Needle-free injection module and injection device

Abstract

The application discloses a needleless injection module and an injection device. The needleless injection module comprises a supporting seat, a first movable seat, a second movable seat, a needleless injector, a driver and a controller. The first movable seat is arranged on the supporting seat and can move relative to the supporting seat. The second movable seat can move relative to the supporting seat. An elastic member is arranged between the second movable seat and the first movable seat. The needleless injector is arranged on the second movable seat and has an injection button. The driver is arranged on the supporting seat and is electrically connected with the controller. The driver can drive the first movable seat to move relative to the supporting seat, so that the first movable seat drives the second movable seat to move towards a target object through the elastic member. When the needleless injector contacts the target object, the elastic member is compressed until the first movable seat presses the injection button, so that the needleless injector injects the target object. The injection device comprises the needleless injection module. In the injection process, the target object does not need to be contacted by a person, and the injection is fully automated, convenient and efficient.

Description

Technical Field

[0001] This application relates to the field of automated aquaculture technology, and in particular to a needleless injection module and injection device. Background Technology

[0002] Automated farming has greatly improved farming efficiency and reduced farming costs. To ensure the safety of animals (such as pigs) on farms, they need to be vaccinated regularly to prevent the spread of diseases.

[0003] Traditional vaccination is performed manually. This method has two drawbacks: firstly, staff inevitably come into contact with animals, which is detrimental to disease prevention; secondly, manually carrying the vaccine solution and immunization equipment and using a handheld syringe for injection results in extremely low vaccination efficiency. Summary of the Invention

[0004] Based on this, a needle-free injection module and injection device are provided to address the problems of low efficiency and inconvenience caused by manual inoculation of animals in farms.

[0005] The technical solution is as follows:

[0006] On the one hand, this application provides a needle-free injection module, including:

[0007] Support base;

[0008] A first movable seat is disposed on the support seat and is movable relative to the support seat;

[0009] A second movable seat is movable relative to the support seat, and an elastic element is provided between the second movable seat and the first movable seat;

[0010] A needleless injector, wherein the needleless injector is disposed on the second movable seat and the needleless injector has an injection button;

[0011] A driver and a controller, wherein the driver is mounted on the support base and electrically connected to the controller;

[0012] The driver can drive the first movable seat to move relative to the support seat, so that the first movable seat drives the second movable seat to move toward the target object through the elastic element. When the needleless injector touches the target object, the elastic element is compressed until the first movable seat presses the injection button, so that the needleless injector injects into the target object.

[0013] The aforementioned needle-free injection module can be applied to the vaccination of animals (such as pigs) in farms. The driver, under the control of the controller, moves the first movable seat towards the target. An elastic element is provided between the first and second movable seats, so the second movable seat moves synchronously towards the target under the action of the spring. When the needle-free injector on the second movable seat contacts the target, the driver further pushes the first movable seat towards the target. During this process, since the first movable seat and the needle-free injector cannot advance further, the elastic element is compressed until the pressure required for animal injection is reached. At this point, the first movable seat presses against the injection button, and the needle-free injector injects the target, thus completing the vaccine injection for the target (such as pigs in a farm). Because no manual contact with the target is required during the injection process, and the operation is fully automated, vaccination is not only more convenient but also more efficient.

[0014] The technical solution will be further explained below:

[0015] In one embodiment, the support base is provided with a first track, and the first movable seat slides in conjunction with the first track;

[0016] The first movable seat is provided with a second track, the extension direction of the second track is the same as the extension direction of the first track, and the second movable seat slides and engages with the second track and is disposed on the first movable seat.

[0017] In one embodiment, one of the first movable seat and the second movable seat is provided with a support column, and the elastic element includes a first spring, which is sleeved on the support column.

[0018] In one embodiment, the support column is fixed to the second movable seat and extends toward the first movable seat, and a portion of the support column passes through the first movable seat and is retractable relative to the first movable seat;

[0019] One of the first movable seat and the second movable seat is provided with a first sensor, which is electrically connected to the controller. The other of the first movable seat and the second movable seat is provided with a first trigger, which can trigger the first sensor when the first movable seat presses against the injection button.

