Medicine application robot for medical beauty repair and working method thereof

Abstract

The invention discloses a medicine application robot for medical beauty repair and a working method thereof, and relates to the technical field of medicine application robots. According to the mechanical arm, the mechanical arm is connected with the medicine bin through the mounting base, different medicine barrels are placed and mounted in the medicine bin according to use requirements, the pasty medicine barrel is extruded to discharge medicine through the transverse extrusion assembly arranged in the medicine bin, and the liquid medicine barrel is extruded to discharge medicine through the longitudinal extrusion assembly arranged on the transverse extrusion assembly; the transverse extrusion assembly comprises two installation rods, the two installation rods are oppositely and movably arranged on the two sides of the interior of the medicine bin, each installation rod is provided with an extrusion roller, and the portion between the two extrusion rollers is used for extruding the outer side wall of the paste medicine barrel in a rolling mode. By arranging the anti-winding strip, the anti-winding strip moves to a position above the extrusion roller and a gap which is extremely small away from the extrusion roller, so that the anti-winding strip is prevented from being wound with a flaky paste cartridge case, and stable operation of the device is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of medicine applying robots, and in particular relates to a medicine applying robot for medical aesthetic repair and a working method thereof. Background Art

[0002] Medical cosmetology refers to the use of drugs, surgery, medical devices and other invasive or irreversible medical techniques to repair and reshape the appearance and shape of various parts of the human body. It originated in ancient Egypt and is an art of making the face beautiful. With the continuous development and progress of science and technology, more and more people are beginning to achieve beauty through medical cosmetology, but medical cosmetology requires long-term reduction. Therefore, during the process of medical cosmetology repair, it is necessary to apply lotions or ointments on the face to speed up the repair of the wounds caused by medical cosmetology on the face, so as to achieve a rapid recovery effect.

[0003] At present, in the process of medical cosmetic repair, doctors or patients usually apply the medicine manually. Since the liquid medicine is divided into paste-like medicine and liquid-like medicine, during the application process, the fingers come into contact with the medicine and then apply it to the face, which can easily cause cross infection, thus affecting the effect of medical cosmetic repair. Some devices that use medical cosmetic robots to apply medicine cannot quickly adapt the application method for paste-like medicine and liquid-like medicine.

[0004] In a dermatological medicine applicator with the patent number "CN 119280636 A", it is mentioned that "under the action of the classified medicine-applying structure, the paste-like medicine and the liquid-like medicine can be loaded separately and the medicine can be discharged in cooperation, so that the paste-like medicine and the liquid-like medicine can be applied to the skin without mixing, avoiding the mutual influence between the paste-like medicine and the liquid-like medicine, thereby playing the role of classified application. At the same time, under the action of the medicine-applying auxiliary structure, the medicine can be evenly applied to the outer surface of the skin, so that the medicine can effectively act on the affected area, thereby improving the overall efficacy of the medicine. Under the action of the anti-slip operation structure, when the hand-held operation is performed, under the action of the arc-shaped extrusion plate, sliding can be avoided. At the same time, under the action of the sliding cylinder and the fixing rod, the arc-shaped extrusion plate can be tightened with the hand, thereby facilitating fixation." However, in reality, because of their different states, the extrusion methods of paste-like medicine and liquid-like medicine should also be different. If the extrusion methods are the same, the extrusion amount of the medicine will be affected, which may cause waste of medicine.

[0005] The existing medicine application devices for medical aesthetic repair cannot adapt to different drug extrusion methods according to different drug states. For this reason, we propose a medicine application robot for medical aesthetic repair and a working method thereof. Summary of the invention

[0006] The purpose of the present invention is to provide a dressing application robot for medical aesthetic repair and its working method, so as to solve the problem that the existing dressing application devices for medical aesthetic repair cannot adapt to different drug extrusion methods according to different drug states.

