CN110420071B - Injection needle moving device - Google Patents
Injection needle moving device Download PDFInfo
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- CN110420071B CN110420071B CN201910498763.6A CN201910498763A CN110420071B CN 110420071 B CN110420071 B CN 110420071B CN 201910498763 A CN201910498763 A CN 201910498763A CN 110420071 B CN110420071 B CN 110420071B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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Abstract
The invention relates to a syringe needle moving device, which is characterized in that: the injection needle moving device (5) is used for enabling the injection needle (64) and the elastic pressing block (7) to move in the horizontal direction and the vertical direction, and ensuring that the injection needle (64) and the elastic pressing block can reach an injection area.
Description
Technical Field
The invention relates to an injection needle moving device of an automatic vaccine injection system, in particular to an automatic vaccine injection system for livestock such as pigs, cattle, sheep and the like.
Background
In recent years, the animal vaccine industry has been the industry which is strongly supported by the national industrial policy, and is the direction in which the development is strongly encouraged by the country.
Meanwhile, animal injection of vaccines is also a main means for preventing and controlling livestock diseases. Nowadays, epidemic diseases still remain an important reason for restricting the development of animal husbandry in China, and pork is the first big animal consumption product in China, so that the control of the epidemic diseases is more important in pig farms in China.
At present, the main method for injecting the vaccine into the livestock is performed by a manual injection mode, which has low efficiency and high cost, and the missed inoculation situation is easy to occur in a large-scale farm, and a device or a system capable of automatic inoculation is needed in the current market to replace the traditional manual inoculation mode.
Disclosure of Invention
The invention designs an injection needle moving device, which solves the technical problems that the existing main method for injecting vaccines into livestock is performed in a manual injection mode, the injection mode has low efficiency and high cost, and the condition of missed inoculation is easy to occur in a large-scale farm.
In order to solve the technical problems, the invention adopts the following scheme:
an automated vaccine injection system, comprising: comprising a tank (1) having an entrance opening and an exit opening, between which a passage is provided for confining animals in the passage thereof; the two air bags (4), the two air bags (4) are respectively arranged on the side walls at two sides of the channel, and the inflated air bags (4) are expanded to enable the livestock to be clamped between the two air bags (4) and not to move; the image acquisition device (3) is used for photographing the livestock which is fixed and can not move; the elastic pressing block (7) is used for pressing the injection part of the livestock when injection is carried out, so that the situation that the injection vaccine is not in place due to struggle of the livestock when the injection is carried out is avoided; the injection needle moving device (5) is used for moving the injection needle (64) and the elastic pressing block (7) to the position determined by the position coordinate information, the elastic pressing block (7) presses the injection part of the livestock through the driving device, and the injection needle (64) is pricked into the livestock through the driving device to complete the injection of the vaccine; and the control device is used for controlling the inflation and deflation of the air bag, identifying the injection part of the livestock according to the photographing information and generating position coordinate information, and controlling the movement of the injection needle moving device (5), the injection needle (64) and the elastic pressing block (7).
Preferably, still include automatic door gear (2), set up an automatic door gear (2) respectively at the access opening of box (1) and leave the opening, automatic door gear (2) that get into the opening part will get into the opening and close after the livestock gets into in box (1), leave automatic door gear (2) at the opening part and will leave the opening and open the livestock after the livestock injection bacterin finishes.
Preferably, the automatic door device (2) comprises a movable door cylinder (21), a connecting rod (22) and a fence door (23), the movable door cylinder (21) is installed at the top of the box body (1) through a support, and the movable door cylinder (21) is connected with the fence door (23) through the connecting rod (22).
Preferably, an infrared sensor (11) is arranged at the top of the passage, the infrared sensor (11) is used for sensing whether livestock enters the box body (1), and when the infrared sensor (11) is activated, an activation signal is sent to the control device.
Preferably, the livestock identity reading device comprises RFID tags and readers, each livestock identity reading device comprises an RFID tag and a reader-writer, each RFID tag is attached to an ear of each livestock, each RFID tag corresponds to the vaccination information of the livestock, and the reader-writer is arranged in the box body (1) and can read the RFID tags and send the RFID tags to the control device.
