An egg inoculator and method of operation that can achieve safe inoculation

Abstract

The application relates to the technical field of chicken egg inoculation, in particular to a chicken egg inoculation machine capable of realizing safe inoculation and an operation method, which comprises a conveying unit, an optical detection unit and a mechanical arm assembly, further comprises an inoculation assembly; the conveying unit is used for conveying the chicken eggs, the air chamber position is recognized through the optical detection unit, and the injection point is determined; the inoculation assembly is installed on the mechanical arm assembly, and the inoculation assembly is driven by the mechanical arm assembly to inoculate along the injection point; the chicken egg inoculation machine can directly insert the injection needle tube into the chicken egg along the punched hole to realize safe inoculation after the punching is completed, the visual positioning demand for the hole can be saved, a mechanical arm assembly with lower precision can be used, and the device cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of egg inoculation technology, specifically to an egg inoculation machine and its operating method that can achieve safe inoculation. Background Technology

[0002] An egg inoculation machine is an automated device designed specifically for biopharmaceutical and scientific research fields. Its core function is to precisely inject specific substances into developing chicken embryos for purposes such as virus culture, antigen preparation, or scientific experiments. Its main workflow involves conveying eggs via a conveyor belt, using optical sensors to detect the embryo's position, ensuring the injection needle is precisely aligned with the embryo or a specific area for quantitative and precise injection. Because eggshells are brittle, to ensure safe inoculation and avoid large-area collapse and breakage when the injection needle penetrates, most existing egg inoculation machines first use a micro-drill to create a hole, then control the injection needle to insert along the hole for inoculation, thus extending the needle's lifespan. However, in actual use, the diameter of the micro-drill hole is extremely small, between 0.5 and 1.5 millimeters. Precise control of the needle's position is required when inserting it along the hole, typically using high-precision vision sensors and high-precision robotic arm components to ensure successful insertion along such a small hole, which leads to high equipment costs. Summary of the Invention

[0003] The purpose of this invention is to provide an egg inoculation machine and its operating method that can achieve safe inoculation, so as to solve the problem of high equipment cost mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an egg inoculation machine capable of safe inoculation, comprising a conveying unit, an optical detection unit, and a robotic arm assembly, and further comprising an inoculation assembly; the conveying unit is used to convey eggs, the optical detection unit identifies the air cell position and determines the injection point, the inoculation assembly is mounted on the robotic arm assembly, and the robotic arm assembly drives the inoculation assembly to perform inoculation along the injection point; the inoculation assembly comprises an outer fixed cylinder and an inner rotating cylinder, the inner rotating cylinder being rotatable relative to the outer fixed cylinder, and the central axis of the outer fixed cylinder and the inner rotating cylinder being... An injection needle tube is installed through the inner rotating cylinder and is capable of axial extension and retraction. A side wing slide and a stabilizing bracket are fixedly installed on the surface of the inner rotating cylinder. A track inclined rod is slidably installed in the side wing slide and a perforated needle is fixedly installed on the track inclined rod. The length direction of the track inclined rod is at a certain angle to the axis of the injection needle tube. When the track inclined rod slides down to its position, it contacts the stabilizing bracket. At this time, the perforated needle is directly below the injection needle tube and coaxially corresponding to the injection needle tube. When the track inclined rod slides up, the perforated needle moves away from below the injection needle tube.

[0005] The outer fixed cylinder is fixedly equipped with a disinfectant injection pipe and a negative pressure back suction pipe. Both the disinfectant injection pipe and the negative pressure back suction pipe are inserted into the interior of the inner rotating cylinder from the upper opening of the inner rotating cylinder, and do not contact the inner rotating cylinder.

[0006] The bottom of the inner rotating cylinder has a needle tube bottom hole, through which the injection needle extends downward; the bottom of the inner rotating cylinder also has a transverse column cavity, which cuts off the needle tube bottom hole transversely, and a sealing plug is provided inside the transverse column cavity. The sealing plug is in sealing contact with the inner wall surface of the transverse column cavity. When the sealing plug is inserted into the transverse column cavity and passes through the needle tube bottom hole, it can cut off the needle tube bottom hole transversely.