[0007] To solve the above technical problems, the present invention is realized through the following technical solutions: The present invention is a dressing application robot for medical aesthetic repair, including a robotic arm. The robotic arm is connected to a medicine bin through a mounting seat. Different medicine cylinders are placed and installed inside the medicine bin according to usage requirements. The paste medicine cylinder is extruded by a horizontal extrusion component arranged inside the medicine bin, and the liquid medicine cylinder is extruded by a vertical extrusion component arranged on the horizontal extrusion component. The horizontal extrusion component includes mounting rods. Two mounting rods are relatively movably arranged on both sides inside the medicine bin, and each mounting rod is provided with an extrusion roller. Between the two extrusion rollers is used to roll and extrude the outer wall of the paste medicine cylinder. The horizontal extrusion component includes an extrusion rod movably arranged on the top of the mounting rod. There are four extrusion rods, which are evenly distributed on the two mounting rods. Between every two relatively arranged extrusion rods is movably connected through a telescopic sleeve. The bottom of the telescopic sleeve is fixedly connected to a second rack through a fixed block. One end of an anti-twist strip is movably connected to the bottom of the mounting rod. One side of the anti-twist strip is fixedly connected to a connection block. The tooth groove on one side of the connection block is fixedly connected to a second gear. The second gear is movably connected to the second rack.

[0008] Preferably, the robotic arm is fixedly installed on a base. The robotic arm is of a multi-section structure. One end of it is welded with a mounting seat, and the top end of the medicine bin is fixedly connected to the mounting seat. The medicine bin is a rectangular hollow structure. A rectangular hole is opened on one outer wall of the medicine bin for placing different types of medicine cylinders inward.

[0009] Preferably, a round hole is opened at the inner bottom of the medicine bin. A detachable medicine outlet hopper is installed inside the round hole. The medicine outlet hopper penetrates through the round hole to the outer bottom of the medicine bin. Fixing pieces are respectively welded on both sides of the round hole at the outer bottom of the medicine bin. A detachable disposable coating roller is movably arranged between the two fixing pieces. The coating roller is made of medical gauze wrapped around the outside of a plastic roller.

[0010] Preferably, two rectangular strip holes are respectively opened on the opposite outer walls of the medicine bin. A lifting motor is fixedly installed at the bottom of one of the rectangular strip holes. The output end at the top of the lifting motor is fixedly connected to one end of a lead screw. The top end of the lead screw is movably connected to the inner top wall of the rectangular strip hole. And a movable bearing is threadedly connected to the circumferential side of the lead screw. The movable bearing moves up and down inside the rectangular strip hole. One side of the movable bearing is movably connected to one end of a connecting shaft of the horizontal extrusion component. Another rectangular strip hole has its upper and lower inner walls fixedly connected to the upper and lower ends of the connecting rod. A driving slider is movably connected to the circumferential side of the connecting rod. The driving slider slides up and down inside the rectangular strip hole, and the output end of the driving slider is fixedly connected to one end of another connecting shaft of the transverse extrusion assembly.

[0011] Preferably, one end of the connecting shaft is fixedly connected to one side of a first gear. A first rack is meshed with each of the upper and lower sides of the first gear. The two first racks are symmetrically arranged about the center of the first gear. The other end of each first rack is fixedly connected to the mounting rod through a connecting block, and both ends of the mounting rod are respectively connected to one end of different first racks.

[0012] Preferably, the longitudinal extrusion assembly further includes a rotating member. A rotating member is fixedly connected to the bottom of each extrusion rod, and each rotating member is movably connected to the middle position at the top of the mounting rod; A movable member is installed at both ends of the telescopic sleeve, and each movable member is movably connected to one end of the extrusion rod respectively.

[0013] Preferably, a fixed block is fixedly connected to the middle bottom position of the telescopic sleeve. One side of the fixed block is fixedly connected to one end of a second rack, and the tooth grooves of the second rack are arranged opposite to the tooth grooves of the second gear.

[0014] Preferably, an installation groove is formed at the bottom of the extrusion rod. A part of the anti-tangling strip is arranged inside the installation groove, and the top of the anti-tangling strip is processed with an inclined plane.