Preferably, the injection needle moving device (5) comprises a horizontal moving mechanism and a vertical moving mechanism; the horizontal moving mechanism comprises a horizontal driving motor (500), a first driving wheel (501), a first belt (502), a second belt (503), a first driven wheel (504), a second driven wheel (505), an upper horizontal rotating screw rod (506), a lower horizontal rotating screw rod (507), a left vertical fixing screw rod (508) and a right vertical fixing screw rod (509); a rotor of the horizontal driving motor (500) is connected with a first driving wheel (501), one axial end of the first driving wheel (501) is in transmission connection with a second driven wheel (505) through a first belt (502), and the second driven wheel (505) is connected with an upper horizontal rotating screw rod (506) and drives the upper horizontal rotating screw rod (506) to rotate; the other axial end of the first driving wheel (501) is in transmission connection with a first driven wheel (504) through a second belt (503); the first driven wheel (504) is connected with the lower horizontal rotating screw rod (507) and drives the lower horizontal rotating screw rod (507) to rotate; the upper horizontal rotating screw rod (506) and the lower horizontal rotating screw rod (507) are arranged in parallel, and a left vertical fixed screw rod (508) and a right vertical fixed screw rod (509) are connected between the upper horizontal rotating screw rod and the lower horizontal rotating screw rod; the upper end of the left vertical fixed screw rod (508) is in threaded connection with the upper horizontal rotating screw rod (506) through a fourth nut (519), and the lower end of the left vertical fixed screw rod is in threaded connection with the lower horizontal rotating screw rod (507) through a second nut (517); the upper end of the right vertical fixed screw rod (509) is in threaded connection with the upper horizontal rotating screw rod (506) through a third nut (518), and the lower end of the right vertical fixed screw rod is in threaded connection with the lower horizontal rotating screw rod (507) through a first nut (516); when the upper horizontal rotating screw rod (506) and the lower horizontal rotating screw rod (507) rotate, the left vertical fixing screw rod (508) and the right vertical fixing screw rod (509) synchronously move axially along the upper horizontal rotating screw rod (506) or/and the lower horizontal rotating screw rod (507); the horizontal driving motor (500) is provided with a first displacement sensor (526), the first displacement sensor (526) calculates the number of revolutions of the rotor of the horizontal driving motor (500), and the control device controls the horizontal distances of the left vertical fixing screw rod (508) and the right vertical fixing screw rod (509) according to the data collected by the first displacement sensor (526), wherein the left vertical fixing screw rod (508) and the right vertical fixing screw rod (509) move, and are connected with the elastic pressing block (7) through the vertical moving mechanism.
Preferably, the vertical moving mechanism comprises a vertical driving motor (510), a second driving wheel (511), a third driven wheel (512), a fourth driven wheel (513), a third belt (514), a fourth belt (515), a mounting bracket (521) and a moving connecting piece (524); a second displacement sensor (525) is arranged on the vertical driving motor (510), the second displacement sensor (525) calculates the number of the rotating cycles of the rotor of the vertical driving motor (510), and the control device controls the vertical distance of the third driven wheel (512), the fourth driven wheel (513), the movable connecting piece (524) and the mounting bracket (521) according to the data collected by the second displacement sensor (525); the rotor of the vertical driving motor (510) is connected with a second driving wheel (511), one axial end of the second driving wheel (511) is in transmission connection with the axial lower end part of a third driven wheel (512) through a third belt (514), and the other axial end of the second driving wheel (511) is in transmission connection with the axial lower end part of a fourth driven wheel (513) through a fourth belt (515); the third driven wheel (512) and the fourth driven wheel (513) are axially provided with threaded through holes, the left vertical fixing screw rod (508) is connected with the third driven wheel (512) through the threaded through holes, and the right vertical fixing screw rod (509) is connected with the fourth driven wheel (513) through the threaded through holes;
the axial upper end part of the third driven wheel (512) is connected with a movable connecting piece (524) by sleeving a bearing, a through hole is arranged on the movable connecting piece (524), and the left vertical fixing screw rod (508) penetrates through the through hole; the upper end part of the fourth driven wheel (513) in the axial direction is also connected with another movable connecting piece (524) through sleeving a bearing, a through hole is also formed in the other movable connecting piece (524), and the right vertical fixing screw rod (509) penetrates through the through hole; the two movable connecting pieces (524) are connected with the elastic pressing block (7) through a mounting bracket (521), and the vertical driving motor (510) is also mounted on the mounting bracket (521); the third driven wheel (512) and the fourth driven wheel (513) axially move on the left vertical fixed screw rod (508) or the right vertical fixed screw rod (509) through threads, so that the movable connecting piece (524) mounting bracket (521), the elastic pressing block (7) and the injection needle (64) are driven to move in the vertical direction.
Preferably, a plurality of pressing block driving cylinders (520) are connected to the mounting bracket (521), telescopic rods of the pressing block driving cylinders (520) are connected with the elastic pressing blocks (7), and when the telescopic rods of the pressing block driving cylinders (520) work, the elastic pressing blocks (7) are pushed to compress injection areas of livestock or drive the elastic pressing blocks (7) to leave the injection areas of the livestock.
Preferably, the injection needle (64) is installed on the needle mounting bracket (62), a plurality of needle telescopic cylinders (63) are arranged between the needle mounting bracket (62) and the elastic pressing block (7), and telescopic rods of the needle telescopic cylinders (63) are located between the needle mounting bracket (62) and the elastic pressing block (7).
Preferably, the livestock feed system further comprises a vaccine cartridge, an infusion air pump, an infusion hose (61) and a needle head telescopic cylinder (63), wherein the length of the infusion hose (61) can be freely stretched, one end of the infusion hose (61) is communicated with the vaccine cartridge, the other end of the infusion hose (61) is connected with an injection needle head (64), and the infusion air pump presses out vaccines in the vaccine cartridge and sequentially enters the livestock body through the infusion hose (61) and the injection needle head (64).