[0020] In one embodiment, at least two support columns are provided, and at least two elastic elements are provided, each corresponding to one of the support columns; at least one support column is provided on one side of the needle-free injector, and at least one support column is provided on the other side of the needle-free injector.

[0021] In one embodiment, the driver includes a drive element and a lead screw. The drive element is disposed on the support base and electrically connected to the controller. The lead screw is rotatably disposed on the support base and is transmittedly connected to the drive element. The first movable seat is also screwed to the lead screw.

[0022] In one embodiment, one of the support base and the first movable base is provided with a second sensor, the second sensor being electrically connected to the controller, and the other of the support base and the first movable base is provided with a second trigger, the second trigger being able to trigger the second sensor when the first movable base is in a set initial position;

[0023] One of the support base and the first movable base is provided with a third sensor, which is electrically connected to the controller. The other of the support base and the first movable base is provided with a third trigger, which can trigger the third sensor when the first movable base is in a set limit position.

[0024] In one embodiment, the needle-free injection module further includes a mounting base and a connecting base, the mounting base being fixed to the movable module, the connecting base being slidably engaged with the mounting base, and the support base being fixed to the connecting base;

[0025] A reset component is also provided between the support base and the mounting base. After the support base moves relative to the mounting base through the connecting base, the reset component is used to reset the support base and the connecting base.

[0026] In one embodiment, the mounting base is provided with a third track, and the connecting base is provided with a third movable seat, the third movable seat being slidably engaged with the third track;

[0027] One of the mounting base and the third movable base is provided with a fourth sensor, which is electrically connected to the controller. The other of the mounting base and the third movable base is provided with a fourth trigger, which can trigger the fourth sensor to report an error and cause the controller to control the moving module to drive the needle-free injection module back.

[0028] The mounting base is also equipped with an image acquisition device, which is electrically connected to the controller and is used to acquire image information of the target object.

[0029] On the other hand, this application also provides an injection device, including a needle-free injection module as described in any of the above technical solutions.

[0030] The aforementioned injection device, including the aforementioned needle-free injection module, can be used for vaccination of animals (e.g., pigs) in farms. The actuator, under the control of the controller, moves the first movable seat towards the target. An elastic element is provided between the first and second movable seats, so the second movable seat moves synchronously towards the target under the action of the spring. When the needle-free injector on the second movable seat contacts the target, the actuator further pushes the first movable seat towards the target. During this process, since the first movable seat and the needle-free injector cannot advance further, the elastic element is compressed until the pressure required for animal injection is reached. At this point, the first movable seat presses against the injection button, and the needle-free injector injects the target, thus completing the vaccination of the target (e.g., pigs in a farm). Because no manual contact with the target is required during the injection process, and the operation is fully automated, vaccination is not only more convenient but also more efficient. Attached Figure Description

[0031] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the various components are shown in the drawings only as examples and not necessarily to actual scale.

[0034] Figure 1 This is a schematic diagram of the needle-free injection module in normal state in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the needle-free injection module in the collision retreat state in an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the needleless injection module in this application embodiment when the needleless injector is not injecting;

[0037] Figure 4 for Figure 3 Another perspective view of the needleless injection module in the embodiment when the needleless injector is not injecting;

[0038] Figure 5 This is a schematic diagram of the needle-free injection module in the embodiment of this application during injection by the needle-free injector;

[0039] Figure 6 for Figure 5 Another perspective view of the needleless injection module in the embodiment during injection by the needleless injector;

[0040] Figure 7 This is a schematic diagram of the overall structure of the needleless injector in the embodiments of this application.