[0015] A working method of a medicine application robot for medical beauty repair includes the following steps: S1. Replace the new medicine outlet hopper and the medicine application roller. Place different medicine cartridges into the medicine warehouse according to the type of medicine required for medical beauty repair patients. When the medicine to be applied is a paste-like medicine, place the paste-like medicine cartridge with the corresponding paste-like medicine into the medicine warehouse, and insert the medicine outlet of the paste-like medicine cartridge into the medicine outlet hopper. S2. Start the robotic arm to move the medicine application roller to the position near the patient's face where medicine needs to be applied. Start the lifting motor and the driving slider to drive the two extrusion rollers to squeeze the paste-like medicine cartridge in the middle. At the same time, the two extrusion rollers move downward. During the squeezing process, the paste-like medicine inside the paste-like medicine cartridge is extruded from the medicine outlet hopper and falls on the medicine application roller. Control the robotic arm to make the medicine application roller continuously roll on the patient's face, and the medicine is continuously applied to the patient's face as the medicine application roller rolls, thus completing the medicine application. S3. While the extrusion rollers squeeze the paste cartridge inward and downward, the four extrusion rods respectively overlap with the two mounting rods and are located at the top of the mounting rods. At the same time, a right angle of 90 degrees is formed between the mounting rods and the telescopic sleeves. When the two extrusion rollers continuously approach each other, the telescopic sleeves are continuously squeezed. The distance between the second rack at the bottom of the telescopic sleeve and the second gear continuously shrinks until they come into contact and mesh. After meshing, the second rack continues to move linearly to drive the second gear to rotate. The connecting block meshed on the other side of the second gear is driven to move linearly, and the anti-tangling strip connected to the connecting block slides outward of the extrusion rod until a part of the anti-tangling strip is directly above the extrusion roller, avoiding the paste cartridge being wound into one of the extrusion rollers due to the continuous approach of the two extrusion rollers.

[0016] Preferably, in the above step, when the drug to be applied by the patient is a liquid drug, the corresponding liquid cartridge containing the liquid drug is placed into the medicine bin. The driving slider is started to move the two extrusion rollers to the position where the distance between them is the farthest. At this time, a rhombus is formed among the four extrusion rods, and the bottom of the extrusion rods faces the liquid cartridge below. The lifting motor is started to drive the four extrusion rods to squeeze the liquid cartridge downward to squeeze the liquid drug out of the medicine outlet and drip onto the medicine application roller, and the medicine is rolled and applied on the patient's face by the medicine application roller.

[0017] The present invention has the following beneficial effects: The present invention squeezes the paste cartridge containing the paste drug by setting a horizontal extrusion component. When the two extrusion rollers continuously squeeze the paste cartridge, the paste drug flows out of the medicine outlet. At the same time, the lifting motor is controlled to move the two extrusion rollers from top to bottom, so that the paste cartridge can be continuously squeezed. This structure solves the problem that the paste drug is not easy to squeeze. At the same time, only by placing the paste cartridge into the medicine bin, the paste drug can continuously be squeezed out of the medicine outlet when applying the medicine, and the paste drug inside the paste cartridge can be squeezed out to a great extent, avoiding the waste of the paste drug.

[0018] The present invention squeezes the liquid cartridge by setting a vertical extrusion component. When squeezing the liquid cartridge, only need to place the liquid cartridge into the medicine bin, adjust the distance between the two extrusion rollers to the farthest, so that the four extrusion rods form a rhombus shape, and then start the lifting motor to drive the extrusion rods to press the liquid cartridge downward, and the liquid drug can be squeezed out. When squeezing the liquid drug from top to bottom, the extrusion amount of the drug can be accurately controlled, avoiding the situation that the drug amount is not easy to control when squeezing from left and right to the middle. Because the paste drug has poor fluidity, when squeezing the paste drug from left and right to the middle, the paste drug will be continuously squeezed downward, while the liquid drug has strong fluidity, and squeezing the liquid drug from left and right to the middle may cause the liquid drug to flow to the upper and lower ends, ultimately resulting in the drug not being able to be squeezed out.

