WO2023035671A1 - 药液输送装置、药液输送控制系统、药液输送控制方法 - Google Patents

药液输送装置、药液输送控制系统、药液输送控制方法 Download PDF

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Publication number
WO2023035671A1
WO2023035671A1 PCT/CN2022/094585 CN2022094585W WO2023035671A1 WO 2023035671 A1 WO2023035671 A1 WO 2023035671A1 CN 2022094585 W CN2022094585 W CN 2022094585W WO 2023035671 A1 WO2023035671 A1 WO 2023035671A1
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WIPO (PCT)
Prior art keywords
injection
needle
drive
cartridge
needle insertion
Prior art date
Application number
PCT/CN2022/094585
Other languages
English (en)
French (fr)
Inventor
许云初
王少锋
吴军美
费正兴
李汉忠
何艳
章烨
Original Assignee
江苏德尔福医疗器械有限公司
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Filing date
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Application filed by 江苏德尔福医疗器械有限公司 filed Critical 江苏德尔福医疗器械有限公司
Publication of WO2023035671A1 publication Critical patent/WO2023035671A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/008—Racks for supporting syringes or needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/24—Ampoule syringes, i.e. syringes with needle for use in combination with replaceable ampoules or carpules, e.g. automatic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
    • A61M5/31501—Means for blocking or restricting the movement of the rod or piston
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
    • A61M5/31565—Administration mechanisms, i.e. constructional features, modes of administering a dose
    • A61M5/31566—Means improving security or handling thereof
    • A61M5/31573—Accuracy improving means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A61M2005/2006—Having specific accessories
    • A61M2005/2013—Having specific accessories triggering of discharging means by contact of injector with patient body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A61M2005/206—With automatic needle insertion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M2005/3125—Details specific display means, e.g. to indicate dose setting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
    • A61M5/31565—Administration mechanisms, i.e. constructional features, modes of administering a dose
    • A61M5/31576—Constructional features or modes of drive mechanisms for piston rods
    • A61M2005/31588—Constructional features or modes of drive mechanisms for piston rods electrically driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/14—Detection of the presence or absence of a tube, a connector or a container in an apparatus
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/18—General characteristics of the apparatus with alarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3327—Measuring

Definitions

  • the invention relates to the technical field of medical appliances, in particular to a liquid medicine delivery device, a medicine liquid delivery control system, and a medicine solution delivery control method.
  • the liquid medicine delivery device it is usually necessary to push the rubber stopper in the medicine bottle through a pusher, and the medicine liquid in the medicine bottle is squeezed into the patient through the movement of the rubber stopper, and the injection dose of the medicine liquid is usually controlled by Control the motion stroke of the pusher.
  • the existing liquid medicine delivery device has disadvantages: in actual use, when replacing the medicine bottle in the medicine liquid delivery device, it is necessary to first disengage the pusher from the rubber stopper, then replace the medicine bottle, and then perform the injection after replacement. At this time, since the pusher is not in contact with the rubber plug, during the movement of the pusher, there is a section of the movement stroke that is not in contact with the rubber stopper, so during this movement stroke, the liquid medicine is not injected.
  • the movement stroke of the pusher will be included in the injection dose, which will cause a large difference between the actual injection dose and the theoretically controlled injection dose, and the injection dose will be inaccurate , have an impact on the treatment of patients.
  • the technical problem to be solved by the present invention is: in order to solve the problem that the actual injection dose is quite different from the theoretically controlled injection dose when the liquid medicine delivery device in the prior art is injecting the medicine liquid, and the injection dose is inaccurate, which is harmful to the patient.
  • the present invention provides a liquid medicine delivery device, a medicine liquid delivery control system, and a medicine solution delivery control method, which detects whether the rubber stopper is against the movable sleeve through the rubber stopper abutment detection component, and when The injection operation will start after the rubber stopper is in contact with the movable sleeve, and the detection and control of the injection dose will start when the front end of the injection needle starts to flow out, so that the exhaust process will not be included in the injection volume, so that The control of the injection dose is more precise.
  • the technical solution adopted by the present invention to solve the technical problem is to provide a liquid medicine delivery device, including a housing, the housing is provided with an accommodating chamber inside, the accommodating chamber is provided with an injection bracket, and includes
  • a needle insertion device the needle insertion device is arranged inside the housing, the needle insertion device includes a needle insertion driver and a needle insertion transmission member, the needle insertion driver is in transmission connection with the needle insertion transmission member, and the needle insertion drive The driver is electrically connected to the controller;
  • the injection device is arranged inside the injection frame, the injection frame is arranged on one side of the needle-introduction device, the injection frame is connected with the transmission of the needle-introduction drive to drive the injection frame in a straight line through the needle-introduction drive Reciprocating movement, the injection device includes an injection drive and an injection transmission, the injection drive and the injection transmission are connected in transmission, and the injection drive is electrically connected to the controller;
  • Pen core support the pen core support is installed on the right end of the housing, the inside of the pen core support is equipped with a cartridge bottle, the cartridge bottle is equipped with liquid medicine, and the cartridge bottle is provided with a The rubber stopper that squeezes out the liquid from the cartridge outlet;
  • the rubber plug abuts against the detection assembly, and the rubber plug abuts against the detection assembly including: a tact switch, the tact switch is arranged on the right end of the injection transmission part, and the light touch switch is connected with the injection transmission part to be driven by the injection transmission part
  • the tact switch is in conflict with the rubber plug, and the tact switch is electrically connected to the controller so as to transmit the signal that the tact switch conflicts with the rubber plug to the controller;
  • a skin sensor is arranged at the right end of the housing for sensing whether the housing is in contact with the skin;
  • Cartridge bottle in-position detector the left end of the refill bracket is provided with a refill cover, the refill cover is movably arranged in the housing, the refill cover is provided with a first shielding piece, and the first shielding piece Arranged along the axial direction of the cartridge holder, the cartridge in-position detector is arranged on the side of the first shielding sheet away from the cartridge holder, the first shielding sheet is located between the light source emitting end of the cartridge in-position detector and Between light source receiving ends;
  • the injection transmission member is provided with a second blocking sheet
  • the injection reset detector is arranged on the injection support to sense the second blocking sheet
  • the injection reset detector is located at the end of the injection transmission member away from the injection end
  • the second blocking sheet is located between the light source emitting end and the light source receiving end of the injection reset detector.
  • the needle-introducing transmission member includes a needle-introducing screw rod and a moving block
  • the needle-introducing screw rod is in transmission connection with the needle-introducing driving member
  • the needle-introducing screw rod passes through the moving block and is threadedly engaged with the moving block
  • the moving block The block is connected with the injection support to drive the injection support to move towards or away from the injection end along the axial direction of the injection screw rod.
  • the injection drive includes:
  • injection screw rod is in transmission connection with the injection drive member to drive the injection screw rod to rotate through the injection drive member;
  • Push rod, described push rod is sheathed on the injection screw rod, and described push rod and injection screw rod thread fit to drive push rod to move axially along the injection screw rod through the rotation of injection screw rod.
  • the injection transmission part further includes: a shaft sleeve, the sleeve is fitted on the push rod, and the sleeve is slidingly fitted with the push rod, and the tact switch is arranged at the front end of the shaft sleeve.
  • the rubber stopper abutment detection assembly also includes:
  • a movable sleeve the movable sleeve is arranged on the right end of the shaft sleeve, and the light touch switch is connected with the movable sleeve;
  • the fixed sleeve is sleeved on the movable sleeve, and the fixed sleeve is in conflict with the right end of the shaft sleeve.
  • the needle-introduction device further includes a needle-introduction speed-regulating member, the needle-introduction speed-regulating member is in drive connection with the output shaft of the needle-introduction drive member, and the output shaft of the needle-introduction speed-regulating member is in transmission connection with the needle-introduction screw rod To adjust the speed of the needle screw.
  • the needle-introduction speed regulating member includes a first gear and a second gear, the first gear is in transmission connection with the needle-introduction motor to drive the first gear to rotate, the second gear meshes with the first gear, The second gear is in driving connection with the needle-feeding screw rod to rotate the needle-feeding screw rod.
  • an injection dose detection component is also included, the injection dose detection component is connected with the injection drive member, and the injection dose detection component is connected with the controller to control the movement stroke of the driving end of the injection device.
  • the injection dose detection component is a photoelectric encoder, and the photoelectric encoder is connected to the output shaft of the injection drive member.
  • a third blocking sheet is provided on the injection bracket, and a needle-in-position detector for sensing the third blocking sheet is arranged in the housing, and the third blocking sheet is located on the light source of the needle-in-position detector. Between the transmitting end and the receiving end of the light source, the needle insertion position detector is electrically connected to the controller.
  • the present invention also provides a liquid medicine delivery control system, which is applied to the above medicine liquid delivery device, including:
  • a needle insertion control module is electrically connected to the main control unit, and the needle insertion control module is electrically connected to the needle insertion driver to control the needle insertion driver;
  • An injection control module is electrically connected to the main control module, and the injection control module is electrically connected to the injection drive to control the injection drive;
  • a skin sensing module includes the skin sensor, the skin sensing module is electrically connected to the main control unit to send signals to the main control unit;
  • the rubber plug is against the sensing module, the rubber plug against the sensing module includes a light touch switch, and the rubber plug against the sensing module is electrically connected to the main control unit;
  • a cartridge detection module includes a cartridge in-position detector, and the cartridge detection module is electrically connected to the main control unit;
  • a reset detection module includes an injection reset detector, and the reset detection module is electrically connected to the main control unit.
  • an alarm module is also included, and the alarm module is electrically connected with the main control unit.
  • the present invention also provides a liquid medicine delivery control method, which is realized by using the above-mentioned medicine liquid delivery device, including the following steps:
  • the controller controls the injection drive part to drive the injection drive part to move, and the injection drive part drives the tact switch to move in a direction close to the injection end;
  • the skin sensor at the right end of the shell senses the skin.
  • the control unit controls the injection drive and the needle insertion drive to not act.
  • the skin sensor senses the shell
  • the signal is fed back to the control unit, and the control unit controls the action of the needle-introduction drive;
  • control unit controls the needle insertion driving part to drive the needle insertion transmission part to move, and under the action of the needle insertion transmission part, the injection support moves close to the injection end, so as to pierce the injection needle into the skin and perform automatic needle insertion;
  • the controller controls the injection drive part to drive the injection drive part to move. Under the action of the injection drive part, the rubber stopper is pushed to squeeze the medicinal solution in the cartridge from the injection end for injection.