[0007] A T-shaped frame is fixedly installed at the end of the sealing plug, and a positioning frame shaft is fixedly installed on the T-shaped frame. A frame shaft sliding sleeve is fixedly installed on the surface of the inner rotating cylinder, and the positioning frame shaft passes through the frame shaft sliding sleeve.

[0008] A return spring is provided between the bracket shaft sleeve and the T-shaped frame, and a reverse centrifugal block is fixedly provided at the end of the positioning bracket shaft away from the T-shaped frame.

[0009] Under the elastic support of the return spring, the T-shaped frame tends to move away from the frame shaft sleeve, so that when the inner rotating cylinder is stationary, the sealing plug is pulled out from the cross-section cylinder cavity; when the inner rotating cylinder rotates and the speed exceeds a certain threshold, the reverse centrifugal block drives the T-shaped frame to move towards the frame shaft sleeve through centrifugal force, so that the sealing plug is inserted into the cross-section cylinder cavity.

[0010] The inner wall surface of the inner rotating cylinder is provided with an inner wall vertical ridge; an extrusion ring is fixedly provided at the end of the inner rotating cylinder, and a return protrusion is provided on the extrusion ring.

[0011] An oscillating element is installed inside the outer fixed cylinder, and a track optical axis is fixedly installed on the inner wall surface of the outer fixed cylinder. The track optical axis passes through the oscillating element to limit and support the oscillating element.

[0012] A tension spring is provided between the oscillating element and the inner wall surface of the outer fixed cylinder, and the tension spring provides elastic tension to the oscillating element so that the oscillating element contacts the injection needle tube.

[0013] The oscillating element is fixedly provided with a mating droop. When the inner rotating cylinder rotates relative to the outer fixed cylinder, the return protrusion will intermittently press against the mating droop, causing the oscillating element to oscillate along the axial direction of the track optical axis, applying an impact force to the injection needle tube, causing the end of the injection needle tube inside the inner rotating cylinder to oscillate.

[0014] An outer wall threaded sleeve is fixedly installed on the surface of the track inclined rod, and a first lead screw is inserted through the outer wall threaded sleeve. The outer wall threaded sleeve and the first lead screw are screwed together. The rotation of the first lead screw drives the outer wall threaded sleeve and the track inclined rod to move. A first motor is fixedly installed on the surface of the side wing slide, and the first lead screw is driven to rotate by the first motor.

[0015] A conductive slip ring is embedded in the surface of the inner rotating cylinder, and a brush part is provided in contact with the outside of the conductive slip ring. During the rotation of the inner rotating cylinder, the brush part is connected to the first motor for power supply through the conductive slip ring.

[0016] The outer fixed cylinder is fixedly provided with a fixed cylinder skirt cover, and the fixed cylinder skirt cover is provided with a coil part inside;

[0017] The inner rotating cylinder is fixedly provided with a rotating cylinder skirt cover. A permanent magnet is fixedly provided on the surface of the rotating cylinder skirt cover. When the coil is energized, it cooperates with the permanent magnet to drive the rotating cylinder skirt cover to rotate relative to the fixed cylinder skirt cover, thereby causing the inner rotating cylinder to rotate relative to the outer fixed cylinder.

[0018] A method for safe inoculation, employing an egg inoculation machine capable of safe inoculation, includes the following steps:

[0019] Step 1: During the process of conveying the eggs by the conveying unit, the location of the air cell is identified and the injection point is determined by the optical detection unit;

[0020] Step 2: The robotic arm component drives the inoculation component to move and controls the inner rotating cylinder to rotate relative to the outer fixed cylinder, so that the punching needle moves to the injection point position to make a hole;

[0021] Step 3: After punching the hole, the track bar moves upward and retracts, then the injection needle extends downward, allowing it to be inserted into the egg along the punched hole for inoculation.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. The egg inoculation machine of the present invention, through the inoculation component, can safely inoculate the egg after punching without moving the robotic arm component. The punching needle moves obliquely upward and the injection needle is directly inserted into the egg through the punched hole. This can save the need for visual positioning of the hole and can use a robotic arm component with lower precision, thereby reducing the cost of the device.

