Equal-dose injection device used in cooperation with robot

Abstract

The invention belongs to the technical field of dosing instruments, and discloses an equal-dose injection device matched with a robot for use, an injector is provided with a liquid inlet cavity, a liquid outlet cavity and a variable-pressure cavity, one end of the liquid inlet cavity is connected with a liquid storage bottle, one end of the liquid outlet cavity is communicated with the liquid inlet cavity, the other end of the liquid outlet cavity is provided with an injection needle, one end of the variable-pressure cavity is communicated with the liquid inlet cavity, and the other end of the variable-pressure cavity is provided with a variable-pressure module; the variable-pressure module conducts pressure reduction motion and pressure increasing motion on the variable-pressure cavity in a crossed mode, liquid in the liquid storage bottle enters the liquid inlet cavity when the liquid inlet cavity is in the negative pressure state, the liquid enters the liquid inlet cavity and is pushed into the injection needle when the liquid inlet cavity is in the positive pressure state, the frequency of the pressure reduction motion and the frequency of the pressure increasing motion are fixed, and in each circulation of the pressure reduction motion and the pressure increasing motion, the injection needle is pushed into the injection needle. The unit liquid medicine doses pushed into a patient are the same, the number of cycles of injection each time is controlled, injection of the same dose of liquid medicine is achieved in the treatment process, the quick connection module is connected to the voltage transformation module, and the quick connection module is detachably connected with the mechanical arm so that quick connection or separation between the quick connection module and the mechanical arm can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of drug delivery devices, and particularly to an equal-dose injection device for use with a robot. Background Art

[0002] In the medical aesthetics industry, the injection of botulinum toxin can be used to improve the facial skin condition of users, remove wrinkles and treat facial spasms. When in use, the botulinum toxin is injected into the subcutaneous tissue through a syringe.

[0003] However, there are still some deficiencies in the existing syringes: the existing syringes are not convenient for accurately controlling the injection volume during use, and during manual operation, the injection volume is prone to deviation due to accidental touch, etc. When the injection volume is excessive, it not only fails to treat the skin, but also causes damage to the skin; the connection between the existing syringe and the robotic arm is complex and not easy to disassemble; the existing syringe also cannot achieve automatic needle insertion and liquid pushing, and the degree of automation is low. Summary of the Invention

[0004] The purpose of the present invention is to provide an equal-dose injection device for use with a robot, which can be quickly connected or separated from the robotic arm and can also achieve equal-dose liquid pushing of drugs.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] An equal-dose injection device for use with a robot, comprising:

[0007] An injection module, the injection module includes a syringe, the syringe is provided with an L-shaped liquid inlet cavity and a liquid outlet cavity, one end of the liquid inlet cavity is connected to a liquid storage bottle and is provided with a first normally closed valve, the other end of the liquid inlet cavity is blocked, one end of the liquid outlet cavity communicates with the liquid inlet cavity and is provided with a second normally closed valve, the other end of the liquid outlet cavity is installed with an injection needle. When the liquid inlet cavity is in a negative pressure state, the first normally closed valve opens, and the liquid in the liquid storage bottle enters the liquid inlet cavity. When the liquid inlet cavity is in a positive pressure state, the first normally closed valve closes, the second normally closed valve opens, and the liquid enters the liquid inlet cavity and is pushed into the injection needle;

[0008] A pressure change module, the syringe is further provided with a pressure change cavity, the pressure change cavity is arranged in an L-shape with the liquid inlet cavity, one end of the pressure change cavity communicates with the liquid inlet cavity, the other end of the pressure change cavity is installed with the pressure change module, the pressure change module is configured to perform decompression movement and pressurization movement on the pressure change cavity alternately, and the frequencies of the decompression movement and the pressurization movement are fixed;

[0009] A quick connection module, the quick connection module is connected to the pressure change module, and the quick connection module is configured to be detachably connected to the robotic arm.

[0010] Preferably, the voltage conversion module includes a driving component, a reciprocating component, and a pushing component. The reciprocating component includes a guiding member, a push-pull sleeve, and a guiding stepped shaft. The output end of the driving component is connected to one end of the guiding member and is configured to drive the guiding member to rotate self. A circumferential groove is provided on the outer wall of the guiding member along its length direction. One end of the push-pull sleeve is slidably sleeved on the outer wall of the guiding member. The guiding stepped shaft is fixedly arranged on the push-pull sleeve, and one end of the guiding stepped shaft penetrates through the push-pull sleeve and slidably extends into the circumferential groove. One end of the pushing component is connected to the push-pull sleeve, and the other end of the pushing component extends into the other end of the voltage conversion cavity and circumferentially abuts against the cavity wall of the voltage conversion cavity. The driving component drives the guiding member to rotate self, drives the guiding stepped shaft to slide in the circumferential groove, drives the push-pull sleeve and the pushing component to move in the first direction, so as to change the pressure state of the voltage conversion cavity. The first direction is the axis of the injection needle.

