Apparatus and method for applying a coating

Abstract

Disclosed are a medicine applying device and a medicine applying method. In the medicine applying device, a motion device can move in multiple degrees of freedom, a limiting ring is installed outside a sleeve and rotates around a central shaft of the sleeve, the limiting ring is provided with a second slot that is switched between overlapping and staggering with a first slot, a plurality of sliders are moved towards or away from the central shaft by the first slot of the sleeve and the second slot of the limiting ring, an expansion ring is arranged outside the rear end of the sleeve and rotates around the central shaft of the sleeve, a plurality of axially inclined guide grooves are arranged inside the expansion ring, a base is movably connected to a pair of lead screws, the base is provided with a plurality of protrusions in the circumferential direction, the protrusions are matched with the guide grooves through the slots, so that the base rotates and moves axially with the fixed shaft of the expansion ring, a handle rotates a bevel gear to drive the vertical lead screw and the lower jaw to move, a pair of shafted lead screw sleeves are arranged in the lead screw guide rail, the shafted lead screw sleeve is provided with a connecting shaft that faces the other shafted lead screw sleeve, a pipe head is connected to the head of the ointment, a connecting pipe is connected to the pipe head, and a head extrusion structure is connected to the connecting pipe.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a medicine applying device and a medicine applying method. BACKGROUND

[0002] Topical drugs, especially ointment products, are widely used in the treatment of skin diseases, wound care and chronic pain due to their strong local penetration, long-lasting drug effect, and convenient use, and are widely used in medical and home care. However, for areas such as the back that are difficult to reach or difficult to see, patients have obvious difficulties in self-medicating, and often need help from others. The existing manual medicine applying method usually uses hands or cotton swabs to apply, and the hands need to be washed after applying ointment, which is not sanitary, and the cotton swab is easy to absorb ointment, causing waste, in addition, it is easy to appear uneven application, and the amount of medicine is difficult to control, which affects the absorption effect of the medicine.

[0003] At present, there are some auxiliary medicine applying devices on the market, such as automatic medicine applicators or handheld medicine applying tools, but these devices have relatively single functions and are difficult to cope with complex medicine applying requirements, especially in large areas or difficult-to-reach areas, there is still a lot of room for improvement in terms of ointment extrusion amount, uniformity of application, and operational convenience. In addition, the existing devices are usually designed for a single specification of ointment, and lack compatibility with different sizes and types of ointment, limiting their application range. In addition, the existing devices often have waste during ointment extrusion, increasing the cost of use. Finally, the cleaning and sanitation of auxiliary medicine applying devices is a core issue related to the health and well-being of the people, and the existing medicine applying devices usually use fixed catheters or cavities to transfer ointment, which is difficult to clean and easy to cause drug residue, increasing the risk of cross contamination, especially in hospital and other use scenarios where ointment needs to be replaced multiple times, such problems are particularly prominent.

[0004] The information disclosed in the background section is only used to enhance the understanding of the background of the present application, and therefore can contain information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] In view of the deficiencies or shortcomings of the prior art, a medicine applying device and a medicine applying method are provided, which can automatically and accurately apply medicine, especially for areas that are difficult to operate by oneself, such as the back of the human body, and can adapt to different specifications of ointment, have the ability of efficient extrusion and uniform application, reduce drug waste, and can be easily cleaned to prevent pollution and cross contamination caused by drug residue.

[0006] The purpose of the present application is achieved by the following technical solutions.

[0007] A medicine applying device comprises,

[0008] a movement device capable of multi-degree-of-freedom movement,

[0009] An end-coating execution device is installed on a moving device, which comprises,

[0010] A plaster fixing device comprises,

[0011] A sleeve is provided with a plurality of first slots at the front end and a plurality of axial slots at the rear end,

[0012] A limiting ring is installed outside the sleeve and rotates around the central axis of the sleeve, and the limiting ring is provided with second slots that switch between overlapping and staggering with the first slots through rotation,

[0013] A plurality of sliders are brought closer to or further away from the central axis by the first slots of the sleeve and the second slots of the limiting ring under the push of a human hand.

