Injection robot for medical beauty and skin care and use method thereof

Abstract

The invention discloses a medical beauty skin care injection robot and a use method thereof, and relates to the technical field of medical beauty injection robots. The device comprises a mechanical arm and an injection structure installed at one end of the mechanical arm, and is characterized in that the injection structure comprises an outer cover, an adjusting assembly and an injection assembly are arranged in the outer cover, and the adjusting assembly and the injection assembly are connected through a locking assembly; the adjusting assembly comprises a fixed frame, the left end and the right end of the fixed frame are movably connected with the left end and the right end of a movable frame, the space defined by the fixed frame and the movable frame is rectangular, and the middle section of the inner wall of the fixed frame is connected with a driving gear through a telescopic air cylinder. A driven gear is connected between the two transmission gears in a meshed mode. By arranging the adjusting assembly, before injection, the penetrating angle of the needle head is finely adjusted through the adjusting assembly, and the injection position of an injected person can be accurately controlled.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical aesthetic injection robots, and particularly relates to an injection robot for medical aesthetic skin care and a using method thereof. Background Art

[0002] Medical aesthetic skin care is a very popular skin care concept internationally. People troubled by skin problems no longer blindly go to stores to buy various cosmetics to try, but get prescriptions from dermatologists and receive targeted skin care advice. With the increasing pursuit of health by people and the rapid development of dermatology, medical skin care products with higher safety and effectiveness have become an irresistible trend, growing at a rate twice the average development speed of the industry: from cleansing products, drugs or adjuvant treatment products to follow-up products, which are also called medical skin care products. At the same time, in order to enhance and accelerate the skin care effect, consumers usually use the method of injecting medical drugs for medical aesthetic skin care.

[0003] In the existing medical aesthetic skin care injections, usually medical staff inject medical drugs into a syringe and manually inject the user. However, the manual injection method often results in poor injection effects due to the injection environment being a germy environment or human contact, etc. Moreover, some injection devices using injection robots cannot stop the injection action in time in case of an emergency. For example, when the person being injected shakes due to the pain of the injection, at this time the needle has already been inserted into the skin of the person being injected, and the shaking may cause the needle to break, thus causing harm to the person being injected. In addition, the injection robot has certain limitations in adjusting the angle when the needle penetrates the skin and cannot accurately and stably adjust the injection angle.

[0004] The existing medical aesthetic injection robots cannot immediately terminate the injection action in case of a sudden emergency, and are very likely to cause the needle to break due to the body shaking of the person being injected, thus causing harm to the person being injected. Moreover, it is inconvenient to adjust the injection penetration angle of the needle. Therefore, the present invention provides an injection robot for medical aesthetic skin care and a using method thereof. Summary of the Invention

[0005] The purpose of the present invention is to provide an injection robot for medical aesthetic skin care and a using method thereof, and solve the problems that the existing medical aesthetic injection robots cannot immediately terminate the injection action in case of a sudden emergency, are very likely to cause the needle to break due to the body shaking of the person being injected, thus causing harm to the person being injected, and it is inconvenient to adjust the injection penetration angle of the needle.

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions: The present invention relates to an injection robot for medical aesthetic skin care, which includes a robotic arm and an injection structure installed at one end of the robotic arm. The injection structure includes an outer cover, and an adjustment component and an injection component are arranged inside the outer cover. The adjustment component and the injection component are connected by a locking component; The adjustment component includes a fixed frame. The left and right ends of the fixed frame are movably connected to the left and right ends of a movable frame. The space enclosed between the fixed frame and the movable frame is rectangular. The middle section of the inner wall of the fixed frame is connected to a driving gear through a telescopic cylinder. A transmission gear is meshed and connected on both the left and right sides of the driving gear. A driven gear is meshed and connected between the two transmission gears. The driven gear is arranged opposite to the driving gear, and the back surface of the driven gear is connected to the injection component; The injection component includes a lead screw. One end of the lead screw is welded to the back surface of the driven gear. A movable bearing is sleeved on the circumferential surface of the lead screw. Four universal joints are evenly distributed and installed outside the movable bearing. One end of the universal joint is fixedly connected to one end of a connecting rod. The other ends of the four connecting rods are all welded to one side surface of a fixing plate. The other side surface of the fixing plate is connected to a needle head through a mounting member.

