Mechanical arm and oral care equipment

Abstract

The utility model discloses a mechanical arm and oral care equipment, which comprises a support, an output shaft, a first drive, a second drive, a transmission part and a transmission mechanism, the first drive and the second drive are both arranged on the support; the transmission part is arranged between the output shaft and the first drive, and the transmission part is used for transmitting the action of the first drive to the output shaft so as to drive the output shaft to move axially; the transmission mechanism is arranged between the output shaft and the second drive and used for transmitting the action of the second drive to the output shaft so as to drive the output shaft to rotate in the circumferential direction. The mechanical arm is simple in structure, small in size and low in cost, and fully meets the requirement for operation in the narrow space of the oral cavity.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic arm and an oral care device. Background Technology

[0002] Oral care is the process of cleaning and protecting the teeth, tongue, palate, and other parts of the oral cavity. In recent years, with the improvement of people's living standards, the demand for oral hygiene and oral care has also been on the rise.

[0003] Current oral care procedures require the use of specialized oral mechanical devices. To meet the needs of use inside the oral cavity, oral mechanical devices typically include robotic arms, nozzles, etc. However, the robotic arms of existing oral mechanical devices have problems such as complex overall structure, large size, inconvenience in operation in the narrow space of the oral cavity, and high cost. Utility Model Content

[0004] This utility model aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, this utility model embodiment proposes a robotic arm that has a simple structure, small size, and low cost, and fully meets the operational needs of narrow spaces such as the oral cavity.

[0006] This utility model embodiment also proposes an oral care device including the above-described robotic arm.

[0007] The robotic arm in this embodiment of the utility model includes:

[0008] bracket and output shaft;

[0009] A first drive and a second drive, both of which are mounted on the bracket;

[0010] A transmission component is disposed between the output shaft and the first drive, and the transmission component is used to transmit the action of the first drive to the output shaft to drive the output shaft to move axially.

[0011] A transmission mechanism is mounted on the bracket and disposed between the output shaft and the second drive. The transmission mechanism is used to transmit the action of the second drive to the output shaft to drive the output shaft to rotate circumferentially, so that the mounting position of the second drive can be far away from the output shaft.

[0012] In some embodiments, the transmission component is a lead screw, which is threaded into the output shaft and connected to the first drive.

[0013] And / or, the end of the transmission component is provided with a socket, and the drive shaft of the first drive is inserted into the socket and engages with the transmission component to prevent rotation;

[0014] The transmission component and the transmission mechanism are located on the same side of the bracket, and / or the transmission component and the transmission mechanism extend from the same circular hole in the bracket, making the robotic arm easy to assemble and use.

[0015] In some embodiments, the transmission mechanism includes:

[0016] A bushing, which is fitted onto the outer periphery of the output shaft and engages with the output shaft to prevent rotation;

[0017] The gear set includes multiple meshing gears and is disposed between the bushing and the second drive. The gear set is used to transmit the action of the second drive to the bushing so as to drive the output shaft to rotate circumferentially through the bushing.

[0018] In some embodiments, a groove is provided on the outer periphery of the output shaft, the groove extends along the axial direction of the output shaft, and a spline is provided inside the bushing, the spline engaging with the groove and being movable along the groove.

[0019] In some embodiments, the bushing includes:

[0020] The outer sleeve is fitted onto the outer periphery of the output shaft. The outer sleeve has an assembly hole, and the spline is fitted into the assembly hole. The inner side of the spline protrudes from the inner periphery of the outer sleeve and extends into the groove.

[0021] A bushing is provided on the outer periphery of the outer sleeve and is used to block the outside of the spline.

[0022] In some embodiments, the bushing further includes an inner sleeve connected to the outer sleeve, one end of the inner sleeve extending into the outer sleeve, and the other end of the inner sleeve extending outward to the outside of the outer sleeve, and the transmission component is assembled inside the inner sleeve.

[0023] In some embodiments, a first gear is provided on the outer periphery of the inner sleeve, and a second gear is provided on the outer periphery of the drive shaft of the second drive. The gear set is meshed between the first gear and the second gear. The bracket includes two plates spaced apart axially on the output shaft. The first gear, the second gear, and the gear set are all disposed between the two plates.

