CN105877861A - Multi-degree-of-freedom intelligent oral cavity cleaning system - Google Patents

Abstract

The purpose of the multi-degree-of-freedom intelligent oral cleaning system is to provide a brushing action based on the horizontal vibrating brushing method, and guide users to use the multi-degree-of-freedom intelligent oral cleaning system. The system includes a multi-degree-of-freedom mechanical transmission device used to complete the brushing action of the horizontal vibration brushing method, an ARM processor for the embedded system of the system intelligent control module, a wireless communication device, and transmission including brushing time, strength and motion. The micro-electromechanical module composed of a sensor and a position sensor is a voice broadcast device that reminds the user to brush teeth. Through the interaction between the system and smart devices and the statistics and collection of oral data related to different groups of people, it can provide big data support for oral hygiene, oral hygiene products and equipment, and oral health-related policies.

Description

Multi-degree-of-freedom intelligent oral cleaning system

technical field

The invention relates to the field of toothbrushes, in particular to an intelligent oral cavity cleaning system which uses the multi-degree-of-freedom movement of the toothbrush head to clean the oral cavity, and further uses wireless communication technology to transmit relevant information.

Background technique

Oral health is an important part of human health. The World Health Organization once pointed out that dental health refers to the absence of structural and functional abnormalities in the teeth, periodontal tissue, adjacent parts of the oral cavity and maxillofacial region. According to data, there are more than 800 kinds of bacteria in the oral cavity of the human body, which can easily form dental plaque and metabolize toxins, causing long-term chronic irritation to the gums. According to relevant statistics, gingivitis and periodontitis lead to common dental caries in Chinese children and 80%-97% incidence of periodontal disease in adults, and only 0.22% of adults in China have achieved good oral hygiene indicators. It can be seen that oral health refers to having good oral hygiene, sound oral function and no oral diseases. Brushing teeth is a common method for people to maintain oral hygiene, which can play a good role in cleaning plaque. Brushing teeth can prevent and treat various oral diseases such as dental caries and periodontal disease, but incorrect tooth brushing methods can also cause gum inflammation, bleeding, etc., and severe cases can cause periodontal disease, so the correct method of brushing teeth is very important for maintaining personal oral health. Hygiene is extremely important. Because oral health education in our country is still in its infancy, many people have not mastered the correct method of brushing teeth. Health education can help people master the correct method of brushing teeth as early as possible, develop good oral hygiene habits, reduce the formation and accumulation of dental plaque, and achieve the effect of caries prevention.

When brushing your teeth, you should form the habit of being careful and conscientious. Usually, divide the whole mouth of teeth into several areas according to the upper, lower, left, and right sides, and then brush them in a certain order, such as first up and then down, first left and then right, first outside and then inside, so that the lips (cheeks) ) surface, tongue (palatal) surface and occlusal surface can be brushed, so as not to miss. And repeat it several times. The force used to brush your teeth is to apply a certain force to the gums and teeth without causing pain. After brushing your teeth, you should rinse your mouth to rinse off the soft dirt.

The horizontal vibrating brushing method (modified Bayesian tooth brushing method) is a tooth brushing method recommended by the Chinese Stomatological Association. Brushing means gently brushing. Mastering this brushing method can help remove plaque on each tooth surface, and at the same time effectively remove plaque on the neck of the teeth and in the gingival sulcus.

The action of the horizontal vibration brushing method can be broken down as follows: (1) Hold the handle of the toothbrush, first place the brush head on the neck of the back teeth on the side of the mouth, the bristles and the long axis of the teeth form an angle of about 45°, and the bristles point to the root of the tooth (upper jaw teeth, lower jaw teeth down), slight pressure, so that part of the bristles enters the gingival sulcus and part rests on the gums; (2) Start with 2 to 3 teeth as a group (or a region) Brush your teeth, brush the same part at least 10 times with short-distance horizontal vibrating reciprocating movements, then turn the toothbrush towards the crown of the tooth, and continue to brush the lip (cheek) tongue (palatal) surface of the teeth; (3) After brushing the first After the first part, move the toothbrush to the position of 2~3 teeth in the next group (area) and reposition it, pay attention to keep the overlapping area with the first part, and continue brushing the next part; (4) Brush the front On the lingual surface, put the brush head upright on the tooth surface, so that the front bristles touch the gingival margin, and brush from top to bottom. When brushing the lingual surface of the front teeth, brush from bottom to top; (5) When brushing the occlusal surface, the bristles point to the occlusal surface, and brush back and forth for a short distance back and forth with a little force.

