CN209790591U - Automatic debridement pesticide applying robot - Google Patents

Abstract

The utility model discloses an automatic debridement pesticide application robot, including the base, the upper portion of base is provided with the supporting seat, and the upper portion of supporting seat is rotated and is provided with the roating seat, and the roating seat is connected with the rotating electrical machines transmission of fixed mounting on the supporting seat. The debridement medicine application robot of the utility model can automatically debride and apply medicine to the patient with trauma, thereby avoiding the direct contact of medical personnel with the patient, improving the debridement medicine application efficiency and reducing the probability of infection of infectious diseases of the medical personnel; in the debridement process, due to the existence of the protective cover, the action of the debridement drug application assembly can be limited within a certain protection range, so that the body fluid or blood of a patient is prevented from splashing, and meanwhile, the virus or bacteria in the external environment can be prevented from entering the wound to cause secondary infection of the patient.

Description

Automatic debridement pesticide applying robot

the technical field is as follows:

The utility model relates to a medical robot technical field, concretely relates to automatic debridement dispensing robot.

Background art:

The medical robot technology is a novel cross research field integrating multiple subjects of medicine, biomechanics, mechanics, materials science, computer graphics, computer vision, mathematical analysis, robots and the like, has important research value, has wide application prospect in military and civil use, and is a research hotspot in the robot field at present.

The medical robot is mainly used for the occasions of operation, rescue, transportation, rehabilitation and the like of the sick and wounded. For example, after a large-scale accident such as a car accident, a fire disaster and the like occurs, a large number of wounded persons are often required to be treated, a common treatment process is wound debridement, and the wound after the debridement process is applied with medicine, because the number of medical care personnel is limited, the wounded persons waiting for debridement and application of medicine need to wait, the illness state can be delayed in the process, meanwhile, the labor amount of the medical care personnel can be seriously increased due to a large number of debridement and application operations, the personnel distribution is insufficient, a slight medical accident can easily occur in disorder, and the debridement is incomplete or the applied medicine is wrong; furthermore, because some wounded persons may be infected with infectious diseases, medical care personnel directly contact biological tissues such as body fluid, blood and the like of patients during debridement and drug application, the probability of infection is high, and the health of the medical care personnel is extremely easily damaged. There is a need to design a medical robot dedicated for debridement and drug delivery of trauma to meet the requirements of rapid and safe debridement and drug delivery.

the utility model has the following contents:

the utility model aims at providing an automatic clear medicine application robot that creates to prior art not enough, it can carry out automatic clear creation and medicine application to the disease that has the traumatism, avoids medical personnel direct and disease contact, when improving clear creation medicine application efficiency, can also reduce medical personnel's infectious disease's probability of infecting.

the technical solution of the utility model is as follows:

An automatic debridement medicine application robot comprises a base, wherein a supporting seat is arranged at the upper part of the base, a rotating seat is rotatably arranged at the upper part of the supporting seat, and the rotating seat is in transmission connection with a rotating motor fixedly arranged on the supporting seat; a swing arm is rotatably arranged on the side surface of the rotating seat and is in transmission connection with a swing motor fixedly arranged on the rotating seat; the upper end of the swing arm is provided with a pitching arm which is in transmission connection with a pitching motor fixedly arranged on the swing arm; the front end of the pitching arm is connected with a telescopic arm which is fixedly connected with a telescopic cylinder fixedly arranged at the front end of the pitching arm; the front end of the telescopic arm is fixedly connected with a motor mounting seat, a fine adjustment motor is fixed on the motor mounting seat, and an output shaft of the fine adjustment motor is fixedly connected with a debridement pesticide application assembly; the debridement pesticide application component, the rotating motor, the swinging motor, the pitching motor, the telescopic cylinder and the fine adjustment motor are all electrically connected with the control box; the debridement pesticide application assembly comprises a hollow central tube, a skeleton is arranged on the outer side of the central tube, the skeleton consists of a plurality of umbrella ribs with the same structure, and the umbrella ribs comprise straight line sections and outward-expanding sections which are connected with each other, wherein the straight line sections of the umbrella ribs are uniformly distributed on the outer circumference of the central tube and are fixedly connected with the outer circumferential surface of the central tube; the straight line section is sleeved with a first spring, the upper end of the first spring is fixed with the central tube, the lower end of the first spring is freely arranged, and the outer side of the outward expansion section is covered with a transparent protective cover; the upper part of the central tube is also sleeved with a first sleeve and a second sleeve which are distributed from top to bottom, a second spring is arranged between the first sleeve and the second sleeve, a plurality of first supporting rods are hinged on the first sleeve, a plurality of second supporting rods are hinged on the second sleeve, and the tail ends of the first supporting rods and the second supporting rods which correspond to the positions are hinged in the middle of the corresponding outward-expanding section; the lowermost end of the central tube is connected with a debridement device, and the lower end of the debridement device is connected with an application device.

