Injection robot and control method thereof

Abstract

The application discloses an injection robot and a control method thereof, which comprises a rack, a clamping mechanism, an injection mechanism, a control mechanism and a control mechanism. The clamping mechanism comprises a driving device, a transmission guide device and a clamping device. The sensing mechanism acquires real-time images of a target area and pose parameters of the end of the clamping device, and based on the transmission guide device of double driving differential and guide constraint, the clamping device can realize high-precision and controllable positioning in space. Subsequently, the pose of the clamping device is finely adjusted by a feeding assembly, so that the clamping device reliably adheres to and presses the skin surface. On this basis, the clamping device performs a tightening action, a pulling action or a relaxation action on the skin through synchronous and symmetrical clamping arms, so that the skin originally prone to displacement and rebound is converted into a controllable target area with a clear geometric position and a stable mechanical state. Finally, the injection mechanism completes needle insertion and quantitative injection along a preset path while the target area remains stable.

Description

Technical Field

[0001] This application relates to the field of injection device technology, and in particular to an injection robot and its control method. Background Technology

[0002] Injection procedures are widely used in medical aesthetics, subcutaneous drug delivery, and local treatments, especially in sensitive areas such as the face, neck, and forehead, where high precision in injection location, depth control, and operational safety are crucial. Human skin possesses a degree of elasticity and mobility, particularly on the face, where it is prone to displacement or rebound under external forces. This instability can cause needle displacement during insertion or injection, affecting injection accuracy and increasing the risk of accidental injury. Currently, most injection procedures rely on manual intervention. Operators must apply skin tension through their fingers to achieve appropriate tissue tension and facilitate a smoother injection process. They also need experience to determine the injection location and manually perform the insertion and injection. This process is highly dependent on the operator's skill level, making it difficult to ensure consistency between operators. Furthermore, while some existing injection robots focus on the motion control of the syringe itself—such as mechanizing or automating the axial feed or injection—they lack proactive methods for adjusting skin condition before injection, failing to fundamentally address the positioning inaccuracies caused by skin laxity. Meanwhile, existing devices rely heavily on a single motion mode during positioning, have limited spatial adjustment capabilities, and struggle to achieve precise fit to complex curved skin areas. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. This application provides an injection robot and its control method, which can actively adjust the skin condition before injection, and on this basis achieve high-precision positioning and stable injection.

[0004] The injection robot according to the first aspect of this application includes:

[0005] frame;

[0006] A clamping mechanism is mounted on the frame. The clamping mechanism includes a driving device, a transmission guide device, and a clamping device. The driving device includes a first driving component and a second driving component arranged parallel to each other. The first driving component includes a first driving part and a first lead screw connected to the first driving part. The second driving component includes a second driving part and a second lead screw connected to the second driving part. The transmission guide device includes a first slider slidably mounted on the first lead screw, a second slider slidably mounted on the second lead screw, a first rotating part mounted on the first slider, a second rotating part mounted on the second slider, a first connecting part, a second connecting part, an arc-shaped guide component, and a feeding component. The first end of the first connecting part is rotatably connected to the first slider via the first rotating part. The first end of the second connecting part is rotatably connected to the second slider via the second rotating part. The second end of the first connecting part is slidably connected to the first end of the second connecting part via a first guide rail structure. The arc-shaped guide component is connected to the second slider. The second end of the second connecting part is provided with a guide wheel slidably connected to the arc-shaped guide component. The feeding component is mounted on the second end of the second connecting part and connected to the clamping device.

[0007] An injection mechanism is mounted on the frame and aligned with the clamping device.

[0008] The control mechanism is connected to the first drive component, the second drive component, the feed assembly, the clamping device, and the injection mechanism.

[0009] The injection robot according to the embodiments of this application has at least the following beneficial effects:

[0010] The injection robot of this application includes a frame, a clamping mechanism, an injection mechanism, and a control mechanism.

[0011] The clamping mechanism is mounted on the frame and includes a drive device, a transmission guide device, and a clamping device. The drive device includes a first drive assembly and a second drive assembly, which are arranged parallel to each other. The first drive assembly includes a first drive component and a first lead screw, with the first drive component connected to the first lead screw. The second drive assembly includes a second drive component and a second lead screw, with the second drive component connected to the second lead screw. The transmission guide device includes a first slider, a second slider, a first rotating component, a second rotating component, a first connecting component, a second connecting component, an arc-shaped guide component, and a feed assembly. The first slider is movably mounted on the first lead screw, and the second slider is movably mounted on the second lead screw. The first rotating component is mounted on the first slider, and the second rotating component is mounted on the second slider. The first end of the first connecting component is rotatably connected to the first slider via the first rotating component, and the first end of the second connecting component is rotatably connected to the second slider via the second rotating component. The second end of the first connecting component is slidably connected to the first end of the second connecting component via a first guide rail structure, allowing the first connecting component to slide relative to the second connecting component. An arc-shaped guide component is fixedly mounted on the second slider. A guide wheel is provided at the second end of the second connecting component, and the guide wheel is movably mounted on the arc-shaped guide portion of the arc-shaped guide component. A feed assembly is mounted on the second end of the second connecting component, and its output end is connected to the clamping device. The control mechanism is connected to the first drive component, the second drive component, the feed assembly, and the clamping device. According to the injection task requirements, it drives the entire injection robot closer to the skin area to be injected, so that the clamping device is roughly aligned with the skin surface. The control mechanism controls the operation of the first and second drive components respectively, causing the first and second lead screws to drive the first and second sliders to move along their respective axes. The movement of the first and second sliders drives the first and second connecting components to rotate relative to the first and second sliders through the first and second rotating components, respectively. The first and second connecting components slide relative to each other through the first guide rail. Simultaneously, the second end of the second connecting component moves along a predetermined arc trajectory under the constraint of the guide wheel and the arc-shaped guide component, thereby allowing the clamping device mounted on the second connecting component to complete its position adjustment in space, initially positioning the end of the clamping device on the skin surface.

