement of the first drive assembly is more smoothly transmitted to the arm group, and the conduit is provided with a side opening, and the first drive assembly and the second drive assembly are connected to the arm group through the side opening.

[0016] In some embodiments, a plurality of suspensions are provided on the outer circumference of the catheter, the first drive assembly and the second drive assembly are spaced apart in the axial direction of the catheter, and the first drive assembly is connected to the catheter through at least part of the suspension.

[0017] In some embodiments, the first drive assembly includes:

[0018] a slider, the slider being slidably mounted on the outer peripheral side of the catheter along the axial direction of the catheter, the outer arm being provided with two first support pieces extending from the side opening and slidably mounted along the side opening, the slider being tightly mounted on the first support pieces in the axial direction of the catheter so that there is no backlash when the slider drives the arm group to move in the reverse direction;

[0019] a first motor and a lead screw, wherein 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 and the lead screw are connected and used to drive the lead screw to rotate, and the lead screw is parallel to the guide tube;

[0020] In a direction perpendicular to the plane through which the lead screw and the guide tube pass, the slider is tightly fitted to the guide tube to prevent the slider from rotating with the lead screw and generating lost motion;

[0021] In the direction away from the lead screw, the slider and the guide tube are loosely assembled, so as to reduce the difficulty of assembling the slider and improve the fault tolerance of the structural deviation between the first driving component and the arm group.

[0022] In some embodiments, the second driving assembly includes a second motor, a rotating wheel, and a connecting member, wherein the second motor is connected to the rotating wheel and is used to drive the rotating wheel to rotate, the connecting member is bendable and wrapped around the rotating wheel, and the rotation of the rotating wheel can drive the connecting member to generate traction displacement, and the connecting member 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, deform, or rotate;

[0023] The inner arm includes a curved arm section connected to the nozzle. The end of the outer arm is provided with a first extension. The connecting member is laid along the outer arm to the first extension, overlapped with the first extension, and then connected to the nozzle. The traction displacement applied by the connecting member causes the curved arm section to bend.

[0024] Alternatively, the connecting member is connected to the circumference of the inner arm, and the force exerted by the connecting member on the circumference of the inner arm generates a rotational torque to drive the inner arm to rotate around the central axis of the inner arm.

[0025] In some embodiments, the first drive assembly includes a first position sensor, which is provided at one or both ends of the lead screw and is configured to emit an arrival signal when in contact with the slider to provide reference information of the slider position; the second drive assembly includes a second position sensor, which is disposed adjacent to the connecting member and triggers the second position sensor to emit an arrival signal when the connecting member reaches a specific traction displacement to provide reference information of the traction displacement of the connecting member;

[0026] Both the first drive assembly and the second drive assembly use 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 part at that moment can be calculated, which can be further used to accurately control the position of the nozzle or the injection direction.

[0027] In some embodiments, the second drive assembly includes a curved and extended sheath body, the outer arm is provided with a second support piece extending from the side opening and slidable along the side opening, a limiting hole is provided on the side of the rotating wheel, one end of the sheath body is connected to the second support piece, the other end of the sheath body is inserted into the limiting hole and arranged opposite to the rotating wheel, the connecting piece is engaged with the sheath body and passes through the second support piece, one end of the sheath body can slide following the second support piece while the other end is fixed, while maintaining 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.

[0028] In some embodiments, the second motor is directly or indirectly connected to the catheter through a driving bracket, and the driving bracket is provided with two limiting holes and two slots, and the two slots are connected to the two limiting holes in a one-to-one correspondence. There are two connecting pieces, which are a first connecting piece and a second connecting piece respectively. The first connecting piece passes through one of the slots, and the sheath body on the outer peripheral side of the first connecting piece is plugged into one of the limiting holes. The second connecting piece passes through the other slot, and the sheath body on the outer peripheral side of the second connecting piece is plugged into the other limiting hole.

[0029] 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 along the limiting hole, thereby preventing the traction force of the connecting member from causing the second motor to move in the driving bracket.

[0030] In some embodiments, a sheath tube is provided between the connector and the sheath body, and the sheath tube has self-lubricating properties to reduce frictional resistance between the connector and the sheath body.

[0031] In some embodiments, the diameter of the mounting hole is consistent along the extension direction of the mounting hole, and the radial size of the arm group is consistent along the extension direction of the arm group;

[0032] And / or, it includes a track, the track is connected to the shell and is provided with a track cavity, and the outer arm is slidably assembled in the track cavity.

[0033] In some embodiments, a lubricating component is provided between the outer arm and the wall of the mounting hole, and the lubricating component is used to reduce the friction between the outer arm and the wall of the mounting hole;

[0034] And / or, the outer arm and the mounting hole are assembled to prevent rotation along the circumferential direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the oral care device according to an embodiment of the present invention.

[0036] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the structure inside the shell of the oral care device from a downward perspective.

[0037] Figure 3 yes Figure 1 A three-dimensional schematic diagram of the structure inside the shell of the oral care device from an upward perspective.

[0038] Figure 4 yes Figure 1 Schematic diagram of the rear view of the oral care device.

[0039] Figure 5 yes Figure 4 Schematic cross-sectional view at AA in the middle.

[0040] Figure 6 This is a schematic diagram of the assembly of the arm group, catheter, image acquisition module and sheath of the utility model.

[0041] Figure 7 yes Figure 6 A partial enlarged schematic diagram of the front center.

[0042] Figure 8 yes Figure 6 Bottom side diagram in .

[0043] Figure 9 Schematic diagram of the outer arm and sheath of an embodiment of the present invention.

[0044] Figure 10 Schematic diagram of the inner arm of an embodiment of the present utility model.

[0045] Figure 11 Schematic diagram of the track of the embodiment of the present invention.

[0046] Figure 12 It is a rear side schematic diagram of the suspension connected to the second motor in an embodiment of the present utility model.

[0047] Figure 13 It is a schematic diagram of a first drive assembly according to another embodiment of the present invention.

[0048] Figure 14 It is a structural schematic diagram of a connecting piece and an arm group according to another embodiment of the present invention.

[0049] Reference numerals:

[0050] Shell 1; shell body 11; conduit 12; side opening 121; sliding groove 122;

[0051] Track 2; track cavity 21; first guide groove 22; second guide groove 23;

[0052] Arm assembly 3; inner arm 31; nozzle 311; curved arm section 312; transmission device 313; outer arm 32; first support plate 321; second support plate 322; first extension portion 323; second extension portion 324; wire hole 325; connecting block 326; steering hole 3261;

[0053] Image acquisition module 4;

[0054] Suspension 5; front suspension 51; middle suspension 52; rear suspension 53;

[0055] First drive assembly 6; slider 61; first motor 62; lead screw 63; first position sensor 64; optical axis 65; linear bearing 66;

[0056] The second driving assembly 7 ; the rotating wheel 71 ; the connecting member 72 ; the first connecting member 721 ; the second connecting member 722 ; the second motor 73 ; the sheath 74 ; the second position sensor 75 ; the driving bracket 76 ; the limiting hole 761 ; the slot 762 ; and the buckle 763 . DETAILED DESCRIPTION

[0057] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0058] The oral care device of the embodiment of the present utility model 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.

[0059] like Figure 1 As shown, the housing 1 can generally be comprised of two independent parts: a housing body 11 and a conduit 12. The housing body 11 can generally be cylindrical, and the conduit 12 can be tubular. The interior space of the conduit 12 forms a mounting hole. The front and rear covers of the housing body 11 can each be provided with a through hole. The conduit 12 fits within the two through holes and passes through the housing body 11 in the front-to-back direction. The conduit 12 and the two end covers can be sealed.

[0060] In some other embodiments, the conduit 12 may also be integrally formed with the shell body 11 . In this case, the mounting hole may be regarded as a through hole that directly penetrates the shell 1 .

[0061] The track 2 is connected to the housing 1 and is provided with a track cavity 21, such as Figure 1 and Figure 2 As shown, the track 2 can be connected to the front side of the shell 1, specifically, it can be connected to the front end of the conduit 12. The track 2 is a shell-like structure, and the internal space of the track 2 forms a track cavity 21. The track cavity 21 is connected to the mounting hole in the conduit 12 and is an open cavity, 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.