[0014] The coating device further comprises:

[0015] A plaster clamping device comprises,

[0016] A bearing cover is fixed to the inside of the sleeve,

[0017] A telescopic ring is provided outside the rear end of the sleeve and rotates around the central axis of the sleeve, and a plurality of axially inclined guide grooves are formed inside the telescopic ring,

[0018] A chassis is movably connected to the pair of lead screw rails, and the chassis is circumferentially provided with a plurality of protrusions that are matched with the slots and the guide grooves, so that the chassis rotates and moves axially with the shaft of the telescopic ring,

[0019] A rail-mounted upper jaw is installed on the chassis, and the rail-mounted upper jaw is provided with a guide rail,

[0020] A lower jaw is provided on the guide rail,

[0021] A longitudinal lead screw passes through the rail-mounted upper jaw and the lower jaw, and is threadedly matched with the lower jaw, so that the lower jaw moves along the guide rail under the drive of the longitudinal lead screw,

[0022] A bevel gear is provided at the end of the longitudinal lead screw,

[0023] A handle is rotatably provided in the chassis, and one end of the handle is provided with a second bevel gear that engages the bevel gear, and the handle rotates the bevel gear to drive the longitudinal lead screw and the lower jaw to move, and the lower jaw and the rail-mounted upper jaw clamp the tail of the plaster to fix the plaster.

[0024] The coating device further comprises:

[0025] A plaster extrusion device comprises,

[0026] A pair of lead screw rails are movably connected to the chassis, and one end of the lead screw rails is provided with a deep groove ball bearing that is installed on the bearing cover,

[0027] A pair of shafted screw sleeve sets are sleeved on the screw guide rail, and the shafted screw sleeve is provided with a connecting shaft towards the other shafted screw sleeve,

[0028] A pair of rollers are internally provided with a connecting shaft, assembled on the screw sleeve, and can move forward along the screw guide rail to extrude the ointment,

[0029] A driving motor is arranged at the other end of the screw guide rail to drive the screw guide rail to rotate.

[0030] The replaceable head comprises,

[0031] A tube head connected to the head of the ointment,

[0032] A connecting conduit connected to the tube head,

[0033] A head extrusion structure connected to the connecting conduit, and the head extrusion structure is provided with a plurality of holes.

[0034] In the ointment applying device, the motion device has a topological structure with five degrees of freedom.

[0035] In the ointment applying device, the head extrusion structure comprises a central hole and a plurality of discharge holes uniformly distributed around the central hole.

[0036] The ointment applying device further comprises an image recognition device for recognizing the position.

[0037] In the ointment applying device, a mechanical arm is arranged between the motion device and the end ointment applying execution device.

[0038] The ointment applying method of the ointment applying device comprises the following steps,

[0039] The ointment clamping device and the ointment fixing device assemble the ointment in the end ointment applying execution device;

[0040] The replaceable head is assembled on the head of the ointment, and the ointment applying is started.

[0041] The replaceable head is disinfected.

[0042] In the ointment applying method, the image recognition device is used to recognize the position to be applied before the ointment is applied.

[0043] In the ointment applying method, the motion device moves based on the position to be applied recognized by the image recognition device.

[0044] Compared with the prior art, the present application has the following beneficial effects:

[0045] The application can solve the problems of difficulty in self-medicating, uneven application of medicine, and inconvenient operation of medical staff, and can accurately position the ointment at specific acupoints, thereby improving the efficacy. The replaceable head can ensure hygiene during application. The end effector is suitable for ointments of various sizes and lengths on the market.

[0046] The description is only a summary of the technical solutions of the application. In order to make the technical solutions of the application more clear and understandable, and to enable those skilled in the art to implement the content of the description, and to make the above and other purposes, features and advantages of the application more obvious and understandable, the following will be illustrated by specific embodiments of the application. BRIEF DESCRIPTION OF DRAWINGS

[0047] Various other advantages and benefits of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a better understanding of the preferred embodiments, and are not to be considered as limiting the application. Obviously, the drawings described below are only some embodiments of the application, and other drawings can be obtained from these drawings without creative labor for those of ordinary skill in the art. Moreover, the same reference numerals are used to represent the same components throughout the drawings.