[0024] 2. The present invention, through the combination of the inner rotating cylinder with the cross-sectional column cavity, T-shaped frame and reverse centrifugal block, can automatically close the bottom hole of the needle tube during the high-speed rotation of the inner rotating cylinder for punching. The inner rotating cylinder will automatically form a container to soak and disinfect the injection needle tube. After the punching stops, the bottom hole of the needle tube will automatically open to facilitate the extension of the injection needle tube. This allows punching and disinfection to be carried out simultaneously, improving work efficiency.

[0025] 3. Through the combination of the internal wall vertical ridges, the return protrusion and the oscillating element, the high-speed rotation of the inner rotating cylinder can drive the disinfectant in the inner rotating cylinder to form a rotating vortex, which can rinse the injection needle tube and achieve efficient disinfection. In addition, the oscillating element drives the lower end of the injection needle tube to oscillate and swing, which can further improve the cleaning and disinfection effect of the injection needle tube and reduce the retention of contaminants. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the inoculation component of the present invention.

[0028] Figure 3 This is a front view of the inoculation component of the present invention.

[0029] Figure 4 This is another schematic diagram of the inoculation component of the present invention.

[0030] Figure 5 This is a three-dimensional half-sectional schematic diagram of the inoculation component of the present invention.

[0031] Figure 6 This is a three-dimensional half-sectional front view of the inoculation component of the present invention.

[0032] Figure 7 This is a three-dimensional half-section front view of the needle slider of the present invention.

[0033] Figure 8 This is a three-dimensional half-section front view of the inner rotating cylinder of the present invention.

[0034] Figure 9 This is a side three-dimensional half-sectional view of the inoculation component of the present invention.

[0035] Figure 10 This is a side three-dimensional half-section diagram of the oscillating element of the present invention.

[0036] Figure 11 This is a side three-dimensional half-section diagram of the bottom hole of the needle tube of the present invention.

[0037] Figure 12 This is a schematic diagram of the inner rotating cylinder of the present invention.

[0038] Figure 13This is a three-dimensional half-sectional schematic diagram of the inner rotating cylinder of the present invention.

[0039] In the diagram: 1. Conveying unit; 2. Optical detection unit; 3. External fixed cylinder; 4. Inner rotating cylinder; 5. Injection needle; 6. Side wing slide; 7. Track inclined bar; 8. Perforated needle; 9. Stabilizing bracket; 401. Disinfectant filling tube; 402. Negative pressure suction tube; 403. Needle tube bottom hole; 404. Cross-section column cavity; 405. Sealing plug; 406. T-shaped frame; 407. Positioning frame shaft; 408. Frame shaft sliding sleeve; 409. Return spring; 410. Reverse centrifugal block; 411. Inner wall vertical ridge; 412. Extrusion ring; 413. Return protrusion; 414. Vibrating element; 415. Track optical axis; 416. Tension spring; 417. Fitting vertical part; 701. Outer wall threaded sleeve; 702. First lead screw; 703. First motor; 704. Conductive slip ring; 705. Brush part; 301. Fixed cylinder skirt cover; 302. Coil part; 303. Permanent magnet; 304. Rotating cylinder skirt cover; 305. Bearing part; 306. Extension slide plate; 307. Needle tube slider; 308. Injection inlet tube; 309. Second lead screw; 310. End fixing plate; 311. Second motor; 312. Mounting hole plate; 901. Bracket protrusion; 902. Counterweight. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Please see Figures 1 to 13 This invention provides a technical solution: an egg inoculation machine that can achieve safe inoculation, including a conveying unit 1, an optical detection unit 2, a robotic arm assembly, and an inoculation assembly. The conveying unit 1 includes a conveyor belt and an egg tray, etc., which can convey eggs. The optical detection unit 2 includes a light source system and an image acquisition system. The light source system is a light-emitting device such as an LED lamp, which illuminates the egg and maps the location of the air cell. The image acquisition system is an industrial camera with high resolution and high frame rate, which can quickly and clearly capture images of the egg. The high-resolution camera can capture the fine features of the egg surface and interior. The robotic arm assembly is a drive control mechanism in the prior art, which will not be described in detail in this application.