  • the controller controls the injection drive part to drive the injection drive part to move in reverse. Under the action of the injection drive part, the second blocking piece moves away from the injection end. When the second blocking piece moves to the injection reset detector , the controller controls the injection driver to stop driving;
  • the controller controls the needle entry drive part to drive the needle entry transmission part to move in reverse. Under the action of the needle entry transmission part, the injection support moves away from the injection end, and the needle exits the skin.
  • step S2 if the cartridge in-position detector detects that the cartridge is not installed in place, the controller controls the alarm module to give an alarm or prompt that the cartridge is not installed in place.
  • the controller controls the display screen on the housing to give a prompt that the needle-in-position is not in place.
  • step S4 when the skin sensor does not sense that the housing is in contact with the skin, the controller controls the display screen on the housing to prompt, so as to avoid misoperation in the next step.
  • the beneficial effects of the present invention are that the present invention can realize the functions of automatic needle insertion and automatic injection, and during the process of automatic needle insertion, the skin sensor on the cap of the pen can sense the skin, and judge whether it is suitable for the injection through the induction of the skin sensor. Carry out needle insertion operation, improve the accuracy of automatic needle insertion control, and avoid misoperation at the same time;
  • the present invention is also equipped with a cartridge bottle in-position detector, which detects whether the cartridge bottle is installed in place, and the next step operation will be performed only after the cartridge bottle is installed in place, so that misoperation can be found in time and adjustments can be made;
  • the present invention is also provided with a rubber stopper abutment detection assembly, which drives the injection screw to rotate through the injection driver, and drives the movable sleeve at the right end of the push rod to collide with the rubber plug, thereby discharging the air between the rubber plug and the movable sleeve. Detect whether the rubber stopper is against the movable sleeve through the rubber stopper abutment detection component, and start the injection operation after detecting that the rubber stopper is against the movable sleeve, and start the injection dose when the front end of the injection needle starts to flow out Detection and control, so that the exhaust process will not be included in the injection volume, so that the control of the injection volume is more precise.
  • FIG. 1 is an exploded schematic diagram of the structure of the liquid medicine delivery device of the present invention.
  • Fig. 2 is a schematic perspective view of the three-dimensional structure of the liquid medicine delivery device of the present invention.
  • Fig. 3 is an exploded schematic view of the injection device in the medical fluid delivery device of the present invention.
  • Fig. 4 is an enlarged view at point A in Fig. 3 .
  • Fig. 5 is an exploded schematic view of the needle insertion device in the medical fluid delivery device of the present invention.
  • Fig. 6 is a partial structural diagram of the needle insertion device in the medical fluid delivery device of the present invention.
  • Fig. 7 is a schematic cross-sectional structure diagram of a support block in an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of an induction loop in an embodiment of the present invention.
  • Fig. 9 is a schematic cross-sectional structure diagram of the liquid medicine delivery device of the present invention.
  • Fig. 10 is an enlarged view at B in Fig. 9 .
  • Fig. 11 is an enlarged view at point C in Fig. 9 .
  • Fig. 12 is a partial structural schematic diagram of the injection device in the embodiment of the present invention.
  • FIG. 13 is a partial structural schematic diagram of a cartridge in-position detector in an embodiment of the present invention.
  • Fig. 14 is a schematic flow chart of the method for controlling the delivery of medical fluid according to the present invention.
  • the present invention provides a liquid medicine delivery device, which includes a housing 100, and a housing chamber is provided inside the housing 100, and a controller, a needle insertion device 200, and an injection device are disposed in the housing chamber. 300 and refill holder 400.
  • a main body bracket 500 is fixedly arranged in the accommodating cavity, an injection bracket 51 is arranged inside the main body bracket 500, the injection device 300 is arranged in the injection bracket 51, the needle insertion device 200 is arranged in the main body bracket 500, and the needle insertion device 200 is located at the side of the injection device 300.
  • One side is used to drive the injection support 51 to move back and forth in a straight line.
  • a main control board 52 and a key control board 53 are also installed on the side of the main body bracket 500, the controller is arranged on the main control board 52, the key control board 53 is electrically connected with the controller, and the key control board 53 is provided with a display screen 532 and A plurality of keying buttons 531, the housing 100 is provided with a display window for observing the display screen 532 and several button holes for installing the keying buttons 531.
  • the keying buttons 531 include an injection button, a switch button, a setting button and an exhaust button.
  • a battery is also fixedly arranged on the main body bracket 500 .
  • the casing 100 includes an upper casing 11 , a lower casing 12 and a pen cap 13 , the upper casing 11 and the lower casing 12 cover each other, and the pen cap 13 is installed on the right ends of the upper casing 11 and the lower casing 12 .
  • the injection bracket 51 is divided into a first bracket 511 and a second bracket 512 along the length direction, and the first bracket 511 and the second bracket 512 are covered to form the injection bracket 51.
  • the bracket 511 is detachably and fixedly connected to the second bracket 512 .
  • the injection device 300 includes an injection drive 31 and an injection transmission 32.
  • the injection drive 31 is an injection motor
  • the injection motor is electrically connected to the controller, and the controller controls the rotation of the output shaft of the injection motor.
  • the injection transmission 32 includes an injection screw. 321, push rod 322 and shaft sleeve 323, the injection screw rod 321 is connected with the motor transmission, the injection screw rod 321 can be coaxially fixedly connected with the output shaft of the motor or connected through a coupling, the push rod 322 is set on the screw rod On, the push rod 322 is threadedly engaged with the screw mandrel.
  • the shaft sleeve 323 is sleeved on the push rod 322, and the shaft sleeve 323 is slidingly matched with the push rod 322.
  • the outer wall of the push rod 322 is provided with a plurality of limiting ribs 3221, and the limiting ribs 3221 are arranged along the length direction of the push rod 322.
  • the shaft sleeve 323 A limit groove 3231 cooperating with the limit rib 3221 is arranged on the inner side wall of the inner wall, and the limit rib 3221 is inserted into the limit groove 3231, and slides along the length direction of the push rod 322 in the limit groove 3231, and the shaft sleeve 323 is slidingly matched with the injection bracket 51, and the outer wall of the shaft sleeve 323 is provided with a sheet-shaped body 3232, and the inner wall of the injection bracket 51 is provided with a bar-shaped groove, and the bar-shaped groove is arranged along the length direction of the push rod 322, and the sheet-shaped body 3232 and The bar-shaped slots are plugged and fitted, and the sheet body 3232 slides in the bar-shaped slots along the length direction of the push rod 322 .
  • the right end of the shaft sleeve 323 is provided with a rubber plug 411 against the detection assembly
  • the rubber plug 411 against the detection assembly includes: a light touch switch 61, a fixed sleeve 62 and a movable sleeve 63
  • the light touch switch 61 is arranged at the right end of the shaft sleeve 323
  • the tact switch 61 is connected with the shaft sleeve 323
  • the movable sleeve 63 is set on the tact switch 61
  • the right end of the tact switch 61 is in contact with the bottom wall of the movable sleeve 63
  • the fixed sleeve 62 is set on the movable sleeve 63
  • the movable sleeve 63 can move along the length direction of the push rod 322 in the fixed sleeve 62
  • the left end of the fixed sleeve 62 is against the right end of the shaft sle
  • a cartridge 41 is installed inside the refill bracket 400, and the cartridge 41 is filled with a liquid medicine.
  • the cartridge 41 is provided with a rubber stopper 411 that can extrude the medicine liquid from the liquid outlet of the cartridge 41.
  • the rubber stopper 411 is located at the right end of the tact switch 61.
  • the rubber plug 411 is in contact with the movable sleeve 63, and the movable sleeve 63 exerts pressure on the tact switch 61, and the tact switch 61 transmits the signal to the controller after receiving the pressure.
  • a refill cover 700 is set on the fixed sleeve 62, and the refill holder 400 is arranged on the right end of the refill cover 700.
  • the right end of the refill cover 700 conflicts with the cartridge bottle 41, and the right end of the refill holder 400 is provided with an injection needle.
  • annular positioning groove 513 for installing the refill cover 700 is provided on the inner wall of the injection bracket 51, and an annular bead 71 is arranged on the refill cover 700, and the annular bead 71 and the The annular groove cooperates to position the cartridge case 700 .
  • a first spring 5131 is arranged in the annular positioning groove 513, and the first spring 5131 is installed along the axial direction of the annular groove. One end of the first spring 5131 is in conflict with the left end face of the refill cover 700, and the other end of the first spring 5131 is in contact with the annular positioning groove. The rear sides of the groove 513 interfere.
  • the injection bracket 51 is provided with a cartridge in-position detector 800
  • the refill cover 700 is provided with a first shielding sheet 72
  • the first shielding sheet 72 is arranged along the axial direction of the cartridge holder 400
  • the cartridge in-position detector 800 is arranged on On the left side of the first shielding sheet 72 , the first shielding sheet 72 is located between the light source emitting end and the light source receiving end of the cartridge in-position detector 800 .
  • the pen cap 13 is set on the right end of the pen refill holder 400, and the right end of the pen cap 13 is provided with an opening, and the pen refill holder 400 is fixedly provided with a first baffle 131, referring to Fig. 9 and Fig. 10 , the inside of the pen cap 13 is fixedly provided with a second baffle.
  • Plate 132, the first baffle plate 131 and the second baffle plate 132 are all arranged perpendicular to the central axis of the refill holder 400, the second baffle plate 132 is positioned at the front side of the first baffle plate 131, the first baffle plate 131 and the second baffle plate
  • a second spring 133 is arranged between the plates 132, and the second spring 133 is arranged along the axial direction of the refill holder 400.
  • One end of the second spring 133 is in conflict with the first baffle 131, and the other end of the second spring 133 is in contact with the second baffle. Plate 132 interferes.
  • a guide column 134 is fixedly arranged on the second baffle plate 132, and the guide column 134 is arranged along the axial direction of the pen core support 400.
  • the second spring 133 is sleeved on the guide column 134, and the guide column 134 passes through the first baffle 131 and is slidably matched with the first baffle 131 .
  • the first baffle plate 131 is provided with a slider 1311, and the cap 13 is provided with a sliding groove 135, the sliding groove 135 is arranged along the axial direction of the refill holder 400, and the slider 1311 is plugged into the sliding groove 135 and slides in the sliding groove 135 along the axial direction of the refill holder 400 .