[0048] In the drawings:

[0049] Figure 1 is a general structure diagram of the medicine applying device;

[0050] Figure 2 is a general structure diagram of the end effector;

[0051] Figure 3 is a schematic diagram of the ointment fixing device;

[0052] Figure 4 is an internal structure diagram of the end effector;

[0053] Figure 5 is a structure diagram of the ointment clamping device;

[0054] Figure 6 is a sectional view of the telescopic ring;

[0055] Figure 7 is a structure diagram of the replaceable head;

[0056] Figure 8 is a storage schematic diagram of the replaceable head;

[0057] Wherein, 1 - movement device, 2- sleeve, 3- telescopic ring, 4- limit ring, 5- slider, 6- head extrusion structure, 7- connecting conduit, 8- pipe head, 9- head protection box, 10- chassis, 11- lead screw guide rail, 12- deep groove ball bearing, 13- bearing cover, 14- belt shaft lead screw sleeve, 15- roller, 16- lead screw sleeve, 17- drive motor, 18- handle, 19- lower pliers body, 20- with rail upper pliers body, 21- longitudinal lead screw, 22- bevel gear.

[0058] The application will be further explained in conjunction with the accompanying drawings and examples. DETAILED DESCRIPTION

[0059] Specific embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. While the present application is described in terms of specific embodiments, it will be apparent to those with ordinary skill in the art that various modifications can be made without departing from the scope of the present application. Accordingly, it is not intended that the present application be limited, except as by the appended claims.

[0060] It should be noted that certain terms have been used throughout the specification and claims which have been used for the purpose of description and not for the purpose of limitation. It is to be understood that the use of such terms as "including", "comprising", or "having" has been used to represent the inclusion of substantive or equivalent features, steps, components or elements noted in connection with the specific embodiments. It is intended that there be at least one of each such feature, step, component or element. It is also intended that there be at least one of each such feature, step, component or element in any combination. The use of "including" or "comprising" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The description herein is intended to be illustrative only and is presented to enable any person skilled in the art to make and use the application. Numerous alternative embodiments as set forth herein will be apparent to the skilled artisan. The scope of the present application is not intended to be limited to the embodiments described herein but is intended to be accorded the full scope inherent to the principles described herein.

[0061] For the purpose of promoting an understanding of the principles of the application, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will, nevertheless, be understood that no limitation of the scope of the application is intended by this reference. Alterations and further modifications of the inventive features illustrated are hereafter contemplated as falling within the scope of the application. For example, elements described herein in the singular can also be implemented in the plural and vice versa.

[0062] For a better understanding, Figures 1 to 8 as shown, a medicine applying device comprises,

[0063] a movement device 1 capable of multi-degree-of-freedom movement,

[0064] a terminal medicine applying execution device mounted on the movement device 1, which comprises,

[0065] a medicine plaster fixing device, which comprises,

[0066] a sleeve 2, a front end of which is provided with a plurality of first slot positions, and a rear end of which is provided with a plurality of axial slots,

[0067] A limiting ring 4 is installed outside the sleeve 2 and rotates around the central axis of the sleeve 2, and the limiting ring is provided with a second slot that switches between overlapping and staggering with the first slot through rotation,

[0068] A plurality of sliders 5 are brought closer to or further away from the central axis by the first slot of the sleeve 2 and the second slot of the limiting ring 4 under the push of a human hand;

[0069] An ointment clamping device includes,

[0070] A bearing cover 13 is fixed to the inside of the sleeve 2,

[0071] A telescopic ring 3 is provided outside the rear end of the sleeve 2 and rotates around the central axis of the sleeve 2, and a plurality of axially inclined guide grooves are formed in the inside of the telescopic ring 3,

[0072] A chassis 10 is movably connected to the pair of lead screw rails 11, and a plurality of protrusions are circumferentially provided on the chassis 10, which are matched with the slots and the guide grooves, so that the chassis 10 rotates and moves axially with the telescopic ring 3,

[0073] A rail-mounted upper jaw body 20 is installed on the chassis, and the rail-mounted upper jaw body 20 is provided with a guide rail,

[0074] A lower jaw body 19 is provided on the guide rail,

[0075] A longitudinal lead screw 21 passes through the rail-mounted upper jaw body 20 and the lower jaw body 19, and is threadedly matched with the lower jaw body 19, so that the lower jaw body 19 moves along the guide rail under the drive of the longitudinal lead screw 21,

[0076] A bevel gear 22 is provided at the end of the longitudinal lead screw 21,

[0077] A handle 18 is rotatably provided in the chassis, and one end of the handle 18 is provided with a second bevel gear that engages the bevel gear, and the handle 18 rotates the bevel gear 22 to drive the longitudinal lead screw 21 and the lower jaw body 19 to move, and the lower jaw body 19 clamps the tail of the ointment with the rail-mounted upper jaw body 20 to fix the ointment;

