CN112914773A - Intelligent oral cavity examination robot - Google Patents

Abstract

The application belongs to the technical field of oral examination and nursing equipment, and particularly relates to an intelligent oral examination robot which comprises a feeding device, a transfer device, an image acquisition device, a material returning device and a communication module, wherein the feeding device is used for transmitting a bite sleeve to a first position; the transfer device is used for transferring the bite sleeve from the first position to a second position outside the intelligent oral cavity inspection robot; the image acquisition device is used for extending into the biting sleeve to perform image acquisition operation after the biting sleeve moves to the second position; the material returning device is used for stripping the bite sleeve from the conveying device after the image acquisition device finishes image acquisition operation; the communication module transmits the image information to the cloud equipment. The transfer device, the image acquisition device and the material returning device can finish the transfer operation of a plurality of biting sleeves by repeated and cyclic actions, thereby realizing the oral cavity inspection operation in short time and large batch.

Description

Intelligent oral cavity examination robot

Technical Field

The application belongs to the technical field of oral cavity examination and nursing equipment, and particularly relates to an intelligent oral cavity examination robot.

Background

With advances in technology and increased concerns over oral health, early discovery and early treatment of oral problems such as tooth decay, gingivitis, dental calculus, and the like, has become increasingly important. In this context, related oral health examination apparatuses have been increasingly developed in recent years.

The existing oral health examination equipment is often operated by a special person, is complex in operation, and consumes a long time for single oral examination, so that the equipment is often applied to special places such as an oral clinic and the like, and the short-time large-batch oral examination cannot be realized.

Disclosure of Invention

An object of the embodiment of the application is to provide an intelligence oral cavity inspection robot, aims at solving the oral cavity inspection among the prior art and spends long time, can't realize the technical problem of short time batch inspection.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: an intelligent oral examination robot, comprising:

the feeding device is used for conveying the biting sleeve to a first position;

a transfer device for transferring the bite block from the first location to the second location outside the intelligent oral examination robot;

the image acquisition device is used for extending into the biting sleeve after the biting sleeve moves to the second position and carrying out image acquisition operation;

the material returning device is used for receiving the biting sleeve transferred by the transfer device after the image acquisition device finishes image acquisition operation, and stripping the biting sleeve from the transfer device;

and the communication module is used for transmitting the image information acquired by the image acquisition device to the cloud equipment.

Optionally, loading attachment includes storage mechanism, holds in the palm send mechanism and linear module, storage mechanism set up in on the linear module, with along predetermineeing the path motion under the drive of linear module, storage mechanism includes a plurality of stock chest, top-down piles up in the stock chest and is provided with a plurality ofly sting the cover, hold in the palm send the mechanism corresponding to storage mechanism's motion path sets up, and be used for with in the stock chest sting the cover lift extremely first position.

Optionally, the storage mechanism includes the bracket and set up in a plurality of storage framves on the bracket, be formed with in the storage frame the stock chest, the bracket set up in on the linear module.

Optionally, the bracket includes support piece and fixed block, the fixed block set up in on the linear module, the support piece set up in on the fixed block, it is a plurality of the storage frame all set up in on the support piece.

Optionally, the linear module is a screw rod type linear module, and the fixing block is connected to a driving nut of the screw rod type linear module.

Optionally, the storage rack comprises two vertical guide rails arranged at intervals, the two vertical guide rails are arranged on the support plate, the storage groove is formed between the two vertical guide rails, and one end of the biting sleeve is slidably clamped in the storage groove.

Optionally, the supporting and conveying mechanism comprises a lifting module, a supporting sheet and a fixing frame, the lifting module is arranged on the fixing frame and corresponds to the movement path of the storage mechanism, and the supporting sheet is arranged on the lifting module and used for lifting the biting sleeve in the storage tank to the first position under the driving of the lifting module.

Optionally, the transfer device includes swing mechanism, lifting mechanism and fixture, lifting mechanism set up in swing mechanism is last, fixture set up in lifting mechanism is last, lifting mechanism is used for the drive fixture motion vertical motion, swing mechanism is used for driving lifting mechanism with the same horizontal swing of fixture, so that the fixture centre gripping stings the sting cover, and make fixture drive sting cover motion extremely first position department or second position department.

Optionally, the swing mechanism includes a rotating motor and a rotating frame, the rotating frame is connected to the rotating motor, and the lifting mechanism is disposed on the rotating frame.

Optionally, the lifting mechanism includes a stand, a driving motor, a driving screw rod, and a screw nut screwed to the driving screw rod, the stand is fixed to the rotating frame, the driving motor is fixed to one side of the stand, the driving screw rod is rotatably disposed in the stand and connected to the driving motor, and the clamping mechanism is disposed on the screw nut.

Optionally, fixture includes fixed block and activity clamping jaw, the fixed block set up in on the screw rod nut, the activity clamping jaw set up in on the fixed block.