Furthermore, a plurality of processing ports which can be controlled to open and close are arranged on the outer side of the debridement device, the inner sides of the processing ports are respectively connected with respective communication pipelines in a sealing manner, and the plurality of communication pipelines extend along the inner wall of the central pipe; wherein, some communicating pipelines are communicated with the vacuum pump, some communicating pipelines are communicated with the cleaning pump, and the rest communicating pipelines are communicated with the sterilization air source.

Furthermore, the number of the umbrella ribs, the number of the first supporting rods and the number of the second supporting rods are the same.

Further, the medicine applicator comprises an external shell, the lower end of the external shell extends out of the skirt part, the lower end of the skirt part is formed with a horizontal part, and a plurality of massage balls are rotatably arranged on the horizontal part; the outer shell is a hollow shell, an elastic cavity is arranged in the outer shell, and a filling opening is formed in the upper end of the elastic cavity; a medicine outlet pipe is formed at the lower end of the elastic cavity, a first bracket positioned in the outer shell is formed at the port of the medicine outlet pipe, a second bracket is arranged opposite to the first bracket, and the second bracket and the medicine discharge pipe in the outer shell are integrally formed; an elastic tube is supported between the first bracket and the second bracket, the middle part of the elastic tube is supported and fixed by a retainer, and the retainer is an electromagnet fixed in an outer shell; a metal piston is arranged above the elastic tube, the metal piston is arranged opposite to the retainer, the upper end of the metal piston is connected with a guide rod, and the guide rod is vertically guided in the outer shell; two ends of the elastic tube are respectively communicated with the tail end of the medicine outlet tube and the starting end of the medicine discharge tube, and two stop valves are respectively arranged at the two ends of the elastic tube.

Further, the medicine discharge pipe comprises an inclined section and a vertical section positioned at the lowest end, wherein a flow meter is arranged on the inclined section; an annular support extends out of the inner wall of the outer shell, a nozzle is fixedly mounted at the lower part of the annular support, and an inlet of the nozzle is hermetically connected with the vertical section; the lower end of the nozzle is provided with a liquid medicine outlet; the stop valve includes the valve body and is located the inside part that ends of valve body, and the part that ends includes expanding spring and the spheroid of being connected with expanding spring, has seted up the ladder groove that both sides size is little, the middle part size is big on the valve body, and expanding spring and spheroid are located the centre in ladder groove, and the spheroid is close to metal piston one side and sets up.

Further, still be provided with first sensor on the flexible arm, first sensor is connected with the controller electricity, and first sensor is used for responding to the operating position of the clear wound subassembly of giving medicine to poor free of charge.

further, be provided with damper between base and the supporting seat, damper's inside is filled there is buffer liquid.

