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

Abstract

The present invention discloses an injection robot for medical beauty and skin care and a method of use thereof, relating to the technical field of medical beauty injection robots. The present invention comprises a robotic arm and an injection structure mounted at one end of the robotic arm, characterized in that: the injection structure comprises an outer cover, an adjustment assembly and an injection assembly are disposed within the outer cover, the adjustment assembly and the injection assembly being connected via a locking assembly; the adjustment assembly comprises a fixed frame, the left and right ends of the fixed frame being movably connected to the left and right ends of a movable frame, the space enclosed between the fixed frame and the movable frame being rectangular, the middle section of the inner wall of the fixed frame being connected to a drive gear via a telescopic cylinder, the left and right sides of the drive gear being meshed with a transmission gear, and a passive gear being meshed between the two transmission gears. By providing an adjustment assembly, the present invention can finely adjust the needle insertion angle through the adjustment assembly before injection, thereby accurately controlling the injection position of the person being injected.

Description

Technical Field

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

[0002] Medical aesthetic skincare is a very popular skincare concept internationally. People with skin problems no longer blindly buy various cosmetics in stores to try. Instead, they seek prescriptions from dermatologists and receive targeted skincare advice. With people's growing pursuit of health and the rapid development of dermatology, medical skincare products with higher safety and effectiveness have become an unstoppable trend, growing at twice the industry average. From cleansing products, medications, or auxiliary treatments to follow-up products, these products are also known as medical skincare products. To enhance and accelerate skincare results, consumers often use injectable medications for medical aesthetic skincare.

[0003] In existing medical beauty and skin care injections, medical personnel usually inject medical drugs into syringes and manually inject the user. However, manual injections often have poor injection effects due to the injection environment being in a sterile environment or human body contact. Moreover, some devices that use injection robots for injection cannot stop the injection action in time when encountering an emergency. For example, the person being injected shakes their body due to pain during the injection. At this time, the needle has already been inserted into the skin of the person being injected. The shaking may cause the needle to break, thereby causing harm to the person being injected. In addition, the injection robot has certain limitations in adjusting the angle of the needle when it penetrates the skin, and cannot accurately and stably adjust the injection angle.

[0004] Existing medical beauty injection robots cannot immediately terminate the injection action in an emergency situation. It is very likely that the needle will break due to the shaking of the body of the person being injected, thereby causing harm to the person being injected. In addition, the injection angle of the needle is inconvenient to adjust. Therefore, the present invention proposes an injection robot for medical beauty and skin care and a method of using the same. Summary of the Invention

[0005] The purpose of the present invention is to provide an injection robot for medical beauty and skin care and a method of use thereof, so as to solve the problem that the existing medical beauty injection robot cannot immediately terminate the injection action in an emergency situation, and the needle may break due to the shaking of the body of the injected person, thereby causing harm to the injected person, and the injection insertion angle of the needle is inconvenient to adjust.

[0006] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is an injection robot for medical beauty and skin care, comprising a robotic arm and an injection structure mounted at one end of the robotic arm. The injection structure comprises an outer cover, an adjustment component and an injection component are disposed within the outer cover, and the adjustment component and the injection component are connected via a locking component.

[0008] The adjustment assembly includes a fixed frame, the left and right ends of the fixed frame are movably connected to the left and right ends of the movable frame, the space enclosed by 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, the left and right sides of the driving gear are meshed with a transmission gear, and a passive gear is meshed between the two transmission gears, the passive gear is arranged opposite to the driving gear, and the back of the passive gear is connected to the injection assembly;

[0009] The injection assembly includes a screw, one end of which is welded to the back of the passive gear, and a movable bearing is sleeved on the side surface of the screw. Four universal joints are evenly distributed on the outside of the movable bearing, and the universal joint is fixedly connected to one end of the connecting rod. The other ends of the four connecting rods are welded to one side of the fixed plate, and the other side of the fixed plate is connected to the needle through a mounting piece.

[0010] Preferably, the robotic arm is fixedly connected to the base, one end of the robotic arm is fixedly connected to the outer surface of the outer cover, the interior of the outer cover is a hollow structure, the middle of which is a rectangular bellows structure for adapting to the angle bending adjustment of the adjustment component.

[0011] Preferably, the adjustment component also includes a drive motor, one side of the drive motor is fixedly connected to the side of the inner wall of the outer cover, and the other side of the drive motor is fixedly connected to the middle section of the outer side of the fixing frame, the output end of the drive motor passes through the fixing frame to the interior thereof, and is fixedly connected to one end of the telescopic cylinder, and the other end of the telescopic cylinder is welded to the back of the drive gear.