  • the right end of the pen cap 13 is provided with a skin sensor 136, and the skin sensor 136 is electrically connected with the controller.
  • the skin sensor 136 can be used to sense whether the right end of the injection assembly touches the skin, and sends feedback information to the controller after sensing the skin.
  • the skin sensor 136 includes two first copper pillars 1361, two second copper pillars 1362 and two sensing pins 1363, the two first copper pillars 1361 are installed on the right end of the pen cap 13, and the two first copper pillars 1361 are parallel Setting, the first copper column 1361 is plugged into the pen cap 13, the right end surface of the first copper column 1361 is flush with the right end surface of the pen cap 13, the second copper column 1362 is arranged at the left end of the pen cap 13, and the left end of the pen cap 13 is fixedly provided with The fixed sleeve 14, the second copper column 1362 is installed on the fixed sleeve 14, the two second copper columns 1362 are arranged in parallel, the first copper column 1361 and the second copper column 1362 are electrically connected by wires, and the sensing contact pin 1363 is arranged on The left end of the second copper column 1362, the left end of the fixed sleeve 14 is fixedly provided with a waist ring 15, the induction contact pin 1363 is installed on the waist ring
  • the injection bracket 51 is also provided with an injection reset detector 54, and the shaft sleeve 323 is provided with a second blocking sheet 3233.
  • the injection reset detector 54 is arranged on the injection bracket 51 to sense the second blocking sheet 3233, and the injection reset detection The detector 54 is located at the left end of the shaft sleeve 323, and the second blocking piece 3233 is located between the light source emitting end and the light source receiving end of the injection reset detector 54.
  • the injection frame 51 is also provided with an injection dose detection component 55 , the injection dose detection component 55 is a photoelectric encoder, and the photoelectric encoder is connected with the output shaft of the injection driver 31 .
  • the injection dose detection component 55 is connected with the controller to control the movement stroke of the driving end of the injection device 300 .
  • the speed and the number of rotations of the output shaft of the injection driver 31 are recorded by a photoelectric encoder, thereby detecting the number of rotations of the injection screw 321, and the injection driver 31 drives the push rod 322 to approach the injection end along the axial direction of the injection screw 321 During the movement, the number of turns of the injection screw 321 corresponds to the distance that the push rod 322 moves along the axial direction of the injection screw 321, and the movement distance of the push rod 322 corresponds to the movement distance of the rubber plug 411.
  • the amount of movement of 411 corresponds to the amount of liquid medicine extruded from the cartridge 41, so the injection volume of the liquid medicine delivery device can be controlled by presetting the required number of rotations of the injection driver 31 in the controller
  • the controller controls the injection driver 31 to stop driving the injection screw 321 to rotate, and the liquid medicine delivery device stops injecting.
  • the needle insertion device 200 includes a needle insertion driver 21, a needle insertion speed regulating member 22 and a needle insertion transmission member 23, the needle insertion driver 21 is a needle insertion motor, and the needle insertion motor It is electrically connected with the controller so as to control the rotation of the output shaft of the needle-throwing motor through the controller, and the needle-throwing motor is fixedly installed inside the main body bracket 500 .
  • the needle-introduction transmission part 23 includes a needle-introduction screw rod 231 and a moving block 232.
  • the needle-introduction screw rod 231 and the needle-introduction drive part 21 are connected in transmission through the needle-introduction speed regulating part 22.
  • the output shaft is transmission connected, the output shaft of the needle speed regulating part 22 is connected with the needle feed screw 231 to adjust the speed of the needle feed screw 231, the needle feed screw 231 runs through the moving block 232 and is threaded with the moving block 232
  • the moving block 232 is connected with the injection frame 51 to drive the injection frame 51 to move along the axial direction of the injection screw 321 to move closer to or away from the injection end.
  • the needle-feeding speed regulating member 22 includes a first gear 221 and a second gear 222, the first gear 221 is connected with the needle-feeding motor to drive the first gear 221 to rotate, the second gear 222 meshes with the first gear 221, The second gear 222 is in transmission connection with the needle feeding screw 231 to make the needle feeding screw 231 rotate.
  • the injection bracket 51 is fixedly provided with a connecting block 514, and the connecting block 514 is provided with a connecting slot 5141.
  • the moving block 232 is installed in the connecting slot 5141.
  • the two sides of the moving block 232 penetrated by the needle screw 231 are respectively connected
  • the corresponding two sides of the locking groove 5141 are fitted together to limit the rotation of the moving block 232 and the movement along the axial direction of the needle-feeding screw 231 . Therefore, relative movement between the moving block 232 and the connecting block 514 along the axial direction of the needle feeding screw 231 cannot occur.
  • the moving block 232 In the process of moving block 232 approaching or moving away from the injection needle end along the axial direction of the needle screw rod 231, the moving block 232 will push the connecting block 514 to move toward or away from the injection needle end along the axial direction of the needle screw rod 231, so that the injection The assembly moves axially along the needle screw 231 toward or away from the end of the injection needle.
  • the output shaft of the needle advance driver 21 rotates, and transmits the rotation to the needle advance speed regulating member 22.
  • the output shaft of the needle advance speed regulating member 22 After speed regulation by the needle advance speed regulating member 22, the output shaft of the needle advance speed regulating member 22
  • the needle feed screw 231 rotates, and under the rotation of the needle feed screw 231 , the moving block 232 threadedly engaged with the needle feed screw 231 moves along the axis of the needle feed screw 231 and approaches the injection needle end.
  • the moving block 232 Because the moving block 232 is plugged into the connecting slot 5141 on the connecting block 514, the movement of the moving block 232 will drive the connecting block 514 to move along the axial direction of the needle feeding screw 231. Fit together, so that the moving block 232 can be limited, so that the moving block 232 and the connecting block 514 cannot rotate relative to each other, so that the connecting block 514 can only move axially along the needle feeding screw 231 .
  • connection block 514 Since the injection assembly is connected with the connection block 514, when the connection block 514 moves along the axial direction of the needle feed screw 231 and approaches the injection needle end, the connection block 514 will drive the injection assembly to move along the axis direction of the needle feed screw 231 to approach the injection needle end. Thereby, the injection needle on the injection assembly is pierced into the skin to realize automatic needle insertion.
  • the needle advancing drive member 21 drives the needle advancing screw 231 to reversely rotate to realize the moving block 232 moving away from the injection needle end, thereby driving the injection assembly to move away from the injection needle end, thereby realizing needle withdrawal.
  • a third blocking sheet 515 is arranged on the outer wall of the injection bracket 51, and a needle-in-position detector 521 for sensing the third blocking sheet 515 is arranged on the main control board 52, and the third blocking sheet 515 is located at the light source of the needle-in-position detector 521. Between the transmitting end and the light source receiving end, the needle insertion position detector 521 is electrically connected to the controller.
  • the needle-in-position detector 521 transmits a signal to the controller
  • the controller controls the injection driver 31 to stop driving, the injection support 51 stops moving, and the needle insertion control is more accurate.
  • the main body bracket 500 is provided with a screw bracket 56, the screw bracket 56 is fixedly connected with the main body bracket 500, and the screw bracket 56 is detachably provided with a motor seat 561 and a support block 562, the motor seat 561 Located at one end of the screw support 56 close to the needle-introduction motor, the support block 562 is located at the end of the screw support 56 away from the needle-introduction motor,
  • the motor base 561 is provided with an installation groove 5611 on the side away from the support block 562, and one end of the needle-feeding motor is plugged into the installation groove 5611 and is detachably and fixedly connected with the motor base 561.
  • the central shaft of the first gear 221 is fixedly connected, the second gear 222 is installed on the screw support 56, the second gear 222 is meshed with the first gear 221, and the central axis of the second gear 222 is rotationally connected with the screw support 56.
  • the central axis of 222 is connected with the needle screw rod 231 in transmission, and the central axis of the second gear 222 can be connected with the needle screw rod 231 through a coupling, or the central axis of the second gear 222 can be connected with the needle screw rod 231 Fixed connection.
  • the setting of the motor base 561 is convenient for installing the motor on the screw bracket 56.
  • the mounting groove 5611 positions the motor, thereby facilitating the installation of the motor.
  • the front side of the screw bracket 56 is provided with a first insertion groove 563, the first insertion groove 563 is located at one end of the screw bracket 56 close to the needle-feeding motor, and the first insertion groove 563 is opposite to the side of the screw bracket 56 close to the needle-feeding motor.
  • the motor base 561 is provided with a first positioning block 5612 matched with the first insertion slot 563, the first positioning block 5612 is the same shape and size as the first insertion slot 563, and the rear side of the motor base 561 is provided with The second insertion slot 5613 , the second insertion slot 5613 communicates with the side of the motor base 561 close to the screw bracket 56 , and the screw bracket 56 is provided with a second positioning block 564 inserted into the second insertion slot 5613 .
  • the end of the screw support 56 away from the needle-feeding motor is provided with a support groove 565, and the support block 562 is inserted into the support groove 565, and the side of the support block 562 fits with the side of the support groove 565 to limit the position of the support block 562. Limit the rotation of the support block 562 and the movement along the axial direction of the needle feeding screw 231 .
  • One end of the needle advance screw rod 231 away from the needle advance motor passes through the support block 562 and is rotatably connected with the support block 562.
  • the support block 562 and the screw bracket 56 support the two ends of the needle screw 231, thereby improving the stability of the needle screw 231.
  • the support block 562 and the screw bracket 56 are detachably and fixedly connected to facilitate the insertion of the needle screw. 231 installation and removal.
  • the connecting shaft 24 includes a first shaft section 241 and a second shaft section 242, and the first shaft section 241 and the second shaft section 242 are all along the needle-feeding screw rod.
  • the second shaft section 242 is located at the end of the first shaft section 241 away from the needle screw 231
  • the diameter of the first shaft section 241 is larger than the diameter of the second shaft section 242
  • a connecting hole is provided on the support block 562 566
  • the connection hole 566 includes a first hole 5661 and a second hole 5662 (refer to FIG.
  • the first hole 5661 and the second hole 5662 are arranged along the axial direction of the needle screw rod 231, and the connection shaft 24 is inserted into the connection hole 566 Among them, the first hole 5661 is in sliding fit with the first shaft segment 241 , and the second hole 5662 is in sliding fit with the second shaft segment 242 .