[0042] The eggs input into the egg inoculation machine of this invention are by default eggs that have been surface disinfected. If the egg surface has not been disinfected, a disinfection device can be added upstream of the egg inoculation machine of this invention. This invention identifies the position of the air chamber and determines the injection point through the optical detection unit 2. The inoculation component is installed on the robotic arm component, and the robotic arm component drives the inoculation component to perform inoculation along the injection point.

[0043] The inoculation assembly includes an outer fixed cylinder 3 and an inner rotating cylinder 4, the inner rotating cylinder 4 being rotatable relative to the outer fixed cylinder 3, such as... Figure 8 As shown, at least two sets of bearing sections 305 are provided between the outer fixed cylinder 3 and the inner rotating cylinder 4. The bearing sections 305 can significantly reduce the resistance when the inner rotating cylinder 4 rotates relative to the outer fixed cylinder 3.

[0044] An injection needle tube 5 is installed through the central axis of the outer fixed cylinder 3 and the inner rotating cylinder 4. The injection needle tube 5 can move axially, such as... Figure 4 and Figure 7 As shown, an extension slide plate 306 is integrally welded and fixed on the outer fixed cylinder 3. A needle slide 307 is slidably and limited in the extension slide plate 306. An injection input tube 308 is fixedly mounted on the surface of the needle slide 307. One end of the injection needle tube 5 is fixed on the needle slide 307. The injection input tube 308 is connected to the injection needle tube 5 through the needle slide 307. When the needle slide 307 slides along the extension slide plate 306, it can drive the injection needle tube 5 to move axially. The injection input tube 308 is connected to the inoculation material, such as virus liquid, through a high-precision injection pump. The injection dosage of the injection needle tube 5 is precisely controlled by the high-precision injection pump.

[0045] like Figure 7 As shown, a second lead screw 309 is inserted into the syringe slider 307. The second lead screw 309 is screwed into the syringe slider 307. When the second lead screw 309 rotates, it can drive the syringe slider 307 to move. An end fixing plate 310 is welded and fixed to the end of the extension slide plate 306. A second motor 311 is fixedly installed on the end fixing plate 310 by screws. The rotation shaft of the second motor 311 is connected to the second lead screw 309 for transmission. The second motor 311 drives the second lead screw 309 to rotate. An integrally formed mounting hole plate 312 is also provided on the end fixing plate 310. Screw holes are opened on the surface of the mounting hole plate 312. The inoculation assembly is mounted on the robotic arm assembly through the mounting hole plate 312.

[0046] The inner rotating cylinder 4 is fixedly equipped with a side wing slide 6 and a stabilizing bracket 9. A track rod 7 is slidably mounted in the side wing slide 6, and a perforating needle 8 is fixedly mounted on the track rod 7. The length direction of the track rod 7 forms a certain angle with the axis of the injection needle tube 5. When the track rod 7 slides downwards to its final position, it contacts the stabilizing bracket 9. At this time, the perforating needle 8 is directly below the injection needle tube 5 and coaxially aligned with it. When the track rod 7 slides upwards, the perforating needle 8 moves away from below the injection needle tube 5. Figure 4 and Figure 12 As shown, a support ridge 901 is integrally formed on the stabilizing support 9, and a vertical groove is formed on the track inclined rod 7. When the track inclined rod 7 is in the position... Figure 4 When the lower part moves into position and makes contact with the stable support 9, the support ridge 901 will be stuck in the vertical groove, thereby making the lower end of the track bar 7 more stable and improving the stability of the punching needle 8.

[0047] like Figure 4 As shown, a counterweight 902 is fixed to the stabilizing support 9 by bolts. The counterweight 902 serves as a dynamic balance adjustment counterweight. By setting the counterweight 902, the weight distribution of the external structure of the inner rotating cylinder 4 is uniform during rotation, and eccentric swaying will not occur, thereby improving the stability of the inner rotating cylinder 4 when rotating at high speed.