[0041] Attached image annotations:

[0042] 100, Support base; 110, First track; 120, Second sensor; 130, Third sensor; 210, First movable seat; 211, Second track; 212, First sensor; 213, Second trigger; 214, Third trigger; 220, Second movable seat; 221, Support column; 222, First trigger; 230, Elastic element; 300, Needle-free injector; 310, Injection button; 320, High-pressure pipeline; 330, Injection head; 410, Drive element; 420, Lead screw; 431, Synchronous belt; 432, Synchronous pulley; 510, Mounting base; 511, Third track; 512, Flange; 513, Image acquisition device; 514, Adjustment base; 520, Connecting base; 521, Third movable seat; 530, Reset element; 600, Housing. Detailed Implementation

[0043] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings:

[0044] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0045] Please refer to Figure 4 and Figure 6 This embodiment provides a needle-free injection module, including a support base 100, a first movable base 210, a second movable base 220, a needle-free injector 300, a driver, and a controller. Wherein:

[0046] Combination Figure 4 and Figure 6 As shown, the first movable seat 210 is disposed on the support seat 100 and is movable relative to the support seat 100.

[0047] The first movable seat 210 is capable of moving on the support seat 100 in a direction toward or away from the target (e.g., a boar or a sow). When an injection is performed, the first movable seat 210 moves toward the target; when the injection is completed, the first movable seat 210 retracts in a direction away from the target.

[0048] Combination Figure 4 and Figure 6 As shown, the second movable seat 220 is movable relative to the support seat 100, and an elastic element 230 is provided between the second movable seat 220 and the first movable seat 210. A needleless injector 300 is disposed on the second movable seat 220 and has an injection button 310. A driver is disposed on the support seat 100 and electrically connected to the controller.

[0049] The driver can drive the first movable seat 210 to move relative to the support seat 100, so that the first movable seat 210 drives the second movable seat 220 to move toward the target object through the elastic member 230. When the needleless injector 300 touches the target object, the elastic member 230 is compressed until the first movable seat 210 presses the injection button 310, so that the needleless injector 300 injects into the target object.

[0050] Combination Figure 4 and Figure 6 In the illustrated embodiment, the second movable seat 220 is located on the side of the first movable seat 210 facing the target object. When the first movable seat 210 moves toward the target object, the first movable seat 210 transmits the force to the second movable seat 220 through the elastic member 230, thereby causing the second movable seat 220 to move toward the target object. When the needleless injector 300 located on the second movable seat 220 comes into contact with the target object, the first movable seat 210 moves further toward the target object under the drive of the driver, while the second movable seat 220 and the needleless injector 300 cannot move further. At this time, the first movable seat 210 squeezes the elastic member 230, and the elastic member 230 is compressed. When the elastic member 230 is compressed to a certain extent, the first movable seat 210 squeezes the injection button 310 of the needleless injector 300. At this time, the needleless injector 300 begins to inject into the target object, and the driver can stop driving the first movable seat 210 for a preset time (e.g., 1 second). After the needleless injector 300 finishes injection, the driver starts again and drives in the reverse direction to drive the first movable seat 210 and the second movable seat 220 backward.

[0051] In practice, the injection time of the needleless injector 300 can be controlled to 0.5 seconds, so that the injection process can be completed before the target object takes the next step.

[0052] This needle-free injection module can be applied to animal vaccination in farms. Under the control of the controller, the driver can move the first movable seat 210 towards the target. An elastic element 230 is provided between the first movable seat 210 and the second movable seat 220. Therefore, the second movable seat 220 moves synchronously towards the target under the action of the spring. When the needle-free injector 300 on the second movable seat 220 contacts the target, the driver further pushes the first movable seat 210 towards the target. During this process, since the first movable seat 210 and the needle-free injector 300 cannot move forward further, the elastic element 230 is compressed until the pressure required for animal injection is reached. At this time, the first movable seat 210 presses against the injection button 310, and the needle-free injector 300 injects into the target, thereby completing the vaccine injection for the target (e.g., pigs in a farm). Since no human contact with the target is required during the injection process, and the operation is fully automated, vaccination is not only more convenient but also more efficient.