[0062] In some embodiments, in order to achieve the purpose of detachable / replaceable track 2, track 2 includes an arc clamp and a latch. The arc clamp is located at the connection between track 2 and conduit 12, and the inner arm of the arc clamp matches the shape of the outer wall of conduit 12, with an arc greater than 180 degrees (for example, 210 degrees). The latch is located at the connection between track 2 and the front side of shell 1. During installation, first place conduit 12 at the opening of the arc clamp, press conduit 12 to buckle it into the arc clamp; then move track 2 toward the rear along conduit 12, and insert the latch into the front side of shell 1. Disassembly can be performed in the opposite steps and manner to installation, that is, first move track 2 toward the front along conduit 12, pull the latch out of the front side of shell 1; then bend conduit 12 out of track 2 from the opening direction of the arc clamp.

[0063] When in use, the track 2 can be inserted into the human oral cavity, and the arm group 3 can be inserted into the track cavity 21 through the mounting hole, and then can be exposed from the opening, thereby achieving cleaning and care of the human oral cavity and treatment of teeth.

[0064] like Figure 1 As shown, the main body of the armset 3 is assembled within the mounting hole, and the armset 3 can slide back and forth within the mounting hole. The cross-sectional shape of the mounting hole is substantially consistent with that of the armset 3, minimizing the gap between the two. This not only reduces space waste but also facilitates waterproofing and dustproofing. The armset 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. The outer arm 32 can slide and fit simultaneously within the mounting hole and the track cavity 21. During use, the outer arm 32 can slide simultaneously within the track cavity 21 and the mounting hole. The inner arm 31 is assembled within the outer arm 32, and the inner and outer arms 31 and 32 can be sealed and fixedly connected. For example, the inner arm 31 can be inserted into the outer arm 32 and can be fixedly connected to the outer arm 32 by welding, keying, or other means. Therefore, when the outer arm 32 moves back and forth within the mounting hole, the inner arm 31 can move synchronously with the outer arm 32.

[0065] The inner arm 31 is provided with an inner hole, such as Figure 5 and Figure 10 As 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 generates high-pressure fluid, such as tap water or an oral irrigator, through a flow conduit. Fluids such as clean water, oral rinse, and medication are then delivered to the nozzle 311 through the inner hole and sprayed out.

[0066] In some embodiments, the inner arm 31 includes a curved arm section 312 connected to the nozzle 311. The curved arm section 312 can be connected to the rear of the nozzle 311. The bending of the curved arm section 312 can adjust the position and direction of the nozzle 311, thereby meeting the needs of using jets in different positions and directions, and providing care for different target locations through the jets. In other embodiments, the inner arm 31 can rotate circumferentially within the outer arm 32, and the nozzle 311 can follow the circumferential rotation of the inner arm 311, causing the jet direction of the nozzle 311 to change, thereby providing care for different target locations through the jets.

[0067] The diameter of the mounting hole is consistent along its extension direction, and the radial dimension of the armset 3 is consistent along its extension direction. For example, the mounting hole can be a circular hole, and its diameter can remain constant along the front-to-back direction. The portion of the outer arm 32 of the armset 3 that fits within the mounting hole can be tubular, and the outer diameter of the outer arm 32 in this portion also remains constant along the front-to-back direction. During use, the front and rear ends of the outer arm 32 can extend from the front and rear openings of the mounting hole.

[0068] Therefore, during the reciprocating movement of the outer arm 32 back and forth, the spatial changes of the front and rear parts of the mounting hole will complement each other, that is, in the relatively sealed space within the shell 1, the overall volume of the part of the outer arm 32 located within the shell 1 during the sliding process remains roughly unchanged, that is, the volume of the outer arm 32 extending / 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 spatial capacity within the shell 1 will not change during the sliding process of the outer arm 32, thereby maintaining the air pressure within the shell 1 stable, and facilitating the waterproof and dustproof design within the shell 1.

[0069] It is worth noting that the retraction and extension of the outer arm 32 from the rear outlet of the mounting hole is a relative motion and can be concealed. Specifically, when the maximum displacement of the retraction / extension motion of the outer arm 32 is WL, the rear end of the outer arm 32 can be retracted inwardly relative to the rear end of the conduit 12 by WL, thereby concealing the entire retraction / extension motion of the outer arm 32 within the conduit 12.

[0070] The image acquisition module 4 is provided on the outer arm 32 and is slidably fitted into the rail cavity 21, for example, 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-channel 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 can be fixed to the front end of the outer arm 32 and can be slidably assembled with the cavity wall of the track cavity 21. In other embodiments, the camera end 41 can also be fixed to the front end of the nozzle 311 and can be controlled by the curved arm section 312 to follow the movement of the nozzle 311. The embedded electronic system may include an image / video processing, image / video analysis, or image / video transmission system.

[0071] During use, the image acquisition module 4 can capture images of the interior of the oral cavity. Furthermore, by sliding the outer arm 32 back and forth or bending the arm section 312, it is possible to take photos of the corresponding area of the opening on the track 2 from multiple positions and angles. This enables visual operation, further improving operational convenience and providing a visual data basis for automated control.

[0072] The first driving assembly 6 is disposed in the housing 1 and connected to the outer arm 32, and the first driving assembly 6 is used to drive the arm group 3 to slide back and forth in the mounting hole. Figure 2 As shown, the first drive assembly 6 can be installed in the shell body 11. The first drive assembly 6 can be a linear module such as a telescope, as shown in FIG. Figure 3 As shown, a side opening 121 is provided on the catheter 12, and the output end of the first drive component 6 can pass through the side opening 121 and be connected to the outer arm 32 of the arm group 3. When in use, the outer arm 32 can be driven to slide by the extension and contraction of the first drive component 6, thereby realizing the reciprocating drive of the arm group 3, meeting the use needs of deep oral cavity operations.

[0073] The second driving assembly 7 is disposed in the housing 1 and connected to the inner arm 31, and the second driving assembly 7 is used to drive the bending arm section 312 to swing to adjust the position of the nozzle 311. For example, Figure 2 As shown, the second drive assembly 7 can be installed within the housing 11 and can be located behind the first drive assembly 6. The second drive assembly 7 can be a rope-driven drive assembly. The rope of the second drive assembly 7 can also be extended into the conduit 12 through the side opening 121 of the conduit 12. The rope can then be laid along the front end of the inner arm 31 of the conduit 12 and connected to the nozzle 311 on the inner wall. During use, the rope can be used to pull the nozzle 311, and the adaptive swing of the curved arm section 312 can be used to adjust the position and spray direction of the nozzle 311.

[0074] It should be noted that in other embodiments, the inner arm 31 and the outer arm 32 can move synchronously along the mounting hole or can generate relative motion between the inner arm 31 and the outer arm 32. This allows the nozzle 311 and other components on the inner arm 31 to be adjusted axially relative to the mounting hole or to rotate circumferentially relative to the outer arm 32. This allows for more flexible adjustment of the specific position and spray direction of the nozzle 311, thereby enhancing operational flexibility. In this case, a seal can be established between the inner arm 31 and the outer arm 32 using a sealing ring or the like. This ensures a seal between the inner arm 31 and the outer arm 32 while also allowing for relative movement between the inner arm 31 and the outer arm 32.

[0075] The oral care device of the embodiment of the utility model can operate in the narrow space of the oral cavity, has a simple structure, low material and labor costs, and is easy to operate, providing convenience for refined and complex oral care or treatment operations.

[0076] Since the main part of the arm group 3 is fitted in the catheter 12, the supporting effect of the tube wall of the catheter 12 at the front end, the rear end and all circumferential directions can prevent the arm group 3 from tilting up and down or deflecting left and right, so that the movement of the first drive component 6 is more smoothly transmitted to the arm group 3, making the reciprocating movement of the arm group 3 smoother and more stable, providing convenience for operations such as oral care or treatment.

[0077] Secondly, since the arm group 3 is arranged in an independent mounting hole, the arm group 3 and the space inside the shell 1 are separated, and independent protection of the arm group 3 and other components is achieved, so that the resistance of the arm group 3 during sliding and bending deformation is small, and it is not easy to contact and interfere with other components in the shell 1, nor is it easy to wear, thereby ensuring the stability and independence of the adjustment and movement of the arm group 3.

[0078] In addition, the setting of the mounting hole can also play a role of limiting constraints, that is, except for the front end of the arm group 3 that can be bent and deformed, the other parts can be straight tube-shaped and can have a higher structural strength, thereby improving the convenience of placing the oral care device and operating it in the oral cavity.