Further, the shock absorption assembly comprises a connecting base layer, an elastic layer, an upper cover, a middle sleeve and a lower base part which are sequentially arranged from top to bottom, wherein the lower base part is fixedly connected with the frame body, and the connecting base layer is detachably connected with the base; wherein, the lower base part is of a hollow structure, and an inflation spring is arranged in the lower base part; the lower part of the lower base part is hermetically provided with a sealing plate, the upper end of the lower base part is provided with an annular groove, an intermediate sleeve is hermetically inserted in the annular groove, a boss is formed on the inner wall of the lower part of the intermediate sleeve, a gasket with a square cross section is pressed between the boss and the upper end surface of the lower base part, a convex strip with a trapezoidal cross section is formed at the upper end of the inner side of the gasket, and the upper end of the inflatable spring is not contacted with the convex strip; an annular part extending towards the inner side is formed at the upper end of the middle sleeve, the middle sleeve is connected with the upper cover in a sealing mode through a sealing assembly, and the middle sleeve, the upper cover and the sealing assembly enclose a buffer chamber together; a spring retainer is movably mounted on the inner wall of the middle part of the middle sleeve, a lower spring is retained between the spring retainer and the washer, and an upper spring is retained between the spring retainer and the annular part of the middle sleeve; the middle part of the spring retainer is provided with a balance weight, the upper side and the lower side of the balance weight are respectively and fixedly connected with a support column, and the end parts of the support columns are respectively provided with a cone; wherein, an upper runner is formed between the cone on the upper side and the annular part, and a lower runner is formed between the cone on the lower side and the convex strip.

Further, an inlet and an outlet of the buffer liquid are arranged on the side wall of the middle sleeve, an upper liquid storage chamber is formed at the upper part of the middle sleeve, and a lower liquid storage chamber is formed at the lower part of the middle sleeve; the buffer chamber, the upper liquid storage chamber and the lower liquid storage chamber are all communicated.

The beneficial effects of the utility model reside in that: the debridement medicine application robot of the utility model can automatically debride and apply medicine to the patient with trauma, thereby avoiding the direct contact of medical personnel with the patient, improving the debridement medicine application efficiency and reducing the probability of infection of infectious diseases of the medical personnel; in the debridement process, due to the existence of the protective cover, the action of the debridement drug application assembly can be limited within a certain protection range, so that the body fluid or blood of a patient is prevented from splashing, and meanwhile, the virus or bacteria in the external environment can be prevented from entering the wound to cause secondary infection of the patient.

Description of the drawings:

Fig. 1 is a schematic perspective view of a medical robot;

FIG. 2 is a perspective view of the medical robot from another perspective;

FIG. 3 is a schematic structural view of the debridement application assembly;

FIG. 4 is a bottom view of the debridement application assembly;

FIG. 5 is a schematic structural view of a debridement application framework;

FIG. 6 is a schematic view of the applicator;

FIG. 7 is a cross-sectional view of the applicator;

FIG. 8 is a schematic structural view of a shock absorbing assembly;

Figure 9 is a cross-sectional view of a shock absorbing assembly.

The specific implementation mode is as follows:

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in fig. 1-9, an automatic debridement drug delivery robot comprises a base 40, a supporting seat 41 is arranged on the upper part of the base 40, a rotating seat 42 is rotatably arranged on the upper part of the supporting seat 41, and the rotating seat 42 is in transmission connection with a rotating motor 410 fixedly arranged on the supporting seat 41; a swing arm 43 is rotatably arranged on the side surface of the rotating base 42, and the swing arm 43 is in transmission connection with a swing motor 420 fixedly arranged on the rotating base 42; the upper end of the swing arm 43 is provided with a pitch arm 44, and the pitch arm is in transmission connection with a pitch motor 430 fixedly arranged on the swing arm 43; the front end of the pitching arm 44 is connected with a telescopic arm 45, and the telescopic arm 45 is fixedly connected with a telescopic cylinder 440 fixedly arranged at the front end of the pitching arm 44; the front end of the telescopic arm 45 is fixedly connected with a motor mounting seat, a fine adjustment motor 450 is fixed on the motor mounting seat, and an output shaft of the fine adjustment motor 450 is fixedly connected with a debridement pesticide application assembly 5; the debridement pesticide application component 5, the rotating motor, the swinging motor, the pitching motor, the telescopic cylinder and the fine adjustment motor are all electrically connected with the control box.