[0012] Preferably, the outer side surfaces at both ends of the fixing frame are fixedly connected to an adjusting motor through a mounting shell, and the output end of the adjusting motor passes through the outer wall of the mounting shell to the interior thereof and is fixedly connected to one end of the movable frame.

[0013] Preferably, the injection assembly also includes an electric liquid push pump, which is welded to the bottom end of the inner side surface of the outer cover, and the output end of the electric liquid push pump is movably connected to the inside of the liquid tank. The liquid tank is installed at the bottom end of the inner side surface of the outer cover, and the top output end of the liquid tank is fixedly connected to one end of the infusion tube, and the other end of the infusion tube is fixedly connected to the mounting member, and the interior of the mounting member is connected to the interior of the needle; the mounting member and the liquid tank are both detachable, and the mounting member, needle, infusion tube and liquid tank are all disposable devices.

[0014] Preferably, the locking assembly includes a connecting shaft, and there are two connecting shafts, each of the connecting shafts is fixedly connected to the transmission gear, and the transmission gear is sleeved on the circumferential side of the connecting shaft, one end of the connecting shaft is rotatably connected to the inner end of the fixing frame, and the other end of the connecting shaft is provided with a circular groove, and a telescopic shaft is slidably arranged in the circular groove, and the other end of the telescopic shaft is welded to the back of the circular plate, and the circular plate and the connecting shaft are fixedly connected by a first spring, and the first spring is sleeved on the circumferential side of the telescopic shaft; annular teeth are installed on the other surface of the circular plate; two opposite annular teeth are meshed with each other, and when the two tooth tips are just opposite, a diamond notch is formed.

[0015] Preferably, a mounting groove is provided on the back of the passive gear, and a second spring is fixedly connected to the bottom of the mounting groove, one end of the second spring is fixedly connected to the movable shaft, the movable shaft is slidably arranged inside the mounting groove, and the other end of the movable shaft is fixedly connected to the back of the movable magnetic ring, the edge position of the back of the movable magnetic ring is electrically connected to an electromagnet, the electromagnet is a circular ring structure, and the electromagnet is welded to the outside of the mounting groove provided by the passive gear; a locking rod is welded to the other side of the movable magnetic ring where the movable magnetic ring is fixed relative to the movable shaft, the cross section of the locking rod is rhombus-shaped, and the locking rod is movably connected inside the rhombus-shaped notch formed when one end of the locking rod is opposite to the tips of the two annular teeth.

[0016] Preferably, a vibration sensor is fixedly connected to one end of the screw rod adjacent to the fixed plate; the bottom of one of the connecting rods is fixedly connected to one end of a telescopic rod, and the bottom end of the telescopic rod is movably arranged in a slide groove opened on the inner wall of the outer cover.

[0017] A method for using an injection robot for medical beauty and skin care, comprising the following steps:

[0018] S1. Fix the liquid tank 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 piece and connect the needle to the liquid tank through the infusion tube.

[0019] S2. Start the robotic arm to move the injection structure to a position close to the skin of the person being injected. According to the injection requirements and the positional relationship between the injection structure and the skin of the person being injected, adjust the angle between the motor-adjustable movable frame and the fixed frame, thereby adjusting the angle at which the needle penetrates the skin. Before starting the adjustment motor, the telescopic cylinder drives the drive gear to retract out of the meshing range with the two transmission gears. After the angle adjustment is completed, the telescopic cylinder is restarted to drive the drive gear to mesh with the two transmission gears.

[0020] S3. Start the drive motor to drive the telescopic cylinder and the drive gear fixed at the other end of the telescopic cylinder to rotate. During the rotation of the drive gear, the transmission gears on its left and right sides and the driven gear in the opposite direction are driven to rotate in sequence. The screw at the other end of the driven gear rotates simultaneously under the drive of the drive gear. At this time, the movable bearing on the surface of one end of the screw slides toward the other end of the screw, thereby driving the needle to penetrate the skin of the injectee at the adjusted angle. The cosmetic medicine is then transferred into the body of the injectee through the infusion tube and the needle by the electric liquid pump. After the injection is completed, the drive motor rotates in the opposite direction to drive the needle to withdraw from the skin of the injectee.

[0021] Among them, when the person being injected shakes unexpectedly, the needle has already penetrated into the skin of the person being injected, and as the person being injected shakes, the connecting rod at the other end of the needle is driven to shake 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 screw rod installed with the vibration sensor. After the vibration sensor detects 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 has lost adsorption slides toward the outside of the mounting groove with the movable shaft under the action of the compressed second spring until the locking rod on the movable magnetic ring is inserted into the diamond-shaped notch formed when the tips of the two ring teeth are facing each other, thereby locking the two connecting shafts. At this time, the two transmission gears on the connecting shaft stop rotating, and the passive gear and the driving gear engaged with the transmission gear stop rotating at the same time. The needle no longer continues to penetrate into the skin, but stops.