[0007] Preferably, the robotic arm is fixedly connected to a base, and one end of the robotic arm is fixedly connected to the outer surface of the outer cover. The inside of the outer cover is a hollow structure, and the middle part is a rectangular bellows structure for adapting to the angular bending adjustment of the adjustment component.

[0008] Preferably, the adjustment component further includes a driving motor. One side surface of the driving motor is fixedly connected to the inner side surface of the outer cover, and the other side surface of the driving motor is fixedly connected to the middle position of the outer side surface of the fixed frame. The output end of the driving motor penetrates through the fixed frame to its inside and is fixedly connected to one end of the telescopic cylinder. The other end of the telescopic cylinder is welded to the back surface of the driving gear.

[0009] Preferably, the outer side surfaces of both ends of the fixed frame are fixedly connected to an adjustment motor through a mounting shell. The output end of the adjustment motor penetrates through the outer wall of the mounting shell to its inside and is fixedly connected to one end of the movable frame.

[0010] Preferably, the injection component further includes an electric liquid pump. The electric liquid pump is welded to the bottom end of the inner side surface of the outer cover. The output end of the electric liquid pump is movably connected to the inside of a liquid storage chamber. The liquid storage chamber is installed at the bottom end of the inner side surface of the outer cover. The output end at the top of the liquid storage chamber is fixedly connected to one end of an infusion tube. The other end of the infusion tube is fixedly connected to the mounting member. The inside of the mounting member is communicated with the inside of the needle head; the mounting member and the liquid storage chamber are both detachable, and the mounting member, the needle head, the infusion tube and the liquid storage chamber all belong to disposable instruments.

[0011] Preferably, the locking assembly includes a coupling shaft. There are two coupling shafts. Each coupling shaft is fixedly connected to a transmission gear, and the transmission gear is sleeved on the circumferential side of the coupling shaft. One end of the coupling shaft is rotatably connected to one end inside the fixed frame. A circular groove is formed at the other end of the coupling shaft. A telescopic shaft is slidably arranged in the circular groove. The other end of the telescopic shaft is welded to the back of a circular plate. The circular plate is fixedly connected to the coupling shaft through a first spring. The first spring is sleeved on the circumferential side of the telescopic shaft. An annular tooth is installed on the other surface of the circular plate. When two opposite annular teeth mesh with each other and their tooth tips are just opposite, a diamond-shaped notch is formed.

[0012] Preferably, an installation groove is formed on the back of the driven gear. A second spring is fixedly connected to the bottom of the installation groove. One end of the second spring is fixedly connected to a movable shaft. The movable shaft is slidably arranged inside the installation groove. The other end of the movable shaft is fixedly connected to the back of a movable magnetic ring. The edge position on the back of the movable magnetic ring is electrically connected to an electromagnet. The electromagnet is in a circular ring structure and is welded outside the installation groove formed on the driven gear. A locking rod is welded to the other side of the movable magnetic ring fixed relative to the movable shaft. The cross-section of the locking rod is diamond-shaped. One end of the locking rod is movably connected to the inside of the diamond-shaped notch formed when the tooth tips of the two annular teeth are opposite.

[0013] Preferably, a vibration sensor is fixedly connected to one end of the lead screw adjacent to the fixed plate. The bottom of one of the connecting rods is fixedly connected to one end of a telescopic rod. The bottom end of the telescopic rod is movably arranged inside a chute formed on the inner wall of the outer cover.