the debridement and drug application assembly 5 comprises a hollow central tube 51, a skeleton 52 is arranged outside the central tube 51, the skeleton 52 is composed of a plurality of umbrella ribs with the same structure, each umbrella rib comprises a straight-line segment 521 and an outward expanding segment 522 which are connected with each other, wherein the straight-line segments 521 of the umbrella ribs are uniformly distributed on the outer circumference of the central tube 51 and are fixedly connected with the outer circumference of the central tube 51; the straight section 521 is sleeved with a first spring 54, the upper end of the first spring 54 is fixed with the central pipe 51, the lower end of the first spring 54 is freely arranged, and the outer side of the outward expanding section 522 is covered with a transparent protective cover 53; the upper part of the central tube 51 is further sleeved with a first sleeve 551 and a second sleeve 552 which are distributed from top to bottom, a second spring 57 is arranged between the first sleeve 551 and the second sleeve 552, a plurality of first support rods 561 are hinged on the first sleeve 551, a plurality of second support rods 562 are hinged on the second sleeve 552, and the tail ends of the first support rods 561 and the second support rods 562 which correspond to the positions are hinged in the middle parts of the corresponding outer expanding sections 522; the lowermost end of central tube 51 is connected to debrider 58, and the lower end of debrider 58 is connected to applicator 6.

The debrider 58 is provided with a plurality of treatment ports 580 which can be controlled to open and close on the outer side, the inner sides of the treatment ports 580 are respectively connected with respective communication pipelines (not shown in the figure) in a sealing way, and the plurality of communication pipelines extend along the inner wall of the central pipe 51; wherein, some communicating pipelines are communicated with the vacuum pump, some communicating pipelines are communicated with the cleaning pump, and the rest communicating pipelines are communicated with the sterilization air source.

The number of ribs, the number of first struts 561 and the number of second struts 562 are the same.

The applicator 6 comprises an outer shell 60, the lower end of the outer shell 60 extends out of a skirt part 601, the lower end of the skirt part 601 is formed with a horizontal part, and a plurality of massage balls 67 are rotatably arranged on the horizontal part; the outer shell 60 is a hollow shell, an elastic cavity 62 is installed in the outer shell, and a filling opening 622 is formed in the upper end of the elastic cavity 62; a medicine outlet pipe 620 is formed at the lower end of the elastic cavity 62, a first bracket 621 positioned in the outer shell 60 is formed at the port of the medicine outlet pipe 620, a second bracket 641 is arranged opposite to the first bracket 621, and the second bracket 641 and the medicine discharge pipe 640 in the outer shell 60 are integrally formed; an elastic tube 631 is supported between the first bracket 621 and the second bracket 641, a middle portion 630 of the elastic tube 631 is supported and fixed by a holder 65, and the holder 65 is an electromagnet fixed in the outer casing 60; a metal piston 611 is arranged above the elastic pipe 631, the metal piston 611 is arranged opposite to the retainer 65, the upper end of the metal piston 611 is connected with a guide rod 61, and the guide rod 61 is vertically guided in the outer shell 60; both ends of the elastic tube 631 are respectively communicated with the end of the medicine outlet tube 620 and the start end of the medicine discharge tube 640, and both ends of the elastic tube 631 are respectively provided with a stop valve.

The discharge pipe 640 comprises an inclined section 643 and a vertical section at the lowermost end, wherein a flow meter 642 is arranged on the inclined section 643; an annular bracket 602 extends out of the inner wall of the outer shell 60, a nozzle 66 is fixedly installed at the lower part of the annular bracket 602, and the inlet of the nozzle 66 is hermetically connected with the vertical section; the lower end of the nozzle 66 is provided with a medical fluid outlet 660.

The stop valve includes valve body 632 and is located the inside part that ends of valve body 632, and the part that ends includes expanding spring 633 and the spheroid of being connected with expanding spring 633, has seted up the ladder groove that both sides size is little, the middle part size is big on the valve body 632, and expanding spring 633 and spheroid are located the centre in ladder groove, and the spheroid is close to metal piston 611 one side and sets up.

The telescopic arm 45 is further provided with a first sensor 46, the first sensor 46 is electrically connected with the controller, and the first sensor 46 is used for sensing the operation position of the debridement administration assembly 5.