[0053] Optionally, such as Figure 7 As shown, the needle-free injector 300 is equipped with an injection head 330 and a high-pressure line 320. The injection button 310 and the injection head 330 are respectively located at opposite ends of the needle-free injector 300. The high-pressure line 320 is used to provide high-pressure gas during injection. Of course, the needle-free injector 300 is also connected to a gas source and an injection liquid source, which will not be described in detail here.

[0054] In one embodiment, please refer to Figure 3 and Figure 4 The support base 100 is provided with a first track 110, and the first movable base 210 slides and engages with the first track 110.

[0055] Please refer to Figure 4 The first movable seat 210 is provided with a second track 211, the extension direction of the second track 211 is the same as the extension direction of the first track 110, and the second movable seat 220 slides and engages with the second track 211 and is located on the first movable seat 210.

[0056] Combination Figure 3 and Figure 4 In the illustrated embodiment, a first track 110 is laid on a support base 100, and a first movable seat 210 slides with the first track 110 to achieve movement and guidance relative to the support base 100. The first movable seat 210 is provided with a second track 211 parallel to the first track 110, and a second movable seat 220 slides with the second track 211. On the one hand, the second track 211 supports the second movable seat 220; on the other hand, it enables the second movable seat 220 to move and guide relative to the support base 100 and the first movable seat 210.

[0057] Optionally, the two opposite ends of the elastic element 230 are connected to the first movable seat 210 and the second movable seat 220, respectively. When the second movable seat 220 moves relative to the first movable seat 210, the elastic element 230 is compressed or returns to normal.

[0058] In one embodiment, please refer to Figure 6 One of the first movable seat 210 and the second movable seat 220 is provided with a support column 221, and the elastic element 230 includes a first spring, which is sleeved on the support column 221.

[0059] like Figure 6 In the embodiment shown, the support column 221 serves to guide and support the first spring.

[0060] In one embodiment, please refer to Figure 6 The support column 221 is fixed to the second movable seat 220 and extends toward the first movable seat 210. A part of the support column 221 passes through the first movable seat 210 and can extend and retract relative to the first movable seat 210.

[0061] like Figure 6 In the illustrated embodiment, the support column 221 is disposed on the second movable seat 220 and extends toward one side of the first movable seat 210. When the first movable seat 210 moves relative to the second movable seat 220, the support column 221 extends or retracts relative to the first movable seat 210. Of course, the support column 221 can also be disposed on the first movable seat 210, which will not be elaborated further.

[0062] In one embodiment, please refer to Figure 6 One of the first movable seat 210 and the second movable seat 220 is provided with a first sensor 212, which is electrically connected to the controller. The other of the first movable seat 210 and the second movable seat 220 is provided with a first trigger 222. When the first movable seat 210 presses the injection button 310, the first trigger 222 can trigger the first sensor 212.

[0063] The first sensor 212 and the first trigger 222 are matched. When the first movable seat 210 presses against the injection button 310, the first trigger 222 can just trigger the first sensor 212 to inform the controller that the needleless injector 300 has pressed against the target and is injecting, so that the controller issues a command to stop the driver and, after a preset time, causes the driver to reverse and drive the first movable seat 210 back.

[0064] Optionally, after being sensed, the first sensor 212 sends a signal to the controller, which can record the signal, which represents the completion of vaccination and forms a vaccination record.

[0065] When the needleless injector 300 injects, there are requirements for the pressure force between the needleless injector 300 and the target object. Therefore, it is necessary to ensure that when the pressure force is sufficient, the first spring is compressed to a certain degree, and the first movable seat 210 precisely presses against the injection button 310. Simultaneously, the first trigger 222 must precisely trigger the first sensing element 212. Therefore, an appropriate selection can be made based on the specifications and other parameters of the elastic element 230 to meet the aforementioned requirements, which will not be elaborated further.

[0066] Optionally, the first sensing element 212 and the first trigger element 222 can be photoelectric triggers, magnetic induction triggers, or other devices capable of triggering functions, which will not be elaborated further.

[0067] like Figure 6 In the embodiment shown, the first sensing element 212 is disposed on the first movable seat 210, and the first trigger element 222 is disposed on the second movable seat 220.