[0079] In some embodiments, a plurality of suspensions 5 are provided on the outer circumference of the conduit 12. The first drive assembly 6 and the second drive assembly 7 are spaced apart in the axial direction of the conduit 12, and the first drive assembly 6 is suspended and connected to the conduit 12 via at least a portion of the suspensions 5. Because the armset 3 is located within the conduit 12, securing the first drive assembly 6 to the conduit 12 can reduce the fit error between the first drive assembly 6 and the armset 3 compared to securing it to the housing 11, thereby allowing the movement of the first drive assembly 6 to be more accurately transmitted to the armset 3.

[0080] For example, Figures 2 to 5As shown, there can be three suspensions 5, and the three suspensions 5 can be mounted and fixed on the outer peripheral side of the catheter 12 and arranged at intervals along the front-to-back direction (the axial direction of the catheter 12). For the convenience of description, the three suspensions 5 will be referred to as the front suspension 51, the middle suspension 52 and the rear suspension 53 according to the different front-to-back order.

[0081] The first drive assembly 6 can be installed between the front suspension 51 and the middle suspension 52, and the second drive assembly 7 can be installed between the middle suspension 52 and the rear suspension 53. This suspension installation method can simplify the installation structure and provide convenience for installation. On the other hand, it can enable the first drive assembly 6 and the second drive assembly 7 to be equally spaced from the guide tube 12, thereby further avoiding interference between the arm group 3 and the first drive assembly 6 and the second drive assembly 7 during use.

[0082] In some embodiments, as Figures 2 to 5 As shown, the first drive assembly 6 includes a slider 61, a first motor 62, and a lead screw 63, wherein the first motor 62 is connected to and controlled by the embedded electronic system. The slider 61 is slidably mounted on the outer periphery of the catheter 12. For example, the slider 61 may be provided with a through hole, and the catheter 12 can fit within the through hole of the slider 61. The outer wall of the catheter 12 and the inner wall of the through hole of the slider 61 can be polished to be relatively smooth to reduce the resistance of the slider 61 to the axial forward and backward movement of the catheter 12. The outer arm 32 is provided with two first support plates 321 extending from the side opening 121. The first support plates 321 can be integrally formed with the outer arm 32, and the two first support plates 321 can be generally in an "eight" shape. The side opening 121 of the catheter 12 can have a certain length in the front-to-back direction, so that the two first support plates 321 can slide back and forth within the side opening 121.

[0083] like Figure 5 As shown, the slider 61 can be clamped between the two first support pieces 321. When the slider 61 moves forward and backward, the slider 61 can stop with the corresponding first support piece 321, thereby driving the outer arm 32 to move forward and backward, realizing the sliding drive of the arm group 3.

[0084] Specifically, the slider 61 drives the outer arm 32 via the first support piece 321, which in turn drives the inner arm 31 and nozzle 311 to move back and forth, meeting the care needs of different depths in the oral cavity. The slider 61 closely cooperates with the outer arm 32, inner arm 31, and nozzle 311, allowing the displacement of the slider 61 to be accurately transmitted to the nozzle 311, facilitating precise control of the nozzle 311's position by the first drive assembly 6.

[0085] The first motor 62 and the lead screw 63 are provided between two adjacent suspensions 5. The first motor 62 and the lead screw 63 are connected and used to drive the lead screw 63 to rotate. The lead screw 63 is threadedly assembled with the slider 61 and is parallel to the guide tube 12. Specifically, Figure 2 、 Figure 3 and Figure 5 As shown, the first motor 62 can be mounted on the rear side of the front suspension 51, and the lead screw 63 can be disposed 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 rotatably assembled with the middle suspension 52. The slider 61 can be provided with a threaded hole, and the lead screw 63 can be screwed into the threaded hole of the slider 61.

[0086] During 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 along the axial direction of the catheter 12, thereby realizing reciprocating drive of the arm group 3.

[0087] refer to Figure 2 In the direction shown, the left-right dimension of the through hole of the slider 61 is substantially equal to the outer diameter of the conduit 12, so that the slider 61 does not rotate along with the lead screw 63, thereby avoiding the problem of lost motion caused by the rotation of the slider 61. In other embodiments, the lost motion problem of the lead screw 63 can also be avoided by using a linear module, such as Figure 13 As shown. The linear module includes an optical axis parallel to the lead screw 63, and the slider 61 is connected to the optical axis through a linear bearing. The optical axis prevents the slider from rotating along the lead screw 63, but can only move along the axial direction of the lead screw 63. Figure 2 In the screw transmission structure shown, the guide tube 12 also has the effect of replacing the optical axis, thereby reducing the cost of the first drive component and reducing the installation space requirement.

[0088] The size of the through hole of the slider 61 in the vertical direction is set to be larger than the outer diameter of the conduit 12, which allows the slider 61 to slide in the vertical direction relative to the conduit 12. This feature reduces the difficulty of assembling the slider 61 and the conduit 12 on the one hand, and reduces the parallelism requirements of the screw 63 and the conduit 12 on the other hand, thereby improving the fault tolerance of structural deviations. For example, there may be deviations between the front suspension 51 and the middle suspension 52 during production or assembly, or the heating of the motor may cause the front suspension 51 to expand and contract, etc. These reasons may cause the screw 63 to be non-parallel to the conduit 12, that is, there may be a small deviation in the distance between the front and rear ends of the screw 63 and the conduit 12. This difference can be offset by the sliding of the slider 61 relative to the conduit 12.

[0089] In some other embodiments, the first support piece 321 can be installed from the side. Figure 13As shown, the sidewall of the catheter 12 includes a sliding groove parallel to the central axis. The upper end of the first support piece 321 faces the central axis of the catheter 12 and passes through the sliding groove to connect to the armset 3. The sliding groove is elongated, with a width slightly greater than the thickness of the first support piece. Its length is determined by the travel of the slider and can be the same as the length of the lead screw 63. The lower end of the first support piece 321 is fixed to the slider 61. This can be achieved by screwing the first support piece 321 to the left and right sides of the slider 61, so that the upper end of the first support piece 321 is tightly attached to the sides of the armset 3. During use, the first motor 62 drives the lead screw 63 to rotate. The slider 61 is constrained in the left-right direction by the first support pieces 321 and the armset 3, and can only move forward and backward. This in turn drives the first support piece 321 and the armset 3 to move forward and backward. When the distance between the front and rear ends of the lead screw 63 and the catheter 12 deviates slightly, the sliding groove on the sidewall of the catheter 12 causes the support piece 321 to elastically deform in the vertical direction, thereby offsetting the deviation.

[0090] In the above structure, the slider 61, first support plate 321, and armset 3 fit tightly together in the front-to-back direction, while allowing for vertical deviation. This method provides stable transmission, minimizes travel during forward and reverse motion, and achieves high precision, satisfying the need for precise adjustment of the armset 3. Furthermore, compared to telescopic drives, the size of the lead screw 63 and motor remains unchanged, thereby reducing the internal space requirements of the housing 1.

[0091] Optionally, the middle suspension 52 may be equipped with a bearing, which may specifically be a ball bearing. The lead screw 63 may be rotatably assembled with the middle suspension 52 through the bearing, thereby reducing the rotational resistance of the lead screw 63 when rotating.

[0092] The first drive assembly 6 includes a first position sensor 64, which is connected to the embedded electronic system and is used to provide reference information when the slider reaches a specific position. The first position sensor 64 can be a mechanical key sensor (such as a KW-03 micro-tact switch) located along the travel path of the slider 61. When the slider 61 reaches a specific position, the key sensor is triggered, thereby emitting an arrival signal. The first position sensor 64 can also be a photoelectric sensor or a magnetic induction Hall effect sensor (such as a HAL251 Hall effect switch) located near the travel path of the slider 61. When the slider 61 reaches a specific position, the sensor changes state, thereby emitting an arrival signal.

[0093] In some embodiments, there is only one first position sensor 64, and the first motor 62 is 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 angle of rotation of the motor at a certain moment after the arrival of the 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 a lead screw 63 pitch b (i.e., the displacement of the slider 61 is b for every 360° rotation of the first motor 62). After the arrival signal, given the number of stepper motor pulses x at a certain moment, the angle of rotation of the first motor 62 is a*x, and the displacement of the slider 61 is a*b*x / 360.

[0094] The first position sensor 64 can also be a grating sensor, which can be installed on the motor or screw 63. The grating sensor emits an electrical signal (an electrical pulse) every time the motor or screw 63 rotates a certain angle. Starting from a specific position (e.g., a starting point), the embedded electronic system can calculate the total angle of rotation of the motor or screw 63 by accumulating the electrical signals at a certain moment, and thus deduce the position of the slider 61 at that moment.