A method of automated vaccine injection comprising the steps of: step 1, livestock enters a box body; step 2, identifying the identity information and vaccine registration information of the livestock; step 3, acquiring a signal triggered by livestock by an infrared sensor, and starting an automatic door device to close an inlet and an outlet of the box body when the control device judges that only one livestock enters the box body according to the signal of the infrared sensor; step 4, inflating the two air bags, wherein the two inflated air bags (4) are expanded to enable the livestock to be clamped between the two air bags (4) and cannot move; step 5, starting the image acquisition device (3) to photograph the livestock which can not be shot; step 6, sending the photographing information to a control device, identifying the injection part of the livestock by the control device, and generating position coordinate information; step 7, moving the injection needle (64) and the elastic pressing block (7) to the position determined by the position coordinate information through the injection needle moving device (5); step 8, the elastic pressing block (7) presses the injection part of the livestock through a driving device; and 9, pricking the injection needle into the livestock body through the driving device to complete the injection of the vaccine.
Preferably, in step 1, the livestock is guided by arranging a feed basin containing feed in front of the livestock.
Preferably, if the control device judges that the livestock is not in the box body in the step 3, an alarm is started to remind a worker to process the livestock.
Preferably, a pressure sensor is arranged in the air bag in the step 4, and the pressure of the air bag is monitored and adjusted.
Preferably, the image acquisition device (3) in the step 5 is an X-ray machine.
Preferably, in step 7, the injection needle moving device (5) moves the injection needle (64) and the elastic pressing block (7) in the horizontal direction and the vertical direction.
Preferably, the movement in the horizontal direction and the movement in the vertical direction in step 8 may be performed simultaneously.
Preferably, the driving device in step 9 is started when the following conditions are simultaneously satisfied: 1. the elastic pressing block works in place; 2. the infusion air pump of the vaccine works for N seconds, and N is a positive number; 3. a level sensor in the vaccine cartridge shows that the amount of vaccine is greater than a set minimum.
Compared with the existing manual inoculation method, the automatic vaccine injection system has the following beneficial effects:
(1) the invention completely realizes automatic vaccination, greatly improves the vaccination efficiency and avoids the occurrence of repeated vaccination or missed vaccination due to a large number of livestock.
(2) The invention archives the vaccination information of each livestock through the identity reading device, and can be sent to the mobile terminal of the cultivation supervisor for checking at any time through the network, and also can be sent to the supervisor for inquiring and monitoring.
Drawings
FIG. 1: one of the schematic perspective views of the automatic vaccine injection system of the present invention;
FIG. 2: a cross-sectional view of the automatic vaccine injection system of the present invention;
FIG. 3: a second schematic perspective view of the automatic vaccine injection system of the present invention;
FIG. 4: the structure schematic diagram of the elastic pressing block in the automatic vaccine injection system is shown;
FIG. 5: the invention discloses a schematic three-dimensional structure of an injection needle moving device;
FIG. 6: the invention relates to a connection schematic diagram of an injection needle moving device;
FIG. 7: the injection needle head is connected with a schematic diagram;
FIG. 8: the invention discloses a block schematic diagram of an automatic control unit of an automatic vaccine injection system.
Description of reference numerals:
1, a box body; 11-an infrared sensor; 2-automatic door device; 21-a sliding door cylinder; 22-a connecting rod; 23-a barrier gate; 3-an image acquisition device; 4, air bags; 41-an inflator pump;
5-syringe needle moving device; 500-horizontal driving motor; 501-a first driving wheel; 502 — a first belt; 503 — a second belt; 504 — a first driven wheel; 505 — a second driven wheel; 506-horizontally rotating the screw rod; 507-lower horizontal rotary screw rod; 508-left vertical fixation screw rod; 509-right vertical fixed screw; 510-vertical drive motor; 511 — a second drive wheel; 512-third driven wheel; 513 — fourth driven wheel; 514-a third belt; 515-a fourth belt; 516 — a first nut; 517-second nut; 518-third nut; 519-a fourth nut; 520-driving the cylinder by the pressing block; 521-a mounting bracket; 523-passing hole connecting piece; 524 — moving the connecting piece; 525 — a second displacement sensor; 526 — first displacement sensor; 527 — first fixing plate; 528-a second fixing plate;
6-an injection device; 61-infusion hose; 62-needle mounting bracket; 63-a needle head telescopic cylinder; 64-syringe needle;
7-elastic pressing block; 71-needle extension out of the hole.
Detailed Description
The invention is further described below with reference to fig. 1 to 8:
as shown in fig. 1, the automatic vaccine injection system of the present invention can automatically perform vaccine injection to an injection site of livestock. Can be used for livestock such as pig, cattle, sheep, etc.
Comprises a box body 1, wherein two ends of the box body 1 are respectively provided with an opening, and livestock enters from one opening, namely an entrance opening, and exits from the other opening, namely an exit opening. The two openings are respectively provided with an automatic door device 2, one automatic door device 2 closes the inlet opening after the livestock enters the box body 1, and the other automatic door device 2 opens the outlet opening after the livestock is injected with the vaccine to discharge the livestock.