Optionally, the clamping mechanism further comprises a fixed clamping jaw, the fixed clamping jaw is disposed at the first position and used for limiting the bite sleeve reaching the first position, so that the movable clamping jaw rotating to the first position clamps the bite sleeve.

Optionally, the image acquisition device includes X axle motion, Y axle motion, Z axle motion and vision module, Y axle motion set up in on the X axle motion, Z axle motion set up in on the Y axle motion, the vision module set up in on the Z axle motion, the vision module is used for X axle motion Y axle motion with under the drive of Z axle motion, the business turn over is located the second position bite the cover.

Optionally, the vision module includes a rotating electrical machine, a fixing rod and a camera, the rotating electrical machine is disposed on the Z-axis movement mechanism, the fixing rod is connected with a driving shaft of the rotating electrical machine, and the camera is disposed on the fixing rod and electrically connected with the communication module.

Optionally, the fixing rod extends towards the second position, and the camera is disposed at an end of the fixing rod facing the second position.

Optionally, the material returning device comprises a material returning knife and a material collecting box, the material returning knife is arranged in the intelligent oral cavity inspection robot and used for pushing the bite sleeve away from the transfer device when the transfer device transfers the bite sleeve from the second position to the intelligent oral cavity inspection robot, and the material collecting box is arranged below the material returning knife and used for collecting the bite sleeve separated from the transfer device.

Optionally, the box that gathers materials includes main box body and feeder hopper, the feeder hopper set up in on the main box body, just right return material sword sets up.

The embodiment of the application has at least the following beneficial effects: the utility model provides an intelligence oral cavity inspection robot, its during operation, loading attachment at first can transmit the sting cover to the primary importance, after sting the cover and being transmitted to the primary importance, the transfer device then can transmit the sting cover to the second place, sting the cover at this moment and expose in intelligence oral cavity inspection robot, the inspector can bite the sting cover like this, so just so also be equivalent to sting the cover and stretch into the oral cavity of inspector, and image acquisition device can stretch into in the sting cover, and then from the image information who picks up the oral cavity in the sting cover, communication module can upload image information to in the external high in the clouds equipment again, by high in the clouds equipment according to the oral cavity image information who uploads, give corresponding analysis and evaluation information. So, the inspector only needs to bite the bite cover and can accomplish the oral cavity inspection for a certain time, so the intelligent oral cavity inspection robot provided by the embodiment of the application realizes the full-automatic convenient operation of the oral cavity inspection. After the image information is acquired, the biting sleeve can reach the material returning device under the transfer of the transfer device, so that the material returning is realized. The transfer device, the image acquisition device and the material returning device can finish the transfer operation of a plurality of biting sleeves by repeated and cyclic actions, thereby realizing the oral cavity inspection operation in short time and large batch.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an intelligent oral examination robot provided in an embodiment of the present application;

fig. 2 is an exploded schematic view of an intelligent oral examination robot provided in an embodiment of the present application;

fig. 3 is a schematic partial structural diagram of an intelligent oral examination robot provided in an embodiment of the present application;

FIG. 4 is an enlarged view of a portion of FIG. 3A;

FIG. 5 is another perspective view of a schematic diagram of a portion of the structure of the intelligent robot for oral examination provided by the embodiment of the present application shown in FIG. 3;

fig. 6 is a schematic structural diagram of a feeding device provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a transfer device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an image capturing device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a vision module of an image capturing device according to an embodiment of the present disclosure;

fig. 10 is another partial schematic structural diagram of the intelligent oral examination robot provided in the embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

10-feeding device 11-storing mechanism 12-supporting and conveying mechanism

13-linear module 14-bracket 15-storage rack

16-stock chest 20-transfer device 21-swing mechanism

22-lifting mechanism 23-clamping mechanism 30-image acquisition device

31-X-axis movement mechanism 32-Y-axis movement mechanism 33-Z-axis movement mechanism

34-visual module 35-rotary motor 36-fixed rod

37-camera 40-material returning device 41-material returning knife

50-aggregate box 51-feed hopper 52-main box body

60-machine shell 61-material taking door 62-main shell

63-front shell 64-limiting piece 65-inspection window

70-ventilating device 71-air hole 80-biting sleeve

90-display device 101-first position 102-second position

121-lifting module 122-bearing piece 123-fixing frame

141-supporting sheet 142-fixed block 151-vertical guide rail

211-rotating motor 212-rotating frame 221-vertical frame

222-drive motor 223-drive screw rod 224-screw rod nut

231-movable clamping jaw 232-fixed clamping jaw 233-clearance opening

234-locking tab 235-blocking tab.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-10 are exemplary and intended to be used to illustrate the present application and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

As shown in fig. 1 to 3, the embodiment of the present application provides an intelligent oral cavity examination robot, which includes a feeding device 10, a transfer device 20, an image acquisition device 30, a material returning device 40, and a communication module. The intelligent oral cavity examination robot further comprises a housing 60 and a display device 90. The appearance of the housing 60 can be designed into various shapes such as human shape, robot shape and animal shape, so that the interest of oral cavity detection can be increased, and the tension of the examiner who uses the intelligent oral cavity detection robot for the first time can be eliminated.