[0019] In the present invention, by providing an anti - entanglement strip, when squeezing paste - like drugs, the two squeezing rollers are too close to each other, causing the paste - like cartridge to be squeezed into a sheet. As the squeezing rollers continue to rotate, the sheet - shaped paste - like cartridge may be wound into the interior of the squeezing rollers. The anti - entanglement strip moves to a position above the squeezing rollers, leaving a very small gap from the squeezing rollers, thus preventing the sheet - shaped paste - like cartridge from winding and ensuring the stable operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 Schematic diagram of the overall structure of the dressing - applying robot for medical aesthetic repair provided by the present invention; Figure 2 For the present invention Figure 1 Enlarged view at A in Figure 3 Schematic diagram of the medicine - storage structure of the dressing - applying robot for medical aesthetic repair provided by the present invention; Figure 4 Schematic diagram of the medicine - storage structure of the dressing - applying robot for medical aesthetic repair provided by the present invention; Figure 5 Schematic diagram of the internal structure of the medicine - storage of the dressing - applying robot for medical aesthetic repair provided by the present invention; Figure 6 Schematic diagram of the internal structure of the medicine - storage of the dressing - applying robot for medical aesthetic repair provided by the present invention; Figure 7 For the present invention Figure 6 Enlarged view at B in Figure 8 Schematic diagram of the longitudinal extrusion assembly structure of the dressing - applying robot for medical aesthetic repair provided by the present invention; Figure 9 For the present invention Figure 8 Enlarged view at C in Figure 10 Schematic diagram of the longitudinal extrusion assembly structure of the dressing - applying robot for medical aesthetic repair provided by the present invention;

[0022] In the drawings, the list of components represented by each reference numeral is as follows: 1. Base; 2. Robotic arm; 3. Mounting base; 4. Medicine bin; 5. Medicine outlet hopper; 6. Fastening piece; 7. Coating roller; 8. Lifting motor; 9. Lead screw; 10. Movable bearing; 11. Connecting rod; 12. Driving slider; 13. Connecting shaft; 14. First gear; 15. First rack; 16. Connecting block; 17. Mounting rod; 18. Extrusion roller; 19. Rotating part; 20. Extrusion rod; 21. Anti-tangling strip; 22. Movable part; 23. Telescopic sleeve; 24. Fixed block; 25. Second rack; 26. Second gear; 27. Connecting block; 28. Paste medicine cartridge; 29. Liquid medicine cartridge. Detailed implementation manners

[0023] 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 the detailed implementation manners.

[0024] 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 to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, 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.

[0026] Refer to Figure 1-10, the present invention is a dressing application robot for medical aesthetic repair, including a robotic arm 2. The robotic arm 2 is connected to a medicine bin 4 through a mounting base 3. Different medicine cartridges are placed and installed inside the medicine bin 4 according to usage requirements. The paste medicine cartridge 28 extrudes medicine through a horizontal extrusion assembly arranged inside the medicine bin 4, and the liquid medicine cartridge 29 extrudes medicine through a vertical extrusion assembly arranged on the horizontal extrusion assembly. The robotic arm 2 is used to control the movement of the dressing application robot, and the mounting base 3 is used to mount the medicine bin 4 onto the robotic arm 2. The paste medicine cartridge 28 has a structure that is thinner at the top and thicker at the bottom, which is suitable for storing and using paste medicines. The liquid medicine cartridge 29 has a straight cylinder structure, which is suitable for storing and using liquid medicines. When extruding paste medicines, they are extruded from both sides of the cartridge, and when extruding liquid medicines, they are extruded from the top downwards; The horizontal extrusion assembly includes mounting rods 17. Two mounting rods 17 are relatively movably arranged on both sides inside the medicine bin 4, and an extrusion roller 18 is arranged on each mounting rod 17. Between the two extrusion rollers 18 is used for rolling and extruding the outer wall of the paste medicine cartridge 28. The mounting rods 17 are used to mount the extrusion rollers 18 and at the same time to carry the horizontal extrusion assembly on the top. The circumferential surface of the extrusion roller 18 is provided with rib grooves, which facilitate rolling during the extrusion process. When the two extrusion rollers 18 come into contact, the ointment inside the paste medicine cartridge 28 can be extruded more thoroughly, avoiding residue and waste; The horizontal extrusion assembly includes an extrusion rod 20 movably arranged at the top of the mounting rod 17. There are four extrusion rods 20, which are evenly distributed on the two mounting rods 17. A telescopic sleeve 23 is movably connected between every two oppositely arranged extrusion rods 20. The bottom of the telescopic sleeve 23 is fixedly connected with a second rack 25 through a fixing block 24. The bottom of the mounting rod 17 is movably connected with an anti-winding strip 21. One end of the anti-winding strip 21 is fixedly connected with an adapter block 27. A toothed groove on one side surface of the adapter block 27 is fixedly connected with a second gear 26. The second gear 26 is movably connected with the second rack 25. The extrusion rod 20 is used to extrude the liquid medicine cartridge 29 from top to bottom. The telescopic sleeve 23 has a certain elasticity inside and can be telescoped, which is convenient for the two extrusion rollers 18 to approach each other. When the content of the paste medicine in the paste medicine cartridge 28 is large, the extrusion rollers 18 do not need to be too close. When the content of the medicine in the paste medicine cartridge 28 is small, by contracting the telescopic sleeve 23, the extrusion rollers 18 are continuously brought closer, so as to extrude the paste medicine cartridge 28 more thoroughly. The fixing block 24 is used to fix the second rack 25. When extruding the liquid medicine cartridge 29, the second rack 25 and the second gear 26 do not contact each other, and the included angle between the second rack 25 and the mounting rod 17 exceeds 90 degrees. When extruding the paste medicine cartridge 28, the second rack 25 contacts and meshes with the second gear 26 as the telescopic sleeve 23 continuously contracts, and drives the second gear 26 to rotate. Since the other side of the second gear 26 meshes with the toothed groove of the adapter block 27, the adapter block 27 is also driven to move linearly, driving the anti-winding strip 21 welded to the adapter block 27 to move to directly above the extrusion roller 18 to protect the extrusion roller 18 and prevent the paste medicine cartridge 28 from being wound into it when the extrusion roller 18 rotates. The top of the second gear 26 is movably connected to the bottom of the mounting rod 17.