[0012] After the end of the clamping device is initially positioned on the skin surface, the control mechanism drives the feeding component to work, so that the clamping device is fed along a preset path and accurately positioned on the skin surface. At the same time, the control mechanism drives the clamping device to work, so that the clamping device fits against the skin and performs tightening, pulling or relaxing actions on the skin to form the target area.

[0013] The injection mechanism is mounted on the frame and axially aligned with the clamping device. The control mechanism is connected to the injection mechanism. After the target area is formed, the control mechanism drives the injection mechanism to insert into the target area along a preset path and complete the solvent injection.

[0014] The injection robot of this application, through the parallel arrangement of the first and second lead screws and their corresponding transmission and guiding devices, enables the position adjustment process of the clamping device to have good controllability and repeatability. The transmission and guiding device forms controlled spatial motion under the synergistic action of multiple components, so that the clamping device moves along a predetermined geometric relationship during the position adjustment process. In turn, the clamping device, driven by the feed component, adheres to the skin and performs tightening, pulling, or relaxing actions. It can form a stable and clear target area before injection, so that the injection mechanism can complete the injection operation under the condition of stable skin, thereby improving the stability and reliability of the injection process.

[0015] According to some embodiments of this application, the injection mechanism includes an injection device and a third drive assembly. The injection device includes a syringe, and the output end of the third drive assembly is connected to the piston of the syringe to drive the piston to move axially.

[0016] According to some embodiments of this application, the injection mechanism includes an injection device and a fourth drive assembly, the fourth drive assembly being connected to the injection device to drive the injection device to move axially.

[0017] According to some embodiments of this application, the injection device includes a syringe and a fixing assembly. The fixing assembly includes a fixing plate and an adjustable constraint component, and the syringe is fixed to the fixing plate by the adjustable constraint component.

[0018] According to some embodiments of this application, the clamping device includes a housing, a first clamping arm, a second clamping arm, and a fifth drive assembly disposed on the housing. The fifth drive assembly includes a fifth drive component, a worm gear, and two worm wheels. The worm gear is connected to the fifth drive component, and the two worm wheels are symmetrically disposed on both sides of the worm gear and connected to the worm gear. The first clamping arm and the second clamping arm are respectively connected to the worm wheels on both sides.

[0019] According to some embodiments of this application, the first clamping arm and the second clamping arm each include a main body. The main body includes a connecting arm, a clamping arm, a first connecting rod, and a second connecting rod parallel to the first connecting rod. One end of the first connecting rod is connected to the worm gear, and the other end of the first connecting rod is connected to the first end of the connecting arm. One end of the second connecting rod is connected to the housing, and the other end of the second connecting rod is connected to the middle part of the connecting arm. The second end of the connecting arm is connected to the clamping arm.

[0020] According to some embodiments of this application, the ends of the first clamping arm and the second clamping arm are respectively provided with detachable rubber sleeves.

[0021] According to some embodiments of this application, a sensing mechanism is also included, which is connected to the frame and the control mechanism. The sensing mechanism is used to acquire real-time images of the face, neck, or forehead, as well as the pose parameters of the end of the clamping device.

[0022] According to some embodiments of this application, the feeding assembly includes a sixth driving component, a telescopic component, and a rotating component. The output end of the sixth driving component is connected to the telescopic component, the output end of the telescopic component is connected to the rotating component, and the output end of the rotating component is connected to the clamping device.

[0023] A control method for an injection robot according to a second aspect of this application includes the injection robot described in the above embodiments, the control method comprising:

[0024] The positioning parameters of the injection robot are obtained, and the injection robot is driven to approach the skin surface;

[0025] Based on the position parameters of the end of the clamping device, by adjusting the rotational speed ratio of the first driving component and the second driving component, the first lead screw and the second lead screw respectively drive the first slider and the second slider to move, thereby driving the first connecting component and the second connecting component to move, so that the end of the clamping device is initially positioned on the skin surface.

[0026] The feed assembly drives the clamping device to move, causing the clamping device to open and conform to the skin;

[0027] The clamping device applies tension, traction, or relaxation to the skin to create a target area;

[0028] The injection mechanism inserts into the target area along a preset path and then injects solvent. Attached Figure Description

[0029] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0030] Figure 1 This is a schematic diagram of the structure of an injection robot according to an embodiment of this application;

[0031] Figure 2 This is a front view structural diagram of an injection robot according to an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of the left-side structure of an injection robot according to an embodiment of this application;

[0033] Figure 4 This is a top view of an injection robot according to an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the right side structure of an injection robot according to an embodiment of this application;

[0035] Figure 6 This is a rear view schematic diagram of an injection robot according to an embodiment of this application;

[0036] Figure 7 This is a bottom view of the structure of an injection robot according to an embodiment of this application;

[0037] Figure 8 This is a schematic diagram of the structure of an injection mechanism according to one embodiment of this application;

[0038] Figure 9 This is a schematic diagram of the structure of a clamping mechanism according to an embodiment of this application;

[0039] Figure 10 This is a schematic diagram of the structure of an injection robot including a robotic arm according to an embodiment of this application;

[0040] Figure 11 This is a schematic diagram of an injection robot used for facial injection according to one embodiment of this application;

[0041] Figure 12 This is a schematic diagram of the structure of an injection robot for neck injection according to an embodiment of this application;

[0042] Figure 13 This is a schematic diagram of the structure of an injection robot for forehead injection according to an embodiment of this application;

[0043] Figure 14 This is a control schematic diagram of a transmission guide device according to an embodiment of this application;

[0044] Figure 15 This is a schematic diagram of an injection robot performing a pulling action according to an embodiment of this application;

[0045] Figure 16 This is a schematic diagram of an injection robot performing a tensioning action according to an embodiment of this application.