Specifically, the feeding device 10 is used to transport the bite block 80 to the first position 101. The first position 101 is within the intelligent oral examination robot and represents the movement of the bite block 80 to a position corresponding to the gripping by the transfer device 20 upon actuation of the feeder 10. When the intelligent oral cavity examination robot works, the feeding device 10 can sequentially convey the various biting sleeves 80 to the first position 101 one by one, and the transfer device 20 can sequentially grab the biting sleeves 80 at the first position 101.

The transfer device 20 is used to transfer the bite block 80 from the first position 101 to a second position 102 outside the intelligent robot. The second position 102 is located outside the intelligent oral cavity examination robot, so that the bite cover 80 is exposed and extends out of the intelligent oral cavity examination robot after reaching the second position 102, thereby facilitating an examiner who performs oral cavity examination to bite the bite cover 80.

Specifically, the housing 60 may further be designed with an inspection window 65, and the second position 102 is located at the inspection window 65, so that the bite block 80 is exposed to the inspection window 65 after reaching the second position 102, which is convenient for an inspector to bite the bite block 80 and is beneficial for a majority of the bite block 80 to extend into the oral cavity.

More specifically, the case 60 can be respectively provided with the position-limiting members 64 at the two sides of the inspection window 65, so that when the inspector approaches the inspection window 65, the two sides of the head can be respectively abutted against the two position-limiting members 64, so as to assist the mouth of the inspector to be quickly aligned with the inspection window 65, and accurately bite the bite-sleeve 80 when the bite-sleeve 80 extends out, and especially when the inspector is a child, the presence of the position-limiting members 64 can also assist the child to stabilize the head of the child and avoid shaking when the image acquisition device 30 inspects the oral cavity image, so that the image acquisition device 30 can stably realize the acquisition operation of the oral cavity image.

More specifically, the image capturing device 30 is configured to extend into the bite block 80 after the bite block 80 is moved to the second position 102, and perform an image capturing operation, so that after the examiner bites the bite block 80, the image capturing device 30 can capture an image of the examiner's mouth, such as an image of the examiner's teeth, tongue, or throat. It will be appreciated that the bite-sleeve 80 should be transparent to facilitate the image capture of the oral cavity by the image capture device. And the bite sleeve 80 is preferably made of food grade silicone.

The material returning device 40 is used for receiving the biting sleeve 80 transferred from the transfer device 20 after the image acquisition device 30 finishes the image acquisition operation, and stripping the biting sleeve 80 from the transfer device 20; the communication module is used for transmitting the image information acquired by the image acquisition device 30 to the cloud device.

Specifically, the communication module can be a WIFI module, a 5G module, a 4G module or a bluetooth module, etc., and the communication module can upload tooth images, tongue images or laryngeal images and other oral images acquired by the image acquisition device 30 to the cloud device, and the cloud device performs matching analysis according to a database established through a large amount of training therein, so as to provide corresponding oral problem analysis and judgment results such as decayed teeth and tonsil stones, and send the results to a data terminal of a user or a doctor (specifically, the results can be sent to an application program such as a wechat public number of the data terminal), so that a reference oral problem analysis conclusion can be provided to the examiner or the doctor.

More specifically, display device 90 installs on casing 60 to be located the upper portion position of inspection window 65, can make display device 90 correspond to examiner's eye position like this, when the examiner carries out oral cavity inspection, display device 90 can be through the mode that image, video or pronunciation were reminded, send operation instruction information to the examiner, so that the examiner accomplishes oral cavity inspection fast according to the instruction, after oral cavity inspection is accomplished, display device 90 still can present the oral cavity problem analysis judgement result of high in the clouds equipment passback in the examiner, so that the examiner can acquire oral cavity inspection result information fast. Alternatively, the housing 60 includes a main housing 62 and a front housing 63, the front housing 63 is disposed at one side of the main housing 62, and the inspection window 65 is opened on the front housing 63.

More specifically, the intelligent oral examination robot further comprises a ventilation device 70, the ventilation device 70 comprising an air tube and an air supply mechanism for supplying air at a temperature above 25 ℃ to the air tube, the air tube being arranged in correspondence with the second position 102 to ventilate the bite set 80 located at the second position 102, because the inner wall of the bite cover 80 is fogged due to the inconsistent internal and external temperatures of the bite cover 80 caused by the hot air generated by the oral cavity after the examiner bites the bite cover 80, the image acquisition device 30 cannot acquire high-definition images of the oral cavity, the air pipe can introduce air with the temperature of more than 25 ℃ into the bite cover 80, so that the internal and external temperatures of the bite cover 80 tend to be consistent, thereby prevent to sting set 80 inner wall and haze, can guarantee like this that image acquisition device 30 can also effectively gather the high definition image in oral cavity under the low temperature environment.