Contents of the invention

The purpose of the present invention is to provide a brushing action based on the horizontal vibration brushing method according to the classification of different groups of people, and guide users to use a multi-degree-of-freedom intelligent oral cleaning system.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

The multi-degree-of-freedom intelligent oral cleaning system includes a battery powered by the system, a DC motor that provides rotational motion, and a mechanical transmission device that completes the multi-degree-of-freedom movement of the brushing action with horizontal vibration brushing, and is used for embedding the system's intelligent control module The ARM processor of the system, the wireless communication device, the micro-electromechanical module that transmits the sensors including brushing time, strength, motion and position, and the voice broadcast device used to remind the user to realize the brushing action;

The multi-degree-of-freedom motion mechanical transmission device includes the rotation of the toothbrush head 14 and the reciprocating spiral movement of the toothbrush head 14 driven by the toothbrush rod 12;

The mechanical transmission device of the described multi-degree-of-freedom movement uses the rotary motion of the DC motor built into the toothbrush body as the power source, and a cylindrical cam and a follower are installed on the output shaft of the DC motor, and the protruding end of the follower is in contact with the opening. The toothbrush rod with internal spiral groove is matched, and the end of the output shaft of the motor is installed with a driving bevel gear. The driving bevel gear meshes with the driven bevel gear. Universal joint, the extension shaft of the universal joint is connected with the toothbrush head;

The cylindrical cam is connected to the output shaft of the motor through a key, and the surface of the cylindrical cam is provided with a closed spiral groove. During the rotation of the cylindrical cam, the upper slider of the follower is closed along the surface of the cylindrical cam. The spiral groove moves, under the restriction of the guide block, the straight groove on the shaft of the follower protrudes to reciprocate axially along the guide block, so that the rotation of the cylindrical cam drives the follower to reciprocate axially in a straight line;

There is a boss on the surface of the extension shaft of the follower, and the boss moves in conjunction with the inner spiral groove of the toothbrush rod, that is, the linear reciprocating movement of the follower moves along the inner spiral groove of the toothbrush rod through the boss, so that the toothbrush rod It can realize reciprocating spiral motion, which can be regarded as a compound motion of reciprocating linear movement and rotary motion, and this compound motion corresponds to the action of horizontal vibrating brushing method;

The toothbrush rod is connected with the extension shaft of the follower, the toothbrush body and the output shaft of the motor. The toothbrush rod, the extension shaft of the follower and the toothbrush body are provided with the toothbrush rod for insertion into the extension shaft of the follower and the toothbrush shaft. The through groove between the bodies, the motor output shaft is equipped with a support sleeve to contact the inner surface of the toothbrush rod, and the terminal of the motor output shaft is inserted into the inner hole of the end cover of the end face of the toothbrush rod;

The end of the output shaft of the motor is equipped with a driving bevel gear, the end structure of the output shaft of the motor is a spline, the inner hole of the gear shaft of the driving bevel gear is a spline hole, and the spline hole of the driving bevel gear is set on the output of the motor. On the spline at the end of the shaft, the driving bevel gear can slide axially along the spline at the end of the motor output shaft;

The driving bevel gear is meshed with the driven bevel gear, and the position of the gears is fixed by a shaft bracket, so that the motion of the driving bevel gear is transmitted through the driven bevel gear to meet the needs of driving the bristles of the toothbrush head to rotate;

The gear shaft of the driven bevel gear is connected with a universal joint, and the structure of the universal joint can adopt a spherical or cross structure. It is also possible to transfer the reciprocating helical motion to the toothbrush head without interference;

The protruding end of the universal joint is connected with the toothbrush head, one end of the toothbrush head has bristles, and the inner hole of the other end of the toothbrush head is connected with the protruding shaft of the universal joint in a replaceable way, such as a plug-in connection, realizing toothbrush rotational movement of the head;

According to the above content, through the connection of power components and transmission parts such as DC motor, toothbrush body, cylindrical cam, follower, toothbrush rod, driving bevel gear, driven bevel gear, universal joint, toothbrush head, etc., the toothbrush head can complete The multi-degree-of-freedom motion corresponding to the brushing action of the horizontal vibration brushing method.