[0014] A usage method of an injection robot for medical aesthetic skin care includes the following steps: S1. Fix the liquid storage chamber on the outer cover and connect it to the electric liquid pump. At the same time, install the needle on the fixed plate through the mounting part, and connect the needle to the liquid storage chamber through the infusion tube. S2. Start the robotic arm to move the injection structure to a position close to the skin of the person to be injected. According to the injection requirements and the positional relationship between the injection structure and the skin of the person to be injected, adjust the angle between the movable frame and the fixed frame by adjusting the motor, so as to adjust the angle at which the needle penetrates the skin. Before starting the adjustment motor, drive the drive gear to contract and move out of the meshing range with the two transmission gears through the telescopic cylinder. After the angle adjustment is completed, restart the telescopic cylinder to drive the drive gear to mesh with the two transmission gears. S3. Start the drive motor to drive the telescopic cylinder and the drive gear fixed to the other end of the telescopic cylinder to rotate. During the rotation of the drive gear, it drives the transmission gears on its left and right sides and the driven gears in the opposite direction to rotate in sequence. The lead screw at the other end of the driven gear rotates simultaneously under its drive. At this time, the movable bearing on the surface of one end of the lead screw slides towards the other end of the lead screw, thereby driving the needle to penetrate into the skin of the person to be injected at the adjusted angle. Then, the beauty medicine is transmitted through the infusion tube and the needle by the electric liquid pump and input into the body of the person to be injected. After the injection is completed, the drive motor rotates in the reverse direction to drive the needle to withdraw from the skin of the person to be injected; Among them, when the person to be injected shakes accidentally and the needle has penetrated into the skin of the person to be injected, as the person to be injected shakes, the connecting rod at the other end of the needle shakes accordingly under the action of the universal joint. If the shaking amplitude is too large, a certain connecting rod will first contact and collide with the end of the lead screw equipped with the vibration sensor. After the vibration sensor monitors the vibration collision, it sends a power-off signal to the electromagnet. After the electromagnet is powered off, the movable magnetic ring is no longer adsorbed by the electromagnet. The movable magnetic ring that loses adsorption slides towards the outside of the axial mounting groove under the action of the compressed second spring until the locking rod on the movable magnetic ring is inserted into the rhombic notch formed when the teeth of the two annular teeth face each other, locking the two coupling shafts. At this time, the two transmission gears on the coupling shaft stop rotating, and the driven gear and the drive gear meshing with the transmission gear stop rotating simultaneously. The needle no longer penetrates further into the skin but stops moving.

[0015] The present invention has the following beneficial effects: By setting the adjustment component, before injection, the penetration angle of the needle can be finely adjusted through the adjustment component, which can accurately control the injection position of the person to be injected. At the same time, the telescopic cylinder is used to move the drive gear away from the meshing position with the transmission gear. When the adjustment motor drives the movable frame to rotate, the driven gear drives the two transmission gears to rotate in the same direction simultaneously. When the drive gear is not meshed with the transmission gear, the situation of the four gears being stuck is avoided.

[0016] By setting the injection component and installing the injection component at one end of the adjustment component, when the drive motor starts to rotate, it directly drives the four mutually meshing gears to rotate simultaneously. The four mutually meshing gears are all meshed at an angle of 45°. When the driven gear rotates, it drives the lead screw connected to it to rotate. The movable bearing threadedly connected to the surface of the lead screw moves towards the other end of the lead screw under the fixed limit of the telescopic rod, driving the needle to slowly penetrate into the skin of the person to be injected. This injection structure can control the speed at which the needle penetrates into the skin of the person to be injected by controlling the rotation speed of the drive motor. At the same time, the rotation speed of the drive motor is stable and uniform, so the needle penetrates the skin relatively stably and will not cause harm to the person to be injected.