  • the present invention also provides a liquid medicine delivery control system, which is applied to the above medicine liquid delivery device, including:
  • a needle insertion control module is electrically connected to the main control unit, and the needle insertion control module is electrically connected to the needle insertion driver 21 to control the needle insertion driver 21;
  • injection control module is electrically connected to the main control module, and the injection control module is electrically connected to the injection driver 31 to control the injection driver 31;
  • a skin sensing module includes the skin sensor 136, the skin sensing module is electrically connected to the main control unit to send signals to the main control unit;
  • the rubber plug 411 is against the sensing module, and the rubber plug 411 against the sensing module includes a tact switch 61, and the rubber plug 411 is against the sensing module and is electrically connected to the main control unit;
  • a cartridge bottle 41 detection module includes a cartridge bottle in-position detector 800, and the cartridge bottle 41 detection module is electrically connected to the main control unit;
  • a reset detection module includes an injection reset detector 54, and the reset detection module is electrically connected to the main control unit.
  • the alarm module is electrically connected to the main control unit, and the alarm module is a text prompt, a luminous signal prompt or an audio signal prompt.
  • the present invention also provides a liquid medicine delivery control method, which is realized by using the above-mentioned medicine liquid delivery device, referring to FIG. 14 , including the following steps:
  • the controller controls the injection drive part 31 to drive the injection drive part 32 to move, and the injection drive part 32 drives the light touch switch 61 to move in a direction close to the injection end;
  • the skin sensor 136 at the right end of the casing 100 performs skin sensing.
  • the control unit controls the injection driver 31 and the needle insertion driver 21 not to act.
  • the sensor 136 senses that the housing 100 is in contact with the skin, it feeds back the signal to the control unit, and the control unit controls the action of the needle insertion driver 21;
  • the control unit controls the needle insertion driving part 21 to drive the needle insertion transmission part 23 to move, and under the action of the needle insertion transmission part 23, the injection support 51 moves close to the injection end, so as to pierce the injection needle into the skin and perform automatic needle insertion;
  • the controller controls the injection drive part 31 to drive the injection drive part 32 to move. Under the action of the injection drive part 32, the rubber stopper 411 is pushed to extrude the medicinal solution in the cartridge 41 from the injection end for injection.
  • the controller controls the injection drive member 31 to drive the injection transmission member 32 to move in reverse. Under the action of the injection drive member 31, the second shielding piece 3233 moves away from the injection end. When the second shielding piece 3233 moves to the injection end, the controller controls the injection driver 31 to stop driving;
  • the controller controls the needle entry drive part 21 to drive the needle entry transmission part 23 to move in reverse. Under the action of the needle entry transmission part 23, the injection support 51 moves away from the injection end, and the needle exits the skin.
  • step S2 if the cartridge in-position detector 800 detects that the cartridge 41 is not installed in place, the controller controls the alarm module to give an alarm or prompt that the cartridge 41 is not installed in place.
  • the left end of the cartridge bottle 41 touches the right end of the refill cover 700, so that the refill cover 700 moves to the left.
  • the annular bead 71 slides to the left in the annular positioning groove 513, the first The spring 5131 is in a compressed state, and the first blocking piece 72 on the refill case 700 moves to the left simultaneously with the refill case 700.
  • the cartridge The cartridge-in-place detector 800 transmits the signal to the controller, and the controller sends a signal to display the signal on the display screen 532, prompting that the cartridge-type bottle 41 is installed in place.
  • the cartridge bottle in-position detector 800 When the cartridge bottle 41 is not installed in place, the cartridge bottle in-position detector 800 does not detect the first shielding sheet 72, the cartridge bottle in-position detector 800 transmits the signal to the controller, and the controller controls the alarm module to give an alarm, or controls The device performs a signal display on the display screen 532 when sending a signal, indicating that the cartridge bottle 41 is not installed properly.
  • step S6 if the needle-in-position detector 521 does not detect the third shielding sheet 515, the controller controls the display screen 532 on the housing 100 to prompt that the needle-in-position is not in place.
  • the needle-in-position detector 521 transmits the signal to the controller, and the controller sends a signal to prompt the needle-in-position on the display screen 532, and the controller Control the needle insertion driver 21 to stop driving.