[0024] In some embodiments, a limiting portion is provided on the outer periphery of the outer sleeve, the limiting portion being used to stop the bracket to limit the rotational stroke of the bushing.

[0025] In some embodiments, the bushing is provided with a connecting portion, which is located inside the outer sleeve and sleeved on the outer periphery of the inner sleeve, and the connecting portion is connected to both the outer sleeve and the inner sleeve;

[0026] And / or, the spline is a ball bearing.

[0027] And / or, it also includes a fixing plate, wherein the bracket, the first drive, and the second drive are all connected to the fixing plate.

[0028] The oral care device of this utility model embodiment includes the robotic arm as described in any of the above embodiments.

[0029] Beneficial effects: The robotic arm and oral care device of this utility model embodiment have a simple structure, small size, and low cost, which fully meet the needs of operation in narrow spaces such as the oral cavity. Attached Figure Description

[0030] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the robotic arm according to an embodiment of the present invention.

[0031] Figure 2 This is a cross-sectional schematic diagram of the robotic arm according to an embodiment of the present invention.

[0032] Figure 3 This is an assembly diagram of the bushing and output shaft according to an embodiment of the present invention.

[0033] Figure 4 yes Figure 3 Cross-sectional view of the central bushing and output shaft.

[0034] Figure 5 This is a schematic diagram of the fixing plate according to an embodiment of the present utility model.

[0035] Figure label:

[0036] 1-Bracket; 11-Plate section;

[0037] 2-Output shaft; 21-Slide groove;

[0038] 3-First drive;

[0039] 4-Second drive; 41-Second gear;

[0040] 5-Transmission mechanism; 51-Shaft sleeve; 511-Spline; 512-Outer sleeve; 513-Bushing; 514-Inner sleeve; 5141-First gear; 515-Connecting part; 52-Gear set;

[0041] 6-Transmission component; 61-Socket;

[0042] 7-Fixing plate. Detailed Implementation

[0043] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0044] like Figure 1 and Figure 2 As shown, the robotic arm of this utility model embodiment includes a support 1, an output shaft 2, a first drive 3, a second drive 4, a transmission mechanism 5, and a transmission component 6.

[0045] The support 1 can be made of materials such as plastic, and it can be integrally molded using methods such as injection molding. For example... Figure 2 As shown, the output shaft 2 can be a tubular structure. The output shaft 2 can be located in front of the bracket 1. In use, the output shaft 2 can be connected to components such as nozzles that can clean and care for the oral cavity and drive these components.

[0046] Both the first drive 3 and the second drive 4 are mounted on the bracket 1. For example, as... Figure 1 and Figure 2 As shown, both the first drive 3 and the second drive 4 can include motors, etc., and both the first drive 3 and the second drive 4 can be fixed to the rear side of the bracket 1 by fasteners such as screws.

[0047] The transmission component 6 is disposed between the output shaft 2 and the first drive 3. The transmission component 6 is used to transmit the action of the first drive 3 to the output shaft 2 to drive the output shaft 2 to move axially. For example, Figure 2 As shown, the transmission component 6 can be a rod-shaped structure, and the extension direction (axial direction) of the transmission component 6 can be consistent with the extension direction (axial direction) of the output shaft 2, that is, both the transmission component 6 and the output shaft 2 can extend in the front-back direction. The front end of the transmission component 6 can be connected to the output shaft 2, and the rear end of the transmission component 6 can be connected to the first drive 3.

[0048] The first drive 3 can be a linear drive, for example, the first drive 3 can be an electric push rod, etc. When the first drive 3 is running, the transmission component 6 can transmit the pushing action of the first drive 3 to the output shaft 2, thereby driving the output shaft 2 to move back and forth in the front and rear directions, thus meeting the usage needs of components such as the feed or retraction nozzle.