The automatic door device 2 comprises a movable door cylinder 21, a connecting rod 22 and a fence door 23, wherein the movable door cylinder 21 is installed at the top of the box body 1 through a U-shaped bracket, and the movable door cylinder 21 is connected with the fence door 23 through the connecting rod 22. When needed, the control device starts the moving door cylinder 21, the moving door cylinder 21 pushes the fence door 23 downwards to close the opening of the box body 1, or the moving door cylinder 21 pulls the fence door 23 upwards to open the opening of the box body 1.
Furthermore, in order to attract the animals actively into the housing 1, a feed basin may be provided at the exit opening, in which feed the animals like is placed. The feeding basin may also be connected to a gate 23 leaving the opening.
As shown in fig. 1-2, the box body 1 is a rectangular parallelepiped structure, and has two openings at the front and the rear, and the two openings are communicated through a channel. The side walls at two sides of the channel are respectively provided with an air bag 4, and the air bags 4 are inflated by an inflator 41. The inflated air bags 4 are expanded, so that the livestock is clamped between the two air bags 4 and cannot move.
An infrared sensor 11 is arranged at the top of the passage, and when the infrared sensor 11 senses that livestock enters the box body 1, the control device starts the movable door cylinder 21 to close the fence door 23 to the outlet.
In order to avoid the fence door 23 from hurting the livestock, the fence door 23 is closed after the livestock completely enters the box body 1. The infrared sensors 11 are more than two, one is arranged at the inlet of the box body 1, and the other is arranged in the middle of the box body 1 or close to the outlet.
The control means can only close one or both automatic door means 2 by setting both infrared sensors 11 to be activated. When only one automatic door apparatus 2 is closed, it is explained that the other automatic door apparatus 2 is closed in advance. When both automatic door devices 2 are closed, both are in the open state in advance.
The control device can also set the sequence of the activation of the two infrared sensors 11, when the infrared sensor 11 at the inlet is activated, the livestock is shown to enter the box body 1, when the livestock moves forwards, the infrared sensor 11 at the inlet is not sensed any more, but the infrared sensor 11 at the middle or near the outlet is activated, the livestock is shown to completely enter the box body 1, and at the moment, one or two automatic door devices 2 can be closed.
This latter mode has the further advantage over the former mode that: when two animals are prevented from entering together in sequence and possibly one animal body is positioned under the fence door 23 and the two infrared sensors 11 are always in the activated state, the control device can not only not start the moving door cylinder 21, but also needs to start the alarm to give an alarm.
In addition, the distance between the two infrared sensors 11 can be adjusted to suit livestock of different sizes.
In order to facilitate the management of large farms, the livestock identity reading device comprises an RFID tag and a reader-writer. Each animal has an RFID tag attached to its ear, each RFID tag corresponding to basic information about the animal, including information about whether one or more vaccines have been administered. The box body 1 is internally provided with a reader-writer which can read the RFID label and send the RFID label to the control device, and the control device can store the vaccination information into the information storage device, send the vaccination information to an authorized mobile terminal through a network for display, and send the vaccination information to a server of a supervision department through the network for storage.
As shown in fig. 2 and 3, an image capturing device 3 and an injection needle moving device 5 are respectively provided at both sides of the passage of the case. Wherein, image acquisition device 3 shoots the livestock that can not move fixedly to the information of shooing is given controlling means, and controlling means discerns the injection position of livestock, and the generation position coordinate information. For example, the injection site of the pig is the retroauricular region thereof, and the control device recognizes the retroauricular region of the pig and generates the position coordinate information for the retroauricular region thereof.
The injection needle moving device 5 moves the injection needle 64 and the elastic pressing block 7 to the position determined by the position coordinate information, the elastic pressing block 7 presses the injection part of the livestock through the driving device, and the injection needle is pricked into the livestock through the driving device to complete the injection of the vaccine. The driving means may be a cylinder.
The image acquisition device 3 may be a general digital camera or an X-ray machine.
As shown in figure 4, when the elastic pressing block 7 is used for injection, the injection part of the livestock is pressed, so that the situation that the livestock struggles to cause the injection of the vaccine to be not in place due to pain is avoided. The elastic pressing block 7 is made of an elastic material and has a needle extending hole 71 in the middle. The injection needle 64 is extended from the needle extension hole 71 and the injection site is injected with vaccine.
As shown in fig. 5 and 6, the injection needle moving device 5 is used to move the injection needle 64 and the elastic pressing block 7 in the horizontal direction and the vertical direction to ensure that both can reach the injection area.
Specifically, the injection needle moving device 5 includes a horizontal moving mechanism and a vertical moving mechanism.
The horizontal movement mechanism comprises a horizontal driving motor 500, a first driving wheel 501, a first belt 502, a second belt 503, a first driven wheel 504, a second driven wheel 505, an upper horizontal rotation screw rod 506, a lower horizontal rotation screw rod 507, a left vertical fixing screw rod 508 and a right vertical fixing screw rod 509.