[0095] In some embodiments, there are two first position sensors 64, one at each end of the lead screw 63, configured to send an arrival signal when the slider 61 reaches either end of the lead screw 63. Upon receiving the arrival signal, the embedded electronic system 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, thereby preventing the slider 61 from exceeding the range between the two first position sensors 64, thereby achieving a position limiting effect. The provision of two first position sensors can provide reference information for the slider reaching two positions, thereby detecting the operating status and problems of the first drive assembly. For example, self-testing can detect faults such as step loss in the stepper motor, facilitating subsequent maintenance and repair.

[0096] For example, Figure 2 and Figure 3 As shown, a first position sensor 64 can be installed on the rear end face (front side) of the first motor 62, and another 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 has reached the extreme position. For example, when the slider 61 touches the first position sensor 64 on the front side, the first position sensor 64 will give a signal of reaching the starting point; 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 a signal of reaching the end point.

[0097] 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 .

[0098] In some embodiments, as Figure 2 and Figure 3 As shown, the second drive assembly 7 includes a rotating wheel 71, a connector 72, and a second motor 73. The second motor 73 is connected to and controlled by the embedded electronic system. The rotating wheel 71 can be a winding wheel, which can be in the shape of a wheel disk. The rear end of the connector 72 is fixed to the rotating wheel 71 and can be bent and wound around the side of the rotating wheel 71. For example, the connector 72 can be a steel wire rope with a diameter of 0.3 mm. In other embodiments, the connector 72 can also be a fiber rope or other high-strength rope.

[0099] 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, a wire hole 325 can be provided on the outer arm 32, and the connecting member 72 can 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 member 72 can be laid along the outer arm 32, and the front end of the connecting member 72 can extend from the front port of the outer arm 32 and be connected to the nozzle 311.

[0100] like Figure 3 As shown, the second drive assembly 6 includes a drive bracket 76. The second motor 73 can be integrated with a gear assembly to form a drive assembly. The drive assembly is assembled inside the drive bracket 76. The output shaft of the second motor 73 is connected to the rotating wheel 71 through the gear assembly. The drive bracket 76 can be fixed to the side of the conduit 12 via the rear suspension 53. For example, the drive bracket 76 can be integrally formed with the rear suspension 53 or fixed to the inner wall of the shell body 11.

[0101] When in use, the second motor 73 can drive the 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.

[0102] In some embodiments, the second driving assembly 7 includes a curved and extending sheath 74, such as Figure 2 、 Figure 3 and Figure 5As shown. The sheath 74 cooperates with the connector 72 to achieve deformable, flexible traction. Specifically, when the traction path of the connector 72 deforms, the traction force exerted by the runner 71 on the connector 72 can be effectively transmitted to the interior of the armset 3. To achieve this, the sheath 74 can be a flexible pipe that provides effective support, such as a flat spring tube. The deformation of the traction path occurs because the first drive assembly 6 drives the armset 3 to slide back and forth within the mounting hole, causing the armset 3 to shift relative to the runner 71, thereby deforming the traction path of the connector 72.

[0103] The sheath 74 is positioned over a portion of the outer periphery of the connector 72, primarily encompassing the traction path within which the connector 72 can deform. The sheath 74 can be generally U-shaped, with one end supported on the outer arm 32 and the other end supported to the side of the wheel 71. In this arrangement, when the armset 3 moves relative to the wheel 71, the traction force of the wheel 71 is transmitted to the interior of the armset 3 through the support of the sheath 74 and the sliding movement of the connector 72 on the sheath 74, thereby controlling the bending of the arm segments 312.

[0104] 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 rectangular and may 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 sheath 74 may be connected to the second support piece 322, and the second support piece 322 may be provided with a through hole. The bottom end of the sheath 74 may be arranged opposite the rotating wheel 71, for example, the bottom end of the sheath 74 may be located directly behind the rotating wheel 71. After being extended from the rotating wheel 71, the connecting member 72 may pass through the through hole in the sheath 74 and the second support piece 322, and then extend into the outer arm 32 through the side opening 121 in the catheter 12 and the wire hole in the outer arm 32.

[0105] On the one hand, the setting of the sheath 74 can play a protective role for the connecting member 72, avoiding the situation where the connecting member 72 is easily in contact with the first drive component 6, the second drive component 7, etc. during use, thereby achieving the finalization of the position of the connecting member 72; on the other hand, the sheath 74 has a guiding function, so that the connecting member 72 can always maintain the same traction direction of the arm group 3 relative to the second support piece 322, ensuring the stability and direction consistency of the traction drive, and maintaining the pulling force and pulling displacement of the connecting member 72 without changing due to the deformation of the traction path, and ultimately ensuring that the traction force of the connecting member 72 is effectively transmitted to the arm group 3.

[0106] In prior art 2023109210663, the second motor 73 is fixed to the armset 3 to prevent deformation of the traction path, thus eliminating the need for a sheath. This approach requires the second motor 73 and its accessories (wheel 71, drive circuit, etc.) to reciprocate within the mounting hole following the armset 3, reducing the flexibility of the armset 3 and increasing the load on the first drive assembly 6. Compared to the prior art, the load on the first drive assembly 6 is reduced, reducing the space required for the second drive assembly 7.

[0107] In some embodiments, as Figure 6 and Figure 7 As shown, the connecting member 72 includes a first connecting member 721 and a second connecting member 722. The first connecting member 721 and the second connecting member 722 are both rope-like structures. One end of the rope-like structure is fixed to the rotating wheel 71 and wrapped around the side of the rotating wheel 71, and the other end of the rope is connected to the nozzle 311. Specifically, the connecting member 72 can have two steel wire ropes, and the two connecting members 72 are respectively the first connecting member 721 and the second connecting member 722. The first connecting member 721 overlaps the outer wall surface on the left side of the outer arm 32 and is connected to the left side of the nozzle 311, and the second connecting member 722 overlaps the outer wall surface on the right side of the outer arm 32 and is connected to the right side of the nozzle 311. The connecting member 72 is partially fixed to the rotating wheel 71 to prevent the connecting member 72 from sliding on the surface of the rotating wheel 71, thereby ensuring that the rotation angle of the rotating wheel 71 and the displacement of the traction of the connecting member 72 form a precise mapping relationship.

[0108] In some other embodiments, only one connecting member 72 may be provided. In this case, the middle portion of the connecting member 72 may be fixed to the rotating wheel 71 and wrapped around the circumference of the rotating wheel 71, and the two extending sections of the connecting member 72 extending from the rotating wheel 71 respectively form the first connecting member 721 and the second connecting member 722.

[0109] like Figure 6 、 Figure 8 and Figure 9 As shown, two sheath bodies 74 may be provided. The two sheath bodies 74 may have the same shape and may be arranged in parallel and spaced apart in the left-right direction. The two sheath bodies 74 may be respectively sleeved on the outer circumference of the first connecting member 721 and the second connecting member 722 .

[0110] When in use, the rotation of the wheel 71 can simultaneously pull or release 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 wheel 71 rotates forward, the first connecting member 721 can be reeled in 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 be offset to the left around the bending arm section 312. When the wheel 71 rotates backward, the first connecting member 721 can be released and the second connecting member 722 can be reeled in. At this time, the second connecting member 722 pulls the nozzle 311 to the right, so that the nozzle 311 can be offset to the right, realizing the adjustment of the nozzle 311 in two relative directions.

[0111] In some embodiments, as Figure 6 and Figure 7 As shown, the end of the outer arm 32 is provided with two first extensions 323 and a second extension 324. Both the first extension 323 and the second extension 324 are elongated and extend generally in the front-to-back direction. The two first extensions 323 are arranged in mirror-image symmetry in the left-right direction. The first connector 721 can pass through the left first extension 323 twice and overlap it, while the second connector 722 can pass through the right first extension 323 twice and overlap it. The first extension 323 forms a support structure relative to the nozzle 311, on which the first and second connectors 721 and 722 can slide. Similar to a fixed pulley, this support structure can change the direction of the pulling force of the first and second connectors 721 and 722, so that the pulling force is nearly perpendicular to the centerline of the inner arm near the nozzle 311, thereby increasing the moment arm of the pulling force that pulls the nozzle 311 around the rear end of the curved arm section 312. Therefore, when the torque requirement remains unchanged, the load of the second drive assembly can be reduced, thereby reducing the space requirement of the second drive assembly 7.

[0112] like Figure 11 As shown, the track cavity 21 may be provided with two first guide grooves 22 and one second guide groove 23 on its wall. Both the first guide grooves 22 and the second guide grooves 23 extend generally in the front-to-back direction. The track 2 has two side walls arranged opposite each other in the left-right direction, and the two first guide grooves 22 are respectively arranged on the two side walls.