[0049] The transmission mechanism 5 is mounted on the bracket and positioned between the output shaft 2 and the second drive 4. The transmission mechanism 5 transmits the motion of the second drive 4 to the output shaft 2 to drive the output shaft 2 to rotate circumferentially. For example, as... Figure 2 As shown, the second drive 4 can be a circumferential drive, etc., and the transmission mechanism 5 can include gears, worm gears, etc. The transmission mechanism 5 can be assembled between the output shaft 2 and the second drive 4.

[0050] Specifically, the transmission mechanism 5 can be mounted on the bracket 1 as a whole. When the transmission mechanism 5 includes gears, bushings, and other components that need to rotate during use, these components can be directly or rotatably mounted on the bracket 1 via corresponding pivots.

[0051] When the second drive 4 is in operation, the transmission mechanism 5 can transmit the action of the second drive 4 to the output shaft 2, thereby driving the output shaft 2 to rotate circumferentially, thus meeting the need for adjusting the position of components such as nozzles in the circumferential direction. Secondly, the arrangement of the transmission mechanism 5 can also allow the assembly position of the second drive 4 to be far away from the output shaft 2, thus facilitating the integration of the first drive 3 and the second drive 4 onto the same bracket 1.

[0052] It should be noted that the robotic arm of this utility model embodiment can be applied to narrow spaces such as the human mouth, ear canal, and nasal cavity, as well as to the mouth and ear canal of animals such as cats and dogs.

[0053] In this embodiment of the utility model, the robotic arm, with the first drive 3 and the second drive 4 both mounted on the same bracket 1, simplifies the overall structural layout, reduces the overall volume, and lowers the overall cost compared to the case in related technologies where the first drive 3 and the second drive 4 each require a separate bracket 1. This fully meets the operational needs of the narrow oral cavity.

[0054] In some embodiments, the transmission component 6 is a lead screw, which is threaded into the output shaft 2 and connected to the first drive 3. For example, as... Figure 2 As shown, the front end of the lead screw can be fitted into the output shaft 2 and threadedly assembled with the output shaft 2. The rear end of the lead screw can be connected to the first drive 3. When the first drive 3 is running, the lead screw can rotate. Under the action of the thread between the lead screw and the output shaft 2, the output shaft 2 can achieve reciprocating movement in the front and back directions.

[0055] It should be noted that when the output shaft 2 is driven to rotate circumferentially by the second drive 4, due to the threaded assembly of the output shaft 2 and the lead screw, the rotating output shaft 2 will also move in the back and forth direction under the thread limit of the lead screw. In order to eliminate the unnecessary movement caused by this assembly, after the output shaft 2 is circumferentially adjusted to the position, the first drive 3 can be started. The first drive 3 can drive the output shaft 2 to move in the opposite direction of the above movement through the lead screw, thereby eliminating the movement deviation.

[0056] In some other embodiments, when the first drive 3 is a linear drive, the transmission member 6 and the output shaft 2 can be in a non-threaded engagement form. In this case, in order to avoid interference caused by the rotation of the output shaft 2 by the transmission member 6 when the second drive 4 is running, the first drive 3 and the transmission member 6 can be designed to be disengaged. For example, the first drive 3 itself can move in the front-back direction relative to the bracket 1. When it is necessary to drive the output shaft 2 to move back and forth, the drive shaft of the first drive 3 can be pushed to engage with the transmission member 6, thereby meeting the driving needs. When it is not necessary to drive the output shaft 2 to move back and forth, the drive shaft of the first drive 3 can be pushed to disengage from the transmission member 6, thereby eliminating the interference effect on the rotation of the output shaft 2.

[0057] In some embodiments, the end of the lead screw is provided with a socket 61, and the drive shaft of the first drive 3 is inserted into the socket 61 and engages with the lead screw to prevent rotation. For example, as Figure 2 As shown, the insertion hole 61 can be located at the rear end of the lead screw. The insertion hole 61 can be a square hole structure, and the drive shaft of the first drive 3 can be a square shaft shape, which can be inserted into the insertion hole 61. In some other embodiments, the lead screw can also be integrally formed with the drive shaft of the first drive 3.