Referring to fig. 1, fig. 3 and fig. 4, the following further describes the intelligent oral examination robot provided in the embodiment of the present application: the embodiment of the application provides an intelligent oral cavity inspection robot, when the intelligent oral cavity inspection robot works, the feeding device 10 can firstly transmit the bite sleeve 80 to the first position 101, after the bite sleeve 80 is transmitted to the first position 101, the transfer device 20 can transfer the bite sleeve 80 to the second position 102, at the moment, the bite sleeve 80 is exposed out of the intelligent oral cavity inspection robot, an inspector can bite the bite sleeve 80, the bite sleeve 80 can extend into the oral cavity of the inspector, the image acquisition device 30 can extend into the bite sleeve 80, image information of the oral cavity is captured from the bite sleeve 80, the communication module can upload the image information to external cloud equipment, and corresponding analysis and evaluation information is given by the cloud end equipment according to the uploaded oral cavity image information. So, the inspector only need bite the bite-block 80 and can accomplish the oral cavity inspection for a certain time, and the intelligent oral cavity inspection robot that this application embodiment provided has just so realized the full-automatic convenient operation of oral cavity inspection. After the image information is acquired, the bite sleeve 80 can reach the material returning device 40 under the transfer of the transfer device 20, so as to realize material returning. Thus, the transferring device 20, the image collecting device 30 and the material returning device 40 repeatedly and circularly operate, so that the transferring operation of a plurality of the bite sleeves 80 can be completed, and the oral cavity examination operation in a short time and large batch can be realized.

In other embodiments of the present application, as shown in fig. 5 and 6, the feeding device 10 includes a storage mechanism 11, a supporting mechanism 12, and a linear module 13, the storage mechanism 11 is disposed on the linear module 13 to move along a predetermined path under the driving of the linear module 13, the storage mechanism 11 includes a plurality of storage troughs 16, a plurality of nipping sleeves 80 are stacked from top to bottom in the storage troughs 16, and the supporting mechanism is disposed corresponding to the movement path of the storage mechanism 11 and is configured to support the nipping sleeves 80 in the storage troughs 16 to a first position 101.

Specifically, when the loading device 10 is in operation, the storage mechanism 11 is disposed on the linear module 13, so that when the linear module 13 moves, the storage mechanism 11 can be driven to move according to a preset program, and each storage tank 16 of the storage mechanism 11 is enabled to correspond to a position below the first position 101 one by one, and the supporting mechanism 12 can support the biting sleeves 80 in the storage tanks 16 to move upward when the storage tanks 16 correspond to a position below the first position 101, so that each biting sleeve 80 in the storage tanks 16 moves upward to the first position 101 one by one, and the transfer device 20 transfers the biting sleeves 80 from the first position 101 to the second position 102 one by one. So through linear module 13 and the ingenious cooperation of the storage mechanism 11 that has a plurality of stock chests 16, just realized the orderly material loading operation of a plurality of stinging covers 80 to when having realized that storage mechanism 11 has great capacity, also promoted the material loading efficiency of stinging cover 80.

In other embodiments of the present application, as shown in fig. 6, the magazine 11 includes a carriage 14 and a plurality of magazines 15 disposed on the carriage 14, the magazines 15 having magazines 16 formed therein, the carriage 14 being disposed on the linear module 13. Specifically, through setting up a plurality of independent storage shelves 15 to make each stock chest 16 form respectively in each storage shelf 15, can make the stinging cover 80 in the storage mechanism 11 realize batch subregion and store like this, can realize the classified storage to the stinging cover 80 of different specification models like this, thereby show the adaptability that has promoted storage mechanism 11 to the stinging cover 80 of different specification models.

And through setting up bracket 14 to make a plurality of storage racks 15 all set up on bracket 14, make bracket 14 set up on linear module 13 simultaneously, only through setting up bracket 14 like this, just played the effect of connecting linear module 13 and each storage rack 15, so also simplified the manufacturing cost and the structural complexity of storage mechanism 11, also optimized the assembly space occupancy of storage mechanism 11 simultaneously, thereby saved the assembly space in the intelligent oral cavity inspection robot.

In other embodiments of the present application, as shown in fig. 6, the bracket 14 includes a supporting plate 141 and a fixing block 142, the fixing block 142 is disposed on the linear module 13, the supporting plate 141 is disposed on the fixing block 142, and the plurality of storage racks 15 are disposed on the supporting plate 141. Specifically, by making the bracket 14 include the bracket 141 and the fixing block 142, so that the fixing block 142 is connected to the driving end of the linear module 13, the bracket 141 can be connected to each storage rack 15, thereby further simplifying the structure of the bracket 14 while ensuring the stability of the connection of the bracket 14 to the linear module 13 and each storage rack 15.