The sensor for transmitting brushing time, strength, movement and position includes timer, force sensor, accelerometer and gyroscope;

The timer is used to time the effective brushing time;

The effective brushing time refers to the time when the toothbrush head moves under a certain strength;

The force sensor refers to the detection of the force that the toothbrush head acts on the teeth or oral cavity cleaning parts;

Described accelerometer is meant to detect the speed of motion and displacement of toothbrush head;

The gyroscope refers to detecting the spatial position of the toothbrush head;

According to the above content, the timer, force sensor, accelerometer, and gyroscope can be built into the toothbrush body or the toothbrush handle, and the timer, force sensor, accelerometer, and gyroscope can be independent, or several are packaged together to form a micro Electromechanical modules.

The wireless communication device refers to a Bluetooth module or a cellular-based NB-IoT (Narrow Band Internet of Things) module, which can meet information transmission under various conditions and environments;

The ARM processor 21 of the embedded system of the system intelligent control module 2 is used to manage the

The described ARM processor of the embedded system that is used for system intelligent control module is used for managing and comprises DC motor, wireless communication device, micro-electromechanical module such as timer, force sensor, accelerometer, gyroscope, voice broadcast device etc. and handles , realize the collection, processing and communication of sensor information, and transmit relevant information to receiving devices, such as mobile phones, servers, etc., with a specific area of the user's mouth as the reference initial point (such as the upper front teeth area or lower front teeth area), according to the user's feedback when brushing teeth The signal and time of the force, speed and position sensor, etc., are transmitted to the receiving device through the wireless communication device, such as a mobile phone or a server. The superimposed image can be used in different colors to reflect the strength, position and coverage of the user's teeth brushing. This mechanism can be set so that the user brushes his teeth to the area. Under certain strength conditions, the position and path of the toothbrush head will generate corresponding areas. brushing coverage;

The ARM processor can customize a toothbrushing program suitable for oneself according to the user's age and oral condition through interactive software, such as mobile phone APP or software on the server, and can compare and analyze the toothbrushing situation of a certain period of time.

The voice broadcast device, by decomposing the actions of the horizontal vibration and brushing method, broadcasts the titles of each action in chronological order, and the ARM processor can also control the broadcast information according to the feedback information, such as the strength and time of brushing teeth. The length of the mouth, whether all areas of the mouth are clean, etc.

According to the above content, the ARM processor, wireless communication device, micro-electromechanical module and voice broadcast device in the system intelligent control module can be integrated to form a platform for oral cleaning control and interaction. Set the order and steps of oral cleaning, such as children or adults, right or left hand-held toothbrush, the type of toothpaste to choose, the number of teeth, the health status of the teeth, whether there are dentures and where they are located, etc., this setting The interaction can be performed on the smart device, such as using the APP software of the mobile phone or the web interface of the server to complete. After the relevant information of the user's oral cavity is collected, the system can give suggestions for oral cleaning. After the user confirms, the system will clean the oral cavity according to the relevant procedures and steps within a period of time. The user can also modify the cleaning procedures and steps of the system at any time .

By establishing a personal oral hygiene information website, integrating mobile phone APP software or server webpage information, attracting oral hygiene product and device manufacturers to join, and on the premise of users' voluntary, the statistics and collection of oral data related to a large number of different groups of people can be achieved. Provide big data support for oral hygiene, oral hygiene products and devices, and oral health-related policies.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention. In the figure: 1-battery, 2-intelligent control module, 21-ARM processor, 22-wireless communication device, 23-micro-electromechanical module (including time, strength, motion and position sensors), 24-voice broadcast device, 3 -DC motor, 4-motor output shaft, 5-toothbrush body, 6-key, 7-slider, 8-cylindrical cam, 9-follower, 10-guide block, 11-boss, 12-toothbrush rod, 13-axle frame, 14-toothbrush head, 15-end cover, 16-universal joint, 17-driving bevel gear, 18-driven bevel gear, 19-support sleeve.

detailed description

Provide a preferred embodiment of the present invention below in conjunction with Fig. 1, in order to illustrate structural feature, technical performance and functional characteristic of the present invention, but not be used for limiting the scope of the present invention.