[0027] Among them, the robotic arm 2 is fixedly installed on the base 1. The robotic arm 2 is of a multi-section structure, and one end of it is welded with a mounting seat 3. The mounting seat 3 is fixedly connected to the top end of the medicine bin 4. The medicine bin 4 is a rectangular hollow structure. A rectangular hole is opened on one outer wall of the medicine bin 4 for placing different types of medicine cartridges inward.

[0028] Among them, a round hole is opened at the inner bottom of the medicine bin 4. A detachable medicine dispensing hopper 5 is installed inside the round hole. The medicine dispensing hopper 5 penetrates through the round hole to the outer bottom of the medicine bin 4. Fixing members 6 are respectively welded on both sides of the round hole at the outer bottom of the medicine bin 4. A detachable disposable medicine applying roller 7 is movably arranged between the two fixing members 6. The medicine applying roller 7 is made of medical gauze wrapped around the outside of a plastic roller.

[0029] Among them, two rectangular strip holes are respectively opened on the outer walls of the opposite sides of the medicine bin 4. A lifting motor 8 is fixedly installed at the bottom of one of the rectangular strip holes. The output end of the top of the lifting motor 8 is fixedly connected to one end of a lead screw 9. The top end of the lead screw 9 is movably connected to the inner top wall of the rectangular strip hole. A movable bearing 10 is threadedly connected to the circumferential side of the lead screw 9. The movable bearing 10 moves up and down inside the rectangular strip hole. One side of the movable bearing 10 is movably connected to one end of a connecting shaft 13 of the horizontal extrusion assembly; The upper and lower inner walls of the other rectangular strip hole are fixedly connected to the upper and lower ends of a connecting rod 11. A driving slider 12 is movably connected to the circumferential side of the connecting rod 11. The driving slider 12 slides up and down inside the rectangular strip hole. The output end of the driving slider 12 is fixedly connected to one end of the other connecting shaft 13 of the horizontal extrusion assembly. A driving source is arranged inside the driving slider 12 for driving the connecting shaft 13 connected thereto to rotate.