In other embodiments of the present application, as shown in fig. 6, the linear module 13 is a screw-type linear module 13, and the fixing block 142 is connected to the driving nut of the screw-type linear module 13. Specifically, through setting up linear module 13 for the linear module 13 of lead screw formula, like this because the linear module 13 space of lead screw formula is less to can further optimize the space occupancy of storage mechanism 11, save the equipment space in the intelligent oral cavity inspection robot.

In other embodiments of the present application, as shown in fig. 6, the storage rack 15 includes two spaced vertical rails 151, the two vertical rails 151 are disposed on the supporting plate 141, a storage slot 16 is formed between the two vertical rails 151, and one end of the bite set 80 is slidably engaged in the storage slot 16.

Specifically, as a specific arrangement form of the storage rack 15, by forming the storage chute 16 between the two vertical guide rails 151, one end of the bite set 80 can be slidably clamped in the storage chute 16 and can slide up and down relative to the two vertical guide rails 151, so that the bite set 80 can be smoothly moved to the first position 101 along the two vertical guide rails 151 under the supporting and feeding of the supporting and feeding mechanism 12.

In other embodiments of the present application, as shown in fig. 6, the supporting mechanism 12 includes a lifting module 121, a supporting sheet 122 and a fixing frame 123, the lifting module 121 is disposed on the fixing frame 123 and disposed corresponding to the moving path of the storage mechanism 11, and the supporting sheet 122 is disposed on the lifting module 121 and configured to lift the bite block 80 located in the storage tank 16 to the first position 101 under the driving of the lifting module 121.

Specifically, when the supporting and feeding mechanism 12 works, the lifting module 121 can be disposed on the fixing frame 123 to stably support the lifting module 121, and when the material storage tank 16 moves to a position corresponding to the supporting sheet 122, the supporting sheet 141 can support the biting sleeves 80 located at the bottommost layer of the material storage tank 16 to move upward, so as to drive all the biting sleeves 80 in the material storage tank 16 to move upward, thereby sequentially conveying the biting sleeves 80 to the first position 101.

Optionally, the support piece 141 includes the stationary blade and sets up on the stationary blade and the connection piece, each storage rack 15 all sets up on the connection piece, and be formed with through the clearance with the stationary blade interval, and the bottom of each stock chest 16 all forms the opening that communicates in this through clearance, support piece 122 can stretch into in this through clearance like this, when linear module 13 drives each storage rack 15 motion of drive, can make the opening of the stock chest 16 that corresponds correspond to support piece 122, support piece 122 can shift up through the opening this moment and realize the bearing lift operation to stinging cover 80.

In other embodiments of the present application, as shown in fig. 3 and 7, the transfer device 20 includes a swing mechanism 21, a lifting mechanism 22, and a clamping mechanism 23, the lifting mechanism 22 is disposed on the swing mechanism 21, the clamping mechanism 23 is disposed on the lifting mechanism 22, the lifting mechanism 22 is configured to drive the clamping mechanism 23 to move vertically, the swing mechanism 21 is configured to drive the lifting mechanism 22 and the clamping mechanism 23 to swing horizontally together, so that the clamping mechanism 23 clamps the bite block 80, and the clamping mechanism 23 drives the bite block 80 to move to the first position 101 or the second position 102.

Specifically, when the transfer device 20 works, the lifting mechanism 22 can first drive the clamping mechanism 23 to move up or down to a horizontal position corresponding to the first position 101, so as to complete the first stage movement of the clamping mechanism 23, and the swinging mechanism 21 can drive the lifting mechanism 22 and the clamping mechanism 23 to swing together when the clamping mechanism 23 reaches the position horizontal to the first position 101, so as to enable the clamping mechanism 23 to reach the first position 101, so as to clamp the bite block 80. After the clamping mechanism 23 finishes clamping the bite block 80, the swing mechanism 21 can drive the lifting mechanism 22 and the clamping mechanism 23 to swing together to a position vertically corresponding to the second position 102, and then the lifting mechanism 22 drives the clamping mechanism 23 to move up or down, so that the clamping mechanism 23 drives the bite block 80 to reach the second position 102, or the swing mechanism 21 directly drives the lifting mechanism 22 and the clamping mechanism 23 to swing together to the second position 102. Therefore, the gripping mechanism 23 drives the bite sleeve 80 to flexibly move in a three-dimensional space only through the ingenious matching of the lifting mechanism 22 and the gripping mechanism 23, and the simple and flexible transfer operation of the bite sleeve 80 is realized.