Figure 1 shows a multi-degree-of-freedom intelligent oral cleaning system, a battery 1 for power supply of the system, a DC motor 3 for providing rotational motion, and a mechanical transmission device for multi-degree-of-freedom movement that completes the brushing action of the horizontal vibration brushing method, and is used for the intelligent control module of the system The ARM processor 21 of the embedded system, the wireless communication device 22, the micro-electro-mechanical module 23 that transmits sensors including brushing time, strength, motion and position, and the voice broadcast device 24 that reminds the user to realize the brushing action.

The multi-degree-of-freedom motion mechanical transmission device includes the rotation of the toothbrush head 14 and the reciprocating spiral movement of the toothbrush head 14 driven by the toothbrush rod 12;

The mechanical transmission device of the described multi-degree-of-freedom motion is used as a power source by the rotary motion of the DC motor 3 built into the toothbrush body 5, and a cylindrical cam 8 and a follower 9 are housed on the DC motor output shaft 4, and the follower 9 The protruding end of the toothbrush is matched with the toothbrush rod 12 that has an inner spiral groove, and the end of the motor output shaft 4 is equipped with a driving bevel gear 17, the driving bevel gear 17 is meshed with the driven bevel gear 18, and the gears are carried out with a shaft frame 13. The position is fixed, the gear shaft of the driven bevel gear 18 is connected with a universal joint 16, and the extension shaft of the universal joint 16 is connected with the toothbrush head 14;

The cylindrical cam 8 is connected to the motor output shaft 4 through the key 6, and the surface of the cylindrical cam 8 is provided with a closed spiral groove, and the driven part 9 matched with it is in the rotation process of the cylindrical cam 8. The slider moves along the closed spiral groove on the surface of the cylindrical cam 8. Under the restriction of the guide block 10, the follower 9 protrudes from the straight groove on the shaft and moves back and forth in a straight line along the axial direction of the guide block 10. In this way, the rotation of the cylindrical cam 8 The movement drives the follower 9 to reciprocate axially and linearly;

There is a boss 11 on the shaft surface of the driven member 9, and the boss 11 moves in cooperation with the inner spiral groove of the toothbrush rod 12, that is, the linear reciprocating movement of the follower 9 passes through the boss 11 along the inner spiral groove of the toothbrush rod 12. The spiral groove movement enables the toothbrush rod 12 to realize a reciprocating spiral movement, which can be regarded as a compound movement of reciprocating linear movement and rotational movement, and this compound movement corresponds to the action of the horizontal vibration brushing method;

Described toothbrush rod 12 and follower 9 protruding shaft, toothbrush body 5, motor output shaft 4 are connected mutually, toothbrush rod 12, follower 9 protruding shaft and toothbrush body 5 are provided with for toothbrush rod 12 insertion The follower 9 extends out of the through groove between the shaft and the toothbrush body 5, the motor output shaft 4 is equipped with a support sleeve 19 to contact the inner surface of the toothbrush rod 12, and the terminal of the motor output shaft 4 is inserted into the end cap that is threadedly connected to the end face of the toothbrush rod 12 15 in the inner hole;

The end of described motor output shaft 4 is equipped with driving bevel gear 17, the end structure of motor output shaft 4 is a spline, the gear shaft inner hole of driving bevel gear 17 is a spline hole, and the spline of driving bevel gear 17 The hole is set on the end spline of the motor output shaft 4, and the driving bevel gear 17 can slide axially along the end spline of the motor output shaft 4;