A rotor of the horizontal driving motor 500 is connected with a first driving wheel 501, one axial end of the first driving wheel 501 is in transmission connection with a second driven wheel 505 through a first belt 502, and the second driven wheel 505 is connected with an upper horizontal rotating screw rod 506 and drives the upper horizontal rotating screw rod 506 to rotate; the other axial end of the first driving wheel 501 is in transmission connection with a first driven wheel 504 through a second belt 503; the first driven wheel 504 is connected with the lower horizontal rotation screw 507 and drives the lower horizontal rotation screw 507 to rotate.
The upper horizontal rotating screw 506 and the lower horizontal rotating screw 507 are arranged in parallel, and a left vertical fixing screw 508 and a right vertical fixing screw 509 are connected between the upper horizontal rotating screw and the lower horizontal rotating screw; the upper end of the left vertical fixed screw rod 508 is in bolt connection with the upper horizontal rotating screw rod 506 through a fourth nut 519, and the lower end is in bolt connection with the lower horizontal rotating screw rod 507 through a second nut 517; the upper end of a right vertical fixed screw 509 is in bolt connection with the upper horizontal rotating screw 506 through a third nut 518, and the lower end is in bolt connection with the lower horizontal rotating screw 507 through a first nut 516; two ends of the upper horizontal rotation screw rod 506 are respectively connected with the first fixing plate 527 and the second fixing plate 528 through a bearing, so that the upper horizontal rotation screw rod 506 can rotate but cannot move axially, and similarly, two ends of the lower horizontal rotation screw rod 507 are also respectively connected with the first fixing plate 527 and the second fixing plate 528 through a bearing, so that the lower horizontal rotation screw rod 507 can rotate but cannot move axially.
When the upper horizontal rotation screw 506 and the lower horizontal rotation screw 507 rotate, the left vertical fixing screw 508 and the right vertical fixing screw 509 synchronously move axially along the upper horizontal rotation screw 506 or/and the lower horizontal rotation screw 507.
The left vertical fixing screw rod 508 and the right vertical fixing screw rod 509 are connected with the elastic pressing block 7 through a vertical moving mechanism, and the elastic pressing block 7 is connected with the injection needle 64 and can move relatively.
The working principle of the horizontal moving mechanism is as follows: when the horizontal driving motor 500 works, the rotating first driving wheel 501 drives the second driven wheel 505 and the first driven wheel 504 to rotate through the first belt 502 and the second belt 503 respectively, the first driven wheel 504 drives the lower horizontal rotation screw 507 to rotate, the second driven wheel 505 drives the upper horizontal rotation screw 506 to rotate, the rotation speed of the upper horizontal rotation screw 506 is the same as that of the lower horizontal rotation screw 507, the left vertical fixing screw 508 and the right vertical fixing screw 509 axially move along the upper horizontal rotation screw 506 or/and the lower horizontal rotation screw 507 through the action of nuts, and the left vertical fixing screw 508 and the right vertical fixing screw 509 are indirectly connected with the elastic pressing block 7 and the injection needle 64, so that the horizontal position of the elastic pressing block 7 and the injection needle 64 can be adjusted.
The vertical moving mechanism includes a vertical driving motor 510, a second driving wheel 511, a third driven wheel 512, a fourth driven wheel 513, a third belt 514, a fourth belt 515, a mounting bracket 521, and a moving link 524.
The rotor of the vertical driving motor 510 is connected to the second driving wheel 511, one axial end of the second driving wheel 511 is connected to the lower axial end of the third driven wheel 512 through a third belt 514, and the other axial end of the second driving wheel 511 is connected to the lower axial end of the fourth driven wheel 513 through a fourth belt 515.
The third driven wheel 512 and the fourth driven wheel 513 are both provided with threaded through holes axially, the left vertical fixing screw 508 is connected with the third driven wheel 512 through the threaded through hole, and the right vertical fixing screw 509 is connected with the fourth driven wheel 513 through the threaded through hole.
The axial upper end of the third driven wheel 512 is connected with a movable connecting piece 524 by sleeving a bearing, the movable connecting piece 524 is provided with a through hole, and the left vertical fixing screw 508 passes through the through hole. Similarly, the upper end of the fourth driven wheel 513 is connected to another movable connecting member 524 by a bearing, and the other movable connecting member 524 is also provided with a through hole through which the right vertical fixing screw 509 passes. Two moving connectors 524 are connected to the elastic pressing block 7 through a mounting bracket 521, and the vertical driving motor 510 is also mounted on the mounting bracket 521.
The purpose or working principle of the movable connecting piece 524 connected with the third driven wheel 512 or the fourth driven wheel 513 through the bearing is that: when the vertical driving motor 510 acts on the third driven wheel 512 and the fourth driven wheel 513 to rotate, the third driven wheel 512 and the fourth driven wheel 513 axially move on the left vertical fixing screw 508 or the right vertical fixing screw 509 through threads, so as to drive the movable connecting piece 524, the mounting bracket 521, the elastic pressing block 7 and the injection needle 64 to move in the vertical direction, and the bearings ensure that the third driven wheel 512 or the fourth driven wheel 513 can rotate, but the movable connecting piece 524 does not need to rotate.