A damping assembly is arranged between the base 40 and the supporting seat 41, the damping assembly is filled with buffer liquid, and comprises a connecting base layer 81, an elastic layer 810, an upper cover 82, a middle sleeve 84 and a lower base 86 which are sequentially arranged from top to bottom, wherein the lower base 86 is fixedly connected with the frame body 20, and the connecting base layer 81 is detachably connected with the base 40; wherein, the lower base 86 is a hollow structure, and an inflation spring 99 is arranged in the lower base; a sealing plate 87 is hermetically installed at the lower part of the lower base 86, an annular groove is formed at the upper end of the lower base 86, an intermediate sleeve 84 is hermetically inserted in the annular groove, a boss is formed on the inner wall of the lower part of the intermediate sleeve 84, a gasket 85 with a square cross section is pressed between the boss and the upper end surface of the lower base 86, a convex strip with a trapezoidal cross section is formed at the upper end of the inner side of the gasket 85, and the upper end 95 of an inflating spring 99 is not contacted with the convex strip; an annular part extending towards the inner side is formed at the upper end of the middle sleeve 84, the middle sleeve 84 and the upper cover 82 are connected in a sealing mode through a sealing assembly 83, and the middle sleeve 84, the upper cover 82 and the sealing assembly 83 jointly enclose a buffer chamber 90; a spring retainer 98 is movably mounted on the inner wall of the middle part of the middle sleeve 84, a lower spring 931 is retained between the spring retainer 98 and the washer 85, and an upper spring 921 is retained between the spring retainer 98 and the annular part of the middle sleeve 84; a balance weight 96 is arranged in the middle of the spring retainer 98, the upper side and the lower side of the balance weight 96 are respectively and fixedly connected with a support column 97, and the end parts of the support columns 97 are respectively provided with a cone; an upper flow passage 91 is formed between the upper cone and the annular portion, and a lower flow passage 94 is formed between the lower cone and the convex strip.

An inlet and outlet 88 for buffer liquid is arranged on the side wall of the middle sleeve 84, an upper liquid storage chamber 92 is formed at the upper part of the middle sleeve 84, and a lower liquid storage chamber 93 is formed at the lower part of the middle sleeve 84; the buffer chamber 90, the upper reservoir 92, and the lower reservoir 93 are all in communication.

before debridement, the controller controls the robot to adjust the operation position, and ensures that the debridement medicine application assembly is aligned with the wound. Then, the controller controls the first spring to contract, and the outer expanding section of the umbrella rib further outwards expands to drive the protective cover outside the umbrella rib to expand together, and due to the existence of the protective cover, the action of the debridement medicine applying assembly can be limited within a certain protection range, so that the body fluid or blood of a patient is prevented from splashing, and meanwhile, the virus or bacteria in the external environment can be prevented from entering the wound to cause the secondary infection of the patient. After the work is finished, the controller controls the debridement device to perform debridement operation, namely, a treatment port connected with the vacuum pump performs vacuum adsorption on body fluid, blood and residual tissues on the wound to ensure that the wound is free of impurities, and then a treatment port communicated with the cleaning pump sprays cleaning fluid to sterilize and clean the wound; and finally, the sterilizing gas is sprayed out of the processing port communicated with the sterilizing gas source, and the wound can be dried while the sterilizing gas performs secondary sterilization. After the operation is finished, the medicine applicator applies the medicine to the wound part, namely the debridement and the medicine application process are finished, and only the medicinal cloth needs to be attached manually.

the utility model discloses in, be full of the liquid medicine in the elastic cavity, when needs are executed the medicine, the electro-magnet is made keeps the ware by the circular telegram, metal piston is attracted and downstream under the guide of guide arm, the middle part of elasticity pipe is extruded, the pressure grow, make the spheroid of both sides remove towards both sides respectively, make the stop valve of elasticity pipe both sides open, the liquid medicine is along going out the pencil, the outside drip of elasticity pipe and calandria, when the flowmeter detects the liquid medicine of drip and reachs and sets for quantity, keep the ware by the outage, the medicine of giving medicine to poor free of charge finishes. The massage ball at the lower part of the medicine applicator can uniformly smear the medicine liquid, so that the medicine liquid can be conveniently absorbed.

The examples are intended to be illustrative, but not limiting, of the invention. The embodiments can be modified by those skilled in the art without departing from the spirit and scope of the present invention, and therefore, the scope of the present invention should be determined by the appended claims.