[0046] Figure label:

[0047] Frame 1; Third guide rail 11; Robotic arm interface device 12; Fixed base 13; Connecting device 14;

[0048] Clamping mechanism 2;

[0049] Drive device 3; First drive assembly 31; First drive component 311; First lead screw 312; First support frame 313; Second drive assembly 32; Second drive component 321; Second lead screw 322; Second support frame 323;

[0050] Transmission guide device 4; first slider 41; second slider 42; first rotating component 43; second rotating component 44; first connecting component 45; first guide rail 451; second connecting component 46; second guide rail 461; first element 462; second element 463; third element 464; arc-shaped guide component 47; guide wheel 471; arc-shaped guide part 472; feed assembly 48; sixth drive component 481; telescopic component 482; rotating component 483;

[0051] Clamping device 5; housing 51; first clamping arm 52; connecting arm 521; clamping arm 522; first connecting rod 523; second connecting rod 524; second clamping arm 53; fifth drive assembly 54; fifth drive component 541; worm gear 542; worm wheel 543; detachable rubber sleeve 55;

[0052] Injection mechanism 6; injection device 61; syringe 611; fixing plate 612; adjustable constraint component 613; fixing groove 614; limiting part 615; fourth guide rail 616; third drive assembly 62; third drive component 621; push rod 622; flexible buffer pad 623; fourth drive assembly 63; fourth drive component 631; coupling 632; third lead screw 633; ​​third lead screw fixing seat 634;

[0053] Sensor mechanism 7;

[0054] Robotic arm 8;

[0055] Target location point 9; epidermis 91; dermis 92; subcutaneous tissue 93; muscle 94. Detailed Implementation

[0056] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0057] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0058] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0059] The following reference Figures 1 to 16 This application describes the injection robot and its control method in the embodiments.

[0060] according to Figures 1 to 7 As shown, an embodiment of the injection robot of this application includes a frame 1, a clamping mechanism 2, an injection mechanism 6, and a control mechanism (not shown). The frame 1 is used to support the clamping mechanism 2 and the injection mechanism 6.

[0061] The clamping mechanism 2 is mounted on the frame 1. The clamping mechanism 2 includes a drive device 3, a transmission guide device 4, and a clamping device 5. The drive device 3 includes a first drive assembly 31 and a second drive assembly 32, which are arranged in parallel and spaced apart. The first drive assembly 31 includes a first drive component 311 and a first lead screw 312. The output end of the first drive component 311 is connected to the first lead screw 312 to drive the first lead screw 312 to rotate. The second drive assembly 32 includes a second drive component 321 and a second lead screw 322. The output end of the second drive component 321 is connected to the second lead screw 322 to drive the second lead screw 322 to rotate.

[0062] The transmission guide device 4 includes a first slider 41, a second slider 42, a first rotating component 43, a second rotating component 44, a first connecting component 45, a second connecting component 46, an arc-shaped guide component 47, and a feed assembly 48. The first slider 41 is movably mounted on the first lead screw 312, allowing the first slider 41 to move along the axial direction of the first lead screw 312. The second slider 42 is movably mounted on the second lead screw 322, allowing the second slider 42 to move along the axial direction of the second lead screw 322. A first rotating component 43 is mounted on a first slider 41, and a second rotating component 44 is mounted on a second slider 42. The first end of a first connecting component 45 is rotatably connected to the first slider 41 via the first rotating component 43, allowing the first connecting component 45 to rotate relative to the first slider 41. The first end of a second connecting component 46 is rotatably connected to the second slider 42 via the second rotating component 44, allowing the second connecting component 46 to rotate relative to the second slider 42. The second end of the first connecting component 45 is slidably connected to the first end of the second connecting component 46 via a first guide rail structure (not shown), allowing the first connecting component 45 to slide relative to the second connecting component 46. An arc-shaped guide component 47 is fixedly mounted on the second slider 42. A guide wheel 471 is provided on the lower side of the second end of the second connecting component 46. The guide wheel 471 is movably mounted on the arc-shaped guide portion 472 of the arc-shaped guide component 47, thereby constraining and guiding the movement trajectory of the second connecting component 46. The feed assembly 48 is fixedly installed on the upper side of the second end of the second connecting member 46. The output end of the feed assembly 48 is connected to the clamping device 5 and is used to drive the clamping device 5 to feed or retract towards the skin.

[0063] The injection mechanism 6 is mounted on the frame 1 and is axially aligned with the clamping device 5 in space, so that the injection path of the injection mechanism 6 corresponds to the target area formed by the clamping device 5.

[0064] The control mechanism is connected to the first drive component 311, the second drive component 321, the feed assembly 48, the clamping device 5, and the injection mechanism 6 respectively, so as to coordinate and control the actions of each component.

[0065] During use, the control mechanism drives the entire injection robot close to the skin area to be injected according to the needs of the injection task, so that the clamping device 5 is roughly aligned with the skin surface.

[0066] The control mechanism controls the operation of the first drive component 311 and the second drive component 321 respectively, so that the first lead screw 312 and the second lead screw 322 drive the first slider 41 and the second slider 42 to move along their respective axes. The movement of the first slider 41 and the second slider 42 drives the first connecting component 45 and the second connecting component 46 to rotate relative to the first slider 41 and the second slider 42 through the first rotating component 43 and the second rotating component 44 respectively, so that the first connecting component 45 and the second connecting component 46 slide relative to each other through the first guide rail 451. At the same time, the second end of the second connecting component 46 moves along a predetermined arc trajectory under the constraint of the guide wheel 471 and the arc-shaped guide component 47, thereby enabling the clamping device 5 installed on the second connecting component 46 to complete the position adjustment in space, so that the end of the clamping device 5 is initially positioned on the skin surface.