[0011] Preferably, the voltage conversion module further includes a claw component. The claw component includes an elastic claw, a reset push sleeve, and a reset spring. One end of the elastic claw is clamped on the other end of the push-pull sleeve. The other end of the elastic claw protrudes circumferentially. The reset push sleeve and the reset spring are both slidably sleeved on the outer wall of the elastic claw. The reset spring abuts between the reset push sleeve and the push-pull sleeve and pushes the reset push sleeve to circumferentially abut against the other end of the elastic claw. One end of the pushing component is clamped on the other end of the elastic claw. The push-pull sleeve and the claw component drive the pushing component to move closer to the liquid outlet cavity in the first direction, so as to increase the pressure of the voltage conversion cavity. The reset spring pushes the push-pull sleeve, the claw component, and the pushing component to move away from the liquid outlet cavity in the first direction, so as to reduce the pressure of the voltage conversion cavity.

[0012] Preferably, the reciprocating component further includes a guiding sleeve. The guiding member, the push-pull sleeve, the guiding stepped shaft, and the claw component are all arranged inside the guiding sleeve. A first guiding groove is provided through the side wall of the guiding sleeve along the first direction. The other end of the guiding stepped shaft is slidably limited in the first guiding groove.

[0013] Preferably, the pushing component includes a push rod and a piston. The other end of the elastic claw is an opening, and the diameter of the opening is adjustable. One end of the push rod is clamped in the opening. The piston is clamped at the other end of the push rod, and the piston extends into the other end of the voltage conversion cavity and circumferentially abuts against the cavity wall of the voltage conversion cavity.

[0014] Preferably, the equal-dose injection device used in conjunction with the robot further includes a sliding module. The sliding module includes a lead screw assembly and a connecting sleeve. The lead screw assembly includes a driving unit, a lead screw, and a lead screw nut. The lead screw nut is screwed onto the lead screw. The lead screw is arranged in a first direction, which is the axis of the injection needle. The driving unit is configured to drive the lead screw to rotate self - rotatably to drive the lead screw nut to move along the lead screw. The connecting sleeve is connected to the lead screw nut and connects the voltage transformation module.

[0015] Preferably, the sliding module further includes a guide rail assembly. The guide rail assembly includes a fixed seat, a slider, and a slide rail. The fixed seat includes a base and a connecting seat vertically arranged on one side of the base. The slide rail is arranged on the other side of the base in the first direction. The slider is slidably connected to the slide rail. The top of the slider is connected to the connecting sleeve. The quick - connection module is installed on the side of the connecting seat facing away from the slide rail.

[0016] Preferably, the robotic arm is detachably connected to the quick - connection module through a flange seat. The quick - connection module includes an insert core, a limiting member, a sleeve, and a locking spring. The top of the insert core is installed on the connecting seat. The insert core is inserted into the inner hole of the flange seat. A plurality of tapered holes are circumferentially spaced on the outer wall of the flange seat. A tapered groove is annularly arranged on the outer wall of the insert core. The tapered holes are aligned with the tapered groove. The limiting member is placed in the tapered holes. The sleeve is slidably sleeved on the outer wall of the flange seat. First and second annular protrusions are spaced on the inner wall of the sleeve. The second annular protrusion is close to the connecting seat. Third and fourth annular protrusions are spaced on the outer wall of the flange seat. The fourth annular protrusion is close to the connecting seat. The second annular protrusion abuts against the fourth annular protrusion. The locking spring is sleeved on the outer wall of the flange seat and abuts between the first annular protrusion and the third annular protrusion. The locking spring is configured to push the sleeve to slide in the direction close to the connecting seat. The sleeve abuts against the limiting member and limits it between the tapered hole and the tapered groove to lock the insert core and the flange seat.

[0017] Preferably, one side of the first annular protrusion close to the second annular protrusion is a conical surface, and the conical surface gradually approaches the axis of the sleeve in the direction away from the second annular protrusion. The conical surface is aligned with the tapered hole. The conical surface pushes the limiting member to be limited between the tapered hole and the tapered groove to lock the insert core and the flange seat. Slide the sleeve in the direction away from the connecting seat, and the limiting member disengages from the tapered groove to unlock the insert core and the flange seat.

[0018] Preferably, the first normally-closed valve includes a first valve core and a first compression spring. The first valve core is circumferentially abutted against the wall of the liquid inlet cavity and is located at one end of the liquid inlet cavity. The first compression spring is abutted between the other end of the liquid inlet cavity and the first valve core. The second normally-closed valve includes a second valve core and a second compression spring. The second valve core is circumferentially abutted against the wall of the liquid outlet cavity and is located at one end of the liquid outlet cavity. The second compression spring is abutted between the other end of the liquid inlet cavity and the second valve core.

[0019] Advantages of the present invention:

[0020] The present invention provides an equal-dose injection device for use with a robot. The syringe is provided with an L-shaped liquid inlet cavity and a liquid outlet cavity. One end of the liquid inlet cavity is connected to a liquid storage bottle and is provided with a first normally-closed valve. The other end of the liquid inlet cavity is blocked. One end of the liquid outlet cavity communicates with the liquid inlet cavity and is provided with a second normally-closed valve. The other end of the liquid outlet cavity is provided with an injection needle. The syringe is further provided with a pressure-changing cavity, which is arranged in an L-shape with the liquid inlet cavity. One end of the pressure-changing cavity communicates with the liquid inlet cavity, and the other end of the pressure-changing cavity is provided with a pressure-changing module. The pressure-changing module is configured to perform a decompression movement and a pressurization movement on the pressure-changing cavity alternately, alternately decompress and pressurize the liquid inlet cavity, so as to alternately switch the liquid inlet cavity to a negative pressure state and a positive pressure state. When the liquid inlet cavity is in the negative pressure state, the first normally-closed valve opens, and the liquid in the liquid storage bottle enters the liquid inlet cavity. When the liquid inlet cavity is in the positive pressure state, the first normally-closed valve closes and the second normally-closed valve opens, and the liquid enters the liquid inlet cavity and is pushed into the injection needle. A certain amount of medicinal liquid is pushed into the patient in one cycle of the alternate decompression movement and pressurization movement, and the frequencies of the decompression movement and the pressurization movement are fixed, so as to ensure that the unit dose of the medicinal liquid pushed into the patient is the same in each cycle of the decompression movement and the pressurization movement. By controlling the number of cycles of each injection, equal-dose medicinal liquid can be injected during the treatment process. The quick-connect module is connected to the pressure-changing module and is configured to be detachably connected to the robotic arm, thereby realizing quick connection or separation from the robotic arm. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of an equal-dose injection device for use with a robot provided by an embodiment of the present invention;

[0022] Figure 2 is a front view of an equal-dose injection device for use with a robot provided by an embodiment of the present invention;

[0023] Figure 3 is a cross-sectional view of the syringe provided by an embodiment of the present invention;

[0024] Figure 4 is a cross-sectional view of an equal-dose injection device for use with a robot provided by an embodiment of the present invention;

[0025] Figure 5It is a combined schematic diagram of a guide member and a guide stepped shaft provided by an embodiment of the present invention;

[0026] Figure 6 It is a cross-sectional view of a quick-connect module connected to a connecting seat provided by an embodiment of the present invention;

[0027] Figure 7 It is a structural schematic diagram of a flange seat provided by an embodiment of the present invention;

[0028] Figure 8 It is a structural schematic diagram of a ferrule provided by an embodiment of the present invention;

[0029] Figure 9 It is a cross-sectional view of a sleeve provided by an embodiment of the present invention.

[0030] In the figure:

[0031] 11. Syringe; 111. Liquid inlet chamber; 112. Liquid outlet chamber; 113. Pressure transformation chamber; 114. Second guide groove; 12. Liquid storage bottle; 13. Injection needle; 14. Sealing plug; 151. First valve core; 152. First compression spring; 153. Second valve core; 154. Second compression spring;

[0032] 211. First driving member; 212. Fixing member; 213. Sheath; 221. Guide member; 222. Push-pull sleeve; 223. Guide stepped shaft; 224. Guide sleeve; 231. Elastic claw; 232. Reset push sleeve; 233. Reset spring; 241. Push rod; 242. Piston;

[0033] 311. Motor seat; 312. Second driving member; 313. Driving wheel; 314. Driven wheel; 315. Timing belt; 32. Connecting sleeve; 33. Lead screw; 34. Lead screw nut; 35. Fixed seat; 351. Base; 352. Connecting seat; 36. Slide block; 37. Slide rail;

[0034] 40. Flange seat; 401. Third annular boss; 402. Fourth annular boss; 403. Tapered hole; 41. Ferrule; 411. Connecting plate; 412. Inserting rod; 4121. Tapered groove; 42. Limiting member; 43. Sleeve; 431. First annular boss; 432. Second annular boss; 4321. Tapered surface; 44. Locking spring. Detailed implementation manners

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the sake of description, only some structures related to the present invention are shown in the drawings, not all structures.

[0036] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0038] In the description of this embodiment, the terms "above", "below", "right", and other orientation or position relationships are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meanings.

[0039] The present invention provides an equal-dose injection device for use with a robot, which can quickly connect or disconnect the robotic arm, has high injection accuracy, can perform equal-dose injection, and realizes the automatic pushing of the liquid medicine.

[0040] Please refer to Figures 1-9 , an equal-dose injection device for use with a robot includes an injection module and a pressure-changing module. The pressure-changing module is used to introduce a fixed amount of liquid medicine into the injection module and push the liquid medicine into the patient's body so as to realize the equal-dose injection of the liquid medicine.

[0041] Please refer to Figure 1 and Figure 3 , the injection module includes a syringe 11, a liquid storage bottle 12, and an injection needle 13. Specifically, the syringe 11 is provided with a liquid inlet cavity 111 and a liquid outlet cavity 112. One end of the liquid inlet cavity 111 is connected to the liquid storage bottle 12. The liquid storage bottle 12 is sealed and stores the liquid medicine to be injected. The other end of the liquid outlet cavity 112 is equipped with the injection needle 13. The liquid medicine in the liquid storage bottle 12 can enter the liquid outlet cavity 112 through the liquid inlet cavity 111 and be injected into the patient's body after the injection needle 13 is inserted into the patient.

[0042] Preferably, the syringe 11 is cross-shaped and has four open ends. Both ends of the liquid inlet chamber 111 extend to two coaxial open ends respectively. The liquid storage bottle 12 is locked to one open end of the liquid inlet chamber 111, and the other open end of the liquid inlet chamber 111 is blocked by a sealing plug 14, thereby forming a sealed space to prevent the medicine liquid from being contaminated. Further, the liquid outlet chamber 112 extends from the inside of the syringe 11 to another open end, and the pressure conversion module is hermetically connected to another open end of the syringe 11. It should be noted that the liquid inlet chamber 111 and the liquid outlet chamber 112 are arranged in an L shape.