[0113] The portion of the first connecting member 721 overlapping the left first extension portion 323 located on the left side of the first extension portion 323 can be embedded in the left first guide groove 22, and when the arm group 3 moves forward and backward, the first connecting member 721 will also slide forward and backward in the first guide groove 22.

[0114] The portion of the first connecting member 721 overlapping the first extension portion 323 on the right side and located on the right side of the first extension portion 323 can be embedded in the first guide groove 22 on the right side, and when the arm group 3 moves forward and backward, the first connecting member 721 will also slide forward and backward in the first guide groove 22.

[0115] like Figure 6 and Figure 7 As shown, the second extension portion 324 may be located between the two first extension portions 323. Figure 11 As shown, the second guide slot 23 can also be located between the two first guide slots 22. The image acquisition module 4 is located at the front end of the second extension 324 and slidably fits within the second guide slot 23. As the armset 3 moves back and forth, the image acquisition module 4 also moves back and forth within the rail cavity 21, enabling adaptive position adjustment. The provision of the first guide slot 22 and the second guide slot 23 enhances the guidance and stability of the front end of the armset 3.

[0116] In some embodiments, as Figure 12 As shown, the drive bracket 76 includes two limiting holes 761 and two slots 762. The two limiting holes 761 can be stepped holes and are arranged relative to each other in the left and right directions. The end with the smaller aperture of the stepped hole is slightly larger than the outer diameter of the connector 72 but smaller than the outer diameter of the sheath 74, and faces the front side (i.e., it is arranged relative to the side of the rotating wheel 71); the end with the larger aperture is slightly larger than the outer diameter of the sheath 74 and faces the rear side. This allows the connector 72 to pass through and slide within the limiting holes 761, but the sheath 74 can only be inserted to the end with the larger aperture and is supported by the end with the smaller aperture.

[0117] The supporting effect of the sheath 74, the limiting hole 761 and the second support piece 322 enables the connector 72 to achieve deformable flexible traction, that is, when the first drive assembly 6 drives the arm group 3 and the second support piece 322 to slide along the side opening of the catheter 12, the sheath 74 produces a corresponding deformation, so that one end of the sheath 74 slides along the second support piece 322 while the other end is fixed, while maintaining axial support for the connector 72, so that the traction displacement of the connector 72 is not affected by the sliding of the second support piece 322, and can still be accurately transmitted to the inside of the arm group 3 through the sheath 74, and change the position of the nozzle 311, and finally achieve adjustment of the injection position. The traction displacement refers to the distance that the connector 72 moves relative to the circumferential support components (limiting hole 761, sheath 74, second support piece 322, etc.) under the traction force of the second motor 73 and the rotating wheel 71. The injection position refers to the position where the fluid reaches the care target after being ejected through the nozzle, such as the position where there is a stain on the teeth.

[0118] 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. The internal spaces of the two limiting holes 761 are connected to the bottom side of the driving bracket 76 through the two slots 762. During assembly, the first connecting member 721 can be laterally inserted into one limiting hole 761 via one slot 762, and the sheath 74 on the outer peripheral side of the first connecting member 721 is inserted and fitted into the limiting hole 761; the second connecting member 722 can be laterally inserted into the other limiting hole 761 via the other slot 762, and the sheath 74 on the outer peripheral side of the second connecting member 722 is inserted and fitted into the limiting hole 761 covering the second connecting member 722.

[0119] Therefore, on the one hand, the limiting hole 761 can realize the limiting constraint of the two connecting parts 72, restricting their swing, thereby further enhancing the stability of the connecting parts 72 during traction, and on the other hand, it can realize the limiting constraint of the sheath body 74, avoiding the situation where the sheath body 74 easily swings and causes large deformation when the connecting part 72 is pulled.

[0120] In other embodiments, the spray position can also be adjusted by changing the spray direction of the nozzle 311. The second drive assembly 7 is connected to the circumference of the inner arm 31 via a connector 72. The connector 72 exerts a force on the circumference of the inner arm 31 to generate a rotational torque, driving the inner arm 31 to rotate about the central axis of the inner arm 31. The nozzle 311 is disposed at the end of the inner arm 31 and rotates with the inner arm 31.

[0121] For example, the second drive assembly 7 employs a similar rope-driven drive assembly as the previous embodiment, differing in that the second support plate 322 is generally parallel to the central axis of the outer arm 32. The connector 72 extends from the rotating wheel 71, passes through holes in the sheath 74 and the second support plate 322, and then wraps around the inner arm 31 at locations corresponding to the holes. During use, the traction force of the connector 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 spray direction of the nozzle 311 and adjusting the spray position. To prevent the connector 72 from slipping relative to the inner arm 31, the middle portion of the wrapped section of the connector 72 can be fixed to the inner arm 31, for example, by gluing or welding. The arc of rotation of the inner arm 31 and the nozzle is determined by the ratio of the traction displacement of the connector 72 to the outer diameter of the inner arm 31.

[0122] For another example, a transmission device 313 may be provided around 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 moment arm of the connecting member 72 relative to the central axis of the inner arm 31.

[0123] like Figure 14As shown, the transmission device 313 is a pipe clamp. One end of the pipe clamp is fixed to the side of the inner arm 31 by clamping, while the other end extends away from the central axis of the inner arm 31 and is fixed to the center of the connector 72 by means of snap fastening, welding, or other methods. In this fixed position, the distance between the connector 72 and the central axis of the inner arm 31 is defined as NL. Without 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. The connecting block 326 is fixed to one side of the outer arm 32 by means of snap fastening, gluing, or other methods. A second support plate 322 is provided on the connecting block 326. The through-hole configuration of the second support plate 322 can be similar to the stepped hole configuration of the limiting hole 761. It is used to pass through the connector 72 and provide a position limit for the sheath 74. Two second support plates 322 are arranged on opposite sides of the transmission device 313 to facilitate pulling the connector 72 in two directions. The central axis of the through hole in the second support plate 322 is approximately perpendicular to the central axis of the inner arm 31, NL, to ensure the stability of the traction force on the connector 72. A steering hole 3261 is also provided in the connecting block 326, with its central axis approximately parallel to the central axis of the inner arm 31. Passing the sheath 74 through the steering hole 3261 changes its extension direction from perpendicular to the central axis of the inner arm 31 to parallel to it, facilitating further connection to the stop hole 761.

[0124] For another example, the second drive assembly and its drive 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 wheel, and the transmission device 313 can be a meshing part such as a gear ring fixed on the circumferential side of the inner arm.

[0125] A supporting layer (e.g., a metal tube) and a lubricating layer (e.g., a thin-walled polytetrafluoroethylene tube, a bearing, etc.) may be provided between the inner arm 31 and the outer arm 32 to reduce resistance to rotation of the inner arm 31 relative to the outer arm 32. Advantages of this embodiment include eliminating the need for the inner arm 31 to include the curved arm section 312, eliminating the need for the connector 72 to extend to the front end of the inner arm 31, and eliminating the need for the first extension 323 on the outer arm 32.

[0126] In the aforementioned embodiments, the second drive assembly 7 includes one degree of freedom, enabling the inner arm 31 to perform one of bending, swinging, and rotational motions. In other embodiments, the second drive assembly may include two degrees of freedom, enabling the inner arm 31 to simultaneously perform bending, swinging, and rotational motions, thereby enabling the nozzle to spray in different directions at different positions. Specifically, the second drive assembly is a combination of drive structures corresponding to the two aforementioned motion modes. That is, the second drive assembly 7 may include two groups, one of which, as described in the aforementioned embodiments, drives the inner arm to perform bending and swinging motions, and the other, as described in the aforementioned embodiments, drives the inner arm 31 to rotate.

[0127] The second drive assembly 7 includes a second position sensor 75, which is connected to the embedded electronic system and is used to provide reference information when the connector 72 reaches a specific traction displacement. Similar to the first position sensor 64, the second position sensor 75 can be a mechanical key sensor (such as a micro-tactile switch with the model number KW-03), which is arranged near the running path of the connector 72. When the connector 72 reaches the specific traction displacement, the key sensor is triggered, thereby emitting an arrival electrical signal. The second position sensor 75 can also be a photoelectric sensor or a magnetic induction Hall sensor (such as a Hall switch with the model number HAL251), which is arranged near the traction path of the connector 72. When the connector 72 reaches the specific traction displacement, the sensor changes state and emits an arrival electrical signal.