[0017] In the present invention, by providing a locking component, when the person being injected accidentally shakes, causing the needle inserted into their skin to shake simultaneously, since the needle is connected to four connecting rods through a fixing plate, when the needle shakes, it drives the connecting rods to shake as well. When the shaking amplitude is too large, the connecting rod will touch one end of the lead screw. Therefore, the vibration sensor fixed at one end of the lead screw will detect a vibration signal. The vibration sensor uses the robot to send an electrical signal to the electromagnet, causing the electromagnet to be powered off and disconnected. After the moving magnetic ring is no longer adsorbed by the electromagnet, the compressed second spring pushes the moving shaft towards the outside of the installation groove, driving the moving magnetic ring and the locking rod to move towards the position of the annular teeth. The locking rod is inserted into the diamond-shaped notch formed when the tips of the two annular teeth face each other, locking the two coupling shafts, and simultaneously stopping the rotation of the four gears, ultimately stopping the needle from continuing to penetrate, thus avoiding harm to the person being injected. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 Schematic diagram of the overall structure of the injection robot for medical aesthetic skin care provided by the present invention; Figure 2 Schematic diagram of the internal structure of the injection structure of the injection robot for medical aesthetic skin care provided by the present invention; Figure 3 Schematic diagram of the internal structure of the injection structure of the injection robot for medical aesthetic skin care provided by the present invention; Figure 4 Schematic diagram of the top view structure of the adjustment component and the injection component of the injection robot for medical aesthetic skin care provided by the present invention; Figure 5 For the present invention Figure 4 Enlarged view at A in; Figure 6 Schematic diagram of the injection component structure of the injection robot for medical aesthetic skin care provided by the present invention; Figure 7 For the present invention Figure 6 Enlarged view at B in; Figure 8 Schematic diagram of the enlarged structure of the locking component of the injection robot for medical aesthetic skin care provided by the present invention.

[0020] In the drawings, the list of components represented by each reference numeral is as follows: 1. Base; 2. Robot arm; 3. Outer cover; 4. Driving motor; 5. Fixed bracket; 6. Movable bracket; 7. Telescopic cylinder; 8. Driving gear; 9. Transmission gear; 10. Driven gear; 11. Installation shell; 12. Adjusting motor; 13. Coupling shaft; 14. First spring; 15. Telescopic shaft; 16. Circular plate; 17. Annular tooth; 18. Lead screw; 19. Universal joint; 20. Connecting rod; 21. Fixed plate; 22. Mounting part; 23. Needle; 24. Liquid chamber; 25. Electric liquid pump; 26. Telescopic rod; 27. Vibration sensor; 28. Second spring; 29. Movable shaft; 30. Electromagnet; 31. Movable magnetic ring; 32. Locking rod; 33. Movable bearing; 34. Infusion tube. Detailed implementation manner

[0021] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "provided with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0024] Refer to Figure 1-8 , the present invention is an injection robot for medical aesthetic skin care, including a robot arm 2 and an injection structure installed at one end of the robot arm 2. The injection structure includes an outer cover 3. An adjustment component and an injection component are arranged inside the outer cover 3, and the adjustment component and the injection component are connected through a locking component; The adjusting assembly includes a fixed frame 5. The left and right ends of the fixed frame 5 are movably connected to the left and right ends of a movable frame 6. The space enclosed between the fixed frame 5 and the movable frame 6 is rectangular. The middle section of the inner wall of the fixed frame 5 is connected to a driving gear 8 through a telescopic cylinder 7. A transmission gear 9 is meshed and connected on each of the left and right sides of the driving gear 8. A driven gear 10 is meshed and connected between the two transmission gears 9. The driven gear 10 is disposed opposite to the driving gear 8. The back surface of the driven gear 10 is connected to the injection assembly; The injection assembly includes a lead screw 18. One end of the lead screw 18 is welded to the back surface of the driven gear 10. A movable bearing 33 is sleeved on the circumferential side of the lead screw 18. Four universal joints 19 are evenly distributed and installed outside the movable bearing 33. The universal joint 19 is fixedly connected to one end of a connecting rod 20. The other ends of the four connecting rods 20 are all welded to one side surface of a fixing plate 21. The other side surface of the fixing plate 21 is connected to a needle 23 through a mounting member 22.

[0025] Among them, the robotic arm 2 is fixedly connected to the base 1. One end of the robotic arm 2 is fixedly connected to the outer surface of the outer cover 3. The inside of the outer cover 3 is a hollow structure, and the middle of it is a rectangular corrugated pipe structure for adapting to the angular bending adjustment of the adjusting assembly.