[0067] After the end of the clamping device 5 is initially positioned on the skin surface, the control mechanism drives the feeding component 48 to work, so that the clamping device 5 is fed along a preset path, accurately positioned on the skin surface and pressed on the skin. At the same time, the control mechanism drives the clamping device 5 to work, so that the clamping device 5 fits against the skin and performs tightening, pulling or relaxing actions on the skin to form the target area.

[0068] Once the target area is formed, the control mechanism drives the injection mechanism 6 to insert into the target area along a preset path and complete the solvent injection action.

[0069] The injection robot of this application, through the parallel arrangement of the first lead screw 312 and the second lead screw 322 and their corresponding transmission guide device 4, enables the clamping device 5 to have good controllability and repeatability in the posture adjustment process. Through the coordinated constraint of the first slider 41, the second slider 42, the first rotating component 43, the second rotating component 44, the first connecting component 45, the second connecting component 46, the arc-shaped guide component 47 and the guide wheel 471, the clamping device 5 moves along a predetermined geometric relationship during the posture adjustment process, thereby enabling the clamping device 5 to conform to the skin under the drive of the feeding component 48. When performing tensioning, pulling or relaxing actions, it maintains the optimal geometric contact posture, which can form a stable and clear target area before injection, so that the injection mechanism 6 can complete the injection operation under the condition of stable skin condition, thereby improving the stability and reliability of the injection process.

[0070] In some embodiments, the first slider 41 and the second slider 42 are respectively provided with threaded holes (not shown) that cooperate with the corresponding lead screw.

[0071] In some embodiments, both the first rotating component 43 and the second rotating component 44 can be configured as bearings. The first end of the first connecting component 45 is fixedly connected to the inner ring of the first bearing, and the first slider 41 is fixedly connected to the outer ring of the first bearing; the first end of the second connecting component 46 is fixedly connected to the inner ring of the second bearing, and the second slider 42 is fixedly connected to the outer ring of the second bearing.

[0072] In some embodiments, see Figure 2 and Figure 3 The first guide rail structure includes a first guide rail 451 and a second guide rail 461, which are slidably engaged. The first guide rail 451 is disposed on the lower side of the first connecting member 45, and the second guide rail 461 is disposed on the upper side of the second connecting member 46. In some embodiments, a plurality of ball bearings (not shown) are provided between the first guide rail 451 and the second guide rail 461.

[0073] In some embodiments, see Figure 1 The second connecting component 46 is composed of a first element 462, a second element 463 and a third element 464 connected in sequence. The first element 462 and the third element 464 are arranged in parallel. The second element 463 is arranged perpendicular to the first element 462 and the third element 464. The height of the third element 464 is less than that of the first element 462. The second guide rail 461 is arranged on the upper side of the first element 462. The feed assembly 48 is installed on the upper side of the third element 464. The guide wheel 471 is installed on the lower side of the third element 464.

[0074] In some embodiments, see Figure 1 The guide wheel 471 has a guide protrusion (not shown) in the middle of its circumference, and the arc-shaped guide part 472 of the arc-shaped guide component 47 has a guide groove (not shown) that slides with the guide protrusion.

[0075] In some embodiments, see Figure 1 The first drive assembly 31 and the second drive assembly 32 are fixedly mounted on the frame 1 via the first support frame 313 and the second support frame 323, respectively. Specifically, the first lead screw 312 and the second lead screw 322 are rotatably mounted on the first support frame 313 and the second support frame 323 via corresponding bearings.

[0076] according to Figure 8 As shown, in one embodiment of this application, the injection mechanism 6 includes an injection device 61 and a third drive component 62.

[0077] The injection device 61 includes a syringe 611, which has a cylinder (not shown) for containing solvent and a piston (not shown). The piston is disposed in the cylinder and can move axially along the cylinder. The output end of the third drive assembly 62 is connected to the piston of the syringe 611, which can drive the piston to move axially to push the solvent in the cylinder to inject the solvent. At the same time, it can achieve precise control of the injection dosage and injection speed.

[0078] In some embodiments, see Figure 8 The third drive assembly 62 includes a third drive component 621 and a push rod 622. The output end of the third drive component 621 is connected to one end of the push rod 622, and the other end of the push rod 622 is connected to the piston. A control mechanism is connected to the third drive component 621 to drive the third drive component 621 to work.

[0079] In some embodiments, see Figure 8 The third drive assembly 62 also includes a flexible buffer pad 623, which is installed between the push rod 622 and the piston to ensure good cushioning while pushing the solvent.

[0080] The injection device 61 of this application, by setting a third drive component 62 directly connected to the piston of the syringe 611, enables the injection mechanism 6 to independently complete the solvent injection action without relying on the movement of other mechanisms, thereby improving the controllability of the injection action and thus improving the safety of the injection action.

[0081] according to Figure 8 As shown, in one embodiment of this application, the injection mechanism 6 includes an injection device 61 and a fourth drive assembly 63. The output end of the fourth drive assembly 63 is connected to the injection device 61 to drive the injection device 61 to move axially, so that the needle of the syringe 611 is inserted into the target area.

[0082] In some embodiments, see Figure 8 The fourth drive assembly 63 includes a fourth drive component 631, a coupling 632, a third lead screw 633, and a third lead screw mounting base 634. The fourth drive component 631 and the third lead screw mounting base 634 are fixedly mounted on the frame 1. Both ends of the third lead screw 633 are mounted in the third lead screw mounting base 634. The output end of the fourth drive component 631 is connected to the third lead screw 633 via the coupling 632. The injection device 61 is movably mounted on the third lead screw 633. The fourth drive component 631 can drive the injection device 61 axially by rotating the third lead screw 633, causing the injection device 61 to move closer to or away from the target area. A control mechanism is connected to the fourth drive component 631 to drive its operation.