Claims (9)

1. An automatic debridement medicine application robot is characterized in that: the device comprises a base (40), wherein a supporting seat (41) is arranged at the upper part of the base (40), a rotating seat (42) is rotatably arranged at the upper part of the supporting seat (41), and the rotating seat (42) is in transmission connection with a rotating motor (410) fixedly arranged on the supporting seat (41); a swing arm (43) is rotatably arranged on the side surface of the rotating seat (42), and the swing arm (43) is in transmission connection with a swing motor (420) fixedly arranged on the rotating seat (42); the upper end of the swing arm (43) is provided with a pitching arm (44), and the pitching arm is in transmission connection with a pitching motor (430) fixedly arranged on the swing arm (43); the front end of the pitching arm (44) is connected with a telescopic arm (45), and the telescopic arm (45) is fixedly connected with a telescopic cylinder (440) fixedly arranged at the front end of the pitching arm (44); the front end of the telescopic arm (45) is fixedly connected with a motor mounting seat, a fine adjustment motor (450) is fixed on the motor mounting seat, and an output shaft of the fine adjustment motor (450) is fixedly connected with a debridement pesticide application assembly (5); the debridement pesticide application component (5), the rotating motor, the swinging motor, the pitching motor, the telescopic cylinder and the fine adjustment motor are all electrically connected with the control box; the debridement and drug application assembly (5) comprises a hollow central tube (51), a skeleton (52) is arranged on the outer side of the central tube (51), the skeleton (52) is composed of a plurality of umbrella ribs with the same structure, each umbrella rib comprises a straight line section (521) and an outward expanding section (522) which are connected with each other, wherein the straight line sections (521) of the umbrella ribs are uniformly distributed on the outer circumference of the central tube (51) and are fixedly connected with the outer circumferential surface of the central tube (51); a first spring (54) is sleeved on the straight section (521), the upper end of the first spring (54) is fixed with the central pipe (51), the lower end of the first spring (54) is freely arranged, and a transparent protective cover (53) covers the outer side of the outward expanding section (522); the upper part of the central tube (51) is further sleeved with a first sleeve (551) and a second sleeve (552) which are distributed from top to bottom, a second spring (57) is arranged between the first sleeve (551) and the second sleeve (552), a plurality of first supporting rods (561) are hinged on the first sleeve (551), a plurality of second supporting rods (562) are hinged on the second sleeve (552), and the tail ends of the first supporting rods (561) and the second supporting rods (562) which correspond to the positions are hinged to the middle parts of the corresponding outer expanding sections (522); the lowermost end of the central tube (51) is connected with a debridement device (58), and the lower end of the debridement device (58) is connected with an applicator (6).

2. an automatic debridement drug delivery robot according to claim 1, characterized in that: the outer side of the debridement device (58) is provided with a plurality of treatment ports (580) which can be controlled to open and close, the inner sides of the treatment ports (580) are respectively connected with respective communication pipelines in a sealing manner, and the plurality of communication pipelines extend along the inner wall of the central pipe (51); wherein, some communicating pipelines are communicated with the vacuum pump, some communicating pipelines are communicated with the cleaning pump, and the rest communicating pipelines are communicated with the sterilization air source.

3. The automatic debridement drug delivery robot of claim 1, wherein: the number of ribs, the number of first struts (561) and the number of second struts (561) are all the same.

4. The automatic debridement drug delivery robot of claim 1, wherein: the medicine applicator (6) comprises an outer shell (60), the lower end of the outer shell (60) extends out of a skirt part (601), a horizontal part is formed at the lower end of the skirt part (601), and a plurality of massage balls (67) are rotatably mounted on the horizontal part; the outer shell (60) is a hollow shell, an elastic cavity (62) is arranged in the outer shell, and a filling opening (622) is formed in the upper end of the elastic cavity (62); a medicine outlet pipe (620) is formed at the lower end of the elastic cavity (62), a first bracket (621) positioned in the outer shell (60) is formed at the port of the medicine outlet pipe (620), a second bracket (641) is arranged opposite to the first bracket (621), and the second bracket (641) and the medicine discharge pipe (640) in the outer shell (60) are integrally formed; an elastic tube (631) is supported between the first bracket (621) and the second bracket (641), the middle part (630) of the elastic tube (631) is supported and fixed by a retainer (65), and the retainer (65) is an electromagnet fixed in the outer shell (60); a metal piston (611) is arranged above the elastic pipe (631), the metal piston (611) is arranged opposite to the retainer (65), the upper end of the metal piston (611) is connected with a guide rod (61), and the guide rod (61) is vertically guided in the outer shell (60); two ends of the elastic pipe (631) are respectively communicated with the tail end of the medicine outlet pipe (620) and the starting end of the medicine discharge pipe (640), and two ends of the elastic pipe (631) are respectively provided with a stop valve.