[0022] The present invention has the following beneficial effects:

[0023] The present invention is provided with an adjustment component. Before injection, the needle insertion angle can be finely adjusted by the adjustment component, so that the injection position of the injectee can be accurately controlled. At the same time, the telescopic cylinder is used to move the driving gear away from the meshing position with the transmission gear. When the adjustment motor drives the movable frame to rotate, the passive gear drives the two transmission gears to rotate in a certain direction at the same time. When the driving gear is not meshed with the transmission gear, the four gears are prevented from getting stuck.

[0024] The present invention provides an injection component and installs the injection component at one end of the adjustment component. When the drive motor starts to rotate, it directly drives four mutually meshing gears to rotate at the same time. The four mutually meshing gears are all meshed at a 45° angle. When the passive gear rotates, it drives the screw connected to it to rotate, and the movable bearing threadedly connected to the surface of the screw moves toward the other end of the screw under the fixed limit of the telescopic rod, driving the needle to slowly penetrate into the skin of the person being injected. This injection structure can control the speed at which the needle penetrates into the skin of the person being injected by controlling the speed of the drive motor. At the same time, the speed of the drive motor is stable and uniform, so the needle penetrates the skin more stably and will not cause harm to the person being injected.

[0025] The present invention provides a locking assembly. When the person being injected shakes accidentally and causes the needle that has penetrated into his skin to shake at the same time, since the needle is connected to the four connecting rods through the fixed plate, when the needle shakes, the connecting rod will also shake. When the shaking amplitude is too large, the connecting rod will touch one end of the screw rod, so that the vibration sensor fixed at one end of the screw rod will detect the vibration signal. The vibration sensor uses a robot to send an electrical signal to the electromagnet, so that the electromagnet is powered on and off, and the electromagnet stops adsorbing the movable magnetic ring. After the movable magnetic ring is no longer adsorbed by the electromagnet, the compressed second spring pushes the movable shaft toward the outside of the installation groove, and moves the movable magnetic ring and the locking rod toward 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 are facing each other, locks the two connecting shafts, and stops the rotation of the four gears at the same time, and finally stops the needle from continuing to penetrate, avoiding harm to the person being injected. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a schematic diagram of the overall structure of the injection robot for medical beauty and skin care provided by the present invention;

[0028] Figure 2 This is one of the internal schematic diagrams of the injection structure of the injection robot for medical beauty and skin care provided by the present invention;

[0029] Figure 3 This is the second internal schematic diagram of the injection structure of the injection robot for medical beauty and skin care provided by the present invention;

[0030] Figure 4 A schematic diagram of the top view of the adjustment component and injection component of the injection robot for medical beauty and skin care provided by the present invention;

[0031] Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle;

[0032] Figure 6 This is a schematic diagram of the injection assembly structure of the injection robot for medical beauty and skin care provided by the present invention;

[0033] Figure 7 For the present invention Figure 6 Enlarged view of point B in the middle;

[0034] Figure 8 This is a schematic diagram of the enlarged structure of the locking component of the injection robot for medical beauty and skin care provided by the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0036] 1. Base; 2. Robotic arm; 3. Outer cover; 4. Driving motor; 5. Fixed frame; 6. Movable frame; 7. Telescopic cylinder; 8. Driving gear; 9. Transmission gear; 10. Passive gear; 11. Mounting shell; 12. Adjusting motor; 13. Connecting shaft; 14. First spring; 15. Telescopic shaft; 16. Circular plate; 17. Ring teeth; 18. Screw rod; 19. Universal joint; 20. Connecting rod; 21. Fixed plate; 22. Mounting part; 23. Needle; 24. Liquid tank; 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 DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0038] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0040] See Figure 1-8 The present invention is an injection robot for medical beauty and skin care, comprising a robotic arm 2 and an injection structure mounted at one end of the robotic arm 2. The injection structure comprises an outer cover 3, an adjustment component and an injection component are disposed inside the outer cover 3, and the adjustment component and the injection component are connected via a locking component.