[0083] according to Figure 8As shown in one embodiment of this application, the injection device 61 includes a syringe 611 and a fixing assembly (not shown). The fixing assembly includes a fixing plate 612 and an adjustable constraint member 613. The fixing plate 612 is used to support the syringe 611 and other components. The adjustable constraint member 613 is disposed on the fixing plate 612 and is used to constrain the position of the syringe 611. The syringe 611 is fixed to the fixing plate 612 by the adjustable constraint member 613, so that the syringe 611 is stably installed on the fixing plate 612. The adjustable constraint member 613 can be adjusted according to the size or shape of the syringe 611 to adapt to syringes 611 of different specifications.

[0084] In some embodiments, see Figure 8 The fixing plate 612 is provided with a fixing groove 614 and a limiting part 615. The barrel of the syringe 611 is placed in the fixing groove 614. The limiting part 615 is used to limit and fix the output end of the syringe 611 to prevent the syringe 611 from axially shifting or rotating during the feeding process.

[0085] In some embodiments, see Figure 8 A second guide rail structure (not shown) is provided between the injection device 61 and the frame 1. The second guide rail structure includes a third guide rail 11 and a fourth guide rail 616, which are slidably engaged. The third guide rail 11 is mounted on the frame 1 and is arranged along the axial direction of the frame 1, while the fourth guide rail 616 is mounted on the fixed plate 612. Through the second guide rail structure, under the drive of the fourth drive assembly 63, the injection device 61 can maintain a stable posture during movement, avoiding deviation or tilting.

[0086] In some embodiments, the adjustable constraint member 613 may be configured as an adjustable constraint strap. In some embodiments, the adjustable constraint member 613 may be configured as a snap-on clamping member.

[0087] In use, the syringe 611 is first placed in the fixing groove 614 of the fixing plate 612 and the output end of the syringe 611 is fixed by the limiting part 615. By adjusting the position or clamping state of the adjustable constraint part 613, the adjustable constraint part 613 forms an effective constraint on the syringe 611, thereby stably fixing the syringe 611 on the fixing plate 612.

[0088] When it is necessary to replace the syringe 611 with a different size, the adjustable constraint part 613 can be loosened and its position or clamping state readjusted to match the shape and size of the new syringe 611, and the fixing operation can be completed again.

[0089] The injection device 61 of this application, through the setting of the fixing component and the second guide rail structure, ensures that the syringe 611 is always kept in a predetermined position and posture during the injection process, and avoids relative displacement during the injection process.

[0090] according to Figure 9 As shown, in one embodiment of this application, the clamping device 5 includes a housing 51, a first clamping arm 52, a second clamping arm 53, and a fifth drive assembly 54. The fifth drive assembly 54 is mounted on the housing 51 and includes a fifth drive component 541, a worm gear 542, and two worm wheels 543. The worm gear 542 is connected to the output end of the fifth drive component 541. The two worm wheels 543 are symmetrically mounted on both sides of the worm gear 542 and mesh with it. The first clamping arm 52 and the second clamping arm 53 are respectively connected to the worm wheels 543 on both sides, enabling the fifth drive component 541 to simultaneously drive the movement of the first clamping arm 52 and the second clamping arm 53. When the worm gear 542 rotates in one direction, the first clamping arm 52 and the second clamping arm 53 move closer to each other under the drive of the worm wheels 543, thereby achieving a clamping action; when the worm gear 542 rotates in the opposite direction, the first clamping arm 52 and the second clamping arm 53 move away from each other, thereby achieving a releasing action.

[0091] In some embodiments, the control mechanism is connected to the fifth drive component 541 to drive the fifth drive component 541 to operate.

[0092] according to Figure 9 As shown, in one embodiment of this application, the first clamping arm 52 and the second clamping arm 53 each include a main body, the main body including a connecting arm 521, a clamping arm 522, a first connecting rod 523, and a second connecting rod 524. One end of the first connecting rod 523 is fixedly connected to the worm gear 543, allowing the first connecting rod 523 to rotate relative to the housing 51. The other end of the first connecting rod 523 is connected to the first end of the connecting arm 521, allowing the worm gear 543 to drive the connecting arm 521 to move via the first connecting rod 523. One end of the second connecting rod 524 is rotatably connected to the housing 51, and the other end of the second connecting rod 524 is connected to the middle of the connecting arm 521. The first connecting rod 523 and the second connecting rod 524 are arranged in parallel, thereby constraining the movement trajectory of the connecting arm 521. The second end of the connecting arm 521 is rotatably connected to the clamping arm 522. Driven by the feeding component 48 and the fifth driving component 541, the connecting arm 521 can drive the clamping arm 522 to perform tightening, pulling or relaxing actions on the skin of different facial areas at different angles and directions.

[0093] In some embodiments, a return structure (not shown) is provided between the clamping arm 522 and the connecting arm 521. The return structure may be provided with an elastic structure or an additional drive component so that the clamping arm 522 can return to its initial position after the injection task is completed.

[0094] according to Figure 9 As shown, in one embodiment of this application, the ends of the first clamping arm 52 and the second clamping arm 53 are respectively provided with detachable rubber sleeves 55. Specifically, the detachable rubber sleeves 55 can be fitted onto the end positions of the clamping arms 522. This application, through the provision of detachable rubber sleeves 55, can conform to facial contours with different curvatures, achieving flexible contact and reducing pressure on local skin during clamping, thus reducing the risk of skin damage during clamping operations. Furthermore, since the rubber sleeves are detachable, they can be replaced individually when they age or become contaminated, without replacing the entire clamping arm. At the same time, rubber sleeves of different materials or shapes can be quickly disassembled and replaced according to different usage needs to adapt to different facial curvatures or target areas, improving the versatility of the injection robot of this application.