[0026] Among them, the adjusting assembly further includes a driving motor 4. One side surface of the driving motor 4 is fixedly connected to the inner wall side surface of the outer cover 3, and the other side surface of the driving motor 4 is fixedly connected to the middle position of the outer side surface of the fixed frame 5. The output end of the driving motor 4 penetrates through the fixed frame 5 to its inside and is fixedly connected to one end of the telescopic cylinder 7. The other end of the telescopic cylinder 7 is welded to the back surface of the driving gear 8.

[0027] Among them, the outer side surfaces of both ends of the fixed frame 5 are fixedly connected to an adjusting motor 12 through a mounting shell 11. The output end of the adjusting motor 12 penetrates through the outer wall of the mounting shell 11 to its inside and is fixedly connected to one end of the movable frame 6.

[0028] Among them, the injection assembly further includes an electric liquid pump 25. The electric liquid pump 25 is welded to the bottom end of the inner side surface of the outer cover 3. The output end of the electric liquid pump 25 is movably connected to the inside of a liquid storage chamber 24. The liquid storage chamber 24 is installed at the bottom end of the inner side surface of the outer cover 3. The top output end of the liquid storage chamber 24 is fixedly connected to one end of an infusion tube 34. The other end of the infusion tube 34 is fixedly connected to the mounting member 22. The inside of the mounting member 22 is communicated with the inside of the needle 23; both the mounting member 22 and the liquid storage chamber 24 are detachable, and the mounting member 22, the needle 23, the infusion tube 34 and the liquid storage chamber 24 all belong to disposable appliances.

[0029] Among them, the locking component includes two coupling shafts 13. Each coupling shaft 13 is fixedly connected to a transmission gear 9, and the transmission gear 9 is sleeved on the circumferential side surface of the coupling shaft 13. One end of the coupling shaft 13 is rotatably connected to one end inside the fixed frame 5. A circular groove is provided at the other end of the coupling shaft 13. A telescopic shaft 15 is slidably arranged in the circular groove. The other end of the telescopic shaft 15 is welded to the back surface of a circular plate 16. The circular plate 16 and the coupling shaft 13 are fixedly connected by a first spring 14. The first spring 14 is sleeved on the circumferential side surface of the telescopic shaft 15. An annular tooth 17 is installed on the other surface of the circular plate 16. Two opposite annular teeth 17 mesh with each other. When their tooth tips are just opposite, a diamond-shaped notch is formed. When the two transmission gears 9 rotate simultaneously, the coupling shafts 13 fixed inside them rotate relative to each other. Therefore, the annular teeth 17 at one end of the coupling shaft 13 continuously mesh and connect relatively. Each time they mesh and rotate relatively, a diamond-shaped notch will be generated, facilitating the insertion of the locking rod 32 in an emergency to lock the coupling shaft 13. After the locking rod 32 is inserted into the diamond-shaped notch, the two annular teeth 17 cannot rotate relative to each other and will be stuck.

[0030] Among them, an installation groove is provided on the back surface of the driven gear 10. A second spring 28 is fixedly connected to the bottom of the installation groove. One end of the second spring 28 is fixedly connected to a movable shaft 29. The movable shaft 29 is slidably arranged inside the installation groove. The other end of the movable shaft 29 is fixedly connected to the back surface of a movable magnetic ring 31. The edge position on the back surface of the movable magnetic ring 31 is electrically connected to an electromagnet 30. The electromagnet 30 is of a circular ring structure and is welded outside the installation groove opened on the driven gear. A locking rod 32 is welded to the other side surface of the movable magnetic ring 31 fixed relative to the movable shaft 29. The cross-section of the locking rod 32 is diamond-shaped, and one end of the locking rod 32 is movably connected to the inside of the diamond-shaped notch formed when the tooth tips of the two annular teeth are opposite. The second spring 28 is in a compressed state in the initial state. When the electromagnet 30 is powered off, the compressed second spring 28 pushes the movable shaft 29 towards the outside of the installation groove, driving the movable magnetic ring 31 and the locking rod 32 to move towards the position of the annular teeth. In the initial state, the electromagnet 30 is in a powered-on state, adsorbing the movable magnetic ring 31 on its surface.