[0048] A disinfectant injection pipe 401 and a negative pressure back suction pipe 402 are fixedly installed on the outer fixed cylinder 3. Both the disinfectant injection pipe 401 and the negative pressure back suction pipe 402 are inserted into the inner rotating cylinder 4 from the upper opening of the inner rotating cylinder 4, but do not contact the inner rotating cylinder 4. The disinfectant injection pipe 401 is connected to the disinfectant through a liquid pump, so that the disinfectant injection pipe 401 can spray disinfectant into the inner rotating cylinder 4. The negative pressure back suction pipe 402 is connected to the negative pressure pump through a pipe. A buffer negative pressure tank can be added to it to increase the instantaneous air extraction volume of the negative pressure back suction pipe 402, so as to completely extract the disinfectant in the inner rotating cylinder 4 and reduce the residue.

[0049] The bottom of the inner rotating cylinder 4 has a needle tube bottom hole 403, through which the injection needle tube 5 extends downward; such as Figure 11 As shown, the lower end of the needle tube bottom hole 403 is in the shape of a constricted opening. When the injection needle tube 5 passes through the needle tube bottom hole 403, the constricted opening of the needle tube bottom hole 403 can radially limit the injection needle tube 5, making the injection needle tube 5 more stable, improving the coaxiality of the injection needle tube 5, and ensuring that the injection needle tube 5 can be inserted into the egg along the hole of the punching needle 8.

[0050] The bottom of the inner rotating cylinder 4 is also provided with a transverse column cavity 404, which transversely cuts off the needle tube bottom hole 403. A sealing plug 405 is provided inside the transverse column cavity 404, and the sealing plug 405 is in sealing contact with the inner wall surface of the transverse column cavity 404. When the sealing plug 405 is inserted into the transverse column cavity 404 and passes through the needle tube bottom hole 403, it can transversely close the needle tube bottom hole 403.

[0051] A T-shaped frame 406 is fixedly installed at the end of the sealing plug 405. A positioning frame shaft 407 is fixedly installed on the T-shaped frame 406. A frame shaft sleeve 408 is fixedly installed on the surface of the inner rotating cylinder 4. The positioning frame shaft 407 passes through the frame shaft sleeve 408.

[0052] A return spring 409 is provided between the frame shaft sleeve 408 and the T-shaped frame 406. A reverse centrifugal block 410 is fixedly provided at the end of the positioning frame shaft 407 away from the T-shaped frame 406. Under the elastic support force of the return spring 409, the T-shaped frame 406 has a tendency to move away from the frame shaft sleeve 408, so that when the inner rotating cylinder 4 is stationary, the sealing plug 405 is pulled out from the cross-section column cavity 404. When the inner rotating cylinder 4 rotates and the speed exceeds a certain threshold, the reverse centrifugal block 410 drives the T-shaped frame 406 to move towards the frame shaft sleeve 408 through centrifugal force, so that the sealing plug 405 is inserted into the cross-section column cavity 404.

[0053] The inner wall surface of the inner rotating cylinder 4 is provided with an inner wall vertical rib 411, such as... Figure 13 As shown, the inner wall vertical ribs 411 are provided in several groups and are evenly distributed in a circumferential array. The inner wall vertical ribs 411 can efficiently drive the disinfectant in the inner rotating cylinder 4 to form a rotating vortex when the inner rotating cylinder 4 rotates.

[0054] An extrusion ring 412 is fixedly provided at the end of the inner rotating cylinder 4, and a return protrusion 413 is provided on the extrusion ring 412.

[0055] An oscillating element 414 is installed inside the outer fixed cylinder 3. A track optical shaft 415 is fixedly installed on the inner wall surface of the outer fixed cylinder 3. The track optical shaft 415 passes through the oscillating element 414 to limit and support the oscillating element 414. A tension spring 416 is installed between the oscillating element 414 and the inner wall surface of the outer fixed cylinder 3. The tension spring 416 provides elastic tension to the oscillating element 414, so that the oscillating element 414 contacts the injection needle tube 5.

[0056] The oscillating element 414 is fixedly provided with a mating dangling part 417. When the inner rotating cylinder 4 rotates relative to the outer fixed cylinder 3, the return protrusion 413 will intermittently press against the mating dangling part 417, causing the oscillating element 414 to oscillate along the axial direction of the track optical axis 415, applying an impact force to the injection needle tube 5, causing the end of the injection needle tube 5 inside the inner rotating cylinder 4 to oscillate.