[0095] In some embodiments, the removable sleeve 55 is made of medical-grade silicone or polyurethane elastomer material, which has good biocompatibility and softness, and can effectively reduce local pressure when in direct contact with the skin, avoiding obvious indentations or discomfort. At the same time, the material has the characteristics of high temperature resistance and chemical corrosion resistance, and can be adapted to routine high temperature sterilization or chemical disinfection treatment, thereby meeting the hygiene and safety requirements in clinical use.

[0096] according to Figures 1 to 4 As shown, in one embodiment of this application, the feeding assembly 48 includes a sixth driving component 481, a telescopic component 482, and a rotating component 483. The output end of the sixth driving component 481 is connected to the telescopic component 482 and the rotating component 483, and is used to provide driving force to the telescopic component 482, causing the telescopic component 482 to perform telescopic movement. The output end of the telescopic component 482 is connected to the rotating component 483, and the output end of the rotating component 483 is connected to the clamping device 5, causing the clamping device 5 to rotate, thereby adjusting the position and orientation of the clamping device 5.

[0097] In some embodiments, the control mechanism is connected to the sixth drive component 481 to drive the sixth drive component 481 to operate.

[0098] In some embodiments, the first drive component 311 and the second drive component 321 are configured as motor drive components. The third drive component 621, the fourth drive component 631, the fifth drive component 541 and the sixth drive component 481 may be configured as motor drive components, pneumatic drive components or hydraulic drive components.

[0099] according to Figures 10 to 13 As shown, in one embodiment of this application, the injection robot further includes a sensing mechanism 7. The sensing mechanism 7 is fixedly mounted on the frame 1 and connected to the control mechanism. The sensing mechanism 7 is used to acquire real-time images of the face, neck, or forehead, as well as the pose parameters of the end of the gripping device 5, and transmit the acquired signals to the control mechanism.

[0100] In some embodiments, the injection robot further includes a robotic arm 8, which is connected to the frame 1.

[0101] In some embodiments, the sensing mechanism 7 further includes a visual imaging device (not shown) for guiding the multidimensional rotational motion of the robotic arm 8 and completing needle positioning.

[0102] In some embodiments, see Figure 1 , Figure 2 and Figure 5 The frame 1 includes a robotic arm 8 interface device 12, a fixed base 13, and a connecting device 14. The robotic arm 8 interface device 12 and the clamping device 5 are fixedly mounted on the fixed base 13 via the connecting device 14, and the injection device 61 is mounted on the fixed base 13. The robotic arm 8 interface device 12 is a standardized quick-change interface used for connecting to the robotic arm 8. The connecting device 14 has multiple bolt assemblies and is integrated with each device through the bolt assemblies, thereby ensuring the structural rigidity and vibration resistance of the overall device during operation.

[0103] according to Figures 1 to 16 As shown, in one embodiment of this application, the injection robot of the above embodiments is included, and the control method includes:

[0104] The positioning parameters of the injection robot are obtained, and the injection robot is driven to approach the skin surface;

[0105] Based on the positional parameters of the end of the clamping device 5, by adjusting the rotational speed ratio of the first driving component 311 and the second driving component 321, the first lead screw 312 and the second lead screw 322 respectively drive the first slider 41 and the second slider 42 to move, thereby driving the first connecting component 45 and the second connecting component 46 to move, so that the end of the clamping device 5 is initially positioned on the skin surface.

[0106] The feed assembly 48 drives the clamping device 5 to move so that the clamping device 5 opens and fits against the skin;

[0107] The clamping device 5 applies a tightening, pulling, or relaxing action to the skin to form a target area;

[0108] The injection mechanism 6 inserts into the target area along a preset path and then injects solvent.

[0109] The control method also includes: establishing a motion mathematical model of the transmission guide device 4, calculating the position information of the multi-pose target positioning point 9, and dynamically adjusting the target positioning point 9 by controlling the motor speed ratio of the first drive component 311 and the second drive component 321, thereby enabling the clamping device 5 to obtain stable and diverse posture control capabilities. (See also...) Figure 14 And as shown in the following formula:

[0110]

[0111]

[0112]

[0113]

[0114] in, This is the displacement of the first slider 41. This is the displacement of the second slider 42. This is the distance between the first lead screw 312 and the second lead screw 322. This is the theoretical distance between the clamping device 5 and the second lead screw 322. The motor speed ratio of the first drive component 311 and the second drive component 321. The x-coordinate function of target location point 9. The ordinate function of the target location point 9.

[0115] Therefore, the rotational speed of the first driving component 311 affects the displacement of the first slider 41. The rotational speed of the second drive component 321 affects the displacement of the second slider 42. The movement of the slider affects the position of the target positioning point 9 of the clamping device 5. The distance between the first lead screw 312 and the second lead screw 322... When constant, the theoretical distance between the clamping device 5 and the second lead screw 322 Motor speed ratio of the first drive component 311 and the second drive component 321 Inversely proportional.

[0116] Specifically, the control methods include:

[0117] S1. Obtain the pose parameters of the injection robot, and based on the obtained pose parameters, control the injection robot to move towards the skin surface, so that the injection robot enters a working position close to the skin surface.

[0118] S2. Based on the position parameters at the end of the clamping device 5, by adjusting the speed ratio of the first driving component 311 and the second driving component 321, the first lead screw 312 and the second lead screw 322 respectively drive the first slider 41 and the second slider 42 to move.