[0031] Among them, a vibration sensor 27 is fixedly connected to one end of the lead screw 18 adjacent to the fixed plate 21. One end of a telescopic rod 26 is fixedly connected to the bottom of one of the connecting rods 20. The bottom end of the telescopic rod 26 is movably arranged inside the chute opened on the inner wall of the outer cover 3.

[0032] A method for using an injection robot for medical aesthetic skin care includes the following steps: S1. Fix the liquid storage tank 24 on the outer cover 3 and connect it to the electric liquid pump 25. At the same time, install the needle 23 on the fixed plate 21 through the mounting member 22, and connect the needle 23 and the liquid storage tank 24 through the infusion tube 34. S2. Start the robotic arm 2 to move the injection structure to a position near the skin of the person to be injected. According to the injection requirements and the positional relationship between the injection structure and the skin of the person to be injected, adjust the angle between the movable frame 6 and the fixed frame 5 by adjusting the motor 12, so as to adjust the angle at which the needle 23 penetrates the skin. Before starting the adjusting motor 12, drive the driving gear 8 to contract away from the meshing range with the two transmission gears 9 by the telescopic cylinder 7. After the angle adjustment is completed, restart the telescopic cylinder 7 to drive the driving gear 8 to mesh with the two transmission gears 9; S3. Start the driving motor 4 to drive the telescopic cylinder 7 and the driving gear 8 fixed at the other end of the telescopic cylinder 7 to rotate. During the rotation of the driving gear 8, drive the transmission gears on its left and right sides and the passive gear 10 in the opposite direction to rotate in sequence. The lead screw 18 at the other end of the passive gear 10 rotates simultaneously under its drive. At this time, the movable bearing 33 on the surface of one end of the lead screw 18 slides towards the other end of the lead screw 18, so as to drive the needle 23 to penetrate into the skin of the person to be injected at the adjusted angle. Then, through the electric liquid pump 25, the beauty medical drug is transmitted through the infusion tube 34 and the needle 23 and input into the body of the person to be injected. After the injection is completed, the driving motor 4 rotates in the reverse direction to drive the needle to withdraw from the skin of the person to be injected; Among them, when the person to be injected shakes accidentally and the needle 23 has penetrated into the skin of the person to be injected, as the person to be injected shakes, the connecting rod 20 at the other end of the needle 23 shakes accordingly under the action of the universal joint. If the shaking amplitude is too large, a certain connecting rod 20 will first contact and collide with the end of the lead screw 18 equipped with the vibration sensor 27. After the vibration sensor 27 detects the vibration collision, it sends a power-off signal to the electromagnet 30. After the electromagnet 30 is powered off, the movable magnetic ring 31 is no longer adsorbed by the electromagnet 30. The movable magnetic ring 31 that loses adsorption slides towards the outside of the installation groove under the action of the compressed second spring 28 until the locking rod 32 on the movable magnetic ring 31 is inserted into the diamond-shaped notch formed when the teeth of the two annular teeth face each other, locking the two connecting shafts 13. At this time, the two transmission gears 9 on the connecting shaft 13 stop rotating, and the passive gear 10 and the driving gear 8 meshing with the transmission gear 9 stop rotating at the same time. The needle 23 no longer penetrates into the skin internally but stops moving.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An injection robot for medical beauty and skin care, comprising a robotic arm (2), and an injection structure mounted on one end of the robotic arm (2), characterized in that: The injection structure comprises an outer cover (3), an adjustment component and an injection component are arranged inside the outer cover (3), and the adjustment component and the injection component are connected via a locking component; The adjustment component comprises a fixed frame (5), the left and right ends of the fixed frame (5) are movably connected to the left and right ends of the movable frame (6), the space enclosed by the fixed frame (5) and the movable frame (6) is rectangular, the middle section of the inner wall of the fixed frame (5) is connected to a driving gear (8) through a telescopic cylinder (7), the left and right sides of the driving gear (8) are meshedly connected to a transmission gear (9), the two transmission gears (9) are meshedly connected to a driven gear (10), the driven gear (10) is arranged opposite to the driving gear (8), and the back side of the driven gear (10) is connected to the injection component; The injection assembly comprises a screw (18), one end of which is welded to the back of the passive gear (10), a movable bearing (33) is sleeved on the side surface of the screw (18), four universal joints (19) are evenly distributed and installed on the outside of the movable bearing (33), the universal joint (19) is fixedly connected to one end of a connecting rod (20), the other ends of the four connecting rods (20) are welded to one side of a fixing plate (21), and the other side of the fixing plate (21) is installed and connected to the needle (23) through a mounting member (22).