  • step S4 when the skin sensor 136 does not sense that the housing 100 is in contact with the skin, the controller controls the display screen 532 on the housing 100 to prompt, so as to avoid further misoperation.
  • the light touch switch 61 When the light touch switch 61 moves to conflict with the rubber plug 411, the light touch switch 61 will feed back the signal to the controller after receiving the pressure of the rubber plug 411, and the controller will control the injection drive part 31 to continue to drive the injection transmission part 32 to move, and the injection drive Part 31 drives the injection screw rod 321 to rotate.
  • the push rod 322 moves along the axial direction of the injection screw rod 321 close to the injection end, thereby driving the push rod
  • the tact switch 61 on the right end of 322 and the movable sleeve 63 move close to the injection end at the same time, and the movable sleeve 63 pushes the rubber stopper 411 to move close to the injection end, thereby extruding the liquid medicine in the cartridge 41 from the injection needle end.
  • the controller controls the injection driving member 31 to stop driving.
  • the casing 100 When performing needle injection, the casing 100 is brought close to the skin so that the pen cap 13 is in close contact with the skin.
  • the skin sensor 136 transmits a signal to the controller, and the controller controls the needle-introduction driver 21 and the needle-introduction speed regulator 22
  • the output shaft of the needle-feeding speed-regulating part 22 drives the needle-feeding screw rod 231 to rotate, and under the rotation of the needle-feeding screw rod 231, it is threadedly matched with the needle-feeding screw rod 231
  • the moving block 232 moves along the direction that the axis of the needle feeding screw 231 is close to the end of the injection needle.
  • the movement of the moving block 232 will drive the connecting block 514 to move close to the injection end along the axial direction of the needle feeding screw 231, and the connecting block 514 will drive the injection bracket 51 to move together along the axial direction of the needle feeding screw 231 to move close to the injection needle end, thereby moving the The injection needle is pierced into the skin to achieve needle entry.
  • the third blocking piece 515 on the injection frame 51 moves together with the injection frame 51.
  • the controller controls The needle driver 21 stops driving, and the needle insertion is completed.
  • the key board 53 transmits the signal to the controller, and the controller controls the injection driver 31 to drive the injection driver 32 to move, and at the same time, the photoelectric encoder records the rotation speed of the output shaft of the injection driver 31 and the number of rotations, the injection driver 31 drives the injection screw 321 to rotate. Since the injection screw 321 is threadedly matched with the push rod 322, under the rotation of the injection screw 321, the push rod 322 approaches the injection screw 321 axially.
  • the injection volume of the liquid medicine delivery device can be controlled.
  • the photoelectric encoder records the number of rotations of the output shaft of the injection driver 31 and the set When the predetermined number of turns is the same, the controller controls the injection driver 31 to stop driving the injection screw 321 to rotate, and the liquid medicine delivery device stops injecting.
  • the controller controls the injection driver 31 to drive the injection transmission member 32 to move in reverse.
  • the second blocking piece 3233 moves away from the injection end.
  • the controller controls the injection driver 31 to stop driving.
  • the controller controls the needle drive part 21 to drive the needle drive part 23 to move in reverse.
  • the skin retreats into the pen cap 13 behind.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

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Abstract

一种涉及医疗器具技术领域的药液输送装置，包括壳体（100）、控制器、进针装置（200）、注射装置（300）、笔芯支架（400）、胶塞（411）抵靠检测组件、皮肤感应器（136）、卡式瓶到位检测器（800）和注射复位检测器（54）。包括该药液输送装置的药液输送控制系统以及应用该药液输送装置的药液输送控制方法。通过皮肤感应器的感应判断是否适合进行进针操作，提高自动进针控制的精确性，同时还可以避免误操作，通过胶塞抵靠检测组件检测胶塞是否与活动套筒相抵，在检测到胶塞与活动套筒相抵之后，再开始进行注射操作，当注射针前端开始出液时才会开始进行注射剂量的检测和控制，使得排气过程不会被计入到注射量中，从而使得对注射剂量的控制更加精确。

Description

药液输送装置、药液输送控制系统、药液输送控制方法
本申请要求于2021年9月8日提交的、申请号为202111048594.X、发明名称为“药液输送装置、药液输送控制系统、药液输送控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器具技术领域，尤其涉及一种药液输送装置、药液输送控制系统、药液输送控制方法。
背景技术
目前，在治疗某种疾病时，需要按时给患者注射药物，在进行注射时，需要对注射器进行进针，使得针头插入皮肤进行注射，然后通过药液输送装置将药液输送至患者体内。
在药液输送装置中，通常需要通过一个推动件推动药瓶内的胶塞运动，通过胶塞的运动将药瓶内的药液挤压至患者体内，对药液的注射剂量的控制通常通过控制推动件的运动行程来控制。
但是现有的药液输送装置具有缺点：在实际使用过程中在更换药液输送装置中的药瓶时，需要先将推动件与胶塞脱离接触，然后将药瓶更换，更换之后在进行注射时，由于推动件与胶塞并未接触，因此推动件在运动的过程中，其中有一段运动行程是没有与胶塞接触的，因此这一段运动行程中，药液是没有被注射出药液输送装置的，但是在控制注射剂量时，推动件的这一段运动行程会被计入到注射剂量中，从而会导致实际的注射剂量与理论上控制的注射剂量相差较大，出现注射剂量不准确，对患者的治疗产生影响。
发明内容
本发明要解决的技术问题是：为了解决现有技术中的药液输送装置在进行药液注射时，实际的注射剂量与理论上控制的注射剂量相差较大，出现注射剂量不准确，对患者的治疗产生影响的技术问题，本发明提供一种药液输送装置、药液输送控制系统、药液输送控制方法，通过胶塞抵靠检测组件检测胶塞是否与活动套筒相抵，在检测到胶塞与活动套筒相抵之后，再开始进行注射操作，当注射针前端开始出液时才会开始进行注射剂量的检测和控制，使得排气过程不会被计入到注射量中，从而使得对注射剂量的控制更加精确。
本发明解决其技术问题所采用的技术方案是：提供一种药液输送装置，包括壳体， 所述壳体的内部设置有容纳腔，所述容纳腔内设置有注射支架，还包括
控制器；
进针装置，所述进针装置设置在壳体的内部，所述进针装置包括进针驱动件和进针传动件，所述进针驱动件与进针传动件传动连接，所述进针驱动件与控制器电连接；
注射装置，所述注射装置设置在注射支架的内部，所述注射支架设置在进针装置的一侧，所述注射支架与所述进针传动件传动连接以通过进针驱动件驱动注射支架直线往复运动，所述注射装置包括注射驱动件和注射传动件，所述注射驱动件和注射传动件传动连接，所述注射驱动件与控制器电连接；
笔芯支架，所述笔芯支架安装在壳体的右端，所述笔芯支架的内部安装有卡式瓶，所述卡式瓶内装有药液，所述卡式瓶内设置有可以将药液从卡式瓶出液口挤出的胶塞；