[0041] The adjustment 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 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 meshed with a transmission gear 9, and a driven gear 10 is meshed between the two transmission gears 9. The driven gear 10 is arranged opposite to the driving gear 8, and the back of the driven gear 10 is connected to the injection assembly;

[0042] The injection assembly includes a screw 18, one end of which is welded to the back of the passive gear 10, and a movable bearing 33 is sleeved on the side of the screw 18. Four universal joints 19 are evenly distributed on the outside of the movable bearing 33. The universal joint 19 is fixedly connected to one end of the connecting rod 20, and the other ends of the four connecting rods 20 are welded to one side of the fixed plate 21. The other side of the fixed plate 21 is installed and connected to the needle 23 through the mounting piece 22.

[0043] Among them, the robotic arm 2 is fixedly connected to the base 1, and one end of the robotic 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, and the middle is a rectangular corrugated tube structure for adapting to the angle bending adjustment of the adjustment component.

[0044] Among them, the adjustment component also includes a drive motor 4, one side of the drive motor 4 is fixedly connected to the inner wall side of the outer cover 3, and the other side of the drive motor 4 is fixedly connected to the middle section of the outer side of the fixing frame 5. The output end of the drive motor 4 passes through the fixing frame 5 to its interior 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 of the drive gear 8.

[0045] The outer side surfaces of both ends of the fixing frame 5 are fixedly connected to an adjusting motor 12 through the 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 .

[0046] Among them, the injection component also includes an electric liquid push pump 25, which is welded to the bottom end of the inner side of the outer cover 3, and the output end of the electric liquid push pump 25 is movably connected to the inside of the liquid tank 24. The liquid tank 24 is installed at the bottom end of the inner side of the outer cover 3, and the top output end of the liquid tank 24 is fixedly connected to one end of the infusion tube 34. The other end of the infusion tube 34 is fixedly connected to the mounting part 22, and the interior of the mounting part 22 is connected to the interior of the needle 23; the mounting part 22 and the liquid tank 24 are both detachable, and the mounting part 22, the needle 23, the infusion tube 34 and the liquid tank 24 are all disposable instruments.

[0047] Among them, the locking assembly includes a connecting shaft 13, which has two connecting shafts 13. Each connecting shaft 13 is fixedly connected to the transmission gear 9, and the transmission gear 9 is sleeved on the side of the connecting shaft 13. One end of the connecting shaft 13 is rotatably connected to the inner end of the fixing frame 5. A circular groove is provided at the other end of the connecting shaft 13. A telescopic shaft 15 is slidably provided in the circular groove. The other end of the telescopic shaft 15 is welded to the back of the circular plate 16. The circular plate 16 and the connecting shaft 13 are fixedly connected by a first spring 14. The first spring 14 is sleeved on the side of the telescopic shaft 15. The other surface of the circular plate 16 is equipped with Annular teeth 17; two relative annular teeth 17 mesh with each other, and when the tips of the two teeth are just opposite, a diamond-shaped notch is formed. When the two transmission gears 9 rotate at the same time, the internal fixed connecting shaft 13 rotates relatively. Therefore, the annular teeth 17 at one end of the connecting shaft 13 are constantly meshing and connected relative to each other. Each time they mesh and rotate relative to each other, a diamond-shaped notch is generated, which is convenient for the locking rod 32 to be inserted in an emergency to lock the connecting 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.

[0048] Among them, 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 the movable shaft 29, and 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 the movable magnetic ring 31. The back edge of the movable magnetic ring 31 is electrically connected to an electromagnet 30. The electromagnet 30 is a circular ring structure and is welded to the outside of the mounting groove opened by the passive gear; a locking rod 32 is welded to the other side of the movable magnetic ring 31 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 diamond-shaped gap formed when the tips of the two annular teeth are opposite each other. 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 toward the outside of the mounting groove, and moves the movable magnetic ring 31 and the locking rod 32 toward the annular tooth position; in the initial state, the electromagnet 30 is in a powered state, adsorbing the movable magnetic ring 31 on its surface.

[0049] Among them, 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 set inside a slide groove opened on the inner wall of the outer cover 3.

[0050] A method for using an injection robot for medical beauty and skin care, comprising the following steps:

[0051] S1. Fix the liquid 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 to the liquid tank 24 through the infusion tube 34;

[0052] S2. Start the robotic arm 2 to move the injection structure to a position close to the skin of the person being injected. According to the injection requirements and the positional relationship between the injection structure and the skin of the person being injected, adjust the angle between the movable frame 6 and the fixed frame 5 by adjusting the motor 12, thereby adjusting 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 out of the meshing range with the two transmission gears 9. After the angle adjustment is completed, the telescopic cylinder 7 is restarted to drive the drive gear 8 to mesh with the two transmission gears 9.