[0068] Specifically:

[0069] A support column 221 is disposed on the second movable seat 220, and a first trigger 222 is disposed on the end of the support column 221 facing the first movable seat 210. During the process of the first movable seat 210 moving toward the second movable seat 220 and pressing the elastic member 230, since the support column 221 is disposed on the second movable seat 220, the first movable seat 210 drives the first sensing member 212 on it to move toward the support column 221. When the first movable seat 210 just presses against the injection button 310, the first sensing member 212 is just triggered by the first trigger 222.

[0070] In one embodiment, please refer to Figure 4 At least two support columns 221 are provided, and at least two elastic elements 230 are provided, each corresponding to one of the support columns 221. At least one support column 221 is provided on one side of the needleless injector 300, and at least one support column 221 is provided on the other side of the needleless injector 300.

[0071] Support columns 221 and elastic elements 230 are provided in a one-to-one correspondence, and at least two are provided. For example... Figure 4 In the embodiment shown, two support columns 221 are provided and arranged on opposite sides of the needleless injector 300.

[0072] Optionally, the second movable seat 220 can be an integral structure to slide and engage with the second track 211. Alternatively, the second movable seat 220 can be a separate structure, for example, comprising a main body and branch parts. The needle-free injector 300 is fixed to the main body, and two branch parts are provided and fixed to opposite sides of the main body. Each branch part has a support post 221 and an elastic element 230. The branch parts slide and engage with the second track 211, and there are two second tracks 211 corresponding to the branch parts. In this case, the main body can be supported by the branch parts via the second track 211, or it can be supported by directly sliding and engaging with the first track 110; further details are omitted.

[0073] In one embodiment, please refer to Figure 3 and Figure 5 The driver includes a drive element 410 and a lead screw 420. The drive element 410 is located on the support base 100 and electrically connected to the controller. The lead screw 420 is rotatably located on the support base 100 and is connected to the drive element 410 for transmission. The first movable seat 210 is also screwed to the lead screw 420.

[0074] like Figure 3 In the embodiment shown, the lead screw 420 is rotatably mounted on the support base 100, and the first movable seat 210 is screwed into the lead screw 420. This means that the first movable seat 210 is a nut screwed into the lead screw 420. In this way, the drive member 410 drives the lead screw 420 to rotate under the control of the controller, and the lead screw 420 drives the first movable seat 210 to move along the first track 110.

[0075] like Figure 3 In the embodiment shown, the first movable seat 210 has two parts. The first part is located on one side of the support seat 100 and slides with the first track 110. The second part of the first movable seat 210 is located on the other side of the support seat 100 and is screwed with the lead screw 420.

[0076] For example Figure 3 From the perspective shown, the first part of the first movable seat 210 is located on the upper side of the support seat 100, and the second part of the first movable seat 210 is located on the lower side of the support seat 100. The second part is connected to the first part.

[0077] Of course, the first movable seat 210 can be inserted through the support seat 100, for example, a connecting rod can be inserted through the support seat 100, with the two ends of the connecting rod connected to the upper first part and the lower second part respectively. Of course, the first movable seat 210 may also not be inserted through the support seat 100, which will not be elaborated further.

[0078] Optionally, the drive unit 410 is a servo motor.

[0079] In one embodiment, please refer to Figure 4 and Figure 6 The driver also includes a timing belt 431 and timing pulleys 432. Two timing pulleys 432 are provided and rotatably mounted on the support base 100. One timing pulley 432 is connected to the drive component 410, and the other timing pulley 432 is connected to the lead screw 420. The timing belt 431 is connected to both timing pulleys 432. When the drive component 410 starts, it drives one of the timing pulleys 432 to rotate. The timing pulley 432 transmits power to the other timing pulley 432 via the timing belt 431, further driving the lead screw 420 to rotate. Of course, the drive component 410 can also directly drive the lead screw 420 to rotate, which will not be elaborated further.