Be connected with a plurality of according to the briquetting and drive cylinder 520 on installing support 521, press the telescopic link that briquetting driven cylinder 520 and be connected with elasticity and press briquetting 7, press the telescopic link during operation that briquetting driven cylinder 520, will promote elasticity and press briquetting 7 to compress tightly the injection region of livestock or drive elasticity and press briquetting 7 to leave the injection region of livestock.
The end of the pressing block driving cylinder 520 is provided with a through hole connecting piece 523, the left vertical fixing screw rod 508 or the right vertical fixing screw rod 509 penetrates through the through hole connecting piece 523, and when the vertical moving mechanism works, the through hole connecting piece 523 moves axially along the left vertical fixing screw rod 508 or the right vertical fixing screw rod 509.
The working principle of the whole injection needle moving device is as follows:
when the horizontal driving motor 500 works, the rotating first driving wheel 501 drives the second driven wheel 505 to rotate through the first belt 502, and the rotating first driving wheel 501 also drives the first driven wheel 504 to rotate through the second belt 503; the first driven wheel 504 drives the lower horizontal rotary screw 507 to rotate, the second driven wheel 505 drives the upper horizontal rotary screw 506 to rotate, the rotating speed of the upper horizontal rotary screw 506 is the same as that of the lower horizontal rotary screw 507, and the left vertical fixed screw 508 and the right vertical fixed screw 509 axially move along the upper horizontal rotary screw 506 or/and the lower horizontal rotary screw 507 under the action of nuts; since the left vertical fixing screw rod 508 and the right vertical fixing screw rod 509 are indirectly connected with the elastic pressing block 7 and the injection needle 64, the horizontal positions of the elastic pressing block 7 and the injection needle 64 can be adjusted, so that the elastic pressing block 7 and the injection needle 64 are located in the horizontal coordinate interval of the injection area.
When the vertical driving motor 510 works, the rotating second driving wheel 511 drives the third driven wheel 512 to rotate through the third belt 514, the rotating second driving wheel 511 drives the fourth driven wheel 513 to rotate through the fourth belt 515, the third driven wheel 512 is connected with the left vertical fixing screw rod 508 through a threaded hole, the third driven wheel 512 can axially move along the left vertical fixing screw rod 508 when rotating, the fourth driven wheel 513 is connected with the right vertical fixing screw rod 509 through a threaded hole, and the fourth driven wheel 513 can axially move along the right vertical fixing screw rod 509 when rotating; the third driven wheel 512 and the fourth driven wheel 513 drive the elastic pressing block 7 and the injection needle 64 to move in the vertical direction, so that the elastic pressing block 7 and the injection needle 64 are located in the vertical coordinate interval of the injection region.
As shown in fig. 6, a first displacement sensor 526 is provided on the horizontal driving motor 500, and a second displacement sensor 525 is provided on the vertical driving motor 510.
The first displacement sensor 526 calculates the number of revolutions of the rotor of the horizontal driving motor 500, and the control means controls the horizontal distance that the left and right vertical fixing screws 508 and 509 move according to the data collected by the first displacement sensor 526.
The second displacement sensor 525 calculates the number of revolutions of the rotor of the vertical driving motor 510, and the control device controls the vertical distance that the third driven wheel 512, the fourth driven wheel 513, the moving connecting member 524 and the mounting bracket 521 move according to the data collected by the second displacement sensor 525.
As shown in fig. 7, the injection device 6 of the present invention comprises a vaccine cartridge, an infusion air pump, an infusion hose 61, a needle mounting bracket 62, a needle retracting cylinder 63 and an injection needle 64.
The length of the infusion hose 61 can be freely extended and retracted, one end of the infusion hose 61 is communicated with the vaccine cartridge, the other end of the infusion hose 61 is connected with the injection needle 64, and the vaccine in the vaccine cartridge is pressed out by the infusion air pump and enters the livestock body through the infusion hose 61 and the injection needle 64 in sequence.
An injection needle 64 is mounted on the needle mounting bracket 62. A plurality of needle head telescopic cylinders 63 are arranged between the needle head mounting bracket 62 and the elastic pressing block 7, and telescopic rods of the needle head telescopic cylinders 63 are positioned between the needle head mounting bracket 62 and the elastic pressing block 7; when the telescopic link stretches out needle telescopic cylinder 63, the injection needle 64 is located in the needle stretching hole 71, when the telescopic link enters the needle telescopic cylinder 63, the injection needle 64 and the needle mounting bracket 62 move, and the injection needle 64 stretches out the needle stretching hole 71 to inject vaccines into livestock.
As shown in fig. 8, the automatic control module of the automatic vaccine injection system of the present invention includes a control device, which sequentially controls: the device comprises an identity reading device, an infrared sensor, a movable door cylinder, an inflating pump, an image acquisition device, a needle head moving injection device, a pressing driving block cylinder, a liquid level sensor, an infusion air pump and a needle head driving cylinder.
The infrared sensor is used for judging whether the livestock has entered the injection position of the box body or only has the injection position that the livestock of a qualified identity information gets into the box body, the infrared sensor is activated signal transmission to controlling means, controlling means starts alarm device to judging for the situation that a plurality of livestock get into the box body or the livestock does not get into the box body completely, lets the staff handle.