The driving bevel gear 17 is meshed with the driven bevel gear 18, and the positions of the gears are fixed with a shaft bracket 13, so that the motion of the driving bevel gear 17 is transmitted through the driven bevel gear 18, so as to meet the requirement of driving the toothbrush head 14 bristles to rotate. need;

The gear shaft of the driven bevel gear 17 is connected with a universal joint 16. The structure of the universal joint 16 can adopt a spherical or cross structure. The purpose is that the rotational motion of the driven bevel gear 18 is transmitted to the toothbrush head through the universal joint 16. When brushing 14 bristles, the toothbrush rod 12 can also transmit the reciprocating spiral motion to the toothbrush head 14 without interference;

The protruding end of the universal joint 16 is connected with the toothbrush head 14, and one end of the toothbrush head 14 has bristles, and the inner hole of the other end of the toothbrush head 14 is connected with the protruding shaft of the universal joint 16 in a replaceable manner, such as plugging type connection to realize the rotary motion of the toothbrush head 14;

According to the above content, through the DC motor 3, the toothbrush body 5, the cylindrical cam 8, the follower 9, the toothbrush rod 12, the driving bevel gear 17, the driven bevel gear 18, the universal joint 16, the toothbrush head 14 and other power components and transmission The connection of the components enables the toothbrush head 14 to complete the multi-degree-of-freedom movement corresponding to the toothbrushing action of the horizontal vibration brushing method.

The sensor for transmitting brushing time, strength, movement and position includes timer, force sensor, accelerometer and gyroscope;

The timer is used to time the effective brushing time;

The effective brushing time refers to the time when the toothbrush head 14 moves under a certain force;

The force sensor refers to the detection of the force that the toothbrush head 14 acts on the teeth or oral cavity cleaning parts;

Described accelerometer refers to that the speed of motion and the displacement of toothbrush head 14 are detected;

Described gyroscope refers to that the spatial position of toothbrush head 14 is detected;

According to the above, the timer, force sensor, accelerometer, and gyroscope can be built into the toothbrush body 5 or the toothbrush rod 12, and the timer, force sensor, accelerometer, and gyroscope can be independent, or several are packaged together The microelectromechanical module 23 is constituted.

The wireless communication device refers to a Bluetooth module or a cellular-based NB-IoT (Narrow Band Internet of Things) module, which can meet information transmission under various conditions and environments;

The described ARM processor 21 of the embedded system that is used for system intelligent control module 2 is used for managing and comprises DC motor 3, wireless communication device 22, microelectromechanical module 23 such as timer, force sensor, accelerometer, gyroscope, voice The control device 24 and the like process it to realize the collection, processing and communication of the sensor information, and transmit the relevant information to the receiving device, such as a mobile phone, a server, etc., and take a specific area of the user's oral cavity as the initial point of reference (such as the upper incisor area or the lower incisor area) ), according to the signal and time of the force, speed and position sensor fed back by the user when brushing teeth, the information is transmitted to the receiving device through the wireless communication device 22, such as a mobile phone or a server, etc. After being processed by software, it is superimposed and displayed on the On the image model of the user's full teeth, the superimposed image can be used in different colors to reflect the strength, position and coverage of the user's teeth brushing. This mechanism can be set so that the user brushes to the area. The area generated by the position and path corresponds to the coverage of brushing teeth;

The ARM processor 21 can customize a toothbrushing program suitable for oneself according to the user's age and oral condition through interactive software, such as mobile phone APP or software on the server, and can compare and analyze the toothbrushing situation of a certain period of time.

The voice broadcast device 24, by decomposing the actions of the horizontal vibration and brushing method, broadcasts the titles of each action in chronological order, and the ARM processor 21 can also control the broadcast information according to the feedback information, such as the strength of brushing teeth. , the length of time, whether all areas of the mouth are clean, etc.

According to the above content, the integrated ARM processor 21, wireless communication device 22, micro-electromechanical module 23 and voice broadcast device 24 in the system intelligent control module 2 can constitute a platform for oral cavity cleaning control and interaction. Users set the order and steps of oral cleaning according to their age, habits and dental health, such as children or adults, right or left hand-held toothbrush, the type of toothpaste to choose, the number of teeth, the health of the teeth, whether there are dentures And where is the location, etc., this setting interaction can be carried out on the smart device, such as using the APP software of the mobile phone or the web interface of the server to complete. After the relevant information of the user's oral cavity is collected, the system can give suggestions for oral cleaning. After the user confirms, the system will clean the oral cavity according to the relevant procedures and steps within a period of time. The user can also modify the cleaning procedures and steps of the system at any time .