2. The injection robot for medical beauty and skin care according to claim 1, characterized in that: The mechanical arm (2) is fixedly connected to the base (1), one end of the mechanical arm (2) is fixedly connected to the outer surface of the outer cover (3), the interior of the outer cover (3) is a hollow structure, the middle of which is a rectangular bellows structure for adapting to the angle bending adjustment of the adjustment component.

3. The injection robot for medical beauty and skin care according to claim 2, characterized in that: The adjustment assembly further comprises a drive motor (4), one side of the drive motor (4) being fixedly connected to the inner wall side of the outer cover (3), and the other side of the drive motor (4) being fixedly connected to the middle section of the outer side of the fixing frame (5), the output end of the drive motor (4) passing through the fixing frame (5) to the inside thereof, and being fixedly connected to one end of the telescopic cylinder (7), and the other end of the telescopic cylinder (7) being welded to the back side of the drive gear (8).

4. The injection robot for medical beauty and skin care according to claim 3, characterized in that: The outer side surfaces at both ends of the fixed frame (5) are fixedly connected to an adjusting motor (12) via a mounting shell (11); the output end of the adjusting motor (12) passes through the outer wall of the mounting shell (11) to the inside thereof and is fixedly connected to one end of the movable frame (6).

5. The injection robot for medical beauty and skin care according to claim 4, characterized in that: The injection assembly further comprises an electric liquid push pump (25), the electric liquid push pump (25) being welded to the bottom end of the inner side surface of the outer cover (3), the output end of the electric liquid push pump (25) being movably connected to the inside of the liquid tank (24), the liquid tank (24) being mounted to the bottom end of the inner side surface of the outer cover (3), the top output end of the liquid tank (24) being fixedly connected to one end of an infusion tube (34), the other end of the infusion tube (34) being fixedly connected to the mounting member (22), the inside of the mounting member (22) being connected to the inside of the needle (23); the mounting member (22) and the liquid tank (24) are both detachable, and the mounting member (22), the needle (23), the infusion tube (34) and the liquid tank (24) are all disposable devices.

6. The injection robot for medical beauty and skin care according to claim 5, characterized in that: The locking assembly comprises a connecting shaft (13), wherein there are two connecting shafts (13), each of which is fixedly connected to a transmission gear (9), and the transmission gear (9) is sleeved on the peripheral side of the connecting shaft (13), one end of the connecting shaft (13) is rotatably connected to an inner end of a fixing frame (5), the other end of the connecting shaft (13) is provided with a circular groove, a section of a telescopic shaft (15) is slidably arranged in the circular groove, the other end of the telescopic shaft (15) is welded to the back of a circular plate (16), the circular plate (16) and the connecting shaft (13) are fixedly connected via a first spring (14), and the first spring (14) is sleeved on the peripheral side of the telescopic shaft (15); an annular tooth (17) is installed on the other surface of the circular plate (16); two opposite annular teeth (17) are meshed with each other, and when the tooth tips of the two annular teeth are just opposite, a rhombus-shaped notch is formed.