[0128] To trigger the second position sensor 75 to generate an arrival electrical signal, a stopper can be provided on the connector 72. Specifically, if the connector 72 is a rope-like structure, a spherical stopper bead can be fixed to the outside of the rope structure, so that the spherical stopper bead follows the same traction displacement as the connector 72 and triggers the second position sensor when the traction displacement reaches a specific value. The triggering method can be a button, light sensor, etc. If the stopper is magnetic, the triggering method can also be magnetic induction.

[0129] In some embodiments, the first connecting member 721 and the second connecting member 722 are wound and released, respectively, and the traction displacement caused by winding and the displacement caused by releasing are equal in magnitude and opposite in direction. In this case, the number of second position sensors 75 can be set to one, and the second motor 73 is a type that can precisely control the rotation angle, such as a stepper motor. During the motion control process, based on the traction displacement when the limiter reaches the second position sensor 75, the angle of rotation of the motor at a certain moment after the arrival of the 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 that moment. For example, the second motor 73 is a two-phase stepper motor with a step angle a, a gear assembly reduction ratio b, and a radius of the wheel 71 r. At a certain moment, given the number of pulses x of the stepper motor, 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.

[0130] The second position sensor 75 can also be a grating sensor, which can be installed on the second motor 73 or the corresponding gear assembly. The grating sensor emits an electrical signal (an electrical pulse) every time the second motor 73 or the corresponding gear assembly rotates a certain angle. Starting from a specific position (e.g., a starting point), the embedded electronic system can calculate the total angle of rotation of the motor or gear assembly at a specific moment by accumulating these electrical signals, and thus infer the traction displacement of the connecting member 72 at that moment.

[0131] In some embodiments, two second position sensors 75 are provided, one at each of the connector 72's extreme positions in both pulling directions. This extreme position refers to when the connector 72 reaches the restricted range of the nozzle 311, such as the first extension 323 and the track 2, and the connector 72 cannot continue pulling in the same direction, otherwise damage to the associated structures may occur. The corresponding position of the connector 72 at this point is considered its extreme position. The two second position sensors 75 are configured to generate arrival signals when the connector 72 reaches its extreme positions in both pulling directions. Upon receiving these arrival signals, the embedded electronic system prohibits the motor from continuing to rotate in the same direction and only allows movement in the opposite direction, thereby preventing the connector 72 from exceeding the range between the two second position sensors 75, thus achieving a position limit. The two second position sensors provide reference information for the slider's arrival at both positions, enabling detection of the operating status and any problems with the second drive assembly 7. For example, self-testing can detect faults such as step loss in the stepper motor, facilitating subsequent maintenance and repair.

[0132] When the first drive assembly 6 moves, the first motor 62 drives the nozzle 311 forward and backward through the slider 61, outer arm 32, and inner arm 31, with this displacement being denoted as X1. X1 is mapped to the rotation angle of the first motor 62, a first mapping relationship. When the second drive assembly 7 moves, the second motor 73 is connected to the nozzle 311 via the rotating wheel 71 and the connecting member 72. The rotation of the second motor 73 causes the nozzle 311 to move. Due to the constraints of the curved arm segment 312, the nozzle 311 moves in both the left-right and front-back directions. The left-right displacement is denoted as Y2, and the front-back displacement is denoted as X2. When the first drive assembly 6 is stationary, both Y2 and X2 are mapped to the traction displacement of the connecting member 72, a second mapping relationship. In some embodiments, the slider 61 is rigidly connected to the outer arm 32 and inner arm 31. 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 transmission parameters of the lead screw 63. In general, the first and second mapping relationships can be obtained by sampling a number of data points for function fitting, or by modeling and estimating based on 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. The relative coordinate position of the nozzle can be obtained by actual measurement or through multi-view visual analysis.

[0133] In the above embodiment, the movements of the first drive assembly 6 and the second drive assembly 7 can be considered independent, so the displacement of the nozzle 311 is obtained by linearly adding the displacements generated by the first drive assembly 6 and the second drive assembly 7, that is, (X1+X2, Y2). Based on the rotation angle of the first motor 62 and the rotation angle of 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 reversely infer the angle of further rotation of the first motor 62 and the second motor 73 required for a certain target position (within the travel range). Based on this, the nozzle 311 can be driven to the target position by the first drive assembly 6 and the second drive assembly 7, achieving a precise and rapid control effect.

[0134] In some embodiments, the embedded electronic system includes a backlash compensation algorithm for solving the small amount of backlash that may exist between the first drive assembly 6, the second drive assembly 7 and the arm assembly 3, thereby improving the control accuracy of the nozzle 311. The backlash problem refers to the situation in the transmission system where, after the motor rotates in the reverse direction, it needs to rotate a certain angle to effectively drive the target. This angle is the backlash of the transmission system. The causes of the backlash problem include the thread gap between the screw and the slider, the gap between the gear components, the change in the rope drive tension, etc. Specifically, the backlash compensation algorithm includes the following steps: (1) Control the motor to rotate at a constant speed in one direction while performing video acquisition. (2) Identify the nozzle pattern in the video (such as the image pattern of the nozzle itself or the fluid it sprays) 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 the motor rotates is the corresponding backlash. (4) During the control process of the nozzle 311, if the first motor or the second motor needs to rotate in the reverse direction, control the corresponding motor to rotate through the angle corresponding to the backlash before performing subsequent operations.

[0135] In some embodiments, as Figure 12 As shown, the drive bracket 76 is provided with a buckle 763. When in use, the buckle 763 abuts against the rear end surface of the second motor 73, thereby constraining the second motor 73 in the axial direction along the limiting hole 761, preventing the traction force of the connecting member 72 relative to the limiting hole 761 from causing the rotating wheel 71 and the second motor 73 to move within the drive bracket 76 or slide out from the rear side of the drive bracket 76, thereby improving the overall structural stability.

[0136] In some embodiments, a self-lubricating protective tube is further provided on the outer periphery of the connector 72. The protective tube has an inner diameter slightly larger than the outer diameter of the connector 72 and is positioned between the connector and its supporting member to reduce frictional resistance between the connector 72 and its supporting member, thereby improving the efficiency of traction force transmission and the smoothness of traction displacement of the connector 72, and reducing the load requirements of the second motor 73. The supporting member includes the sheath 74, the second support plate 322, the inner wall of the outer arm 32, the first extension 323, and the like. Specifically, the protective tube can be positioned in the section of the connector 72 between the stop hole 761 and the front end of the first extension 323. The protective tube may be a polytetrafluoroethylene tube.

[0137] In some embodiments, a lubricating component is provided between the outer arm 32 and the wall of the mounting hole, and the lubricating component is used to reduce the friction between the outer arm 32 and the wall of the mounting hole. The lubricating component is made of a deformable flexible material, so that there is no gap between the outer arm 32 and the mounting hole, thereby preventing dust from entering the housing 1 through the mounting hole. The lubricating component can also have hydrophobic / oleophobic properties, so that small water droplets will not follow the outer arm 32 through the mounting hole into the housing 1, thereby achieving a waterproof effect; at the same time, it can also prevent small oil droplets in the housing 1 from escaping with the outer arm 32, thereby extending the service life of the lubricating oil on the transmission components such as the screw 63 and the gear assembly in the housing 1. The lubricating component can specifically be a thin layer of polytetrafluoroethylene with self-lubricating properties, or a linear bearing, etc., thereby ensuring the smooth movement of the outer arm 32 in the mounting hole.

[0138] In some embodiments, the outer arm 32 and the mounting hole are assembled in a circumferentially fixed manner. For example, the first support piece 321 and the second support piece 322 are fixed to the outer arm 32, and their widths are consistent with the width of the lateral opening 121. This prevents the outer arm 32 from rotating relative to the mounting hole, thus achieving a fixed-rotation assembly between the outer arm 32 and the mounting hole. For another example, the mounting hole can have a rounded rectangular cross-section, and the outer arm 32 can also have a rounded rectangular shape. This prevents the outer arm 32 from rotating while moving within the mounting hole, further improving stability during use.

[0139] In some embodiments, as Figure 9 As shown, the outer arm 32 can be made of metal, specifically stainless steel. The first support piece 321 and the second support piece 322 can be formed by laser cutting. After laser cutting, the first support piece 321 and the second support piece 322 can be bent into shape. At the location where the bend is required, a small gap can be formed by laser cutting. The length of the gap is approximately 1 / 4 of the bend length, which makes the corresponding location easier to bend, thereby assisting the bending process and improving the consistency of the bent structure.