[0030] Among them, one end of the connecting shaft 13 is fixedly connected to one side of a first gear 14. A first rack 15 is respectively engaged on the upper and lower sides of the first gear 14. The two first racks 15 are symmetrically arranged about the center of the first gear 14. The other end of the first rack 15 is fixedly connected to a mounting rod 17 through a connecting block 16. Both ends of the mounting rod 17 are respectively connected to one end of different first racks 15.

[0031] Among them, the longitudinal extrusion assembly further includes a rotating member 19. A rotating member 19 is fixedly connected to the bottom of each extrusion rod 20. Each rotating member is movably connected to the middle position at the top of the mounting rod 17; Movable members 22 are respectively installed at both ends of the telescopic sleeve 23. Each movable member 22 is movably connected to one end of the extrusion rod 20.

[0032] Among them, a fixing block 24 is fixedly connected to the middle bottom position of the telescopic sleeve 23. One side of the fixing block 24 is fixedly connected to one end of a second rack 25. The tooth grooves of the second rack 25 are arranged opposite to the tooth grooves of the second gear 26.

[0033] Among them, an installation groove is opened at the bottom of the extrusion rod 20. A part of the anti-tangling strip 21 is arranged inside the installation groove, and the top of the anti-tangling strip 21 is processed with an inclined section.

[0034] A working method of a medicine application robot for medical beauty repair includes the following steps: S1. Replace the new medicine outlet hopper 5 and the medicine application roller 7. Place different medicine cylinders into the medicine bin 4 according to the type of medicine to be applied for medical beauty repair patients. When the medicine to be applied is a paste-like medicine, place the paste-like medicine cylinder 28 with the corresponding paste-like medicine into the medicine bin 4, and insert the medicine outlet of the paste-like medicine cylinder 28 into the medicine outlet hopper 5; S2. Start the robotic arm to move the medicine - applying roller 7 near the position on the patient's face where medicine needs to be applied. Start the lifting motor 8 and the driving slider 12 to drive the two extrusion rollers 18 to extrude towards the paste - shaped medicine cartridge 28 in the middle. At the same time, the two extrusion rollers 18 move downward. During the extrusion process, the paste - shaped medicine inside the paste - shaped medicine cartridge 28 is extruded from the medicine outlet hopper 5 and lands on the medicine - applying roller 7. Control the robotic arm 2 to make the medicine - applying roller 7 continuously roll on the patient's face, and the medicine is continuously smeared on the patient's face as the medicine - applying roller 7 rolls, thus completing the application of the medicine. S3. While the extrusion rollers extrude the paste - shaped medicine cartridge 28 inward and downward, the four extrusion rods 20 respectively overlap with the two mounting rods 17 and are located at the top of the mounting rods 17. At the same time, the angle between the mounting rod 17 and the telescopic sleeve 23 is 90 degrees. When the two extrusion rollers 18 continuously approach, the telescopic sleeve 23 is continuously extruded, and the distance between the second rack 25 at the bottom of the telescopic sleeve 23 and the second gear 26 continuously decreases until they come into contact and mesh. After meshing, the second rack 25 continues to move in a straight line to drive the second gear 26 to rotate. The connecting block 27 meshed on the other side of the second gear 26 is driven to move in a straight line, and the anti - entanglement strip 21 connected to the connecting block 27 slides outward from the extrusion rod 20 until a part of the anti - entanglement strip 21 is directly above the extrusion roller 18, preventing the paste - shaped medicine cartridge 28 from being wound into one of the extrusion rollers 18 due to the continuous approach of the two extrusion rollers 18.

[0035] Among them, in step 1, when the medicine to be applied by the patient is liquid medicine, place the corresponding liquid medicine cartridge 29 containing the liquid medicine into the medicine bin 4. Start the driving slider 12 to move the two extrusion rollers 18 to the position where the distance between them is the farthest. At this time, a rhombus is formed among the four extrusion rods 20, and the bottom of the extrusion rod 20 is directly opposite to the liquid medicine cartridge 29 below. Start the lifting motor 8 to drive the four extrusion rods 20 to extrude the liquid medicine cartridge 29 downward to extrude the liquid medicine from the medicine outlet hopper 5 and drip it onto the medicine - applying roller 7, and the medicine - applying roller 7 rolls to smear the medicine on the patient's face.