The identity reading device is used for determining the information of the livestock injected with the vaccine, and avoiding the livestock injected repeatedly and missed injection, wherein the identity information comprises but is not limited to the age of the livestock, the type of the vaccine injected, the injection time and the like. Identity reading device sends livestock information to controlling means, and controlling means starts alarm device to the livestock that does not accord with the injection bacterin, lets the staff handle.
The movable door cylinder is used for closing livestock in the box body and limiting the livestock to move forwards and backwards, the movable door cylinder sends working signals to the control device, and the control device can start a subsequent working procedure of the inflator pump only when the control device judges that the movable door cylinder moves forwards and backwards and closes the fence door.
The inflator pump is used for inflating the air bags on the two sides of the livestock, so that the two sides of the livestock are fixed. And the pressure sensor in the air bag sends the pressure value to the control device, and the control device starts the working procedure of the subsequent image acquisition device when judging that the air bag inflation pressure value is a set value.
The image acquisition device is used for photographing the side face of the livestock and sending the photo information to the control device, and the control device determines the injection part according to the photo information and calculates the coordinate parameter of the injection part.
The needle head moving injection device is used for moving the injection needle head and the elastic pressing block to an injection part, the control device determines a horizontal distance value and a vertical distance value of the needle head to be moved according to a coordinate parameter of the injection part, the control device starts the horizontal driving motor according to the horizontal distance value to be moved, and a displacement sensor on the horizontal driving motor records the rotation cycle number of a motor rotor so as to calculate whether the needle head is moved to the horizontal distance to be moved; the control device starts the vertical driving motor according to the numerical value of the vertical distance to be moved, a displacement sensor on the vertical driving motor records the rotation cycle number of a motor rotor so as to calculate whether the motor rotor is moved to the vertical distance to be moved, and when the set horizontal distance and the set vertical distance are reached, the horizontal moving motor and the vertical moving motor are closed. The horizontal movement distance and the vertical movement distance may be simultaneously performed to increase the operation speed.
Press down the driving block cylinder and play and compress tightly the injection position at the livestock with elasticity according to the briquetting, the livestock causes the vaccination effect not good because of the painful bullet when avoiding pricking, and controlling means judges elasticity and presses down when briquetting reachs preset position, just can start to press down the driving block cylinder and compress tightly the elasticity on the injection position of livestock according to the briquetting.
The syringe needle drives actuating cylinder and plays and pricks into the livestock with bacterin syringe needle internal, and controlling means just can start syringe needle drive actuating cylinder when judging following three condition possess simultaneously and pour into the livestock with syringe needle internal: 1. pressing the driving block cylinder to work in place; 2. the transfusion air pump works for N seconds; 3. a level sensor in the vaccine cartridge shows that the amount of vaccine is greater than a set minimum.
After the injection is finished, the needle head driving cylinder is started to extract the injection needle head, the driving block pressing cylinder is started to move the elastic pressing block away from the livestock, then the air in the air bag is released, and finally the movable door cylinder is started to open the fence door, so that the livestock is discharged, and preparation is made for later livestock vaccination.
The control device writes the inoculation information such as the type, time and the like of the vaccination into the RFID tag of each livestock injected with the vaccination through the reader-writer of the identity reading device, and simultaneously sends the written inoculation information to the local information storage device for storage, so as to establish the vaccination file of each livestock.
Meanwhile, the control device can also send the inoculation information to the mobile terminal through the network for remote inquiry and monitoring, and can also send the inoculation information to a server of a supervision department for inquiry and monitoring of the administrative supervision department.
The invention is described above with reference to the accompanying drawings, it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (7)
1. An injection needle moving device, characterized in that: the injection needle moving device (5) is used for enabling the injection needle (64) and the elastic pressing block (7) to move in the horizontal direction and the vertical direction, and ensuring that the injection needle (64) and the elastic pressing block (7) can reach an injection area; the injection needle moving device (5) comprises a horizontal moving mechanism and a vertical moving mechanism;
the horizontal moving mechanism comprises a horizontal driving motor (500), a first driving wheel (501), a first belt (502), a second belt (503), a first driven wheel (504), a second driven wheel (505), an upper horizontal rotating screw rod (506), a lower horizontal rotating screw rod (507), a left vertical fixing screw rod (508) and a right vertical fixing screw rod (509);
a rotor of the horizontal driving motor (500) is connected with a first driving wheel (501), one axial end of the first driving wheel (501) is in transmission connection with a second driven wheel (505) through a first belt (502), and the second driven wheel (505) is connected with an upper horizontal rotating screw rod (506) and drives the upper horizontal rotating screw rod (506) to rotate; the other axial end of the first driving wheel (501) is in transmission connection with a first driven wheel (504) through a second belt (503); the first driven wheel (504) is connected with the lower horizontal rotating screw rod (507) and drives the lower horizontal rotating screw rod (507) to rotate; the upper horizontal rotating screw rod (506) and the lower horizontal rotating screw rod (507) are arranged in parallel, and a left vertical fixing screw rod (508) and a right vertical fixing screw rod (509) are connected between the upper horizontal rotating screw rod (506) and the lower horizontal rotating screw rod (507); the upper end of the left vertical fixed screw rod (508) is in threaded connection with the upper horizontal rotating screw rod (506) through a fourth nut (519), and the lower end of the left vertical fixed screw rod is in threaded connection with the lower horizontal rotating screw rod (507) through a second nut (517); the upper end of the right vertical fixed screw rod (509) is in threaded connection with the upper horizontal rotating screw rod (506) through a third nut (518), and the lower end of the right vertical fixed screw rod is in threaded connection with the lower horizontal rotating screw rod (507) through a first nut (516);
when the upper horizontal rotating screw rod (506) and the lower horizontal rotating screw rod (507) rotate, the left vertical fixing screw rod (508) and the right vertical fixing screw rod (509) synchronously move axially along the upper horizontal rotating screw rod (506) or/and the lower horizontal rotating screw rod (507);
the left vertical fixed screw rod (508) and the right vertical fixed screw rod (509) are connected with the elastic pressing block (7) through the vertical moving mechanism.