胶塞抵靠检测组件，所述胶塞抵靠检测组件包括：轻触开关，所述轻触开关设置在注射传动件的右端，所述轻触开关与注射传动件相连以通过注射传动件驱动轻触开关与胶塞相抵触，所述轻触开关与控制器电连接以将轻触开关与胶塞抵触的信号传递给控制器；
皮肤感应器，所述皮肤感应器设置在壳体的右端用于感应壳体是否与皮肤相接触；
卡式瓶到位检测器，所述笔芯支架的左端设置有笔芯套，所述笔芯套活动设置在壳体内，所述笔芯套上设置有第一遮挡片，所述第一遮挡片沿笔芯支架轴线方向设置，所述卡式瓶到位检测器设置在第一遮挡片远离笔芯支架的一侧，所述第一遮挡片位于所述卡式瓶到位检测器的光源发射端与光源接收端之间；
注射复位检测器，所述注射传动件上设置有第二遮挡片，注射复位检测器设置在注射支架上以对第二遮挡片进行感应，所述注射复位检测器位于注射传动件远离注射端的一端，所述第二遮挡片位于注射复位检测器的光源发射端与光源接收端之间。
进一步，所述进针传动件包括进针丝杆和移动块，所述进针丝杆与进针驱动件传动连接，所述进针丝杆贯穿移动块并与移动块螺纹配合，所述移动块与注射支架连接以带动注射支架运动沿着注射丝杆轴线方向靠近或远离注射端运动。
进一步，所述注射传动件包括：
注射丝杆，所述注射丝杆与注射驱动件传动连接以通过注射驱动件驱动注射丝杆转动；
推杆，所述推杆套装在注射丝杆上，所述推杆与注射丝杆螺纹配合以通过注射丝 杆的转动驱动推杆沿注射丝杆轴向运动。
进一步，所述注射传动件还包括：轴套，所述轴套套装在推杆上，轴套与推杆滑动配合，所述轻触开关设置在轴套的前端。
进一步，所述胶塞抵靠检测组件还包括：
活动套筒，所述活动套筒设置在轴套的右端，所述轻触开关与活动套筒相连；
固定套管，所述固定套管套装在活动套筒上，所述固定套管与轴套的右端相抵触。
进一步，所述进针装置还包括进针调速件，所述进针调速件与进针驱动件的输出轴传动连接，所述进针调速件的输出轴与进针丝杆传动连接以对进针丝杆的转速进行调速。
进一步，所述进针调速件包括第一齿轮和第二齿轮，所述第一齿轮与所述进针电机传动连接以驱动第一齿轮转动，所述第二齿轮与第一齿轮相啮合，所述第二齿轮与进针丝杆传动连接以使进针丝杆转动。
进一步，还包括注射剂量检测组件，所述注射剂量检测组件与注射驱动件相连，所述注射剂量检测组件与控制器相连，以对注射装置的驱动端的运动行程进行控制。
进一步，所述注射剂量检测组件为光电编码器，所述光电编码器与注射驱动件输出轴相连。
进一步，所述注射支架上设置第三遮挡片，所述壳体内设置有用于感应所述第三遮挡片的进针到位检测器，所述第三遮挡片位于所述进针到位检测器的光源发射端与光源接收端之间，所述进针到位检测器与控制器电连接。
本发明还提供了一种药液输送控制系统，应用于上述药液输送装置，包括：
主控单元；
进针控制模块，所述进针控制模块与主控单元电连接，所述进针控制模块与进针驱动件电连接以对进针驱动件进行控制；
注射控制模块，所述注射控制模块与主控制模块电连接，所述注射控制模块与注射驱动件电连接以对注射驱动件进行控制；
皮肤感应模块，所述皮肤感应模块包括所述皮肤感应器，所述皮肤感应模块与主控单元电连接以将信号输送给主控单元；
胶塞抵靠感应模块，所述胶塞抵靠感应模块包括轻触开关，所述胶塞抵靠感应模块与主控单元电连接；
卡式瓶检测模块，所述卡式瓶检测模块包括卡式瓶到位检测器，所述卡式瓶检测模块与主控单元电连接；
复位检测模块，所述复位检测模块包括注射复位检测器，所述复位检测模块与主控单元电连接。
进一步，还包括报警模块，所述报警模块与主控单元电连接。
本发明还提供了一种药液输送控制方法，使用上述药液输送装置实现，包括以下步骤：
S1，将卡式瓶安装在笔芯支架内，卡式瓶到位检测器检测卡式瓶是否安装到位；
S2，卡式瓶安装到位后，控制器控制注射驱动件驱动注射传动件运动，注射传动件驱动轻触开关沿靠近注射端的方向运动；
S3，当轻触开关运动到与胶塞相抵触时，轻触开关受到胶塞的压力后将信号反馈给控制器，控制器控制注射驱动件停止驱动；
S4，壳体右端的皮肤感应器进行皮肤感应，当皮肤感应器未感应到壳体与皮肤接触时，控制单元控制注射驱动件和进针驱动件不进行动作，当皮肤感应器感应到壳体与皮肤接触时，将信号反馈给控制单元，控制单元控制进针驱动件动作；
S5，控制单元控制进针驱动件驱动进针传动件运动，在进针传动件的作用下，注射支架靠近注射端运动，从而将注射针扎进皮肤，进行自动进针；
S6，注射支架在向注射端靠近的过程中，注射支架上的第三遮挡片随注射支架一起移动，当第三遮挡片移动到进针到位检测器处时，控制器控制进针驱动件停止驱动，进针完成。
S7，进针而完成后控制器控制注射驱动件驱动注射传动件运动，在注射传动件的作用，推动胶塞将卡式瓶中的药液从注射端挤出进行注射。
进一步，还包括步骤
S8，注射完成后，控制器控制注射驱动件驱动注射传动件反向运动，在注射驱动件的作用下，第二遮挡片远离注射端运动，当第二遮挡片运动到注射复位检测器处时，控制器控制注射驱动件停止驱动；
S9，注射传动件复位完成后，控制器控制进针驱动件驱动进针传动件反向运动，在进针传动件的作用下，注射支架远离注射端运动，针头退出皮肤。
进一步，所述步骤S2中，若卡式瓶到位检测器检测卡式瓶安装不到位，控制器控制报警模块进行报警或提示卡式瓶安装不到位。
进一步，所述步骤S6中，若进针到位检测器未检测到第三遮挡片，控制器控制壳体上的显示屏进行进针未到位提示。
进一步，所述步骤S4中，当皮肤感应器未感应到壳体与皮肤接触时，控制器控 制壳体上的显示屏进行提示，以避免进行下一步的误操作。
本发明的有益效果是，本发明可以实现自动进针、自动注射的功能，并且在自动进针的过程时，笔帽上的皮肤感应器可以对皮肤进行感应，通过皮肤感应器的感应判断是否适合进行进针操作，提高自动进针控制的精确性，同时还可以避免误操作；
本发明还设置有卡式瓶到位检测器，卡式瓶到位检测器检测卡式瓶安装是否到位，卡式瓶安装到位后才会进行下一步操作，从而可以及时发现误操作并进行调整；
本发明还设置了胶塞抵靠检测组件，通过注射驱动件驱动注射丝杆转动，带动推杆右端的活动套筒与胶塞相抵触，从而将胶塞与活动套筒之间的空气排出，通过胶塞抵靠检测组件检测胶塞是否与活动套筒相抵，在检测到胶塞与活动套筒相抵之后，再开始进行注射操作，当注射针前端开始出液时才会开始进行注射剂量的检测和控制，使得排气过程不会被计入到注射量中，从而使得对注射剂量的控制更加精确。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明的药液输送装置的结构的爆炸示意图。
图2是本发明的药液输送装置的立体结构示意图。
图3是本发明的药液输送装置中的注射装置的爆炸示意图。
图4是图3中A处的放大图。
图5是本发明的药液输送装置中的进针装置的爆炸示意图。
图6是本发明的药液输送装置中的进针装置的部分结构示意图。
图7是本发明实施例中的支撑块的剖面结构示意图。
图8是本发明实施例中的感应回路的示意图。
图9是本发明的药液输送装置的剖面结构示意图。
图10是图9中B处的放大图。
图11是图9中C处的放大图。
图12是本发明实施例中的注射装置的部分结构示意图。
图13是为了体现本发明实施例中的卡式瓶到位检测器的部分结构示意图。
图14是本发明的药液输送控制方法的流程示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
如图1至图13所示，本发明提供了一种药液输送装置，包括壳体100，壳体100的内部设置有容纳腔，容纳腔中设置有控制器、进针装置200、注射装置300和笔芯支架400。容纳腔内固定设置有主体支架500，主体支架500内设置有注射支架51，注射装置300设置在注射支架51内，进针装置200设置在主体支架500内，进针装置200位于注射装置300的一侧，以用于驱动注射支架51直线往复运动。
主体支架500的侧面上还安装有主控板52和键控板53，控制器设置在主控板52上，键控板53与控制器电连接，键控板53上设置有显示屏532和多个键控按钮531，壳体100上开设有观察显示屏532的显示窗口和若干个安装键控按钮531的按钮孔，键控按钮531包括注射按钮、开关按钮、设置按钮和排气按钮。主体支架500上还固定设置有电池。
壳体100包括上壳11、下壳12和笔帽13，上壳11和下壳12相互盖合，笔帽13安装在上壳11和下壳12的右端。
为了方便注射支架51内部零部件的安装和拆卸，注射支架51沿长度方向剖分成第一支架511和第二支架512，第一支架511与第二支架512盖合后形成注射支架51，第一支架511与第二支架512可拆卸固定连接。
注射装置300包括注射驱动件31和注射传动件32，注射驱动件31为注射电机，注射电机与控制器电连接，通过控制器控制注射电机的输出轴的转动，注射传动件32包括注射丝杆321、推杆322和轴套323，所述注射丝杆321与电机传动连接，注射丝杆321可与电机的输出轴同轴固定连接或通过连轴器相连接，推杆322套装在丝杆上，推杆322与丝杆螺纹配合。
轴套323套装在推杆322上，轴套323与推杆322滑动配合，推杆322的外壁上设置有多条限位筋3221，限位筋3221沿推杆322长度方向设置，轴套323的内侧壁上设置有与限位筋3221配合的限位槽3231，限位筋3221条插接进限位槽3231内，且在限位槽3231内沿推杆322的长度方向滑动，轴套323与注射支架51滑动配合，轴套323的外侧壁上设置片状体3232，注射支架51的内侧壁上设置有条形槽，条形槽沿推杆322长度方向设置，片状体3232与条形槽插接配合，片状体3232在条形槽内沿推杆322的长度方向滑动。
轴套323的右端设置有胶塞411抵靠检测组件，胶塞411抵靠检测组件包括：轻触开关61、固定套管62和活动套筒63，轻触开关61设置在轴套323的右端，轻触开关61与轴套323相连，活动套筒63套装在轻触开关61上，轻触开关61的右端与活动套筒63的底壁相接触，固定套管62套装在活动套筒63上，活动套筒63可在固 定套管62内沿推杆322的长度方向活动，固定套管62的左端与轴套323的右端相抵，轻触开关61与控制器电连接以将轻触开关61受到压力的信号传递给控制器。
笔芯支架400的内部安装有卡式瓶41，卡式瓶41内装有药液，卡式瓶41内设置有可以将药液从卡式瓶41出液口挤出的胶塞411，胶塞411位于轻触开关61的右端，在轻触开关61沿注射丝杆321轴线方向靠近注射端运动的过程中，轻触开关61带动活动套筒63运动，活动套筒63的右端会与胶塞411相抵，胶塞411抵触活动套筒63，活动套筒63对轻触开关61产生压力，轻触开关61收到压力后将信号传递给控制器，
固定套管62上套装有笔芯套700，笔芯支架400设置在笔芯套700的右端，笔芯套700的右端与卡式瓶41相抵触，笔芯支架400的右端设置有注射针。
参照图11，为了便于对笔芯套700进行定位，注射支架51的内壁上开设有安装笔芯套700的环形定位槽513，笔芯套700上设置有环形凸圈71，环形凸圈71与环形槽相配合以对笔芯套700进行定位。
环形定位槽513内设置有第一弹簧5131，第一弹簧5131沿环形槽的轴线方向安装，第一弹簧5131的一端与笔芯套700的左端面相抵触，第一弹簧5131的另一端与环形定位槽513的后侧面相抵触。
注射支架51上设置有卡式瓶到位检测器800，笔芯套700上设置有第一遮挡片72，第一遮挡片72沿笔芯支架400轴线方向设置，卡式瓶到位检测器800设置在第一遮挡片72的左侧侧，第一遮挡片72位于卡式瓶到位检测器800的光源发射端与光源接收端之间。
笔帽13套装在笔芯支架400的右端，笔帽13的右端设置有开口，笔芯支架400上固定设置有第一挡板131，参照图9和图10，笔帽13的内部固定设置有第二挡板132，第一挡板131和第二挡板132均与笔芯支架400的中心轴线垂直设置，第二挡板132位于第一挡板131的前侧，第一挡板131与第二挡板132之间设置有第二弹簧133，第二弹簧133沿笔芯支架400轴线方向设置，第二弹簧133的一端与第一挡板131相抵触，第二弹簧133的另一端与第二挡板132相抵触。
为了对第二弹簧133的运动进行导向，第二挡板132上固定设置有导向柱134，导向柱134沿笔芯支架400的轴线方向设置，第二弹簧133套装在导向柱134上，导向柱134贯穿第一挡板131且与第一挡板131滑动配合。
为了对笔芯支架400沿其轴线方向的运动进行导向，第一挡板131上设置有滑块1311，笔帽13上设置有滑动槽135，滑动槽135沿笔芯支架400轴线方向设置，滑 块1311插接进滑动槽135内，并且在滑动槽135内沿笔芯支架400轴线方向滑动。
笔帽13的右端设置有皮肤感应器136，皮肤感应器136与控制器电连接。皮肤感应器136能够用于感应注射组件的右端是否接触皮肤，并在感应到皮肤后发出反馈信息给控制器。