[0080] In one embodiment, please refer to Figure 6 One of the support base 100 and the first movable base 210 is provided with a second sensor 120, which is electrically connected to the controller. The other of the support base 100 and the first movable base 210 is provided with a second trigger 213. When the first movable base 210 is in the set initial position, the second trigger 213 can trigger the second sensor 120.

[0081] like Figure 6 In the embodiment shown, the second sensor 120 is approximately positioned to match the starting end of the first track 110. After the injection is completed, the drive 410 drives the first movable seat 210 to retract and reach the set initial position. At this time, the second trigger 213 on the first movable seat 210 triggers the first sensor 212 to inform the controller to issue a command to stop the drive.

[0082] Optionally, such as Figure 6 As shown, the second sensing element 120 is fixed to the support base 100, and the second trigger element 213 is fixed to the first movable base 210. The second sensing element 120 and the second trigger element 213 can be a matching photoelectric trigger or electromagnetic trigger, etc., which will not be described in detail.

[0083] In one embodiment, please refer to Figure 3 One of the support base 100 and the first movable base 210 is provided with a third sensor 130, which is electrically connected to the controller. The other of the support base 100 and the first movable base 210 is provided with a third trigger 214. When the first movable base 210 is in a set limit position, the third trigger 214 can trigger the third sensor 130.

[0084] When the drive unit 410 drives the first movable seat 210 to move toward the target object, if the first movable seat 210 exceeds the set limit position, the third sensor 130 and the third trigger 214 are set to remind the controller to reach the limit position. In this case, the injection of the target object must have been completed by default. After the drive stops to cooperate with the injection operation, the driver will drive the first movable seat 210 to move backward.

[0085] Optionally, such as Figure 3 In the illustrated embodiment, the third sensor 130 is located on the lower side of the support base 100 and approximately at the end of the lead screw 420 facing the target object, while the third trigger 214 is located on the portion of the first movable base 210 located on the lower side of the mounting base 510. When the first movable base 210 moves toward the target object beyond a set range and crosses the limit position, the third trigger 214 can trigger the third sensor 130 to send a signal to the controller that the injection is complete.

[0086] Optionally, the third sensing element 130 and the third trigger element 214 can be matching photoelectric triggers or electromagnetic triggers, etc., which will not be described in detail here.

[0087] In one embodiment, please refer to Figure 1 and Figure 2 The needle-free injection module also includes a mounting base 510 and a connecting base 520. The mounting base 510 is used to fix the mobile module, the connecting base 520 is slidably engaged with the mounting base 510, and the support base 100 is fixed to the connecting base 520.

[0088] The needle-free injection module can be fixed to a device so that the target object passes through the device in sequence. When the target object arrives at the device, the needle-free injection module injects the target object.

[0089] Alternatively, the needle-free injection module can be fixed to the moving module, which can pass over the target objects one by one so that the needle-free injection module can inject the target objects.

[0090] The mobile module can be a walking robot, with the needle-free injection module housed within it. Alternatively, a multi-degree-of-freedom robotic arm can be configured on the walking robot to house the needle-free injection module.

[0091] Optionally, the mounting base 510 is provided with a flange 512 for fixing to the moving module. The connecting base 520 is used to connect the support base 100 to the mounting base 510 so that the injection function part is connected to the moving module, and the injection function part can also be replaced as needed to achieve modular configuration.

[0092] Please refer to Figure 1 and Figure 2A reset member 530 is also provided between the support base 100 and the mounting base 510. After the support base 100 moves relative to the mounting base 510 via the connecting base 520, the reset member 530 is used to reset the support base 100 and the connecting base 520.

[0093] When the moving module moves the needleless injection module too close to the target object, or when the target object accidentally approaches the needleless injection module, the needleless injector 300 may be subjected to unexpected pressure. This pressure could damage the needleless injection module. Therefore, the needleless injector 300 or the second movable seat 220 transmits the pressure to the first movable seat 210 via the elastic element 230. The first movable seat 210 further transmits the pressure through the connecting seat 520, causing the connecting seat 520 to slide backward relative to the mounting seat 510, thereby protecting the needleless injection module. After returning to normal, the reset element 530 can act on the connecting seat 520 through a reset force, thus restoring the injection function to its normal position.