[0078] An ointment extrusion device includes,

[0079] A pair of lead screw rails 11 are movably connected to the chassis 10, and one end of the lead screw rail 11 is provided with a deep groove ball bearing 12 that is installed on the bearing cover 13,

[0080] A pair of shafted lead screw sleeves 14 are sleeved on the lead screw rail 11, and the shafted lead screw sleeve is provided with a connecting shaft that faces the other shafted lead screw sleeve,

[0081] A pair of rollers 15 are provided with a connecting shaft in the inside, and are assembled on the shafted lead screw sleeve 14, and can move forward along the lead screw rail 11 with the shafted lead screw sleeve 14 to extrude the ointment,

[0082] a driving motor 17 arranged at the other end of the screw guide rail 11 to drive the screw guide rail to rotate;

[0083] a replaceable head,

[0084] a tube head 8 connected to the head of the ointment,

[0085] a connecting conduit 7 connected to the tube head,

[0086] a head extrusion structure 6 connected to the connecting conduit 7, the head extrusion structure 6 being provided with a plurality of holes.

[0087] In a preferred embodiment of the ointment applying device, the motion device 1 has a topology with five degrees of freedom.

[0088] In a preferred embodiment of the ointment applying device, the head extrusion structure 6 comprises a central hole and a plurality of discharge holes uniformly distributed around the central hole.

[0089] In a preferred embodiment of the ointment applying device, the ointment applying device further comprises an image recognition device for recognizing the position.

[0090] In a preferred embodiment of the ointment applying device, the image recognition device comprises a camera and a visual recognition unit.

[0091] In a preferred embodiment of the ointment applying device, the image recognition device is connected to the motion device via a PLC.

[0092] In a preferred embodiment of the ointment applying device, a mechanical arm is arranged between the motion device and the end ointment applying device.

[0093] The ointment applying method comprises the following steps:

[0094] The ointment clamping device and the ointment fixing device assemble the ointment in the end ointment applying device;

[0095] The replaceable head is assembled on the head of the ointment and the ointment applying is started;

[0096] The replaceable head is disinfected.

[0097] In a preferred embodiment of the ointment applying method, before the ointment is applied, the position to be applied is recognized by the image recognition device.

[0098] In a preferred embodiment of the ointment applying method, the motion device moves based on the position to be applied recognized by the image recognition device.

[0099] In one embodiment, the ointment applying device comprises an end ointment applying device and a motion device 1, the end ointment applying device comprising an ointment extrusion device, an ointment clamping device, an ointment fixing device, and a replaceable head.Figure 2 and Figure 3 As shown, the ointment fixing device includes a slider 5, a limiting ring 4, and a sleeve 2; the limiting ring 4 is installed on the outside of the sleeve 2 and can rotate around the central axis of the sleeve 2, and the four sliders 5 are placed in the four slots of the sleeve 2 and the limiting ring 4. After rotation, the four second slots of the limiting ring 4 are staggered with the four first slots of the sleeve 2, thereby limiting the slider 5, preventing the ointment from being displaced during operation, and ensuring the stable operation of the device.

[0100] like Figure 4 As shown, the ointment extrusion device includes a screw guide 11, a drive motor 17, a deep groove ball bearing 12, a bearing cover 13, a shaft screw sleeve 14, a screw sleeve 16, and a roller 15; the two screw guides 11 are placed in parallel, one end is connected to the drive motor 17, and the other end is connected to the deep groove ball bearing 12. The two deep groove ball bearings 12 are mounted on the bearing cover 13. There are two shafts on the side of the shaft screw sleeve 14 to string together the two rollers 15. The other side of the shaft is connected to the screw sleeve 16. The two screw sleeves pass through the two screw guides 11 and are threaded with the screw guides 11, and can move axially with the rotation of the screw guides 11.

[0101] like Figure 4 As shown, during operation of the ointment extrusion device, a motor drives two lead screw guides 11, which move the screw sleeve mounted on them back and forth. Two rollers 15 are mounted on the screw sleeve. As the shafted lead screw sleeve 14 moves forward along the lead screw guides 11, rollers 15 gradually squeeze the outer shell of the ointment, simulating the natural movement of a human hand squeezing ointment, thereby squeezing the drug inside. During this squeezing process, the drug is guided into the connected catheter, ultimately completing the application process.