[0057] An outer wall threaded sleeve 701 is fixedly installed on the surface of the track inclined rod 7. A first lead screw 702 is inserted through the outer wall threaded sleeve 701. The outer wall threaded sleeve 701 and the first lead screw 702 are screwed together. The rotation of the first lead screw 702 drives the outer wall threaded sleeve 701 and the track inclined rod 7 to move. A first motor 703 is fixedly installed on the surface of the side wing slide 6. The first lead screw 702 is driven to rotate by the first motor 703.

[0058] A conductive slip ring 704 is embedded on the surface of the inner rotating cylinder 4. A brush part 705 is provided in contact with the outside of the conductive slip ring 704. During the rotation of the inner rotating cylinder 4, the brush part 705 is connected to the first motor 703 through the conductive slip ring 704.

[0059] The outer fixed cylinder 3 is fixedly provided with a fixed cylinder skirt 301, and the fixed cylinder skirt 301 is provided with a coil part 302 inside;

[0060] The inner rotating cylinder 4 is fixedly provided with a rotating cylinder skirt 304. A permanent magnet 303 is fixedly provided on the surface of the rotating cylinder skirt 304. When the coil part 302 is energized, it cooperates with the permanent magnet 303 to drive the rotating cylinder skirt 304 to rotate relative to the fixed cylinder skirt 301, thereby causing the inner rotating cylinder 4 to rotate relative to the outer fixed cylinder 3.

[0061] A method for safe inoculation, employing an egg inoculation machine capable of safe inoculation, includes the following steps:

[0062] Step 1: During the process of conveying the egg by the conveying unit 1, the position of the air cell is identified and the injection point is determined by the optical detection unit 2;

[0063] Step 2: The robotic arm component drives the inoculation component to move and controls the inner rotating cylinder 4 to rotate relative to the outer fixed cylinder 3, so that the punching needle 8 moves to the injection point position to punch a hole;

[0064] Step 3: After punching the hole, the track bar 7 moves upward and retracts, and then the injection needle 5 is controlled to extend downward, so that the injection needle 5 is inserted into the egg along the punched hole for inoculation.

[0065] When the inoculation component is working, the initial state is as follows: Figure 2 and Figure 3 As shown, the first motor 703 drives the first lead screw 702 to rotate, causing the track bar 7 to extend downwards into place. At this time, the track bar 7 is in contact with the stabilizing support 9, and the support ridge 901 is stuck in the vertical groove of the track bar 7, improving the stability of the track bar 7. The punching needle 8 and the injection needle tube 5 are coaxially corresponding.

[0066] When the coil 302 is energized, the inner rotating cylinder 4 rotates relative to the outer fixed cylinder 3, and the punching needle 8 rotates accordingly. The punching needle 8 punches a hole, and the hole depth is only enough to penetrate the calcified outer shell of the egg, ensuring that the eggshell membrane remains intact. After the hole is punched, the inner rotating cylinder 4 stops rotating, and the track bar 7 moves obliquely upward, so that the punching needle 8 is removed from the punching point. During the process, the robotic arm assembly remains stationary.

[0067] Then, the injection needle 5 is moved downwards, so that the injection needle 5 extends downwards through the bottom hole 403 and is inserted into the egg through the punching position. The inoculation solution is injected into the egg through the injection needle 5. After the injection is completed, the injection needle 5 is moved upwards and reset.

[0068] The inoculation assembly of this invention sterilizes the injection needle 5 during the punching process. During this process, when the inner rotating cylinder 4 rotates at high speed, as... Figure 11 As shown, the inner rotating cylinder 4 drives the reverse centrifugal block 410, T-shaped frame 406, and sealing plug 405 to rotate synchronously. Therefore, the reverse centrifugal block 410, T-shaped frame 406, and sealing plug 405 are all subjected to centrifugal force. By setting the weight of the reverse centrifugal block 410 high enough, the centrifugal force on the reverse centrifugal block 410 is greater than that on the T-shaped frame 406 and sealing plug 405. As a result, during the high-speed rotation of the inner rotating cylinder 4, the reverse centrifugal block 410 moves away from the inner rotating cylinder 4 under the action of centrifugal force. At this time, the return spring 409 is elastically compressed, and the sealing plug 405 is inserted into the cross-sectional column cavity 404, closing the needle tube bottom hole 403. At this time, the bottom of the inner rotating cylinder 4 is closed, and the inner rotating cylinder 4 forms a container structure with an open top and a closed bottom.