[0043] Optionally, the injection needle 13 is locked to one end of the liquid outlet chamber 112 through a Luer interface. The liquid storage bottle 12 is a Luer port medicine liquid container, and the above Luer interface and the Luer port medicine liquid container are of the same specification. With the above structural arrangement, the injection needle 13 and the liquid storage bottle 12 are separated. Therefore, when replacing the medicine liquid, there is no need to separately disassemble the injection needle 13, and only the liquid storage bottle 12 needs to be replaced.

[0044] Specifically, please refer to Figures 1-4 , a first normally closed valve is provided at one end of the liquid inlet chamber 111 communicating with the liquid storage bottle 12. When the liquid inlet chamber 111 is in a negative pressure state, the first normally closed valve opens, and the medicine liquid in the liquid storage bottle 12 enters the liquid inlet chamber 111. In other pressure states, the first normally closed valve is always in a blocked state; a second normally closed valve is provided at one end of the liquid outlet chamber 112 communicating with the liquid inlet chamber 111. When the liquid inlet chamber 111 is in a positive pressure state, the first normally closed valve closes, the second normally closed valve opens, the liquid inlet chamber 111 communicates with the liquid outlet chamber 112, and the medicine liquid in the liquid inlet chamber 111 enters the liquid outlet chamber 112 and is pushed into the injection needle 13 under the action of pressure.

[0045] Preferably, please refer to Figure 4 , the first normally closed valve includes a first valve core 151 and a first compression spring 152. The first valve core 151 is arranged at one end of the liquid inlet chamber 111, and one end of the first valve core 151 abuts against the inner wall of the liquid inlet chamber 111 circumferentially. The first compression spring 152 abuts between the other end of the liquid inlet chamber 111 and the first valve core 151, that is, the first compression spring 152 abuts between the sealing plug 14 and the first valve core 151. When the liquid inlet chamber 111 is in a negative pressure state, the first valve core 151 squeezes the first compression spring 152 under the action of pressure, and then the liquid inlet chamber 111 communicates with the liquid storage bottle 12. In other pressure states, the first compression spring 152 always pushes the first valve core 151 to block one end of the liquid inlet chamber 111.

[0046] In this embodiment, the open end of the liquid storage bottle 12 extends into the liquid inlet cavity 111 and circumferentially abuts against the cavity wall of the liquid inlet cavity 111. Appropriately, the first valve core 151 includes a first plugging portion and two first rod portions oppositely arranged at both ends of the first plugging portion. One of the first rod portions extends into and circumferentially abuts against the open end of the liquid storage bottle 12, the first plugging portion circumferentially abuts against the cavity wall of the liquid inlet cavity 111, the first compression spring 152 is sleeved on the other first rod portion, and abuts between the first plugging portion and the closing plug 14.

[0047] Similarly, the second normally-closed valve includes a second valve core 153 and a second compression spring 154. The second valve core 153 is arranged at one end of the liquid outlet cavity 112, and one end of the second valve core 153 circumferentially abuts against the cavity wall of the liquid outlet cavity 112. The second compression spring 154 abuts between the other end of the liquid outlet cavity 112 and the second valve core 153. When the liquid inlet cavity 111 is in a positive pressure state, the second valve core 153 squeezes the second compression spring 154 under the action of the pressure, and then the liquid outlet cavity 112 communicates with the liquid inlet cavity 111. In other pressure states, the second compression spring 154 always pushes the second valve core 153 to plug one end of the liquid outlet cavity 112.

[0048] In this embodiment, the second valve core 153 includes a second plugging portion and two second rod portions oppositely arranged at both ends of the second plugging portion. One of the second rod portions extends into and circumferentially abuts against the communicating portion between the liquid outlet cavity 112 and the liquid inlet cavity 111, the second plugging portion circumferentially abuts against the cavity wall of the liquid outlet cavity 112, the second compression spring 154 is sleeved on the other second rod portion, and abuts between the second plugging portion and the cavity wall of the liquid outlet cavity 112.

[0049] Please refer to Figure 3 , the syringe 11 is further provided with a pressure-changing cavity 113. The pressure-changing cavity 113 communicates with another open end of the syringe 11. It should be noted that the liquid inlet cavity 111 and the pressure-changing cavity 113 are arranged in an L shape, and one end of the pressure-changing cavity 113 communicates with the liquid inlet cavity 111. The pressure-changing module is installed in the pressure-changing cavity 113 and is used to perform decompression movement and pressurization movement on the pressure-changing cavity 113 crosswise, that is, to perform decompression and pressurization on the liquid inlet cavity 111 crosswise, so as to switch the liquid inlet cavity 111 to a negative pressure state and a positive pressure state crosswise. In one cycle process, a certain amount of liquid medicine is pushed into the patient.

[0050] In this embodiment, the frequencies of the decompression movement and the pressurization movement are fixed to ensure that in each cycle of the decompression movement and the pressurization movement, the same unit dose of liquid medicine is pushed into the patient. By controlling the number of cycles of each injection, the injection of equal-dose liquid medicine can be realized during the treatment process.

[0051] It should be noted that after the decompression movement, the pressure state can ensure the opening of the first normally-closed valve. After the pressurization movement, the pressure state can ensure the opening of the second normally-closed valve.