[0053] S3. Start the drive motor 4 to drive the telescopic cylinder 7 and the drive gear 8 fixed at the other end of the telescopic cylinder 7 to rotate. During the rotation of the drive gear 8, the transmission gears on its left and right sides and the driven gear 10 in the opposite direction are driven to rotate in turn. The screw 18 at the other end of the driven gear 10 rotates simultaneously under its drive. At this time, the movable bearing 33 on the surface of one end of the screw 18 slides toward the other end of the screw 18, thereby driving the needle 23 to penetrate the skin of the person being injected at a predetermined angle. The cosmetic medicine is then transferred into the body of the person being injected through the infusion tube 34 and the needle 23 by the electric liquid pump 25. After the injection is completed, the drive motor 4 rotates in the opposite direction to drive the needle to be withdrawn from the skin of the person being injected.

[0054] Among them, when the person being injected shakes accidentally, 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 is driven to shake under the action of the universal joint. If the shaking amplitude is too large, one of the connecting rods 20 will first contact and collide with the end of the screw rod 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 attracted by the electromagnet 30. The movable magnetic ring 31 that has lost adsorption slides toward the outside of the installation groove with the movable shaft 29 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 tips of the two annular teeth are facing 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 engaged with the transmission gear 9 stop rotating at the same time. The needle 23 no longer continues to penetrate into the skin, but stops.

[0055] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in 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 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 the 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), the left and right sides of the driving gear (8) are meshed with a transmission gear (9), a passive gear (10) is meshed between the two transmission gears (9), the passive gear (10) is arranged opposite to the driving gear (8), and the back of the passive gear (10) is connected to the injection component; The injection assembly includes a screw (18), one end of the screw (18) is welded to the back of the passive gear (10), a movable bearing (33) is sleeved on the side surface of the screw (18), and four universal joints (19) are evenly distributed on the outside of the movable bearing (33), the universal joint (19) is fixedly connected to one end of the connecting rod (20), the other ends of the four connecting rods (20) are welded to one side of the fixed plate (21), and the other side of the fixed plate (21) is connected to the needle (23) through the mounting member (22); the injection assembly also includes an electric liquid pushing pump (25), the electric liquid pushing pump (25 ) is welded to the bottom end of the inner side of the outer cover (3), the output end of the electric liquid push pump (25) is movably connected to the inside of the liquid tank (24), the liquid tank (24) is installed at the bottom end of the inner side of the outer cover (3), the top output end of the liquid tank (24) is fixedly connected to one end of the infusion tube (34), the other end of the infusion tube (34) is fixedly connected to the mounting member (22), the interior of the mounting member (22) is connected to the interior 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; The locking assembly includes a connecting shaft (13), which has two connecting shafts (13). Each connecting shaft (13) 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 the fixing frame (5). The other end of the connecting shaft (13) is provided with a circular groove, and 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 by 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 are just opposite, a diamond-shaped notch is formed; 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 the movable shaft (29), and 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 the 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), and the electromagnet (30) is a circular ring structure, and the electromagnet (30) is welded to the outside of the mounting groove provided by 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), and 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.

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), and one end of the mechanical arm (2) is fixedly connected to the outer surface of the outer cover (3). The inner part of the outer cover (3) is a hollow structure, and the middle part is a rectangular corrugated tube 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 component 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 interior 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 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 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) passes through the outer wall of the mounting shell (11) to the interior 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: A vibration sensor (27) is fixedly connected to one end of the screw rod (18) adjacent to the fixed plate (21); 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 sliding groove provided on the inner wall of the outer cover (3).

6. A method for using an injection robot for medical beauty and skin care, applied to the injection robot for medical beauty and skin care according to claim 5, characterized in that: The following steps are involved: S1. Fix the liquid 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) 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 being injected. According to the injection requirements and the positional relationship between the injection structure and the skin of the person being injected, adjust the motor (12) to adjust the angle between the movable frame (6) and the fixed frame (5), thereby adjusting the angle at which the needle (23) penetrates the skin. Before starting the adjustment motor (12), the telescopic cylinder (7) drives the driving gear (8) to retract and leave the meshing range with the two transmission gears (9). 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), 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 being injected at the adjusted angle. Then, the cosmetic medicine is transferred through the infusion tube (34) and the needle (23) by the electric liquid pump (25) and inputted into the body of the person being 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 being injected. When the person being injected shakes unexpectedly, the needle (23) has 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 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 screw rod (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 attracted by the electromagnet (30) and loses its magnetic property. Under the action of the compressed second spring (28), the adsorbed movable magnetic ring (31) slides toward the outside of the installation groove along 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 opposite to 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) engaged 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 moving.

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