[0058] In some embodiments, the transmission member 6 and the transmission mechanism 5 are located on the same side of the support 1, for example, as shown in the figure. Figure 1 and Figure 2 As shown, the transmission mechanism 5 and the transmission component 6 can both be located on the front side of the bracket 1. At this time, the first drive 3 and the second drive 4 can both be located on the rear side of the bracket 1, so that the drive part and the transmission part can be separated, and the functional division and isolation are realized.

[0059] In some embodiments, the transmission member 6 and the transmission mechanism 5 extend from the same circular hole in the bracket 1, making the drive assembly easy to assemble. This also simplifies the overall assembly and improves the structural compactness of the assembly.

[0060] In some embodiments, the transmission mechanism 5 includes a bushing 51 and a gear set 52. The bushing 51 is sleeved on the outer periphery of the output shaft 2 and engages with the output shaft 2 to prevent rotation. The gear set 52 includes a plurality of meshing gears and is disposed between the bushing 51 and the second drive 4. The gear set 52 is used to transmit the action of the second drive 4 to the bushing 51 so as to drive the output shaft 2 to rotate circumferentially through the bushing 51.

[0061] For example, the bushing 51 can be a tubular structure, and it can be rotatably mounted on the bracket 1. For instance, the rear end of the bushing 51 can be rotatably mounted with the bracket 1. The bushing 51 can be sleeved on the outer periphery of the output shaft 2 and the transmission component 6. The front end of the bushing 51 can engage with the output shaft 2 to prevent rotation, and the output shaft 2 can slide freely in the front-rear direction relative to the bushing 51.

[0062] The gear set 52 may include multiple meshing gears, and the bracket 1 may be provided with multiple rotating shafts, with each gear being mounted on a corresponding rotating shaft. The input gear of the gear set 52 may mesh with the drive shaft of the second drive 4, and the output gear may mesh with the rear end of the bushing 51. Thus, when the second drive 4 rotates, it can drive the bushing 51 to rotate, and the rotating bushing 51 can drive the output shaft 2 to rotate circumferentially.

[0063] In some embodiments, a groove 21 is provided on the outer periphery of the output shaft 2, the groove 21 extends along the axial direction of the output shaft 2, and a spline 511 is provided in the bushing 51, the spline 511 is fitted in the groove 21 and can move along the groove 21.

[0064] For example, such as Figure 2 and Figure 3 As shown, the outer periphery of the output shaft 2 can be provided with multiple sliding grooves 21, each of which can extend along the front-back direction and can be arranged at equal intervals along the circumference of the output shaft 2. Splines 511 can be fixed to the inner front end of the bushing 51, and multiple splines 511 can be provided and arranged at equal intervals along the circumference of the bushing 51.

[0065] During assembly, multiple splines 511 can be respectively fitted into multiple sliding grooves 21. The stop and limit of the splines 511 and the groove walls of the sliding grooves 21 meet the usage requirements of the anti-rotation assembly of the bushing 51 and the output shaft 2. Secondly, the splines 511 can also reciprocate along the sliding grooves 21 in the front-back direction, thereby avoiding interference of the spline connection on the output shaft 2 when the first drive 3 drives the output shaft 2 to move back and forth.

[0066] In some embodiments, the bushing 51 includes an outer sleeve 512 and a bushing 513. The outer sleeve 512 is sleeved on the outer peripheral side of the output shaft 2. The outer sleeve 512 is provided with a mounting hole. The spline 511 is assembled in the mounting hole, and the inner side of the spline 511 protrudes from the inner peripheral wall of the outer sleeve 512 and extends into the slide groove 21. The bushing 513 is provided on the outer peripheral side of the outer sleeve 512 and is used to stop the outer side of the spline 511.

[0067] For example, such as Figures 2 to 4 As shown, the outer tube 512 can be in the shape of a round tube. Multiple mounting holes can be provided on the outer periphery of the front end of the outer tube 512. The multiple mounting holes can be arranged at equal intervals along the circumference of the outer tube 512. Each mounting hole can penetrate the tube wall of the outer tube 512 along the radial direction of the outer tube 512.

[0068] During assembly, the output shaft 2 can be inserted into the outer sleeve 512 first, then the spline 511 can be placed in each assembly hole, and finally the bushing 513 can be fitted onto the outer periphery of the outer sleeve 512. The bushing 513 can stop and limit the outer side of the spline 511, preventing the spline 511 from coming out of the assembly hole.