[0102] like Figure 5 and Figure 6As shown, the ointment clamping device includes sleeve 2, telescopic ring 3, base plate 10, handle 18, bevel gear 22, longitudinal screw 21, upper rail clamping body 20, lower clamping body 19; the base plate 10 is installed between the screw guide rail 11 and the driving motor 17, and is threadedly connected with the screw guide rail 11, and can be freely moved axially along the screw guide rail 11, the upper rail clamping body 20 is installed on the base plate 10, the lower clamping body 19 is installed on the upper rail clamping body 20, the longitudinal screw 21 passes through the upper rail clamping body 20 and the lower clamping body 19, and is threadedly connected with the lower clamping body 19, the lower clamping body 19 can be moved along the guide rail under the driving of the longitudinal screw 21, one end of the longitudinal screw is connected with the bevel gear 22, the other end of the bevel gear 22 is connected with the handle 18, and the bevel gear 22 can be rotated under the driving of the handle 18, thereby driving the longitudinal screw 21 to rotate. The telescopic ring 3 is located outside the rear end of the sleeve 2 and can rotate around the shaft of the sleeve 2, four axial long grooves are opened on the rear side of the sleeve 2, four guide grooves inclined to the axial direction are opened on the inner side of the telescopic ring 3, and the four protrusions of the base plate 10 pass through the long grooves of the sleeve 2 and the guide grooves of the telescopic ring 3, and can be axially moved with the fixed shaft of the telescopic ring 3. When the operator shakes the handle to rotate the screw, the movable clamping body moves axially relative to the fixed clamping body, thereby realizing the functions of clamping and loosening.

[0103] As shown in Figure 7 and Figure 8 , the replaceable head includes head extrusion structure 6, connecting pipe 7, pipe head 8, head extrusion structure 6 is provided with eight circumferentially distributed small holes and a central hole, head extrusion structure 6 is connected with connecting pipe 7 at the end, and connecting pipe 7 is connected with pipe head 8 at the other side. The pipe head 8 is designed with threads, which can be directly fixed with the head of the ointment, thereby ensuring the stability of the connection and the smooth transmission of the ointment. The operator can replace the replaceable head to adapt to different ointments, avoiding hygiene problems. When the replaceable head is idle, the operator can cover the head protection box 9 to surround the head extrusion structure 6, avoiding pollution.

[0104] As shown in Figure 1 , the motion device 1 has five degrees of freedom, and is designed by topological optimization. Through accurate topological optimization, not only the amount of material is effectively reduced, the energy consumption is reduced, but also the dynamic performance and stability of the mechanical arm are enhanced. The optimized connecting part realizes lightweight design under the premise of maintaining the structural strength and rigidity, thereby improving the operation precision and response speed of the mechanical arm.

[0105] Further, the ointment applying device uses camera and visual recognition technology to apply ointment to different parts of the human body, and uses PLC to communicate the camera with the device.

[0106] The specific working process of the intelligent ointment applying device is as follows:

[0107] Firstly, the ointment is assembled in the end effector using the ointment clamping device and the ointment fixing device;

[0108] Secondly, the replaceable head is assembled on the ointment head;

[0109] Then, the ointment application program is input, and the device starts to apply ointment;

[0110] Finally, the replaceable head is disinfected after the ointment application is completed.

[0111] The application supports the accurate application of the ointment application device on different parts of the human body. Before ointment application, the image recognition device recognizes the position to be applied to implement the application method, which comprises the following steps,

[0112] S100, image acquisition of the target area is performed by a camera. Specifically, the following steps are included: camera initialization, checking the connection state of the camera to ensure that it normally communicates with the control system of the ointment application device, such as a PLC control system, while calibrating the camera parameters, including focal length, resolution and shooting angle, to adapt to the characteristics of the human ointment application area. It can be understood that the image capture of the target area can use the auto-focus function to obtain a clear image, and at the same time, through multi-angle shooting, the interference of occlusion and light reflection is avoided;

[0113] S200, the collected image is standardized and enhanced. Specifically, the following steps are included: image format conversion, converting the collected image into a standard format such as JPEG or PNG; using Gaussian filter to remove background noise, and enhancing contrast to highlight skin features; according to the region of interest (ROI), the image is cropped to focus on the part to be applied;

[0114] S300, accurate positioning of the human body part is performed based on a visual recognition algorithm. Specifically, the following steps are included: first, a deep learning model such as OpenPose or HRNet is used to detect human key points, and joint coordinates are generated to mark the target part contour; then, a semantic segmentation technology such as DeepLab or UNet is applied to separate the skin area from the background, accurately label the ointment application area, and ensure that the ointment coverage range meets the expectation; then, the boundary optimization technology is used to correct the errors caused by light or posture in the segmentation process;

[0115] S400, the ointment application path is determined according to the recognition result. Specifically, the following steps are included: the accurate positioning result of S300 is used to generate the application path points, and an interpolation algorithm such as Bezier curve is used to smooth the path points, then the motion trajectory of the mechanical arm is calculated according to the path points, and the speed and angle parameters are set to ensure uniform application without missing areas.