To sum up, the above is the content of the embodiments of the present invention, and obviously the embodiments of the present invention are not limited thereto. The description of the specific embodiments is only to help understand the present invention, not to limit the present invention. Any person skilled in the art can make some changes and changes using the ideas of the present invention, as long as the technical means do not deviate from the ideas and main points of the present invention, they are still within the protection scope of the present invention.

Claims (8)

1. The multi-degree-of-freedom intelligent oral cleaning system is characterized in that: it includes a battery 1 for power supply of the system, a DC motor 3 for providing rotary motion, and a mechanical transmission device for multi-degree-of-freedom movement that completes the brushing action of the horizontal vibrating brushing method, which is used in the system The ARM processor 21 of the embedded system of the intelligent control module, the wireless communication device 22, the micro-electromechanical module 23 that transmission comprises the sensor of brushing time, force and movement and position, reminds the user to realize the voice broadcast device 24 of brushing action. 2. The multi-degree-of-freedom intelligent oral cleaning system according to claim 1, characterized in that: the mechanical transmission device of multi-degree-of-freedom movement, its multi-degree-of-freedom action includes the rotation of the toothbrush head 14 and the driving of the toothbrush head 14 on the toothbrush rod 12 The lower reciprocating spiral moves. 3. The multi-degree-of-freedom intelligent oral cleaning system according to claim 2 is characterized in that: the mechanical transmission device of multi-degree-of-freedom motion uses the rotational motion of the DC motor 3 built into the toothbrush body 5 as the power source, and the output of the DC motor A cylindrical cam 8 and a follower 9 are installed on the shaft 4, and the protruding end of the follower 9 cooperates with the toothbrush rod 12 having an internal spiral groove, and the end of the motor output shaft 4 is equipped with a driving bevel gear 17, and the driving bevel gear The gear 17 is meshed with the driven bevel gear 18, and the position is fixed between the gears with a shaft frame 13. The gear shaft of the driven bevel gear 18 is connected with a universal joint 16, and the extension shaft of the universal joint 16 is connected with the toothbrush head 14; The cylindrical cam 8 is connected to the motor output shaft 4 through the key 6, and the surface of the cylindrical cam 8 is provided with a closed spiral groove. During the rotation of the cylindrical cam 8, the follower 9 matched with it, the slider on the follower 9 moves along the The surface of the cylindrical cam 8 moves in a closed spiral groove. Under the restriction of the guide block 10, the follower 9 protrudes from the straight groove on the shaft to reciprocate along the axial direction of the guide block 10. In this way, the rotation of the cylindrical cam 8 drives the slave The moving part 9 reciprocates axially and linearly; There is a boss 11 on the shaft surface of the follower 9, and the boss 11 cooperates with the inner spiral groove of the toothbrush rod 12, that is, the linear reciprocating movement of the follower 9 moves along the inner spiral groove of the toothbrush rod 12 through the boss 11 , so that the toothbrush rod 12 can realize a reciprocating spiral motion, which can be regarded as a compound motion of reciprocating linear movement and rotational motion, and this compound motion corresponds to the action of the horizontal vibration brushing method; Toothbrush rod 12 is connected with follower 9 extension shaft, toothbrush body 5 and motor output shaft 4, toothbrush rod 12, follower 9 extension shaft and toothbrush body 5 are provided with toothbrush rod 12 to insert follower 9 protruding from the through groove between the shaft and the toothbrush body 5, the motor output shaft 4 is equipped with a support sleeve 19 to contact the inner surface of the toothbrush rod 12, and the terminal of the motor output shaft 4 is inserted into the inner hole of the end cap 15 that is threadedly connected to the end face of the toothbrush rod 12 middle; The end of the motor output shaft 4 is equipped with a driving bevel gear 17, the end structure of the motor output shaft 4 is a spline, the inner hole of the gear shaft of the driving bevel gear 17 is a spline hole, and the spline hole of the driving bevel gear 17 is covered in On the end spline of the motor output shaft 