7. The injection robot for medical beauty and skin care according to claim 6, characterized in that: The passive gear (10) is provided with a mounting groove on the back side, and a second spring (28) is fixedly connected to the bottom of the mounting groove, one end of the second spring (28) is fixedly connected to a movable shaft (29), the movable shaft (29) is slidably arranged inside the mounting groove, and the other end of the movable shaft (29) is fixedly connected to the back side of a movable magnetic ring (31), and the edge position of the back side of the movable magnetic ring (31) is electrically connected to an electromagnet (30), the electromagnet (30) is a circular ring structure, and the electromagnet (30) is welded to the outside of the mounting groove provided in the passive gear; a locking rod (32) is welded to the other side of the movable magnetic ring (31) fixed relative to the movable shaft (29), the cross section of the locking rod (32) is rhombus-shaped, and one end of the locking rod (32) is movably connected to the inside of the rhombus-shaped gap formed when the tips of the two annular teeth are opposite to each other.

8. The injection robot for medical beauty and skin care according to claim 7, characterized in that: One end of the screw rod (18) adjacent to the fixed plate (21) is fixedly connected to a vibration sensor (27); the bottom of one of the connecting rods (20) is fixedly connected to one end of a telescopic rod (26), and the bottom end of the telescopic rod (26) is movably arranged in a slide groove provided on the inner wall of the outer cover (3).

9. A method for using an injection robot for medical beauty and skin care, applied to the injection robot for medical beauty and skin care as claimed in claim 8, characterized in that: The following steps are involved: S1, fixing the liquid tank (24) on the outer cover (3) and connecting it to the electric liquid pump (25), and at the same time installing the needle (23) on the fixed plate (21) through the mounting member (22), and connecting the needle (23) to the liquid tank (24) through the infusion tube (34); S2, start the mechanical arm (2) to move the injection structure to a position close to the skin of the person to be injected, and adjust the motor (12) to adjust the angle between the movable frame (6) and the fixed frame (5) according to the injection requirements and the positional relationship between the injection structure and the skin of the person to be injected, so as to adjust the angle at which the needle (23) penetrates the skin. Before starting the adjustment motor (12), the telescopic cylinder (7) drives the drive gear (8) to retract and leave the meshing range with the two transmission gears (9), until the angle adjustment is completed, and then restart the telescopic cylinder (7) to drive the drive gear (8) to mesh with the two transmission gears (9); S3, starting the driving motor (4) to drive the telescopic cylinder (7) and the driving gear (8) fixed at the other end of the telescopic cylinder (7) to rotate. During the rotation of the driving gear (8), the transmission gears on the left and right sides thereof and the driven gear (10) in the opposite direction are driven to rotate in turn. The screw rod (18) at the other end of the driven gear (10) rotates simultaneously under the drive of the driving motor (4). At this time, the movable bearing (33) on the surface of one end of the screw rod (18) slides toward the other end of the screw rod (18), thereby driving the needle (23) to penetrate into the skin of the person to be injected at a pre-adjusted angle. Then, the cosmetic medicine is transmitted through the infusion tube (34) and the needle (23) by the electric liquid pump (25) and is input into the body of the person to be injected. After the injection is completed, the driving motor (4) rotates in the opposite direction to drive the needle to be withdrawn from the skin of the person to be injected. When the person being injected shakes unexpectedly, the needle (23) has already penetrated into the skin of the person being injected. As the person being injected shakes, the connecting rod (20) at the other end of the needle (23) shakes accordingly under the action of the universal joint. If the shaking amplitude is too large, one of the connecting rods (20) first contacts and collides with the end of the lead screw (18) on which the vibration sensor (27) is installed. After the vibration sensor (27) detects the vibration collision, it sends a power-off signal to the electromagnet (30). After the electromagnet (30) is powered off, the movable magnetic ring (31) is no longer attracted by the electromagnet (30) and loses its magnetic attraction. Under the action of the compressed second spring (28), the adsorbed movable magnetic ring (31) slides toward the outside of the installation groove together with the movable shaft (29) until the locking rod (32) on the movable magnetic ring (31) is inserted into the diamond-shaped gap formed when the tips of the two annular teeth are facing each other, thereby locking the two connecting shafts (13). At this time, the two transmission gears (9) on the connecting shaft (13) stop rotating, and the passive gear (10) and the driving gear (8) meshing with the transmission gear (9) stop rotating at the same time, and the needle (23) no longer continues to penetrate into the skin, but stops.

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