[0036] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above - mentioned embodiments. What is described in the above - mentioned 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 the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A dressing application robot for medical aesthetic repair, including a robotic arm (2), characterized in that: The robotic arm (2) is connected to the medicine bin (4) through a mounting base (3). Different medicine cartridges are placed and installed inside the medicine bin (4) according to usage requirements. The paste medicine cartridge (28) extrudes medicine through a horizontal extrusion assembly arranged inside the medicine bin (4), and the liquid medicine cartridge (29) extrudes medicine through a vertical extrusion assembly arranged on the horizontal extrusion assembly. The horizontal extrusion assembly includes mounting rods (17). The two mounting rods (17) are relatively movably arranged on both sides inside the medicine bin (4), and an extrusion roller (18) is arranged on each mounting rod (17). Between the two extrusion rollers (18) is used to roll and extrude the outer wall of the paste medicine cartridge (28). The horizontal extrusion assembly includes an extrusion rod (20) movably arranged on the top of the mounting rod (17). There are four extrusion rods (20), which are evenly distributed on the two mounting rods (17). Between every two oppositely arranged extrusion rods (20) is movably connected through a telescopic sleeve (23). The bottom of the telescopic sleeve (23) is fixedly connected to a second rack (25) through a fixing block (24). The bottom of the mounting rod (17) is movably connected to an anti-tangling strip (21). One end of the anti-tangling strip (21) is fixedly connected to an adapter block (27). The tooth groove on one side surface of the adapter block (27) is fixedly connected to a second gear (26). The second gear (26) is movably connected to the second rack (25).

2. The medical aesthetic repair dressing robot according to claim 1, characterized in that, The robotic arm (2) is fixedly installed on the base (1). The robotic arm (2) is of a multi-section structure, and one end of it is welded with a mounting base (3). The mounting base (3) is fixedly connected to the top end of the medicine bin (4). The medicine bin (4) is a rectangular hollow structure. A rectangular hole is opened on one outer wall of the medicine bin (4) for placing different types of medicine cartridges inward.

3. The medicament application robot for medical aesthetic repair according to claim 2, characterized in that, A round hole is opened at the inner bottom of the medicine bin (4). A detachable medicine outlet hopper (5) is installed inside the round hole. The medicine outlet hopper (5) penetrates through the round hole to the outer bottom of the medicine bin (4). Fixing pieces (6) are respectively welded on both sides of the round hole at the outer bottom of the medicine bin (4). A detachable disposable medicine application roller (7) is movably arranged between the two fixing pieces (6). The medicine application roller (7) is made by wrapping medical gauze around the outside of a plastic roller.

4. The dressing application robot for medical aesthetic repair according to claim 3, characterized in that, Two rectangular strip holes are respectively opened on the opposite outer walls of the medicine bin (4). A lifting motor (8) is fixedly installed at the bottom of one of the rectangular strip holes. The output end at the top of the lifting motor (8) is fixedly connected to one end of a lead screw (9). The top end of the lead screw (9) is movably connected to the inner top wall of the rectangular strip hole. And a movable bearing (10) is threadedly connected to the circumferential side surface of the lead screw (9). The movable bearing (10) moves up and down inside the rectangular strip hole. One side surface of the movable bearing (10) is movably connected to one end of a connecting shaft (13) of the horizontal extrusion assembly. The upper and lower inner walls of another rectangular strip hole are fixedly connected to the upper and lower ends of the connecting rod (11). A driving slider (12) is movably connected to the circumferential side of the connecting rod (11). The driving slider (12) slides up and down inside the rectangular strip hole, and the output end of the driving slider (12) is fixedly connected to one end of another connecting shaft (13) of the transverse extrusion assembly.

5. The dressing application robot for medical aesthetic repair according to claim 4, characterized in that, One end of the connecting shaft (13) is fixedly connected to one side of a first gear (14). A first rack (15) is engaged with each of the upper and lower sides of the first gear (14). The two first racks (15) are symmetrically arranged about the center of the first gear (14). The other end of the first rack (15) is fixedly connected to the mounting rod (17) through a connecting block (16). The two ends of the mounting rod (17) are respectively connected to one end of different first racks (15).