[0140] The first extension portion 323 and the second extension portion 324 may also be integrally formed with the outer arm 32 , and the first extension portion 323 and the second extension portion 324 may also be formed by laser cutting.

[0141] In some embodiments, as Figure 10 As shown, the inner arm 31 can be made of metal, specifically stainless steel. The nozzle 311 and curved arm section 312 of the inner arm 31 can be formed by laser cutting, wherein the curved arm section 312 can be serpentine-shaped. The curved arm section 312 can be sealed with a flexible material to prevent leakage of fluid within the inner arm 31 through the curved arm section. For example, a silicone tube can be sheathed around the outer periphery of the curved arm section 312. One end of the silicone tube is sealed to the front end of the curved arm section 312, and the other end is sealed to the rear end of the curved arm section 312. All gaps in the curved arm section 312 are located within the silicone tube.

[0142] The fluid input port of the inner arm 31 is connected to a high-pressure fluid device such as tap water or a water flosser through a guide tube. The high-pressure fluid device can generate high-pressure fluid and output it through the guide tube. The guide tube is a flexible and deformable pipe, such as a silicone tube. The fluid input port can be located at the rear end of the arm group 3 (such as Figure 2 As shown), it can also be located at the wire hole of the outer arm 32. (1) When the fluid input port is located at the rear end of the arm group 3, the guide tube does not pass through the inside of the shell body 11, and follows the arm group 3 to move in the front and rear directions outside the shell body 11. In this way, the assembly of the guide tube is relatively simple, but it is easy to be affected by external interference and affect the movement of the arm group 3. (2) When the fluid input port is located at the wire hole of the outer arm 32, the guide tube passes through the inside of the shell body 11. One arrangement is to be roughly parallel to the sheath 74, with one end following the front and rear movement of the arm group 3, and the other end fixed to the inside of the shell 1 and passing through the shell body 11 to the outside. In this way, the movement of the guide tube is located inside the shell body 11, so that the movement of the arm group 3 is not subject to external interference and is more stable. Since there is fluid passing through the inside of the guide tube, the guide tube can also pass through the surface of the heat-generating components (such as motors, embedded electronic systems) inside the shell body 11 to achieve the purpose of heat dissipation and cooling.

[0143] In some embodiments, the embedded electronic system is connected to the high-pressure fluid device via a wired electrical connection (e.g., a serial bus using the RS232 protocol), automatically controlling the high-pressure fluid device to output or shut off the high-pressure fluid via electrical signals. In this manner, the oral care device and the high-pressure fluid device can share a power source, such as a battery or an external AC power adapter, with the oral care device receiving the required power input via the wired electrical connection. This can reduce the space and weight required for the oral care device, making it more portable and flexible.

[0144] In other embodiments, the embedded electronic system is connected to the high-pressure fluid device via a radio connection (such as Bluetooth) to automatically control the high-pressure fluid device. In this manner, the oral care device and the high-pressure fluid device need to be provided with separate power sources.

[0145] In some other embodiments, the high-pressure fluid device is integrated with the oral care device.

[0146] The following describes a method for manufacturing the oral care device according to an embodiment of the present invention.

[0147] The oral care device of the present invention involves a precisely controllable multi-degree-of-freedom transmission device with high coupling between modules, thus requiring a specific manufacturing process, including the following key steps:

[0148] 1) Using precision cutting, welding, bending and other processing techniques to process tubular materials of different diameters into the prototypes of the inner arm 31, the conduit 12 and the outer arm 32;

[0149] 2) providing a lubricating and sealing layer for the outer arm 32 prototype and / or the catheter prototype, and providing a lubricating layer on the outer circumference of the connector 72;

[0150] 3) Assemble and couple the outer arm 32 with the catheter 12, the front suspension 51 and other components by bending the support piece on the outer arm 32, and insert and fix the image acquisition module 4, the connecting piece 72 and the inner arm 31 into the inner side of the outer arm 32;

[0151] 4) Fixing the first drive assembly to the side of the catheter 12 by hanging;

[0152] 5) Assemble the second drive assembly and package the entire assembly.

[0153] The following describes a method for manufacturing an oral care device according to a specific example of the present invention, which specifically includes the following steps.

[0154] 1) Tubular Material Processing and Pretreatment. First, the tubular material is precision cut using techniques such as laser cutting and water jet cutting. In some embodiments, three sizes of tubular material are selected, specifically metal circular tubes with diameters of 2 mm, 5 mm, and 6 mm, and wall thicknesses of 0.25 mm, 0.3 mm, and 0.3 mm, respectively. The first type of metal circular tube is cut based on the length of the inner arm 31 and the shape and relative position of the nozzle and other structures to obtain the inner arm 31 prototype. The second type of metal circular tube is cut based on the length of the outer arm 32 and the shape and relative position of the first extension 323, second extension 324, first support plate 321, second support plate 322, and wire hole to obtain the outer arm 32 prototype. The third type of metal circular tube is cut based on the length of the conduit 12 and the shape and relative position of the side opening to obtain the conduit 12 prototype. Next, the inner arm 31 prototype is sealed, for example, by welding the cut surface of the metal tube. This ensures that fluid entering the metal tube from one end can only be discharged through the nozzle, completing the inner arm 31 process. The outer arm 32 prototype is then bent according to the shape of the outer arm 32 to form the first extension 323 and the second extension 324. To facilitate the bending process, small slits are pre-cut at the bend locations, provided the strength allows.

[0155] 2) Provide a lubricating and sealing layer for dynamic components. A lubricating layer is provided on the outer arm 32 and the prototype of the catheter 12. The lubricating layer can be fixed to either the inner wall of the catheter 12 or the outer arm 32, or both can have their own lubricating layer fixed thereto. A lubricating layer is provided on the connector 72, which can specifically be a polytetrafluoroethylene sheath tube. In some embodiments, the lubricating layer is fixed to the inner wall of the catheter 12 because the outer wall of a metal round tube is easier to polish smooth than the inner wall. When the lubricating layer is fixed to the inner wall of the catheter 12, the requirements for inner wall polishing can be reduced, thereby reducing processing costs. Specifically, a thin-walled polytetrafluoroethylene tube can be attached to the inner walls of the front and rear ends of the catheter 12. The inner diameter of the thin-walled tube is slightly larger than 5 mm (e.g., 5.03 mm) and the outer diameter is slightly smaller than 5.4 mm (e.g., 5.37). The fixing method is gluing, and the polytetrafluoroethylene thin-walled tube is surface treated before gluing. Alternatively, a uniform polytetrafluoroethylene spray layer can be attached to the inner wall of the catheter 12 using a spray coating technique. In other embodiments, the lubricating layer is applied prior to precision cutting. Specifically, a thin-walled PTFE tube / spray coating is first bonded to the inner wall of the original conduit 12, and then laser cutting is used to create the lateral outlet. In other embodiments, thin-walled PTFE tubes are provided on both the inner wall of the conduit 12 and the outer wall of the outer arm 32. This utilizes the self-lubricating properties of PTFE to reduce the sliding resistance of the outer arm 32, while also utilizing the hydrophobic / oleophobic properties of PTFE to achieve a sealing effect on the mounting hole, thereby preventing the outer arm 32 from easily ingressing water and escaping oil during its dynamic extension / retraction process.

[0156] 3) Assemble the arm assembly 3 and its coupling components. Insert the slider 61 and front suspension 51 from the front end onto the outside of the conduit 12. Insert the outer arm 32 prototype onto the inside of the conduit 12. Bend the first and second support pieces 321, 322 of the outer arm 32 prototype at the side opening of the conduit 12. For example, bend each of the two first support pieces 321 by 30 degrees, and the second support piece 322 by 90 degrees. Push the slider 61 between the two first support pieces 321 to secure them. At this point, the outer arm 32 is fabricated and coupled to the conduit 12, slider 61, and front suspension 51. 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, and on the one hand are restricted by the extension part of the outer arm 32 and cannot be taken out / installed from the front end, and on the other hand are restricted by the first support piece 321 and the second support piece 322 and cannot be taken out / installed from the rear end.

[0157] Next, assemble the image acquisition module 4, inner arm 31, and connector 72. Insert the camera end 41 of the image acquisition module 4 into the outer arm 32 through the side opening 121 and the cable hole of the outer arm 32, and pull it from the front end to the second extension 324. Then, secure the camera end 41 to the front end of the second extension 324. Lay and secure the video cable 42 to the inner wall of the outer arm 32. Pass the other end of the video cable 42 through the cable hole 325 of the outer arm 32 and the side opening 121. Overlap one end of the connector 72 and its protective tube onto the first extension 323 and connect it to the inner arm 31. Insert the other end of the connector 72 from the front end, pass through the cable hole of the outer arm 32, the side opening 121, and exit through the cable drive hole of the second support plate 322. Insert and secure the inner arm 31 to the outer arm 32, and seal the gap between the inner and outer arms 31 and 32.