[0094] Optionally, the reset element 530 is a second spring. The second spring achieves the reset function through elastic force.

[0095] In one embodiment, please refer to Figure 1 and Figure 2 The needle-free injection module also includes a housing 600, which at least partially covers the first movable seat 210 and the second movable seat 220, serving both a protective function and an aesthetic function.

[0096] In one embodiment, the mounting base 510 is provided with a third track 511, and the connecting base 520 is provided with a third movable seat 521, the third movable seat 521 slidingly engaging with the third track 511.

[0097] The extension direction of the third track 511 is approximately parallel to the extension direction of the first track 110. The third track 511 serves to guide the retraction of the connecting seat 520.

[0098] In one embodiment, one of the mounting base 510 and the third movable base 521 is provided with a fourth sensor, which is electrically connected to the controller. The other of the mounting base 510 and the third movable base 521 is provided with a fourth trigger, which can trigger the fourth sensor to report an error and cause the controller to control the moving module to drive the needleless injection module back.

[0099] When the connecting seat 520 and the third movable seat 521 move relative to the mounting seat 510, the fourth trigger can activate the fourth sensor, which can send an error indication to the controller. After receiving the error signal, the controller controls the moving module to retract the needleless injection module to prevent damage to the needleless injection module or the entire injection device. Alternatively, manual checks can be performed via voice or background prompts, or a program can be directly written to take further actions such as stopping the needleless injection module based on the error signal.

[0100] Optionally, a fourth sensor is disposed on the mounting base 510, and a fourth trigger is disposed on the third movable base 521, so as to trigger the fourth sensor when the third movable base 521 moves relative to the mounting base 510. The position of the fourth sensor can be such that the third movable base 521 moves a preset distance relative to the mounting base 510, for example, it can be triggered when the third movable base 521 moves 5 centimeters relative to the mounting base 510.

[0101] In one embodiment, please refer to Figure 1 and Figure 2 The mounting base 510 is also equipped with an image acquisition device 513, which is electrically connected to the controller and is used to acquire image information of the target object.

[0102] Image acquisition unit 513 is used to acquire image information of the target object, so as to calculate the distance between the target object and the needleless injection module through background processing, thereby determining the sliding distance of the first movable seat 210 driven by the drive unit 410.

[0103] Optionally, the image acquisition unit 513 includes an RGBD camera. Of course, other types of cameras or webcams can also be used, which will not be described further.

[0104] Optionally, the mounting base 510 is further provided with an adjustment seat 514, which is rotatably mounted on the mounting base 510, and the image acquisition unit 513 is mounted on the adjustment seat 514. By rotating the adjustment seat 514 relative to the mounting base 510, the attitude of the image acquisition unit 513 can be adjusted so that the image viewing angle acquired by the image processor meets the actual needs.

[0105] Of course, the adjusting seat 514 can be locked in the adjusted position after rotating relative to the mounting seat 510, which will not be described in detail here.

[0106] Under the control of the controller, combined with various sensors (such as the first sensor 212, the second sensor 120, the third sensor 130, and the fourth sensor), the image acquisition device 513, and the driving device 410, the fully automated and intelligent vaccine injection can be realized. The injection records can also be stored in the background, while avoiding manual contact with the target object, which is safe and convenient.

[0107] This application also provides an injection device, including a needle-free injection module as described in any of the above embodiments.

[0108] The injection device includes the aforementioned needle-free injection module, which can be used for animal vaccination in farms. The driver can move the first movable seat 210 towards the target under the control of the controller. An elastic element 230 is provided between the first movable seat 210 and the second movable seat 220. Therefore, the second movable seat 220 moves synchronously towards the target under the action of the spring. When the needle-free injector 300 on the second movable seat 220 contacts the target, the driver further pushes the first movable seat 210 towards the target. During this process, since the first movable seat 210 and the needle-free injector 300 cannot move forward further, the elastic element 230 is compressed until the pressure required for animal injection is reached. At this time, the first movable seat 210 presses against the injection button 310, and the needle-free injector 300 injects into the target, thereby completing the vaccine injection for the target (e.g., pigs in a farm). Since no human contact with the target is required during the injection process, and the operation is fully automated, vaccination is not only more convenient, but also more efficient.