皮肤感应器136包括两个第一铜柱1361、两个第二铜柱1362和两个感应触针1363，两个第一铜柱1361安装在笔帽13的右端，两个第一铜柱1361平行设置，第一铜柱1361插接在笔帽13内，第一铜柱1361的右端面与笔帽13的右端面相齐平，第二铜柱1362设置在笔帽13的左端，笔帽13的左端固定设置有固定套14，第二铜柱1362安装在固定套14上，两个第二铜柱1362平行设置，第一铜柱1361与第二铜柱1362之间通过导线电连接，感应触针1363设置在第二铜柱1362的左端，固定套14的左端固定设置有腰圈15，感应触针1363安装在腰圈15上，感应触针1363的右端与第二铜柱1362的左端相抵触，感应触针1363的左端与控制器电连接以将信号传递给控制器。
参照图3和图8，当两个第一铜柱1361同时接触到皮肤时，两个第一铜柱1361、两个第二铜柱1362、两个感应触针1363、控制器和皮肤形成如图中的闭合回路，电路产生信号变化，控制器感应到信号变化之后控制进针电机转动。当只有其中一个第一铜柱1361与皮肤相接触时，无法形成闭合回路，电路不会产生信号变化。
注射支架51上还设置有注射复位检测器54，轴套323上设置设置有第二遮挡片3233，注射复位检测器54设置在注射支架51上以对第二遮挡片3233进行感应，注射复位检测器54位于轴套323的左端，第二遮挡片3233位于注射复位检测器54的光源发射端与光源接收端之间。
注射支架51上还设置有注射剂量检测组件55，注射剂量检测组件55为光电编码器，光电编码器与注射驱动件31输出轴相连。注射剂量检测组件55与控制器相连，以对注射装置300的驱动端的运动行程进行控制。
通过光电编码器记录注射驱动件31的输出轴转动的速度和转动圈数，从而检测注射丝杆321转动的圈数，在注射驱动件31驱动推杆322沿注射丝杆321轴向靠近注射端运动的过程中，注射丝杆321转动的圈数与推杆322沿注射丝杆321轴向运动的距离相对应，而推杆322的运动距离则与胶塞411的运动距离相对应，胶塞411的运动量对应着从卡式瓶41中挤出的药液的量，因此通过在控制器中预设注射驱动件31所需转动的圈数，即可对药液输送装置的注射量进行控制，当光电编码器记录注射驱动件31的输出轴转动的圈数与所设定的圈数相同时，控制器控制注射驱动件31 停止驱动注射丝杆321转动，药液输送装置则停止注射。
参照图1、图3、图5和图6，进针装置200包括进针驱动件21、进针调速件22和进针传动件23，进针驱动件21为进针电机，进针电机与控制器电连接，以通过控制器控制进针电机输出轴的转动，进针电机固定安装在主体支架500的内部。
进针传动件23包括进针丝杆231和移动块232，进针丝杆231与进针驱动件21通过进针调速件22传动连接，进针调速件22与进针驱动件21的输出轴传动连接，进针调速件22的输出轴与进针丝杆231传动连接以对进针丝杆231的转速进行调速，进针丝杆231贯穿移动块232并与移动块232螺纹配合，移动块232与注射支架51连接以带动注射支架51运动沿着注射丝杆321轴线方向靠近或远离注射端运动。
具体的，进针调速件22包括第一齿轮221和第二齿轮222，第一齿轮221与进针电机传动连接以驱动第一齿轮221转动，第二齿轮222与第一齿轮221相啮合，第二齿轮222与进针丝杆231传动连接以使进针丝杆231转动。
注射支架51上固定设置有连接块514，连接块514上设置有连接卡槽5141，移动块232安装在连接卡槽5141内，移动块232被进针丝杆231贯穿的两个侧面分别与连接卡槽5141相对应的两个侧面相贴合，以对限制移动块232的转动和沿进针丝杆231轴线方向的移动。从而使得移动块232与连接块514之间无法沿进针丝杆231轴向发生相对运动。
在移动块232沿进针丝杆231轴向靠近或者远离注射针端的过程中，移动块232会推动连接块514也一起沿进针丝杆231轴向靠近或者远离注射针端运动，从而使得注射组件沿进针丝杆231轴向靠近或者远离注射针端运动。
在进行自动进针时，进针驱动件21的输出轴转动，将转动传动给进针调速件22，通过进针调速件22进行调速后，进针调速件22的输出轴带动进针丝杆231转动，在进针丝杆231的转动作用下，与进针丝杆231螺纹配合的移动块232沿进针丝杆231轴线靠近注射针端的方向运动。
由于移动块232插接进连接块514上的连接卡槽5141内，移动块232运动会带动连接块514沿进针丝杆231轴线方向运动，由于移动块232的侧面与连接卡槽5141的侧面相贴合，从而可以对移动块232进行限位，使得移动块232与连接块514不能发生相对转动，使得连接块514只能沿进针丝杆231轴向运动。
由于注射组件与连接块514相连，连接块514沿进针丝杆231轴线方向靠近注射针端的方向运动时，连接块514会带动注射组件一起沿进针丝杆231轴线方向靠近注射针端运动，从而将注射组件上的注射针扎进皮肤，实现自动进针。
在退针时，进针驱动件21驱动进针丝杆231反向转动即可实现移动块232向着远离注射针端的方向运动，从而带动注射组件向着远离注射针端的方向运动，从而实现退针。
注射支架51的外侧壁上设置第三遮挡片515，主控板52上设置有用于感应第三遮挡片515的进针到位检测器521，第三遮挡片515位于进针到位检测器521的光源发射端与光源接收端之间，进针到位检测器521与控制器电连接。
在注射支架51沿进针丝杆231轴线方向靠近注射端运动的过程中，当进针到位检测器521发出的光源被第三遮挡片515遮挡时，进针到位检测器521将信号传递给控制器，控制器控制注射驱动件31停止驱动，注射支架51停止运动，进针控制更加准确。
为了方便对进针丝杆231进行安装，主体支架500内设置有螺杆支架56，螺杆支架56与主体支架500固定连接，螺杆支架56上可拆卸设置有电机座561和支撑块562，电机座561位于螺杆支架56靠近进针电机的一端，支撑块562位于螺杆支架56远离进针电机的一端，
电机座561远离支撑块562的侧面上开设有安装槽5611，进针电机的一端插接进安装槽5611内并与电机座561可拆卸固定连接，进针电机的输出轴贯穿电机座561后与第一齿轮221的中心转轴固定连接，第二齿轮222安装在螺杆支架56上，第二齿轮222与第一齿轮221相啮合，第二齿轮222的中心轴与螺杆支架56转动连接，第二齿轮222的中心轴与进针丝杆231传动连接，可通过连轴器将第二齿轮222的中心轴与进针丝杆231相连接，或者将第二齿轮222的中心轴与进针丝杆231固定连接。
电机座561的设置便于将电机安装在螺杆支架56上，在将电机安装在电机座561上时，安装槽5611对电机进行定位，从而便于对电机进行安装。
螺杆支架56的前侧面上开设有第一插接槽563，第一插接槽563位于螺杆支架56靠近进针电机的一端，第一插接槽563与螺杆支架56靠近进针电机的侧面相贯通，电机座561上设置有与第一插接槽563相配合第一定位块5612，第一定位块5612与第一插接槽563的形状和大小相同，电机座561的后侧面上设置有第二插接槽5613，第二插接槽5613与电机座561靠近螺杆支架56的侧面相贯通，螺杆支架56上设置有插接进第二插接槽5613的第二定位块564。
螺杆支架56远离进针电机的一端设置有支撑槽565，支撑块562插接进支撑槽565内，支撑块562的侧面与支撑槽565的侧面相贴合，以对支撑块562进行限位，限位支撑块562的转动和沿进针丝杆231轴线方向的移动。进针丝杆231远离进针电 机的一端贯穿支撑块562并与支撑块562转动连接。支撑块562与螺杆支架56对进针丝杆231的两端起到支撑作用，从而提高进针丝杆231的稳定性，支撑块562与螺杆支架56可拆卸固定连接，从而便于进针丝杆231的安装和拆卸。
进针丝杆231远离进针电机的一端设置有连接轴24，连接轴24包括第一轴段241和第二轴段242，第一轴段241和第二轴段242均沿进针丝杆231的轴线方向设置，第二轴段242位于第一轴段241远离进针丝杆231的一端，第一轴段241的直径大于第二轴段242的直径，支撑块562上设置有连接孔566，连接孔566包括第一孔5661和第二孔5662(参照图7)，第一孔5661和第二孔5662均沿进针丝杆231轴线方向设置，连接轴24插接进连接孔566中，第一孔5661与第一轴段241滑动配合，第二孔5662与第二轴段242滑动配合。
本发明还提供了一种药液输送控制系统，应用于上述药液输送装置，包括：
主控单元；
进针控制模块，所述进针控制模块与主控单元电连接，所述进针控制模块与进针驱动件21电连接以对进针驱动件21进行控制；
注射控制模块，所述注射控制模块与主控制模块电连接，所述注射控制模块与注射驱动件31电连接以对注射驱动件31进行控制；
皮肤感应模块，所述皮肤感应模块包括所述皮肤感应器136，所述皮肤感应模块与主控单元电连接以将信号输送给主控单元；
胶塞411抵靠感应模块，所述胶塞411抵靠感应模块包括轻触开关61，所述胶塞411抵靠感应模块与主控单元电连接；
卡式瓶41检测模块，所述卡式瓶41检测模块包括卡式瓶到位检测器800，所述卡式瓶41检测模块与主控单元电连接；
复位检测模块，所述复位检测模块包括注射复位检测器54，所述复位检测模块与主控单元电连接。
还包括报警模块，所述报警模块与主控单元电连接，报警模块为文字提示、发光信号提示或者声音信号提示。
本发明还提供了一种药液输送控制方法，使用上述药液输送装置实现，参照图14，包括以下步骤：
S1，将卡式瓶41安装在笔芯支架400内，卡式瓶到位检测器800检测卡式瓶41是否安装到位；
S2，卡式瓶41安装到位后，控制器控制注射驱动件31驱动注射传动件32运动， 注射传动件32驱动轻触开关61沿靠近注射端的方向运动；
S3，当轻触开关61运动到与胶塞411相抵触时，轻触开关61受到胶塞411的压力后将信号反馈给控制器，控制器控制注射驱动件31停止驱动；
S4，壳体100右端的皮肤感应器136进行皮肤感应，当皮肤感应器136未感应到壳体100与皮肤接触时，控制单元控制注射驱动件31和进针驱动件21不进行动作，当皮肤感应器136感应到壳体100与皮肤接触时，将信号反馈给控制单元，控制单元控制进针驱动件21动作；
S5，控制单元控制进针驱动件21驱动进针传动件23运动，在进针传动件23的作用下，注射支架51靠近注射端运动，从而将注射针扎进皮肤，进行自动进针；
S6，注射支架51在向注射端靠近的过程中，注射支架51上的第三遮挡片515随注射支架51一起移动，当第三遮挡片515移动到进针到位检测器521处时，控制器控制进针驱动件21停止驱动，进针完成。
S7，进针而完成后控制器控制注射驱动件31驱动注射传动件32运动，在注射传动件32的作用，推动胶塞411将卡式瓶41中的药液从注射端挤出进行注射。
进一步，还包括步骤
S8，注射完成后，控制器控制注射驱动件31驱动注射传动件32反向运动，在注射驱动件31的作用下，第二遮挡片3233远离注射端运动，当第二遮挡片3233运动到注射复位检测器54处时，控制器控制注射驱动件31停止驱动；
S9，注射传动件32复位完成后，控制器控制进针驱动件21驱动进针传动件23反向运动，在进针传动件23的作用下，注射支架51远离注射端运动，针头退出皮肤。
进一步，步骤S2中，若卡式瓶到位检测器800检测卡式瓶41安装不到位，控制器控制报警模块进行报警或提示卡式瓶41安装不到位。
当卡式瓶41安装到位时，卡式瓶41的左端抵触笔芯套700的右端，使得笔芯套700沿向左运动，此时环形凸圈71在环形定位槽513内向左滑动，第一弹簧5131处于被压缩的状态，笔芯套700上的第一遮挡片72随笔芯套700同时向左运动，当卡式瓶到位检测器800发出的光源信号被第一遮挡片72遮挡时，卡式瓶到位检测器800将信号传递给控制器，控制器发出信号在显示屏532上进行信号显示，提示卡式瓶41安装到位。
当卡式瓶41安装不到位时，卡式瓶到位检测器800未检测到第一遮挡片72，卡式瓶到位检测器800将信号传递给控制器，控制器控制报警模块进行报警，或者控制器在发出信号在显示屏532上进行信号显示，提示卡式瓶41安装不到位。
进一步，步骤S6中，若进针到位检测器521未检测到第三遮挡片515，控制器控制壳体100上的显示屏532进行进针未到位提示。当进针到位检测器521发出的光源被第三遮挡片515遮挡时，进针到位检测器521将信号传递给控制器，控制器发出信号在显示屏532上进行进针到位提示，并且控制器控制进针驱动件21停止驱动。
进一步，步骤S4中，当皮肤感应器136未感应到壳体100与皮肤接触时，控制器控制壳体100上的显示屏532进行提示，以避免进行下一步的误操作。
工作过程：在使用药液注射装置300时，先将卡式瓶41安装在笔芯支架400内，卡式瓶到位检测器800检测卡式瓶41是否安装到位，当显示屏532上提示卡式瓶41安装到位之后，再按下壳12体100上的排气按钮，键控板53将信号传递给控制器，控制器控制注射驱动件31驱动注射传动件32运动，注射传动件32带动轻触开关61和活动套筒63沿靠近注射端的方向运动。