[0158] At this point, the arm group 3 is coupled with the catheter 12, the image acquisition module 4, the connector 72, the front suspension 51, etc. as a whole, and provides interfaces for connecting the video line 42, the slider 61, the connector 72, etc. with other components.

[0159] 4) Assemble the first drive assembly 6, rotate the lead screw 63 and insert it into the slider 61, and fix one end of the first motor 62 to the front suspension 51. The fixing method can be a snap or screw fixation. Assemble the middle suspension 52 to the guide tube 12 and fix it with the lead screw 63. Lubricating components such as bearings can be set between the middle suspension 52 and the lead screw 63 motor to reduce friction. Two first position sensors 64 are respectively set at the front and rear extreme positions of the slider 61. In some other embodiments, the slider 61 is split into a threaded portion and a bracket portion. The threaded portion can be a hexagonal screw that cooperates with the lead screw 63, so that the lead screw 63 can be rotated and inserted into the threaded portion first, and then cooperate with the bracket portion by means of a snap or the like.

[0160] 5) Assemble the second drive assembly 7, insert the second motor 73 into the drive bracket 76, and secure the two second position sensors 75 to the drive bracket 76. Insert the connector 72 and its protective tube into the sheath 74 and assemble it onto the rotating wheel 71 by winding it. Insert its two sides through the two slots 762 into the limiting holes 761, insert one end of the sheath 74 into the limiting hole 761, then assemble the rotating wheel 71 onto the second motor 73, and secure the drive bracket 76 by hanging or other means.

[0161] 6) Overall packaging. Connect the video cable 42, the wires of the two drive components, and the wires of the four position sensors to the embedded electronic system. Insert the arm group 3 and one end of the conduit 12 into the shell body 11, and use the front suspension 51 to connect the front end of the shell body 11. In addition, a rear cover is provided to connect the rear end of the shell body 11. Rubber rings are provided at the connection between the conduit 12, the front suspension 51, the rear cover, and the shell body 11 for sealing to prevent dust, water droplets, etc. from entering the shell body 11 through the connection gap. In addition, a waterproof electrical socket (such as a USB Type-C interface) can be provided on the rear cover for connecting a power source and a high-pressure fluid device.

[0162] In the specific example of the above manufacturing method, the motor, lead screw, position sensor, etc. are existing standard modules, and the shell body 11, suspension 5, slider 61, drive bracket 76 and other components are obtained by mold processing, such as common methods such as injection molding, which will not be elaborated in detail.

[0163] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 understood as a limitation to the present invention.

[0164] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0165] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0166] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0167] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0168] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments made by ordinary technicians in this field are all within the scope of protection of the present invention.

Claims

1. An oral care device, characterized in that: include: a housing, wherein the housing is provided with a mounting hole passing through the housing; An armset, the armset comprising an inner arm and an outer arm mounted on the outer side of the inner arm, the inner arm being provided with a fluid inlet and an inner hole for fluid passage, the inner arm comprising a nozzle at an end thereof, the fluid being ejected from the nozzle to achieve care of a target location, the outer arm being slidably mounted in the mounting hole, the ends of the outer arm being respectively able to extend from and retract into the mounting hole when the armset slides, and the volumes of the outer arm being extended and retracted into the housing being consistent to maintain stable air pressure within the housing; a first driving assembly, the first driving assembly being disposed in the housing and connected to the outer arm, and the first driving assembly being used to drive the arm assembly to slide back and forth in the mounting hole; A second drive assembly is disposed in the housing and connected to the inner arm, and is used to drive the inner arm to bend, swing or rotate to adjust the position or spray direction of the nozzle.

2. The oral care device according to claim 1, wherein The shell includes a conduit and a shell body, the conduit seals and passes through the shell body, 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 at the front end, the rear end and various circumferential directions to improve the movement stability of the arm group, the first drive assembly and the second drive assembly are both arranged in the shell body, the first drive assembly is connected to the conduit and the movement of the first drive assembly is more smoothly transmitted to the arm group through the limitation of the conduit, and the conduit is provided with a side opening, and the first drive assembly and the second drive 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 circumference of the catheter. The first drive assembly and the second drive assembly are spaced apart in the axial direction of the catheter, and the first drive assembly is connected to the catheter through at least part of the suspensions.

4. The oral care device according to claim 3, wherein The first drive assembly comprises: a slider, the slider being slidably mounted on the outer peripheral side of the catheter along the axial direction of the catheter, the outer arm being provided with two first support pieces extending from the side opening and slidably mounted along the side opening, the slider being tightly mounted on the first support pieces in the axial direction of the catheter so that there is no backlash when the slider drives the arm group to move in the reverse direction; a first motor and a lead screw, wherein 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 and the lead screw are connected and used to drive the lead screw to rotate, and the lead screw is parallel to the guide tube; In a direction perpendicular to the plane through which the lead screw and the guide tube pass, the slider is tightly fitted to the guide tube to prevent the slider from rotating with the lead screw and generating lost motion; In the direction away from the lead screw, the slider and the guide tube are loosely assembled, so as to reduce the difficulty of assembling the slider and improve the fault tolerance of the structural deviation between the first driving component and the arm group.

5. The oral care device according to claim 4, wherein: The second driving assembly includes a second motor, a rotating wheel, and a connecting member. The second motor is connected to the rotating wheel and is used to drive the rotating wheel to rotate. The connecting member is bendable and wrapped around the rotating wheel. The rotation of the rotating wheel can drive the connecting member to generate traction displacement. The connecting member 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, deform, or rotate. The inner arm includes a curved arm section connected to the nozzle. The end of the outer arm is provided with a first extension. The connecting member is laid along the outer arm to the first extension, overlapped with the first extension, and then connected to the nozzle. The traction displacement applied by the connecting member causes the curved arm section to bend. Alternatively, the connecting member is connected to the circumference of the inner arm, and the force exerted by the connecting member on the circumference 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, wherein: The first drive assembly includes a first position sensor, which is provided at one or both ends of the lead screw and is configured to emit an arrival signal when in contact with the slider to provide reference information of the slider position; the second drive assembly includes a second position sensor, which is arranged adjacent to the connecting member and is triggered to emit an arrival signal when the connecting member reaches a specific traction displacement to provide reference information of the traction displacement of the connecting member; Both the first drive assembly and the second drive assembly use 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 part at that moment can be calculated, which can be further used to accurately control the position of the nozzle or the injection direction.

7. The oral care device according to claim 6, wherein: The second driving assembly includes a curved and extended sheath body, the outer arm is provided with a second support piece extending from the side opening and slidable along the side opening, a limiting hole is provided on the side of the rotating wheel, one end of the sheath body is connected to the second support piece, the other end of the sheath body is inserted into the limiting hole and arranged opposite to the rotating wheel, the connecting piece is fitted in the sheath body and passes through the second support piece, one end of the sheath body can slide following the second support piece while the other end is fixed, while maintaining 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, wherein: The second motor is directly or indirectly connected to the catheter through a driving bracket, and the driving bracket is provided with two limiting holes and two slots, and the two slots are connected to the two limiting holes in a one-to-one correspondence. There are two connecting pieces, which are a first connecting piece and a second connecting piece respectively. The first connecting piece passes through one of the slots, and the sheath body on the outer peripheral side of the first connecting piece is plugged into one of the limiting holes. The second connecting piece passes through the other slot, and the sheath body on the outer peripheral side of the second connecting piece is plugged into 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 along the limiting hole, thereby preventing the traction force of the connecting member from causing the second motor to move in the driving bracket.

9. The oral care device according to claim 7, wherein: A sheath tube is provided between the connector and the sheath body, and the sheath tube has self-lubrication to reduce friction resistance between the connector and the sheath body.

10. The oral care device according to claim 1, wherein The diameter of the mounting hole is consistent along the extension direction of the mounting hole, and the radial size 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 shell 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 to 10, characterized in that: A lubricating component is provided between the outer arm and the wall of the mounting hole, and the lubricating component is used to reduce the friction between the outer arm and the wall of the mounting hole; And / or, the outer arm and the mounting hole are assembled to prevent rotation along the circumferential direction.

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