[0052] The voltage conversion module includes a driving component, a reciprocating component, and a pushing component. The output end of the driving component is connected to one end of the reciprocating component. The other end of the reciprocating component reciprocates relative to one end of the reciprocating component. The other end of the reciprocating component is connected to one end of the pushing component, and the other end of the pushing component extends into the other end of the voltage conversion chamber 113 and circumferentially abuts against the chamber wall of the voltage conversion chamber 113. Through the above arrangement, the driving component drives the other end of the reciprocating component to drive the pushing component to reciprocate. The pushing component compresses or releases the voltage conversion chamber 113, and then performs a decompression movement and a pressurization movement on the voltage conversion chamber 113 crosswise, and also switches the liquid inlet chamber 111 to a negative pressure state and a positive pressure state crosswise. A certain amount of liquid medicine is pushed into the patient during one reciprocating movement.

[0053] Exemplarily, please refer to Figure 4 , the driving component includes a first driving member 211, a fixing member 212, and a sheath 213. A stepped protrusion is annularly provided in the middle area of the fixing member 212. One end of the sheath 213 circumferentially abuts against one end of the stepped protrusion, and the inner wall of the sheath 213 is screwed to the outer wall of the sheath 213. The first driving member 211 is disposed inside the sheath 213, and its outer wall is screwed to the inner wall of the fixing member 212. The output end of the first driving member 211 is fixedly connected to one end of the reciprocating component. Preferably, the first driving member 211 is a motor.

[0054] Further, please refer to Figure 4 and Figure 5 , the reciprocating component includes a guiding member 221, a push-pull sleeve 222, and a guiding stepped shaft 223. The output end of the first driving member 211 is connected to one end of the guiding member 221 and is used to drive the guiding member 221 to rotate self. A spiral groove is provided on the outer wall of the guiding member 221 along its length direction. One end of the push-pull sleeve 222 is slidably sleeved on the outer wall of the guiding member 221. The guiding stepped shaft 223 has two optical axes, and one of the optical axes penetrates through the push-pull sleeve 222 and slidably extends into the spiral groove. One end of the pushing component is connected to the push-pull sleeve 222, and the other end of the pushing component extends into the other end of the voltage conversion chamber 113 and circumferentially abuts against the chamber wall of the voltage conversion chamber 113. Through the above arrangement, the driving component drives the guiding member 221 to rotate self, drives the guiding stepped shaft 223 to slide in the spiral groove, and then drives the push-pull sleeve 222 and the pushing component to move along the first direction to change the pressure state of the voltage conversion chamber 113. The first direction is the axis of the injection needle 13.

[0055] Optionally, a plurality of guiding stepped shafts 223 are circumferentially and spacedly fixed on the push-pull sleeve 222, and a corresponding number of spiral grooves are provided on the guiding member 221. One of the optical axes of each guiding stepped shaft 223 penetrates through the push-pull sleeve 222 and slidably extends into its corresponding spiral groove.

[0056] Preferably, the reciprocating assembly further includes a guide sleeve 224, one end of which is circumferentially abutted against the step protrusion on the fixing member 212 and is screwed to the outer wall of the step protrusion, and the guide member 221, the push-pull sleeve 222 and the guide stepped shaft 223 are all arranged inside the guide sleeve 224. In this embodiment, the other end of the guide sleeve 224 is circumferentially inserted into another open end of the syringe 11, and the outer wall of the guide sleeve 224 is screwed to the syringe 11.

[0057] Further preferably, a first guide groove is formed through the side wall of the guide sleeve 224 along the first direction, and the other optical axis of the guide stepped shaft 223 is slidably limited in the first guide groove. The above arrangement improves the accuracy of the reciprocating motion.

[0058] The transformer module provided in this embodiment also has a claw assembly, and the connection between the reciprocating assembly and the pushing assembly is realized by the claw assembly. Specifically, the claw assembly includes an elastic claw 231, a reset push sleeve 232 and a reset spring 233, one end of the elastic claw 231 is clamped on the other end of the push-pull sleeve 222, the other end of the elastic claw 231 is circumferentially protruding, the reset push sleeve 232 and the reset spring 233 are both slidably sleeved on the outer wall of the elastic claw 231, the reset spring 233 abuts between the reset push sleeve 232 and the push-pull sleeve 222, and pushes the reset push sleeve 232 to abut against the other end of the elastic claw 231 circumferentially, and one end of the pushing assembly is clamped on the other end of the elastic claw 231. Through the above-mentioned arrangement, the driving assembly drives the guide member 221 to rotate, driving the guide step shaft 223 to slide in the rotary groove, driving the push-pull sleeve 222, the claw assembly and the pushing assembly to move along the first direction close to the liquid outlet chamber 112 to increase the pressure of the transformer chamber 113, and the reset spring 233 drives the push-pull sleeve 222, the claw assembly and the pushing assembly to move along the first direction away from the liquid outlet chamber 112 to reduce the pressure of the transformer chamber 113.

[0059] Further preferably, the other end of the claw assembly extends into the syringe 11 to ensure that the push assembly is always blocked in the variable pressure chamber 113. Further, two guide shafts are relatively fixed on the reset push sleeve 232, one end of the guide shaft is fixed to the reset push sleeve 232, and two second guide grooves 114 are formed through the side wall of the syringe 11 along the first direction, and the other ends of the two guide shafts are respectively slidably limited in the two second guide grooves 114 to limit the sliding direction of the reset push sleeve 232.