[0119] Driven by the movement of the first slider 41 and the second slider 42, the first connecting component 45 and the second connecting component 46 move accordingly, thereby causing the end of the clamping device 5 to change position in space and be initially positioned on the corresponding position on the skin surface.

[0120] S3. Control the feeding component 48 to drive the clamping device 5 to move, so that the clamping device 5 gradually approaches the skin, and control the clamping device 5 to open, so that the clamping device 5 fits the skin surface.

[0121] S4. Control the clamping device 5 to perform a tightening, pulling, or relaxing action on the skin, so that the skin forms a predetermined target area under the action of the clamping device 5.

[0122] S5. Control the injection mechanism 6 to insert into the target area along the preset path, and complete the solvent injection operation after insertion.

[0123] The following is one of the specific implementation methods:

[0124] S1. The injection robot starts, and the control mechanism initializes each device, so that the clamping mechanism 2 and the injection mechanism 6 are in their initial positions.

[0125] The visual imaging device is activated to continuously acquire real-time images of the face, neck, or forehead, and simultaneously acquires the pose parameters of the end of the gripping device 5. The above information is transmitted to the control mechanism in real time to guide the robotic arm 8 to perform multi-dimensional rotational adjustment, thereby achieving the working position of the gripping device 5 close to the skin surface.

[0126] S2. Based on the acquired position and posture parameters, the control mechanism calculates the position and posture parameters of the transmission guide device 4, and adjusts the motor speed ratio of the first drive component 311 and the second drive component 321 so that the first lead screw 312 and the second lead screw 322 drive the first slider 41 and the second slider 42 to move respectively.

[0127] The first rotating component 43 forms a unique pivot point on its axis. Driven by the movement of the first slider 41 and the second slider 42, the first connecting component 45 and the second connecting component 46 move in concert under the constraint of the arc-shaped guide component 47 and the guide wheel 471. This drives the end of the clamping device 5 to achieve controlled displacement in space, so that it gradually approaches and aligns with the predetermined position on the skin surface, completing the initial positioning of the clamping device 5. This ensures that the opening and closing direction, force angle, and contact path of the clamping arm can be aligned with the target skin area in a defined geometric relationship, forming a pre-contact posture.

[0128] S3. After initial positioning is completed, the control mechanism starts the feed assembly 48. The sixth drive component 481 drives the telescopic component 482 to generate telescopic movement, so that the clamping device 5 moves closer to the skin surface along the preset path, thereby making the clamping arm fit against the skin surface and press against the skin surface.

[0129] S4. The control mechanism drives the fifth drive assembly 54 to start. The fifth drive assembly 541 drives the worm gear 542 to rotate. The worm gear 542 drives the first clamping arm 52 and the second clamping arm 53 synchronously through the worm wheels 543 meshing with it on both sides. The rotation of the worm wheels 543 is transmitted through the first connecting rod 523 and the connecting arm 521, so that the clamping arm 522 opens and closes smoothly according to the predetermined trajectory.

[0130] At the same time, the detachable rubber sleeve 55 at the end of the clamping arm comes into contact with the skin, and performs tightening, pulling or relaxing actions on the skin under the action of flexible cushioning, so that the skin forms a stable and controllable target area under the action of the clamping device 5.

[0131] Specifically, in the actual skin treatment process, the transmission guide device 4 dynamically adjusts the posture of the clamping device 5 according to the spatial position of the injection site, so that it can make close contact along the curvature of the face, and complete the skin action, traction action or tension and relaxation action in a way that surrounds the axis of the first rotating component 43.

[0132] See Figures 15 to 16 The human body has epidermis 91, dermis 92, subcutaneous tissue 93, and muscle 94. See below for further details:

[0133] See Figure 15 Under the skin traction state, the clamp arm 522 achieves an adaptive clamping posture under the constraint of the target positioning point 9 on the face, so that the local skin is lifted and forms a thickened tissue mass, which facilitates the depth control when injecting into the dermis or superficial layer.

[0134] See Figure 16 When the skin is taut, the clamp arm 522 flattens the target area of ​​the skin through traction, reduces surface wrinkles and restricts skin slippage, thereby providing more stable tissue support for deep injection.

[0135] S5. The fourth drive component 63 drives the injection device 61 to move axially along the structure of the second guide rail 461, so that the needle of the syringe 611 enters the target area along the preset path; then, after reaching the preset depth, the third drive component 62 drives the piston of the syringe 611 to move axially, injecting the solvent in the syringe 611 into the target area at a predetermined dose and speed.

[0136] After the injection is completed, the injection mechanism 6 retracts, the clamping device 5 releases the skin, the feed component 48 retracts, and the injection robot completes a full injection operation and enters standby mode.

[0137] See Figure 11When used for facial injections, the clamping arm 522 of the clamping device 5 conforms to the curvature of the face via a removable rubber sleeve 55, providing flexible support and positioning. Combined with the multi-point adjustable characteristics of the transmission guide device 4, the clamping device 5 can effectively position the face, keeping the needle tip stable at small injection points, meeting the high precision and safety requirements for cosmetic filling or micro-injection.

[0138] See Figure 12 When used for neck injections, the neck area is soft and prone to displacement with breathing, requiring the selection of a removable rubber sleeve 55 based on the specific situation. The visual imaging device and the transmission guide device 4 work in coordination, using visual feedback to determine the position and compensate for minor neck movements; simultaneously, the injection device 61 achieves stable needle insertion and dosage control through independently controlled drive and solvent injection drive, meeting the needs of neck treatment or cosmetic injections.

[0139] See Figure 13 When used for forehead injection, the forehead surface is relatively flat, providing a relatively spacious positioning area. The removable rubber sleeve 55 on the clamping arm of the clamping device 5 can be adjusted to a relatively smooth, low-contact style, providing only slight restraint to enhance comfort. The transmission guide device 4 ensures accurate positioning of the clamping device 5, and the coordinated operation of the third drive component 621 and the fourth drive component 631 prevents needle deviation caused by the reaction force of the forehead bone surface, thereby achieving uniform and stable solvent injection.