[0109] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0110] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0112] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0113] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A needle-free injection module, characterized in that, include: Support base; A first movable seat is disposed on the support seat and is movable relative to the support seat; A second movable seat is movable relative to the support seat, and an elastic element is provided between the second movable seat and the first movable seat; A needleless injector, wherein the needleless injector is disposed on the second movable seat and the needleless injector has an injection button; A driver and a controller, wherein the driver is mounted on the support base and electrically connected to the controller; The driver can drive the first movable seat to move relative to the support seat, so that the first movable seat drives the second movable seat to move toward the target object through the elastic element. When the needleless injector touches the target object, the elastic element is compressed until the first movable seat presses the injection button, so that the needleless injector injects into the target object. One of the first movable seat and the second movable seat is provided with a first sensor, which is electrically connected to the controller. The other of the first movable seat and the second movable seat is provided with a first trigger, which can trigger the first sensor when the first movable seat presses against the injection button.

2. The needle-free injection module according to claim 1, characterized in that, The support base is provided with a first track, and the first movable seat slides in conjunction with the first track. The first movable seat is provided with a second track, the extension direction of the second track is the same as the extension direction of the first track, and the second movable seat slides and engages with the second track and is disposed on the first movable seat.

3. The needle-free injection module according to claim 2, characterized in that, One of the first movable seat and the second movable seat is provided with a support column, and the elastic element includes a first spring, which is sleeved on the support column.

4. The needle-free injection module according to claim 3, characterized in that, The support column is fixed to the second movable seat and extends toward the first movable seat. A portion of the support column passes through the first movable seat and is retractable relative to the first movable seat.

5. The needle-free injection module according to claim 4, characterized in that, The support column is provided in at least two, and the elastic element is provided in at least two and corresponds one-to-one with the support column; at least one of the support columns is provided on one side of the needle-free injector, and at least one of the support columns is provided on the other side of the needle-free injector.

6. The needle-free injection module according to claim 2, characterized in that, The driver includes a driving element and a lead screw. The driving element is disposed on the support base and electrically connected to the controller. The lead screw is rotatably disposed on the support base and is transmittedly connected to the driving element. The first movable seat is also screwed to the lead screw.

7. The needle-free injection module according to claim 6, characterized in that, One of the support base and the first movable base is provided with a second sensor, which is electrically connected to the controller. The other of the support base and the first movable base is provided with a second trigger, which can trigger the second sensor when the first movable base is in a set initial position. One of the support base and the first movable base is provided with a third sensor, which is electrically connected to the controller. The other of the support base and the first movable base is provided with a third trigger, which can trigger the third sensor when the first movable base is in a set limit position.

8. The needle-free injection module according to any one of claims 1-7, characterized in that, The needleless injection module further includes a mounting base and a connecting base. The mounting base is used to fix the mobile module, the connecting base is slidably engaged with the mounting base, and the support base is fixedly mounted on the connecting base. A reset component is also provided between the support base and the mounting base. After the support base moves relative to the mounting base through the connecting base, the reset component is used to reset the support base and the connecting base.

9. The needle-free injection module according to claim 8, characterized in that, The mounting base is provided with a third track, and the connecting base is provided with a third movable seat, which slides in conjunction with the third track; One of the mounting base and the third movable base is provided with a fourth sensor, which is electrically connected to the controller. The other of the mounting base and the third movable base is provided with a fourth trigger, which can trigger the fourth sensor to report an error and cause the controller to control the moving module to drive the needle-free injection module back. The mounting base is also equipped with an image acquisition device, which is electrically connected to the controller and is used to acquire image information of the target object.

10. An injection device, characterized in that, Includes the needle-free injection module as described in any one of claims 1-9.

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