4, the driving bevel gear 17 can slide axially along the end spline of the motor output shaft 4; The driving bevel gear 17 is meshed with the driven bevel gear 18, and the position is fixed between the gears with a shaft frame 13, so that the motion of the driving bevel gear 17 is transmitted through the driven bevel gear 18, so as to meet the requirements of driving the toothbrush head 14 bristles to rotate; The gear shaft of the driven bevel gear 17 is connected with a universal joint 16, and the structure of the universal joint 16 can adopt a spherical or cross structure. , the toothbrush rod 12 can also transmit the reciprocating spiral motion to the toothbrush head 14 without interference; The protruding end of the universal joint 16 is connected with the toothbrush head 14, and one end of the toothbrush head 14 has bristles, and the inner hole of the other end of the toothbrush head 14 is connected with the protruding shaft of the universal joint 16 in a replaceable manner, such as a plug-in connection, Realize the rotary motion of the toothbrush head 14; Through the connection of power components such as DC motor 3, toothbrush body 5, cylindrical cam 8, follower 9, toothbrush rod 12, driving bevel gear 17, driven bevel gear 18, universal joint 16, toothbrush head 14 and transmission parts , so that the toothbrush head 14 can complete the multi-degree-of-freedom movement corresponding to the brushing action of the horizontal vibration brushing method. 4. The multi-degree-of-freedom intelligent oral cleaning system according to claim 1, characterized in that: the sensors used to transmit brushing time, strength, motion and position include timers, force sensors, accelerometers, and gyroscopes, which can be built-in In toothbrush body 5 or toothbrush rod 12 or toothbrush head 14, timer, force sensor, accelerometer, gyroscope can be independent, or several are packaged together to form micro-electromechanical module 23; Wherein timer is used for effectively brushing teeth The effective brushing time refers to the time when the toothbrush head 14 moves under a certain force; the force sensor refers to the detection of the force that the toothbrush head 14 acts on the teeth or oral cavity cleaning parts; the accelerometer refers to the toothbrush head 14. The motion speed and displacement of the toothbrush are detected; the gyroscope refers to the detection of the spatial position of the toothbrush head 14. 5. The multi-degree-of-freedom intelligent oral cleaning system according to claim 1, wherein the wireless communication device 22 refers to a Bluetooth module or a cellular-based NB-IoT (Narrow Band Internet of Things) module, which can satisfy Information transfer under various conditions and circumstances. 6. The multi-degree-of-freedom intelligent oral cleaning system according to claim 1 is characterized in that: the ARM processor 21 of the embedded system of the system intelligent control module 2 is used to manage and comprise a DC motor 3, a wireless communication device 22, and a timer , force sensor, accelerometer, gyroscope and other micro-electromechanical modules 23, voice broadcast device 24, etc. and process them to realize the collection, processing and communication of sensor information, and transmit relevant information to receiving devices, such as mobile phones and servers. 7. The multi-degree-of-freedom intelligent oral cleaning system according to claim 1, characterized in that: taking a specific area of the user's mouth as the reference initial point (such as the upper incisor area or the lower incisor area), according to the force, speed and The signal and time information of the position sensor is transmitted to the receiving device through the wireless communication device 22, such as a mobile phone or a server. The image of the brush uses different colors to reflect the strength, position and coverage of the user's teeth brushing. This mechanism can be set so that the user brushes his teeth to the area. Under certain strength conditions, the area generated by the position and path of the toothbrush head moving corresponds to the brushing coverage. 8. The multi-degree-of-freedom intelligent oral cleaning system according to claim 1, characterized in that: the voice broadcast device 24, by decomposing the actions of the horizontal vibrating brushing method, broadcasts the titles of each action in chronological order, and can also be broadcast by The ARM processor 21 controls the broadcast information according to the feedback information, such as the intensity of brushing teeth, the length of time, whether all areas of the oral cavity are clean, etc.