In other embodiments of the present application, as shown in fig. 7, the swing mechanism 21 includes a rotating motor 211 and a rotating frame 212, the rotating frame 212 is connected to the rotating motor 211, and the lifting mechanism 22 is disposed on the rotating frame 212. Specifically, when the swing mechanism 21 is in operation, the rotating motor 211 is disposed on the rotating frame 212, the lifting mechanism 22 is connected to the rotating motor 211, and is driven by the rotating motor 211 to rotate around the driving shaft of the rotating motor 211, so that the integral swing operation of the lifting mechanism 22 and the clamping mechanism 23 around the driving shaft of the rotating motor 211 can be simply and reliably achieved. The swing mechanism 21 has a simple structure, and can effectively reduce the occupation of the assembly space in the intelligent oral cavity examination robot.

In another embodiment of the present application, as shown in fig. 7, the lifting mechanism 22 includes a stand 221, a driving motor 222, a driving screw 223, and a screw nut 224 screwed to the driving screw 223, the stand 221 is fixed to the rotating frame 212, the driving motor 222 is fixed to one side of the stand 221, the driving screw 223 is rotatably disposed in the stand 221 and connected to the driving motor 222, and the clamping mechanism 23 is disposed on the screw nut 224.

Specifically, when the lifting mechanism 22 works, the driving motor 222 disposed on the stand 221 can drive the screw rod 223 to rotate, so as to drive the screw nut 224 screwed on the screw rod to move along the axial direction of the screw rod, so that the screw nut 224 can drive the clamping mechanism 23 to move along the axial direction of the screw rod during the movement process, thereby simply and reliably achieving the lifting operation of the clamping mechanism 23.

In other embodiments of the present application, as shown in fig. 5 and 7, the lifting mechanism 22 further includes a connecting rod and a shielding plate 235, the connecting rod is disposed on the screw nut 224, the shielding plate 235 is connected to the connecting rod, when the intelligent oral cavity inspection robot is not in operation, the shielding plate 235 covers the notch of the housing 60 to improve the overall aesthetic measure of the housing 60, and simultaneously, the phenomenon that the fingers of the child are accidentally inserted into the notch to cause injury and the foreign matter enters the interior of the intelligent oral cavity inspection robot through the notch is prevented. When the intelligent oral cavity inspection robot works, the lifting mechanism 22 can drive the connecting sheet and the shielding sheet 235 to move downwards so as to move away from the obliquely designed notch, so that the clamping mechanism 23 can clamp and convey the bite set 80 to the notch.

In other embodiments of the present application, as shown in fig. 7, the clamping mechanism 23 includes a fixed block 142 and a movable jaw 231, the fixed block 142 is disposed on the lead screw nut 224, and the movable jaw 231 is disposed on the fixed block 142. Specifically, when the clamping mechanism 23 is operated, the fixed block 142 is disposed on the lead screw nut 224 to achieve stable connection with the lifting mechanism 22, and the movable clamping jaw 231 is disposed on the fixed block 142 and is driven by the lifting mechanism 22 and the swinging mechanism 21 together to move to the first position 101 or the second position 102. Optionally, the movable clamping jaw 231 comprises two clamping pieces, and when the movable clamping jaw 231 reaches the first position 101, the two clamping pieces can be clamped at one end of the bite block 80, so as to realize reliable clamping of the bite block 80.

In other embodiments of the present application, as shown in fig. 4, the clamping mechanism 23 further comprises a fixed jaw 232, the fixed jaw 232 is disposed at the first position 101 and is used for limiting the bite block 80 reaching the first position 101, so that the movable jaw 231 rotated to the first position 101 clamps the bite block 80.

Specifically, by arranging the fixed jaw 232 at the first position 101, when the bite block 80 moves to the first position 101, the fixed jaw 232 can be clamped to maintain a stable position, so as to facilitate the clamping operation of the movable jaw 231 on the bite block 80. This further improves the reliability of the gripping action of the gripper mechanism 23 on the bite block 80.

In other embodiments of the present application, as shown in fig. 4, the clamping mechanism 23 further comprises a locking device, the locking device comprises a driving mechanism and a locking plate 234, the driving mechanism is disposed on the movable clamping jaw 231 and connected to the locking plate 234, the driving mechanism is configured to turn the locking plate 234 to rotate to the clamping opening of the movable clamping jaw 231 to close the movable clamping jaw 231 during the process that the movable clamping jaw 231 transfers the bite-block 80 from the first position 101 to the second position 102, so as to ensure the stability of the bite-block 80 disposed in the movable clamping jaw 231.

In other embodiments of the present application, as shown in fig. 8, the image capturing device 30 includes an X-axis moving mechanism 31, a Y-axis moving mechanism 32, a Z-axis moving mechanism 33, and a vision module 34, wherein the Y-axis moving mechanism 32 is disposed on the X-axis moving mechanism 31, the Z-axis moving mechanism 33 is disposed on the Y-axis moving mechanism 32, the vision module 34 is disposed on the Z-axis moving mechanism 33, and the vision module 34 is configured to move in and out of the bite block 80 located at the second position 102 under the driving of the X-axis moving mechanism 31, the Y-axis moving mechanism 32, and the Z-axis moving mechanism 33.