[0060] The driving assembly includes a push rod 241 and a piston 242. The other end of the elastic claw 231 is an opening with an adjustable diameter. An external force is applied to the push rod 241 so that one end of the push rod 241 is snapped into the opening. The opening undergoes elastic deformation and thus changes its diameter, and under the action of this elastic deformation, the push rod 241 is clamped. The piston 242 is clamped to the other end of the push rod 241, and the piston 242 extends into the other end of the pressure transformation chamber 113 and circumferentially abuts against the chamber wall of the pressure transformation chamber 113 to achieve the sealing of the pressure transformation chamber 113.

[0061] The equal-dose injection device used in cooperation with a robot further includes a sliding module, which is used to achieve automatic needle insertion with relatively high needle insertion accuracy.

[0062] Please refer to Figure 1 , the sliding module includes a lead screw assembly and a connecting sleeve 32. The lead screw assembly includes a driving unit, a lead screw 33 and a lead screw nut 34. The lead screw nut 34 is screwed onto the lead screw 33. The lead screw 33 is arranged in the first direction. The driving unit is configured to drive the lead screw 33 to rotate self - rotatably to drive the lead screw nut 34 to move along the lead screw 33. The connecting sleeve 32 is connected to the lead screw nut 34 and is connected to the pressure transformation module. Specifically, the connecting sleeve 32 is sleeved and screwed onto the outer wall of the sheath 213. Through the above settings, by controlling the frequency and rotation speed of the driving unit, the needle insertion depth can be accurately controlled.

[0063] Preferably, the driving unit includes a motor base 311, a second driving member 312, a driving wheel 313, a driven wheel 314 and a synchronous belt 315. Specifically, the second driving member 312 is fixedly connected to the motor base 311. The driving wheel 313 is rotatably mounted on the output end of the second driving member 312, and the driven wheel 314 and the driving wheel 313 are synchronously rotated through the synchronous belt 315. Further, the driven wheel 314 is inserted and fixedly connected to the lead screw 33, so as to realize the rotation of the lead screw 33 driven by the second driving member 312.

[0064] Further, the sliding module further includes a guide rail assembly for restricting the circumferential freedom degree of the lead screw nut 34. The guide rail assembly includes a fixed seat 35, a slider 36 and a slide rail 37. The fixed seat 35 includes a base 351 and a connecting seat 352 vertically arranged on one side of the base 351. The slide rail 37 is arranged on the other side of the base 351 in the first direction. The slider 36 is slidably connected to the slide rail 37, and the top of the slider 36 is connected to the connecting sleeve 32.

[0065] Through the above settings, the second driving member 312 drives the lead screw 33 to rotate self - rotatably to drive the lead screw nut 34 and the slider 36 connected thereto to slide along the slide rail 37, and further drives the pressure transformation module to slide in the first direction through the connecting sleeve 32 connected to the lead screw nut 34, that is, to slide along the extending direction of the needle tip of the injection needle 13.

[0066] Preferably, the motor base 311 is fixedly provided at the bottom of the base 351.

[0067] The equal-dose injection device used in conjunction with the robot further includes a quick-connection module. The robotic arm is detachably connected to the quick-connection module through a flange base 40, thereby achieving quick connection or separation from the robotic arm.

[0068] Please refer to Figure 1 , Figure 2 , Figures 6-9 , the quick-connection module includes an insert core 41 and a limiting member 42. The insert core 41 includes a connecting plate 411 and a plugging rod 412 connected thereto. The connecting plate 411 is installed on the side of the connecting seat 352 facing away from the slide rail 37. The plugging rod 412 can be inserted into the inner hole of the flange base 40. A plurality of conical holes 403 on the same circular plane are circumferentially spaced on the outer wall of the flange base 40. A conical groove 4121 is annularly provided on the outer wall of the plugging rod 412. The conical holes 403 are arranged opposite to the conical groove 4121. The limiting member 42 is placed in the conical holes 403. By limiting the limiting member 42 between the conical holes 403 and the conical groove 4121, the insert core 41 and the flange base 40 are locked. The quick connection between the robotic arm and the insert core 41 is achieved through the quick connection between the flange base 40 and the insert core 41. Preferably, the limiting member 42 is a steel ball.

[0069] Exemplarily, the quick-connection module further includes a sleeve 43 and a locking spring 44 for limiting the limiting member 42. The sleeve 43 is slidably sleeved on the outer wall of the flange base 40. First annular protrusions 431 and second annular protrusions 432 are spaced on the inner wall of the sleeve 43. The second annular protrusion 432 is close to the connecting seat 352. Third annular protrusions 401 and fourth annular protrusions 402 are spaced on the outer wall of the flange base 40. The fourth annular protrusion 402 is close to the connecting seat 352. The second annular protrusion 432 abuts against the fourth annular protrusion 402. The locking spring 44 is sleeved on the outer wall of the flange base 40 and abuts between the first annular protrusion 431 and the third annular protrusion 401, thereby limiting the sleeve 43. The locking spring 44 is configured to push the sleeve 43 to slide in the direction close to the connecting seat 352. The first annular protrusion 431 of the sleeve 43 abuts against the limiting member 42 and limits it between the conical hole 403 and the conical groove 4121 to lock the insert core 41 and the flange base 40.