[0140] The injection robot and its control method of this application first acquire real-time images of the target area and the pose parameters of the end effector of the clamping device 5 through the sensing mechanism 7. Based on the dual-drive differential and guided transmission guide device 4, the clamping device 5 can achieve high-precision and controllable positioning in space. Subsequently, the pose of the clamping device 5 is finely adjusted by the feeding component 48 to ensure reliable contact and pressure between the clamping device 5 and the skin surface. On this basis, the clamping device 5 performs tightening, pulling, or relaxing actions on the skin through synchronous and symmetrical clamping arms, transforming the skin, which is prone to displacement and rebound, into a controllable target area with a clear geometric position and stable mechanical state. Finally, with the target area remaining stable, the injection mechanism 6 completes needle insertion and quantitative injection along a preset path.

[0141] In the description of this specification, the use of terms such as "an embodiment," "some examples," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0142] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. An injection robot, characterized in that: include frame; A clamping mechanism is mounted on the frame. The clamping mechanism includes a driving device, a transmission guide device, and a clamping device. The driving device includes a first driving component and a second driving component arranged parallel to each other. The first driving component includes a first driving part and a first lead screw connected to the first driving part. The second driving component includes a second driving part and a second lead screw connected to the second driving part. The transmission guide device includes a first slider slidably mounted on the first lead screw, a second slider slidably mounted on the second lead screw, a first rotating part mounted on the first slider, a second rotating part mounted on the second slider, a first connecting part, a second connecting part, an arc-shaped guide component, and a feeding component. The first end of the first connecting part is rotatably connected to the first slider via the first rotating part. The first end of the second connecting part is rotatably connected to the second slider via the second rotating part. The second end of the first connecting part is slidably connected to the first end of the second connecting part via a first guide rail structure. The arc-shaped guide component is connected to the second slider. The second end of the second connecting part is provided with a guide wheel slidably connected to the arc-shaped guide component. The feeding component is mounted on the second end of the second connecting part and connected to the clamping device. An injection mechanism is mounted on the frame and aligned with the clamping device. The control mechanism is connected to the first drive component, the second drive component, the feed assembly, the clamping device, and the injection mechanism; The transmission guide device satisfies: in, Let the displacement of the first slider be . This is the displacement of the second slider. This is the distance between the first lead screw and the second lead screw. This represents the theoretical distance between the clamping device and the second lead screw. The ratio of the motor speeds of the first drive component and the second drive component. The x-coordinate function of the target location point. The ordinate function of the target location point.

2. The injection robot according to claim 1, characterized in that: The injection mechanism includes an injection device and a third drive assembly. The injection device includes a syringe, and the output end of the third drive assembly is connected to the piston of the syringe to drive the piston to move axially.

3. The injection robot according to claim 1, characterized in that: The injection mechanism includes an injection device and a fourth drive assembly, which is connected to the injection device to drive the injection device to move axially.

4. The injection robot according to claim 2 or 3, characterized in that: The injection device includes a syringe and a fixing assembly. The fixing assembly includes a fixing plate and an adjustable constraint component. The syringe is fixed to the fixing plate by the adjustable constraint component.

5. The injection robot according to claim 1, characterized in that: The clamping device includes a housing, a first clamping arm, a second clamping arm, and a fifth drive assembly disposed on the housing. The fifth drive assembly includes a fifth drive component, a worm gear, and two worm wheels. The worm gear is connected to the fifth drive component, and the two worm wheels are symmetrically disposed on both sides of the worm gear and connected to the worm gear. The first clamping arm and the second clamping arm are respectively connected to the worm wheels on both sides.

6. The injection robot according to claim 5, characterized in that: The first clamping arm and the second clamping arm each include a main body. The main body includes a connecting arm, a clamping arm, a first connecting rod, and a second connecting rod parallel to the first connecting rod. One end of the first connecting rod is connected to the worm gear, and the other end of the first connecting rod is connected to the first end of the connecting arm. One end of the second connecting rod is connected to the housing, and the other end of the second connecting rod is connected to the middle part of the connecting arm. The second end of the connecting arm is connected to the clamping arm.

7. The injection robot according to claim 5 or 6, characterized in that: The ends of the first clamping arm and the second clamping arm are respectively provided with detachable rubber sleeves.

8. The injection robot according to claim 1, characterized in that: It also includes a sensing mechanism connected to the frame and the control mechanism. The sensing mechanism is used to acquire real-time images of the face, neck or forehead, as well as the pose parameters of the end of the clamping device.

9. The injection robot according to claim 1, characterized in that: The feeding assembly includes a sixth driving component, a telescopic component, and a rotating component. The output end of the sixth driving component is connected to the telescopic component, the output end of the telescopic component is connected to the rotating component, and the output end of the rotating component is connected to the clamping device.

10. A control method for an injection robot, characterized in that: The control method includes the injection robot according to any one of claims 1 to 9, wherein the control method comprises: The positioning parameters of the injection robot are obtained, and the injection robot is driven to approach the skin surface; Based on the position parameters of the end of the clamping device, by adjusting the rotational speed ratio of the first driving component and the second driving component, the first lead screw and the second lead screw respectively drive the first slider and the second slider to move, thereby driving the first connecting component and the second connecting component to move, so that the end of the clamping device is initially positioned on the skin surface. The feed assembly drives the clamping device to move, causing the clamping device to open and conform to the skin; The clamping device applies tension, traction, or relaxation to the skin to create a target area; The injection mechanism inserts into the target area along a preset path and then injects solvent.

Images