[0069] In some embodiments, the spline 511 is a ball bearing. Because the ball bearing has a self-rotating effect, it ensures the smooth sliding of the spline 511 along the groove 21 and avoids the spline 511 causing obstruction when the output shaft 2 moves axially.

[0070] In some embodiments, in order to further improve the blocking effect of spline 511, the groove 21 may be filled with grease or the like.

[0071] In some embodiments, the bushing 51 further includes an inner sleeve 514, which is connected to the outer sleeve 512. One end of the inner sleeve 514 extends into the outer sleeve 512, and the other end of the inner sleeve 514 extends to the outside of the outer sleeve 512. The transmission member 6 is assembled inside the inner sleeve 514.

[0072] For example, such as Figure 4 As shown, the inner sleeve 514 can also be a cylindrical tube, with a diameter smaller than that of the outer sleeve 512. The inner sleeve 514 can be located at the rear end of the outer sleeve 512, with a portion of its front side extending into the outer sleeve 512 and a portion of its rear side extending outward from the outer sleeve 512. The inner sleeve 514 and the outer sleeve 512 can be connected and fixed together or integrally formed.

[0073] The front end of the aforementioned lead screw can be threaded into the output shaft 2, while the rear end of the lead screw can be fitted into the inner sleeve 514, thereby providing support and limiting for both ends of the lead screw, ensuring the structural stability of the lead screw assembly, and thus ensuring the overall driving accuracy.

[0074] In some embodiments, a first gear 5141 is provided on the outer peripheral side of the inner sleeve 514, for example, as shown in the figure. Figure 2 straight Figure 3 As shown, the first gear 5141 can be integrally formed on the outer periphery of the inner sleeve 514, and the first gear 5141 can be located on the outer side of the outer sleeve 512. Figure 2 As shown, a second gear 41 is provided on the outer periphery of the drive shaft of the second drive 4, and the gear set 52 meshes between the first gear 5141 and the second gear 41. This satisfies the driving requirement of transmitting the action phase shaft sleeve 51 of the second drive 4.

[0075] like Figure 2As shown, the bracket 1 includes two plates 11 spaced apart in the axial direction of the output shaft 2. Both plates 11 can be flat and can be spaced apart in the front-back direction. The first gear 5141, the second gear 41 and the gear set 52 are all located between the two plates 11, thereby playing a shielding and protective role.

[0076] In some embodiments, the outer periphery of the outer sleeve 512 is provided with a limiting portion, which is used to stop against the bracket 1 to limit the rotational stroke of the bushing 51. For example, as Figure 3 As shown, the limiting part can be integrally formed on the outer periphery of the outer sleeve 512. The limiting part can be a protrusion structure, and the bracket 1 can also be provided with corresponding protrusions. When the bushing 51 rotates, the limiting part can stop the protrusion of the bracket 1, thereby limiting the circumferential rotation stroke of the output shaft 2 of the bushing 51 and realizing the limiting constraint.

[0077] In some embodiments, the bushing 51 is provided with a connecting part 515, which is located inside the outer sleeve 512 and sleeved on the outer periphery of the inner sleeve 514, and the connecting part 515 is connected to both the outer sleeve 512 and the inner sleeve 514.

[0078] For example, such as Figure 4 As shown, the connecting part 515 can be a circular structure. The connecting part 515 can be disposed in the annular space between the inner sleeve 514 and the outer sleeve 512. The inner circumferential surface of the connecting part 515 can be connected and fixed to the inner sleeve 514, and the outer circumferential surface of the connecting part 515 can be connected and fixed to the outer sleeve 512. This ensures the structural stability between the outer sleeve 512 and the inner sleeve 514. Secondly, the connecting part 515 can also play a supporting and filling role, ensuring the structural strength between the outer sleeve 512 and the inner sleeve 514.