2. The injection needle moving device according to claim 1, wherein: a first displacement sensor (526) is arranged on the horizontal driving motor (500), the first displacement sensor (526) calculates the number of revolutions of a rotor of the horizontal driving motor (500), and a control device controls the horizontal distance of the left vertical fixed screw rod (508) and the right vertical fixed screw rod (509) according to data collected by the first displacement sensor (526).
3. The injection needle moving device according to claim 2, wherein: the vertical moving mechanism comprises a vertical driving motor (510), a second driving wheel (511), a third driven wheel (512), a fourth driven wheel (513), a third belt (514), a fourth belt (515), a mounting bracket (521) and a moving connecting piece (524);
the rotor of the vertical driving motor (510) is connected with a second driving wheel (511), one axial end of the second driving wheel (511) is in transmission connection with the axial lower end part of a third driven wheel (512) through a third belt (514), and the other axial end of the second driving wheel (511) is in transmission connection with the axial lower end part of a fourth driven wheel (513) through a fourth belt (515); the third driven wheel (512) and the fourth driven wheel (513) are axially provided with threaded through holes, the left vertical fixing screw rod (508) is connected with the third driven wheel (512) through the threaded through holes, and the right vertical fixing screw rod (509) is connected with the fourth driven wheel (513) through the threaded through holes;
the axial upper end part of the third driven wheel (512) is connected with a movable connecting piece (524) by sleeving a bearing, a through hole is arranged on the movable connecting piece (524), and the left vertical fixing screw rod (508) penetrates through the through hole; the upper end part of the fourth driven wheel (513) in the axial direction is also connected with another movable connecting piece (524) through sleeving a bearing, a through hole is also formed in the other movable connecting piece (524), and the right vertical fixing screw rod (509) penetrates through the through hole; the two movable connecting pieces (524) are connected with the elastic pressing block (7) through a mounting bracket (521), and the vertical driving motor (510) is also mounted on the mounting bracket (521);
the third driven wheel (512) and the fourth driven wheel (513) axially move on the left vertical fixed screw rod (508) or the right vertical fixed screw rod (509) through threads, so that the movable connecting piece (524), the mounting bracket (521), the elastic pressing block (7) and the injection needle (64) are driven to move in the vertical direction.
4. The injection needle moving device according to claim 3, wherein: two ends of the upper horizontal rotating screw rod (506) are respectively connected with the first fixing plate (527) and the second fixing plate (528) through a bearing, so that the upper horizontal rotating screw rod (506) can rotate but cannot move axially, and two ends of the lower horizontal rotating screw rod (507) are respectively connected with the first fixing plate (527) and the second fixing plate (528) through a bearing, so that the lower horizontal rotating screw rod (507) can rotate but cannot move axially.
5. The injection needle moving device according to claim 4, wherein: the vertical driving motor (510) is provided with a second displacement sensor (525), the second displacement sensor (525) calculates the number of the rotation cycles of the rotor of the vertical driving motor (510), and the control device controls the vertical distance of the third driven wheel (512), the fourth driven wheel (513), the movable connecting piece (524) and the mounting bracket (521) according to the data collected by the second displacement sensor (525).
6. The injection needle moving device according to claim 5, wherein: be connected with a plurality of according to pressure piece drive cylinder (520) on installing support (521), the telescopic link that presses according to pressure piece drive cylinder (520) is connected with elasticity pressure piece (7), and the telescopic link during operation that presses according to pressure piece drive cylinder (520), will promote elasticity and press injection region that piece (7) compressed tightly the livestock or drive elasticity and press injection region that piece (7) left the livestock.
7. The injection needle moving device according to claim 6, wherein: an injection needle (64) is arranged on a needle mounting support (62), a plurality of needle telescopic cylinders (63) are arranged between the needle mounting support (62) and the elastic pressing block (7), and telescopic rods of the needle telescopic cylinders (63) are positioned between the needle mounting support (62) and the elastic pressing block (7).
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