[0070] Preferably, a ring groove is circumferentially provided at one end of the flange base 40 close to the connecting seat 352. An annular ring is clamped in the ring groove, and the annular ring protrudes from the outer wall of the flange base 40 to form the fourth annular protrusion 402.

[0071] Optionally, a straight-line protrusion is provided at one end of the plug rod 412 away from the connecting plate 411, and two opposite clamping blocks are provided on the end surface of the flange seat 40. With the above arrangement, when connected with the flange seat 40, the end of the plug rod 412 away from the connecting plate 411 extends into the flange seat 40, and after the first annular boss 431 of the sleeve 43 abuts against the limiting member 42 and is limited to the tapered hole 403 and the tapered groove 4121, the plug core 41 is rotated to make the straight-line protrusion at the end of the plug rod 412 clamped in the two opposite clamping blocks provided on the end surface of the flange seat 40.

[0072] Furthermore, a side of the first annular boss 431 close to the second annular boss is a conical surface 4321, and the conical surface 4321 gradually approaches the axis of the sleeve 43 in a direction away from the second annular boss 432. The conical surface 4321 is opposite to the conical hole 403. The conical surface 4321, the conical hole 403 and the conical groove 4121 cooperate to form a limiting space. The limiting member 42 is located in the limiting space, and the sleeve 43 is slid in a direction away from the connecting seat 352. The conical surface 4321 gradually moves away from the limiting member 42 from the state of being pressed against the limiting member 42, and then the limiting member 42 disengages from the conical groove 4121 to unlock the insert 41 and the flange seat 40.

[0073] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An equal-dose injection device used in conjunction with a robot, characterized in that, Comprising: An injection module, the injection module includes a syringe (11), the syringe (11) is provided with an L-shaped liquid inlet cavity (111) and a liquid outlet cavity (112), one end of the liquid inlet cavity (111) is connected to a liquid storage bottle (12) and is provided with a first normally closed valve, the other end of the liquid inlet cavity (111) is blocked, one end of the liquid outlet cavity (112) communicates with the liquid inlet cavity (111) and is provided with a second normally closed valve, the other end of the liquid outlet cavity (112) is installed with an injection needle (13), when the liquid inlet cavity (111) is in a negative pressure state, the first normally closed valve opens, and the liquid in the liquid storage bottle (12) enters the liquid inlet cavity (111), when the liquid inlet cavity (111) is in a positive pressure state, the first normally closed valve closes, the second normally closed valve opens, and the liquid enters the liquid inlet cavity (111) and is pushed into the injection needle (13); A pressure-changing module, the syringe (11) is further provided with a pressure-changing cavity (113), the pressure-changing cavity (113) and the liquid inlet cavity (111) are arranged in an L-shape, one end of the pressure-changing cavity (113) communicates with the liquid inlet cavity (111), the other end of the pressure-changing cavity (113) is installed with the pressure-changing module, the pressure-changing module is configured to perform a pressure-reducing movement and a pressure-increasing movement on the pressure-changing cavity (113) alternately, and the frequencies of the pressure-reducing movement and the pressure-increasing movement are fixed; A quick-connect module, the quick-connect module is connected to the pressure-changing module, and the quick-connect module is configured to be detachably connected to a robotic arm.

2. The equal-dose injection device used in cooperation with a robot according to claim 1, characterized in that, The pressure-changing module includes a driving component, a reciprocating component and a pushing component, the reciprocating component includes a guiding member (221), a push-pull sleeve (222) and a guiding stepped shaft (223), the output end of the driving component is connected to one end of the guiding member (221) and is configured to drive the guiding member (221) to rotate self, a circumferential groove is arranged on the outer wall of the guiding member (221) along its length direction, one end of the push-pull sleeve (222) is slidably sleeved on the outer wall of the guiding member (221), the guiding stepped shaft (223) is fixedly arranged on the push-pull sleeve (222), and one end of the guiding stepped shaft (223) penetrates through the push-pull sleeve (222) and slidably extends into the circumferential groove, one end of the pushing component is connected to the push-pull sleeve (222), the other end of the pushing component extends into the other end of the pressure-changing cavity (113) and circumferentially abuts against the cavity wall of the pressure-changing cavity (113), the driving component drives the guiding member (221) to rotate self, drives the guiding stepped shaft (223) to slide in the circumferential groove, drives the push-pull sleeve (222) and the pushing component to move along a first direction to change the pressure state of the pressure-changing cavity (113), and the first direction is the axis of the injection needle (13).

3. The equal-dose injection device used in cooperation with a robot according to claim 2, characterized in that, The voltage conversion module further includes a claw assembly, the claw assembly includes an elastic claw (231), a reset push sleeve (232) and a reset spring (233). One end of the elastic claw (231) is clamped to the other end of the push-pull sleeve (222), and the other end of the elastic claw (231) protrudes circumferentially. The reset push sleeve (232) and the reset spring (233) are both slidably sleeved on the outer wall of the elastic claw (231). The reset spring (233) abuts between the reset push sleeve (232) and the push-pull sleeve (222), and pushes the reset push sleeve (232) to abut circumferentially against the other end of the elastic claw (231). One end of the pushing assembly is clamped to the other end of the elastic claw (231). The push-pull sleeve (222) and the claw assembly drive the pushing assembly to move close to the liquid outlet cavity (112) along the first direction to increase the pressure in the voltage conversion cavity (113). The reset spring (233) pushes the push-pull sleeve (222), the claw assembly and the pushing assembly to move away from the liquid outlet cavity (112) along the first direction to reduce the pressure in the voltage conversion cavity (113).