当轻触开关61运动到与胶塞411相抵触时，轻触开关61受到胶塞411的压力后将信号反馈给控制器，控制器控制注射驱动件31继续驱动注射传动件32运动，注射驱动件31驱动注射丝杆321转动，由于注射丝杆321与推杆322螺纹配合，在注射丝杆321的转动作用下，推杆322沿注射丝杆321轴向靠近注射端运动，从而带动推杆322右端的轻触开关61和活动套筒63同时靠近注射端运动，活动套筒63推动胶塞411靠近注射端运动，从而将卡式瓶41中的药液从注射针端挤出，当注射针端开始出液时，控制器控制注射驱动件31停止驱动。
在进行进针注射时，将壳体100与皮肤接近，使得笔帽13与皮肤相贴，此时皮肤感应器136将信号传递给控制器，控制器控制进针驱动件21进针调速件22运动，通过进针调速件22进行调速后，进针调速件22的输出轴带动进针丝杆231转动，在进针丝杆231的转动作用下，与进针丝杆231螺纹配合的移动块232沿进针丝杆231轴线靠近注射针端的方向运动。
移动块232运动会带动连接块514沿进针丝杆231轴线方向靠近注射端运动，连接块514会带动注射支架51一起沿进针丝杆231轴线方向靠近注射针端运动，从而将注射组件上的注射针扎进皮肤，实现进针。
注射支架51在向注射端靠近的过程中，注射支架51上的第三遮挡片515随注射支架51一起移动，当第三遮挡片515移动到进针到位检测器521处时，控制器控制进针驱动件21停止驱动，进针完成。
进针完成后，按压注射按钮，键控板53将信号传递给控制器，控制器控制注射驱动件31驱动注射传动件32运动，同时，光电编码器记录注射驱动件31的输出轴 转动的速度和转动圈数，注射驱动件31驱动注射丝杆321转动，由于注射丝杆321与推杆322螺纹配合，在注射丝杆321的转动作用下，推杆322沿注射丝杆321轴向靠近注射端运动，从而带动推杆322右端的轻触开关61和活动套筒63同时靠近注射端运动，活动套筒63推动胶塞411靠近注射端运动，从而将卡式瓶41中的药液挤出进行注射。
通过在控制器中预设注射驱动件31所需转动的圈数，即可对药液输送装置的注射量进行控制，当光电编码器记录注射驱动件31的输出轴转动的圈数与所设定的圈数相同时，控制器控制注射驱动件31停止驱动注射丝杆321转动，药液输送装置则停止注射。
注射完成后，按下复位按钮，控制器控制注射驱动件31驱动注射传动件32反向运动，在注射驱动件31的作用下，第二遮挡片3233远离注射端运动，当第二遮挡片3233运动到注射复位检测器54处时，控制器控制注射驱动件31停止驱动。
注射传动件32复位完成后，控制器控制进针驱动件21驱动进针传动件23反向运动，在进针传动件23的作用下，注射支架51远离注射端运动，针头退出皮肤，针头退出皮肤后退回至笔帽13中。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。

Claims (17)

  1. 一种药液输送装置，包括壳体(100)，所述壳体(100)的内部设置有容纳腔，所述容纳腔内设置有注射支架(51)，其特征在于，还包括
    控制器；
    进针装置(200)，所述进针装置(200)设置在壳体(100)的内部，所述进针装置(200)包括进针驱动件(21)和进针传动件(23)，所述进针驱动件(21)与进针传动件(23)传动连接，所述进针驱动件(21)与控制器电连接；
    注射装置(300)，所述注射装置(300)设置在注射支架(51)的内部，所述注射支架(51)设置在进针装置(200)的一侧，所述注射支架(51)与所述进针传动件(23)传动连接以通过进针驱动件(21)驱动注射支架(51)直线往复运动，所述注射装置(300)包括注射驱动件(31)和注射传动件(32)，所述注射驱动件(31)和注射传动件(32)传动连接，所述注射驱动件(31)与控制器电连接；
    笔芯支架(400)，所述笔芯支架(400)安装在壳体(100)的右端，所述笔芯支架(400)的内部安装有卡式瓶(41)，所述卡式瓶(41)内装有药液，所述卡式瓶(41)内设置有可以将药液从卡式瓶(41)出液口挤出的胶塞(411)；
    胶塞(411)抵靠检测组件，所述胶塞(411)抵靠检测组件包括：轻触开关(61)，所述轻触开关(61)设置在注射传动件(32)的右端，所述轻触开关(61)与注射传动件(32)相连以通过注射传动件(32)驱动轻触开关(61)与胶塞(411)相抵触，所述轻触开关(61)与控制器电连接以将轻触开关(61)与胶塞(411)抵触的信号传递给控制器；
    皮肤感应器(136)，所述皮肤感应器(136)设置在壳体(100)的右端用于感应壳体(100)是否与皮肤相接触；
    卡式瓶到位检测器(800)，所述笔芯支架(400)的左端设置有笔芯套(700)，所述笔芯套(700)活动设置在壳体(100)内，所述笔芯套(700)上设置有第一遮挡片(72)，所述第一遮挡片(72)沿笔芯支架(400)轴线方向设置，所述卡式瓶到位检测器(800)设置在第一遮挡片(72)远离笔芯支架(400)的一侧，所述第一遮挡片(72)位于所述卡式瓶到位检测器(800)的光源发射端与光源接收端之间；
    注射复位检测器(54)，所述注射传动件(32)上设置有第二遮挡片(3233)，注射复位检测器(54)设置在注射支架(51)上以对第二遮挡片(3233)进行感应，所述注射复位检测器(54)位于注射传动件(32)远离注射端的一端，所述第二遮挡片(3233)位于注射复位检测器(54)的光源发射端与光源接收端之间。
  2. 如权利要求1所述的药液输送装置，其特征在于，所述进针传动件(23)包括进针丝杆(231)和移动块(232)，所述进针丝杆(231)与进针驱动件(21)传动连 接，所述进针丝杆(231)贯穿移动块(232)并与移动块(232)螺纹配合，所述移动块(232)与注射支架(51)连接以带动注射支架(51)运动沿着注射丝杆(321)轴线方向靠近或远离注射端运动。
  3. 如权利要求1所述的药液输送装置，其特征在于，所述注射传动件(32)包括：
    注射丝杆(321)，所述注射丝杆(321)与注射驱动件(31)传动连接以通过注射驱动件(31)驱动注射丝杆(321)转动；
    推杆(322)，所述推杆(322)套装在注射丝杆(321)上，所述推杆(322)与注射丝杆(321)螺纹配合以通过注射丝杆(321)的转动驱动推杆(322)沿注射丝杆(321)轴向运动。
  4. 如权利要求3所述的药液输送装置，其特征在于，所述注射传动件(32)还包括：轴套(323)，所述轴套(323)套装在推杆(322)上，轴套(323)与推杆(322)滑动配合，所述轻触开关(61)设置在轴套的前端。
  5. 如权利要求1所述的药液输送装置，其特征在于，所述胶塞(411)抵靠检测组件还包括：
    活动套筒(63)，所述活动套筒(63)设置在轴套(323)的右端，所述轻触开关(61)与活动套筒(63)相连；
    固定套管(62)，所述固定套管(62)套装在活动套筒(63)上，所述固定套管(62)与轴套(323)的右端相抵触。
  6. 如权利要求1所述的药液输送装置，其特征在于，所述进针装置(200)还包括进针调速件(22)，所述进针调速件(22)与进针驱动件(21)的输出轴传动连接，所述进针调速件(22)的输出轴与进针丝杆(231)传动连接以对进针丝杆(231)的转速进行调速。
  7. 如权利要求6所述的药液输送装置，其特征在于，所述进针调速件(22)包括第一齿轮(221)和第二齿轮(222)，所述第一齿轮(221)与所述进针电机传动连接以驱动第一齿轮(221)转动，所述第二齿轮(222)与第一齿轮(221)相啮合，所述第二齿轮(222)与进针丝杆(231)传动连接以使进针丝杆(231)转动。
  8. 如权利要求1所述的药液输送装置，其特征在于，还包括注射剂量检测组件(55)，所述注射剂量检测组件(55)与注射驱动件(31)相连，所述注射剂量检测组件(55)与控制器相连，以对注射装置(300)的驱动端的运动行程进行控制。
  9. 如权利要求8所述的药液输送装置，其特征在于：所述注射剂量检测组件(55)为光电编码器，所述光电编码器与注射驱动件(31)输出轴相连。
  10. 如权利要求1所述的药液输送装置，其特征在于：所述注射支架(51)上设置第三遮挡片(515)，所述壳体(100)内设置有用于感应所述第三遮挡片(515) 的进针到位检测器(521)，所述第三遮挡片(515)位于所述进针到位检测器(521)的光源发射端与光源接收端之间，所述进针到位检测器(521)与控制器电连接。
  11. 一种药液输送控制系统，所述药液输送控制系统应用于权利要求1-10中任一所述的药液输送装置，其特征在于，包括：
    主控单元；
    进针控制模块，所述进针控制模块与主控单元电连接，所述进针控制模块与进针驱动件(21)电连接以对进针驱动件(21)进行控制；
    注射控制模块，所述注射控制模块与主控制模块电连接，所述注射控制模块与注射驱动件(31)电连接以对注射驱动件(31)进行控制；
    皮肤感应模块，所述皮肤感应模块包括所述皮肤感应器(136)，所述皮肤感应模块与主控单元电连接以将信号输送给主控单元；
    胶塞(411)抵靠感应模块，所述胶塞(411)抵靠感应模块包括轻触开关(61)，所述胶塞(411)抵靠感应模块与主控单元电连接；
    卡式瓶(41)检测模块，所述卡式瓶(41)检测模块包括卡式瓶到位检测器(800)，所述卡式瓶(41)检测模块与主控单元电连接；
    复位检测模块，所述复位检测模块包括注射复位检测器(54)，所述复位检测模块与主控单元电连接。
  12. 如权利要求11所述的药液输送控制系统，其特征在于，还包括报警模块，所述报警模块与主控单元电连接。
  13. 一种药液输送控制方法，所述药液输送控制方法使用权利要求1-10中任一所述的药液输送装置实现，其特征在于，包括以下步骤：
    S1，将卡式瓶(41)安装在笔芯支架(400)内，卡式瓶到位检测器(800)检测卡式瓶(41)是否安装到位；
    S2，卡式瓶(41)安装到位后，控制器控制注射驱动件(31)驱动注射传动件(32)运动，注射传动件(32)驱动轻触开关(61)沿靠近注射端的方向运动；
    S3，当轻触开关(61)运动到与胶塞(411)相抵触时，轻触开关(61)受到胶塞(411)的压力后将信号反馈给控制器，控制器控制注射驱动件(31)停止驱动；
    S4，壳体(100)右端的皮肤感应器(136)进行皮肤感应，当皮肤感应器(136)未感应到壳体(100)与皮肤接触时，控制单元控制注射驱动件(31)和进针驱动件(21)不进行动作，当皮肤感应器(136)感应到壳体(100)与皮肤接触时，将信号反馈给控制单元，控制单元控制进针驱动件(21)动作；
    S5，控制单元控制进针驱动件(21)驱动进针传动件(23)运动，在进针传动件(23)的作用下，注射支架(51)靠近注射端运动，从而将注射针扎进皮肤，进行自动进针；
    S6，注射支架(51)在向注射端靠近的过程中，注射支架(51)上的第三遮挡片(515)随注射支架(51)一起移动，当第三遮挡片(515)移动到进针到位检测器(521)处时，控制器控制进针驱动件(21)停止驱动，进针完成。
    S7，进针而完成后控制器控制注射驱动件(31)驱动注射传动件(32)运动，在注射传动件(32)的作用，推动胶塞(411)将卡式瓶(41)中的药液从注射端挤出进行注射。
  14. 一种如权利要求13所述的药液输送控制方法，其特征在于，还包括步骤
    S8，注射完成后，控制器控制注射驱动件(31)驱动注射传动件(32)反向运动，在注射驱动件(31)的作用下，第二遮挡片(3233)远离注射端运动，当第二遮挡片(3233)运动到注射复位检测器(54)处时，控制器控制注射驱动件(31)停止驱动；
    S9，注射传动件(32)复位完成后，控制器控制进针驱动件(21)驱动进针传动件(23)反向运动，在进针传动件(23)的作用下，注射支架(51)远离注射端运动，针头退出皮肤。
  15. 一种如权利要求13所述的药液输送控制方法，其特征在于，所述步骤S2中，若卡式瓶到位检测器(800)检测卡式瓶(41)安装不到位，控制器控制报警模块进行报警或提示卡式瓶(41)安装不到位。
  16. 一种如权利要求13所述的药液输送控制方法，其特征在于，所述步骤S6中，若进针到位检测器(521)未检测到第三遮挡片(515)，控制器控制壳体(100)上的显示屏(532)进行进针未到位提示。
  17. 一种如权利要求13所述的药液输送控制方法，其特征在于，所述步骤S4中，当皮肤感应器(136)未感应到壳体(100)与皮肤接触时，控制器控制壳体(100)上的显示屏(532)进行提示，以避免进行下一步的误操作。
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