[0116] In summary, the above coating method disclosed by the present application realizes efficient and accurate coating operation of human body parts through visual identification and planning of coating path.

[0117] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, advantages, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, advantages, effects and the like cannot be considered as the must-have of each embodiment of the present application. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limiting, and the above details do not limit the present application to the above specific details.

[0118] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain modifications, alterations, changes, additions and sub-combinations thereof.

Claims

1. A device for applying a medicament, characterized in that It comprises, a motion device (1) capable of multi-degree-of-freedom motion, a terminal medicine applying execution device mounted on the motion device (1) and comprising, a medicine paste extruding device comprising, a pair of screw guide rails (11) with deep groove ball bearings (12) mounted on bearing covers (13) at one end, a pair of shafted screw sleeve (14) sleeved on the screw guide rails (11), the shafted screw sleeve is provided with a connecting shaft towards the other shafted screw sleeve, a pair of rollers (15) provided with a connecting shaft inside, assembled on the screw sleeve (14), capable of moving forward along the screw guide rail (11) with the screw sleeve (14) to extrude the medicine paste, a driving motor (17) provided at the other end of the screw guide rail (11) to drive the screw guide rail to rotate; a replaceable head comprising, a tube head (8) connected to the head of the medicine paste, a connecting conduit (7) communicating with the tube head, a head extruding structure (6) communicating with the connecting conduit (7), the head extruding structure (6) is provided with a plurality of holes; a medicine paste fixing device comprising, a sleeve (2) provided with a plurality of first slots at the front end and a plurality of axial slots at the rear end, a limiting ring (4) mounted on the outside of the sleeve (2) and rotating around the central axis of the sleeve (2), the limiting ring is provided with a second slot that switches between overlapping and offsetting with the first slot through rotation, a plurality of sliders (5) that move towards or away from the central axis under the push of the human hand from the first slot of the sleeve (2) and the second slot of the limiting ring (4); a medicine paste clamping device comprising, a bearing cover (13) fixed to the inside of the sleeve (2), a telescopic ring (3) provided on the outside of the rear end of the sleeve (2) and rotating around the central axis of the sleeve (2), the inside of the telescopic ring (3) is provided with a plurality of axially inclined guide grooves, a chassis (10) movably connected to the pair of screw guide rails (11), the chassis is circumferentially provided with a plurality of protrusions, the protrusions pass through the plurality of axial slots of the sleeve and cooperate with the guide grooves, so that the chassis (10) rotates and axially moves with the fixed shaft of the telescopic ring (3), a rail-mounted upper jaw body (20) mounted on the chassis, the rail-mounted upper jaw body (20) is provided with a guide rail, a lower jaw body (19) provided on the guide rail, a longitudinal screw (21) passing through the rail-mounted upper jaw body (20) and the lower jaw body (19), which is threadedly connected with the lower jaw body (19), the lower jaw body (19) moves along the guide rail under the driving of the longitudinal screw (21), a bevel gear (22) provided at the end of the longitudinal screw (21), a handle (18) rotatably provided on the chassis, one end of the handle is provided with a second bevel gear meshing with the bevel gear, the handle (18) rotates the bevel gear (22) to drive the longitudinal screw (21) and the lower jaw body (19) to move, the lower jaw body (19) and the rail-mounted upper jaw body (20) clamp the tail of the medicine paste to fix the medicine paste.

2. The applicator of claim 1, wherein The motion device (1) has a topological structure with five degrees of freedom.

3. The applicator of claim 1, wherein the applicator is a single-use applicator. The head extruding structure (6) comprises a central hole and a plurality of discharge holes uniformly distributed around the central hole.

4. The applicator of claim 1, wherein the applicator is a single-use applicator. It also includes an image recognition device for recognizing the position.

5. The applicator of claim 1, wherein the applicator is a syringe. A mechanical arm is provided between the motion device and the terminal medicine applying execution device.

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