4. The equal-dose injection device used in cooperation with a robot according to claim 3, characterized in that, The reciprocating assembly further includes a guide sleeve (224). The guide member (221), the push-pull sleeve (222), the guide stepped shaft (223) and the claw assembly are all arranged inside the guide sleeve (224). A first guide groove is formed in the side wall of the guide sleeve (224) and penetrates along the first direction. The other end of the guide stepped shaft (223) is slidably limited in the first guide groove.

5. The equal-dose injection device used in conjunction with a robot according to claim 3, characterized in that, The pushing assembly includes a push rod (241) and a piston (242). The other end of the elastic claw (231) is an opening, and the diameter of the opening is adjustable. One end of the push rod (241) is clamped in the opening. The piston (242) is clamped to the other end of the push rod (241), and the piston (242) extends into the other end of the voltage conversion cavity (113) and abuts circumferentially against the cavity wall of the voltage conversion cavity (113).

6. The equal-dose injection device for use with a robot according to claim 1, wherein The equal-dose injection device for use with a robot further includes a sliding module. The sliding module includes a lead screw assembly and a connecting sleeve (32). The lead screw assembly includes a driving unit, a lead screw (33) and a lead screw nut (34). The lead screw nut (34) is screwed on the lead screw (33). The lead screw (33) is arranged along the first direction, and the first direction is the axis of the injection needle (13). The driving unit is configured to drive the lead screw (33) to rotate self to drive the lead screw nut (34) to move along the lead screw (33). The connecting sleeve (32) is connected to the lead screw nut (34) and connects the voltage conversion module.

7. An equal-dose injection device used in cooperation with a robot, characterized in that, The sliding module further includes a guide rail assembly, which includes a fixed seat (35), a slider (36) and a slide rail (37). The fixed seat (35) includes a base (351) and a connecting seat (352) vertically arranged on one side of the base (351). The slide rail (37) is arranged on the other side of the base (351) along the first direction. The slider (36) is slidably connected to the slide rail (37). The top of the slider (36) is connected to the connecting sleeve (32). The quick-connect module is installed on the side of the connecting seat (352) facing away from the slide rail (37).

8. An equal-dose injection device used in cooperation with a robot, characterized in that, The robotic arm is detachably connected to the quick-connect module through a flange seat (40). The quick-connect module includes a ferrule (41), a limiting member (42), a sleeve (43) and a locking spring (44). The top of the ferrule (41) is installed on the connecting seat (352). The ferrule (41) is inserted into the inner hole of the flange seat (40). A plurality of tapered holes (403) are circumferentially spaced on the outer wall of the flange seat (40). A tapered groove (4121) is annularly arranged on the outer wall of the ferrule (41). The tapered holes (403) face the tapered groove (4121). The limiting member (42) is placed in the tapered holes (403). The sleeve (43) is slidably sleeved on the outer wall of the flange seat (40). First annular protrusions (431) and second annular protrusions (432) are spaced on the inner wall of the sleeve (43). The second annular protrusion (432) is close to the connecting seat (352). Third annular protrusions (401) and fourth annular protrusions (402) are spaced on the outer wall of the flange seat (40). The fourth annular protrusion (402) is close to the connecting seat (352). The second annular protrusion (432) abuts against the fourth annular protrusion (402). The locking spring (44) is sleeved on the outer wall of the flange seat (40) and abuts between the first annular protrusion (431) and the third annular protrusion (401). The locking spring (44) is configured to push the sleeve (43) to slide in the direction close to the connecting seat (352). The sleeve (43) abuts against the limiting member (42) and is limited between the tapered holes (403) and the tapered groove (4121) to lock the ferrule (41) and the flange seat (40).

9. An equal-dose injection device used in conjunction with a robot, characterized in that, One side of the first annular boss (431) close to the second annular boss is a conical surface (4321), and the conical surface (4321) gradually approaches the axis of the sleeve (43) in a direction away from the second annular boss (432). The conical surface (4321) faces the conical hole (403). The conical surface (4321) pushes the limiting member (42) to be limited in the conical hole (403) and the conical groove (4121) to lock the ferrule (41) and the flange seat (40). Slide the sleeve (43) in a direction away from the connecting seat (352), and the limiting member (42) disengages from the conical groove (4121) to unlock the ferrule (41) and the flange seat (40).

10. A method for manufacturing a semiconductor device, comprising: The first normally closed valve includes a first valve core (151) and a first compression spring (152). The first valve core (151) is circumferentially abutted against the wall of the liquid inlet chamber (111) and is located at one end of the liquid inlet chamber (111). The first compression spring (152) is abutted between the other end of the liquid inlet chamber (111) and the first valve core (151). The second normally closed valve includes a second valve core (153) and a second compression spring (154). The second valve core (153) is circumferentially abutted against the wall of the liquid outlet chamber (112) and is located at one end of the liquid outlet chamber (112). The second compression spring (154) is abutted between the other end of the liquid inlet chamber (111) and the second valve core (153).

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