[0079] In some embodiments, the robotic arm further includes a fixed plate 7, and the bracket 1, the first drive 3, and the second drive 4 are all connected to the fixed plate 7. For example, as Figure 5 As shown, the fixing plate 7 can be a plate-shaped structure. The bracket 1, the first drive 3, and the second drive 4 can all be connected and fixed to the fixing plate 7 by fasteners, etc., which further ensures the stability of the overall structure.

[0080] It should be noted that the fixing plate 7 can be a control board such as a circuit board, or it can be other rectangular plates processed from steel plates, sheet metal, etc.

[0081] The oral care device according to an embodiment of the present invention is described below.

[0082] The oral care device of this embodiment includes a robotic arm, which can be the robotic arm described in any of the above embodiments. The oral care device may also include components such as nozzles and image sensors, which can be connected to the output shaft 2, thereby meeting the needs of spraying care solution onto specific teeth or for inspection when the output shaft 2 moves back and forth and rotates circumferentially.

[0083] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A robotic arm, characterized in that, include: bracket and output shaft; A first drive and a second drive, both of which are mounted on the bracket; A transmission component is disposed between the output shaft and the first drive, and the transmission component is used to transmit the action of the first drive to the output shaft to drive the output shaft to move axially. A transmission mechanism is mounted on the bracket and disposed between the output shaft and the second drive. The transmission mechanism is used to transmit the action of the second drive to the output shaft to drive the output shaft to rotate circumferentially, so that the mounting position of the second drive can be far away from the output shaft.

2. The robotic arm according to claim 1, characterized in that, The transmission component is a lead screw, which is threaded into the output shaft and connected to the first drive. And / or, the end of the transmission component is provided with a socket, and the drive shaft of the first drive is inserted into the socket and engages with the transmission component to prevent rotation; The transmission component and the transmission mechanism are located on the same side of the bracket, and / or the transmission component and the transmission mechanism extend from the same circular hole in the bracket, making the robotic arm easy to assemble and use.

3. The robotic arm according to claim 1 or 2, characterized in that, The transmission mechanism includes: A bushing, which is fitted onto the outer periphery of the output shaft and engages with the output shaft to prevent rotation; The gear set includes multiple meshing gears and is disposed between the bushing and the second drive. The gear set is used to transmit the action of the second drive to the bushing so as to drive the output shaft to rotate circumferentially through the bushing.

4. The robotic arm according to claim 3, characterized in that, The outer periphery of the output shaft is provided with a sliding groove, which extends along the axial direction of the output shaft. The bushing is provided with a spline, which fits into the sliding groove and is movable along the sliding groove.

5. The robotic arm according to claim 4, characterized in that, The bushing includes: The outer sleeve is fitted onto the outer periphery of the output shaft. The outer sleeve has an assembly hole, and the spline is fitted into the assembly hole. The inner side of the spline protrudes from the inner periphery of the outer sleeve and extends into the groove. A bushing is provided on the outer periphery of the outer sleeve and is used to block the outside of the spline.

6. The robotic arm according to claim 5, characterized in that, The bushing also includes an inner sleeve, which is connected to the outer sleeve. One end of the inner sleeve extends into the outer sleeve, and the other end of the inner sleeve extends to the outside of the outer sleeve. The transmission component is assembled inside the inner sleeve.

7. The robotic arm according to claim 6, characterized in that, The outer periphery of the inner sleeve is provided with a first gear, and the outer periphery of the drive shaft of the second drive is provided with a second gear. The gear set is meshed between the first gear and the second gear. The bracket includes two plates spaced apart in the axial direction of the output shaft. The first gear, the second gear and the gear set are all located between the two plates.

8. The robotic arm according to claim 5, characterized in that, The outer periphery of the outer sleeve is provided with a limiting part, which is used to stop the bracket to limit the rotational stroke of the bushing.

9. The robotic arm according to claim 6, characterized in that, The bushing is provided with a connecting part, which is located inside the outer sleeve and sleeved on the outer periphery of the inner sleeve, and the connecting part is connected to both the outer sleeve and the inner sleeve. And / or, the spline is a ball; And / or, it also includes a fixing plate, wherein the bracket, the first drive, and the second drive are all connected to the fixing plate.

10. An oral care device, characterized in that, Includes the robotic arm as described in any one of claims 1-9 above.

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