5. the automatic debridement drug delivery robot of claim 4, wherein: the discharge pipe (640) comprises an inclined section (643) and a vertical section positioned at the lowest end, wherein a flow meter (642) is arranged on the inclined section (643); an annular support (602) extends out of the inner wall of the outer shell (60), a nozzle (66) is fixedly mounted at the lower part of the annular support (602), and the inlet of the nozzle (66) is hermetically connected with the vertical section; the lower end of the nozzle (66) is provided with a liquid medicine outlet (660); the stop valve includes valve body (632) and is located the inside part that ends of valve body (632), and the part that ends includes expanding spring (633) and the spheroid of being connected with expanding spring (633), has seted up the ladder groove that both sides size is little, the middle part size is big on valve body (632), and expanding spring (633) and spheroid are located the centre in ladder groove, and the spheroid is close to metal piston (611) one side and sets up.

6. The automatic debridement drug delivery robot of claim 1, wherein: the telescopic arm (45) is further provided with a first sensor (46), the first sensor (46) is electrically connected with the controller, and the first sensor (46) is used for sensing the operation position of the debridement medicine application assembly (5).

7. The automatic debridement drug delivery robot of claim 1, wherein: a damping component is arranged between the base (40) and the supporting seat (41), and the damping component is filled with buffer liquid.

8. the automatic debridement dispensing robot of claim 7, wherein: the shock absorption assembly comprises a connecting base layer (81), an elastic layer (810), an upper cover (82), a middle sleeve (84) and a lower base (86), wherein the connecting base layer (81), the elastic layer, the upper cover (82), the middle sleeve (84) and the lower base (86) are sequentially arranged from top to bottom, the lower base (86) is fixedly connected with the frame body (20), and the connecting base layer (81) is detachably connected with the base (40); wherein, the lower base (86) is of a hollow structure, and an inflation spring (99) is arranged in the lower base; a sealing plate (87) is hermetically installed at the lower part of the lower base part (86), an annular groove is formed at the upper end of the lower base part (86), an intermediate sleeve (84) is inserted in the annular groove in a sealing mode, a boss is formed on the inner wall of the lower part of the intermediate sleeve (84), a gasket (85) with a square cross section is pressed between the boss and the upper end face of the lower base part (86), a convex strip with a trapezoidal cross section is formed at the upper end of the inner side of the gasket (85), and the upper end (95) of an inflating spring (99) is not in contact with the convex strip; an annular part extending towards the inner side is formed at the upper end of the middle sleeve (84), the middle sleeve (84) and the upper cover (82) are connected in a sealing mode through a sealing component (83), and the middle sleeve (84), the upper cover (82) and the sealing component (83) jointly enclose a buffer chamber (90); a spring retainer (98) is movably mounted on the inner wall of the middle part of the middle sleeve (84), a lower spring (931) is retained between the spring retainer (98) and the washer (85), and an upper spring (921) is retained between the spring retainer (98) and the annular part of the middle sleeve (84); a balance weight (96) is arranged in the middle of the spring retainer (98), the upper side and the lower side of the balance weight (96) are respectively and fixedly connected with a support column (97), and the end parts of the support columns (97) are respectively provided with a cone; wherein, an upper runner (91) is formed between the upper cone and the annular part, and a lower runner (94) is formed between the lower cone and the convex strip.

9. The automatic debridement drug delivery robot of claim 8, wherein: an inlet and outlet (88) for buffering liquid is arranged on the side wall of the middle sleeve (84), an upper liquid storage chamber (92) is formed at the upper part of the middle sleeve (84), and a lower liquid storage chamber (93) is formed at the lower part of the middle sleeve (84); the buffer chamber (90), the upper liquid chamber (92) and the lower liquid chamber (93) are all communicated.