6. The medical aesthetic repair dressing robot according to claim 5, wherein, The longitudinal extrusion assembly further includes a rotating member (19). A rotating member (19) is fixedly connected to the bottom of each extrusion rod (20). Each rotating member is movably connected to the middle position at the top of the mounting rod (17). A movable member (22) is installed at each of the two ends of the telescopic sleeve (23). Each movable member (22) is movably connected to one end of the extrusion rod (20).

7. The medical aesthetic repair dressing robot according to claim 6, characterized in that, A fixed block (24) is fixedly connected to the middle bottom position of the telescopic sleeve (23). One end of the second rack (25) is fixedly connected to one side of the fixed block (24). The tooth grooves of the second rack (25) are arranged opposite to the tooth grooves of the second gear (26).

8. The dressing application robot for medical aesthetic repair according to claim 7, wherein, An installation groove is formed at the bottom of the extrusion rod (20). A part of the anti-tangling strip (21) is arranged inside the installation groove, and the top of the anti-tangling strip (21) is processed with an inclined plane.

9. A working method of a dressing application robot for medical aesthetic repair, which is applied to the dressing application robot for medical aesthetic repair described in claim 8, and is characterized in that, Including the following steps: S1. Replace the new medicine outlet hopper (5) and the medicine application roller (7). Place different medicine cylinders into the medicine bin (4) according to the type of medicine required for medical aesthetic repair patients. When the medicine to be applied is a paste-like medicine, place the paste-like medicine cylinder (28) with the corresponding paste-like medicine into the medicine bin (4), and insert the medicine outlet of the paste-like medicine cylinder (28) into the medicine outlet hopper (5). S2. Start the robotic arm to move the medicine application roller (7) to the position near the patient's face where medicine needs to be applied. Start the lifting motor (8) and the driving slider (12) to drive the two extrusion rollers (18) to squeeze the paste-like medicine cylinder (28) in the middle. At the same time, the two extrusion rollers (18) move downward. During the squeezing process, the paste-like medicine inside the paste-like medicine cylinder (28) is extruded from the medicine outlet hopper (5) and falls on the medicine application roller (7). Control the robotic arm (2) to make the medicine application roller (7) continuously roll on the patient's face, and the medicine is continuously applied to the patient's face as the medicine application roller (7) rolls, thereby completing the medicine application. S3. While the squeezing rollers squeeze the paste cartridge (28) inward and downward, the four squeezing rods (20) respectively overlap with the two mounting rods (17) and are located at the top of the mounting rods (17). At the same time, a right angle of 90 degrees is formed between the mounting rods (17) and the telescopic sleeves (23). When the two squeezing rollers (18) continuously approach each other, the telescopic sleeves (23) are continuously squeezed. The distance between the second rack (25) at the bottom of the telescopic sleeve (23) and the second gear (26) continuously decreases until they come into contact and mesh. After meshing, the second rack (25) continues to move linearly to drive the second gear (26) to rotate. The connecting block (27) meshed on the other side of the second gear (26) is driven to move linearly, and the anti-twist strip (21) connected to the connecting block (27) slides outward from the squeezing rod (20) until a part of the anti-twist strip (21) is located directly above the squeezing roller (18), avoiding the paste cartridge (28) from being wound into one of the squeezing rollers (18) due to the continuous approach of the two squeezing rollers 18.

10. The working method of a dressing application robot for medical aesthetic repair according to claim 9, characterized in that, In step 1, when the drug to be applied by the patient is a liquid drug, the liquid cartridge (29) containing the corresponding liquid drug is placed inside the medicine bin (4). The driving slider (12) is started to move the two squeezing rollers (18) to the position where the distance between them is the farthest. At this time, a rhombus is formed among the four squeezing rods (20), and the bottom of the squeezing rod (20) is directly opposite to the liquid cartridge (29) below. The lifting motor (8) is started to drive the four squeezing rods (20) to squeeze the liquid cartridge (29) downward, and the liquid drug is squeezed out from the medicine outlet hopper (5) and dripped onto the medicine application roller (7), and the drug is rolled and applied to the patient's face by the medicine application roller (7).

Images