Specifically, when the image capturing device 30 works, the X-axis moving mechanism 31, the Y-axis moving mechanism 32, and the Z-axis moving mechanism 33 of the image capturing device can move in a coordinated manner, so that the visual module 34 can move flexibly in a three-dimensional space coordinate system formed by the X-axis, the Y-axis, and the Z-axis, and when the image capturing device 30 is applied to an intelligent oral cavity examination robot, the image capturing device can flexibly adjust the position of the image capturing device under the driving of the X-axis moving mechanism 31, the Y-axis moving mechanism 32, and/or the Z-axis moving mechanism 33, so that the image capturing device can accurately extend into the bite set 80, and capture the oral cavity images through the bite set 80.

In other embodiments of the present application, as shown in fig. 8 and 9, the vision module 34 includes a rotating motor 35, a fixing bar 36 and a camera 37, the rotating motor 35 is disposed on the Z-axis moving mechanism 33, the fixing bar 36 is connected to a driving shaft of the rotating motor 35, and the camera 37 is disposed on the fixing bar 36 and electrically connected to the communication module.

Specifically, by arranging the rotating motor 35 and connecting the camera 37 with the rotating motor 35 through the fixing rod 36, the camera 37 can be driven by the rotating motor 35 to rotate, so that the four-axis motion can be realized by combining the driving of the X-axis motion mechanism 31, the Y-axis motion mechanism 32 and the Z-axis motion mechanism 33, the relative position and the camera angle in the bite sleeve 80 can be flexibly adjusted, and the image acquisition of the all-around zero dead angle of the oral cavity can be realized. Alternatively, the air tube of the ventilation device 70 may be embedded in the fixing rod 36, and an air hole 71 is opened at a position of the fixing rod 36 close to the camera 37, and the air tube may pass air into the area near the camera 37 through the air hole 71.

In other embodiments of the present application, as shown in fig. 9, the fixing lever 36 extends toward the second position 102, and the camera 37 is disposed at an end of the fixing lever 36 toward the second position 102. Specifically, by extending the fixing rod 36 toward the second position 102, the feeding distance of the camera 37 toward the bite block 80 located at the second position 102 can be significantly shortened, and thus the movement stroke of the Y-axis movement mechanism 32 can be saved, so that the overall size of the Y-axis movement mechanism 32 can be smaller, and the assembly space in the intelligent oral examination robot can be saved.

In other embodiments of the present application, as shown in fig. 3, 5 and 10, the material returning device 40 includes a material returning knife 41 and a material collecting box 50, the material returning knife 41 is disposed in the intelligent oral cavity examination robot and is used for pushing the bite set 80 away from the transfer device 20 when the transfer device 20 transfers the bite set 80 from the second position 102 to the intelligent oral cavity examination robot, and the material collecting box 50 is disposed below the material returning knife 41 and is used for collecting the bite set 80 detached from the transfer device 20.

Specifically, when the material returning device 40 works, the material returning knife 41 can be located on the path of the transferring bite set 80 of the transferring device 20, so that when the transferring device 20 transfers the bite set 80 from the second position 102 to the intelligent oral cavity examination robot after the image acquisition device 30 finishes the oral cavity image acquisition operation in the bite set 80, the material returning knife 41 located on the transferring path of the transferring device 20 can be abutted and touched with the bite set 80, and further, the bite set 80 can be pushed away from the transferring device 20 to fall into the collecting box 50, thereby realizing the automatic collection processing of the bite set 80.

In other embodiments of the present application, as shown in fig. 4, the material returning blade 41 is curved, one end of the material returning blade may be disposed at the fixed jaw 232, the other end of the material returning blade is a contact end, the contact end horizontally extends to a position away from the fixed jaw 232, and is disposed corresponding to the transfer path of the transfer device 20, such that when the movable jaw 231 holds the bite set 80 and rotates from the second position 102 to the intelligent oral cavity examination robot, the bite set 80 may contact with the contact end when passing through the contact end of the material returning blade 41, thereby disengaging from the movable jaw 231 and falling into the material collecting box 50. And make material returned sword 41 be curved shape, it can be fixed in fixed clamping jaw 232 position while, also realize keeping away empty transfer device 20, so on the one hand can realize material returned sword 41 and stabilize the installation in intelligent oral cavity robot, on the other hand has also realized the rational utilization to the assembly space in intelligent oral cavity robot, has also simplified the structural style of material returned sword 41 simultaneously. Optionally, a position of the movable clamping jaw 231 corresponding to the abutting end is provided with an idle-avoiding opening 233, and the abutting end can penetrate through the idle-avoiding opening 233 and push the bite sleeve 80 away from the movable clamping jaw 231.

In other embodiments of the present application, as shown in fig. 5 and 10, the collecting box 50 includes a main box body 52 and a feeding hopper 51, and the feeding hopper 51 is disposed on the main box body 52 and is disposed right opposite to the material returning blade 41. Particularly, the feeding hopper 51 is arranged on the main box body 52, so that the biting sleeves 80 falling from the movable clamping jaws 231 can accurately fall into the main box body 52 under the guiding and collecting action of the feeding hopper 51, and the stable collecting operation of the biting sleeves 80 is realized.

In other embodiments of the present application, as shown in fig. 10, a guide rail member is provided at the bottom of the casing 60, the material collecting box 50 is slidably disposed on the guide rail member, and the material taking door 61 is provided at a position of the casing 60 corresponding to the material collecting box 50, so that the material collecting box 50 can be easily taken out under the action of sliding fit with the guide rail member by opening the material taking door 61, thereby significantly improving the efficiency of taking out the bite set 80.

The present invention is not intended to be limited to the particular embodiments shown, but is to be accorded the widest scope consistent with the principles and spirit of the present invention.

Claims (10)

1. An intelligence oral cavity inspection robot which characterized in that: the method comprises the following steps:

the feeding device is used for conveying the biting sleeve to a first position;

a transfer device for transferring the bite block from the first position to a second position outside the intelligent oral examination robot;

the image acquisition device is used for extending into the biting sleeve after the biting sleeve moves to the second position and carrying out image acquisition operation;

the material returning device is used for stripping the biting sleeve from the transfer device after the image acquisition device finishes image acquisition operation;

and the communication module is used for transmitting the image information acquired by the image acquisition device to the cloud equipment.

2. The intelligent oral examination robot of claim 1, wherein: loading attachment includes storage mechanism, holds in the palm send mechanism and linear module, storage mechanism set up in on the linear module, with along predetermineeing the path motion under the drive of linear module, storage mechanism includes a plurality of stock chest, top-down piles up in the stock chest and is provided with a plurality ofly sting the cover, hold in the palm send the mechanism corresponding to storage mechanism's motion path sets up, and be used for with in the stock chest sting the cover and lift extremely first position.

3. The intelligent oral examination robot of claim 2, wherein: the storage mechanism comprises a bracket and a plurality of storage racks arranged on the bracket, the storage troughs are formed in the storage racks, and the bracket is arranged on the linear module.

4. The intelligent oral examination robot of claim 3, wherein: the bracket comprises a supporting sheet and a fixing block, the fixing block is arranged on the linear module, the supporting sheet is arranged on the fixing block, and the plurality of storage racks are arranged on the supporting sheet.

5. The intelligent oral examination robot of claim 4, wherein: the storage rack comprises two vertical guide rails arranged at intervals, the two vertical guide rails are arranged on the support plate, the storage groove is formed between the two vertical guide rails, and one end of the biting sleeve is slidably clamped in the storage groove.

6. The intelligent oral examination robot of any one of claims 1-5, wherein: the transfer device comprises a swing mechanism, a lifting mechanism and a clamping mechanism, wherein the lifting mechanism is arranged on the swing mechanism, the clamping mechanism is arranged on the lifting mechanism, the lifting mechanism is used for driving the clamping mechanism to move vertically, the swing mechanism is used for driving the lifting mechanism and the clamping mechanism to swing horizontally together, so that the clamping mechanism clamps the bite sleeve and drives the clamping mechanism to drive the bite sleeve to move to the first position or the second position.

7. The intelligent oral examination robot of claim 6, wherein: the swing mechanism comprises a rotating motor and a rotating frame, the rotating frame is connected with the rotating motor, and the lifting mechanism is arranged on the rotating frame.

8. The intelligent oral examination robot of any one of claims 1-5, wherein: the image acquisition device comprises an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism and a vision module, wherein the Y-axis motion mechanism is arranged on the X-axis motion mechanism, the Z-axis motion mechanism is arranged on the Y-axis motion mechanism, the vision module is arranged on the Z-axis motion mechanism, and the vision module is used for the X-axis motion mechanism, the Y-axis motion mechanism and the Z-axis motion mechanism to be driven to pass in and out and to be positioned at the second position for biting the sleeve.

9. The intelligent oral examination robot of claim 8, wherein: the vision module comprises a rotating motor, a fixing rod and a camera, wherein the rotating motor is arranged on the Z-axis motion mechanism, the fixing rod is connected with a driving shaft of the rotating motor, and the camera is arranged on the fixing rod and electrically connected with the communication module.

10. The intelligent oral examination robot of any one of claims 1-5, wherein: the material returning device comprises a material returning knife and a material collecting box, the material returning knife is arranged in the intelligent oral cavity inspection robot and used for pushing the bite sleeve away from the transfer device when the transfer device transfers the bite sleeve from the second position to the intelligent oral cavity inspection robot, and the material collecting box is arranged below the material returning knife and used for collecting the bite sleeve separated from the transfer device.

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