[0069] Combination Figure 8 As shown, disinfectant is injected through the disinfectant injection tube 401, immersing the injection needle 5 in the disinfectant. During the high-speed rotation of the inner rotating cylinder 4, the disinfectant inside the inner rotating cylinder 4 is swirled, effectively flushing the injection needle 5. Furthermore, as... Figure 10 As shown, when the inner rotating cylinder 4 rotates at high speed relative to the outer fixed cylinder 3, the compression ring 412 and the return protrusion 413 rotate. The return protrusion 413 intermittently compresses the mating droop 417. When the return protrusion 413 compresses the mating droop 417 to the right, the oscillating element 414 moves away from the injection needle tube 5, and the tension spring 416 is elastically stretched. When the return protrusion 413 passes the position of the mating droop 417, under the elastic tension of the tension spring 416, the oscillating element 414 resets and moves, impacting and colliding with the injection needle tube 5. This cycle repeats, causing the oscillating element 414 to be in an oscillating state, continuously impacting the injection needle tube 5, causing the lower end of the injection needle tube 5 to oscillate and swing, which can further improve the cleaning and disinfection effect of the injection needle tube 5 and fling out the contaminated liquid inside the injection needle tube 5.

[0070] After disinfection is completed, before the inner rotating cylinder 4 stops rotating, the disinfectant inside the inner rotating cylinder 4 is drawn out through the negative pressure back suction pipe 402, so that the disinfectant inside the inner rotating cylinder 4 is emptied. The negative pressure back suction pipe 402 is connected to the negative pressure pump, and a sufficiently strong negative pressure suction is generated through the negative pressure back suction pipe 402, which can empty the disinfectant in the inner rotating cylinder 4 in a short time, and reduce the residual disinfectant through strong negative pressure.

[0071] When the inner rotating drum 4 stops rotating, it loses the effect of centrifugal force, such as Figure 11 As shown, under the elastic support of the return spring 409, the T-shaped frame 406 and the sealing plug 405 and other structures move to the right. At this time, the sealing plug 405 moves out of the cross-section cylinder cavity 404, the needle tube bottom hole 403 is opened, and the injection needle tube 5 can extend downward through the needle tube bottom hole 403 for inoculation injection.

[0072] In the above process of the present invention, since the reverse centrifugal block 410 and other structures are in an active state, when the inner rotating cylinder 4 is rotated and dynamically balanced in conjunction with the counterweight block 902, the state in which the sealing plug 405 is fully inserted into the transverse column cavity 404 is taken as the standard. That is, when the reverse centrifugal block 410 moves away from the inner rotating cylinder 4 and into position under the action of centrifugal force, the dynamic balance of the inner rotating cylinder 4 is stable.

[0073] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A chicken egg inoculator that can achieve safe inoculation, comprising a conveying unit, an optical detection unit and a mechanical arm assembly, characterized in that: Also include inoculation assembly; The conveying unit is used for conveying the eggs, the air chamber position is recognized by the optical detection unit and the injection point is determined, the inoculation assembly is installed on the mechanical arm assembly, and the inoculation assembly is driven by the mechanical arm assembly to inoculate along the injection point; The inoculation assembly comprises an outer cylinder and an inner rotating cylinder, the inner rotating cylinder can rotate relative to the outer cylinder, the central axis positions of the outer cylinder and the inner rotating cylinder are provided with an injection needle tube penetratingly, the injection needle tube can move axially, the surface of the inner rotating cylinder is fixedly provided with a side wing sliding seat and a stable leaning frame, the track inclined rod is limitingly and slidably arranged in the side wing sliding seat, the punching needle is fixedly arranged on the track inclined rod, and the length direction of the track inclined rod and the axis direction of the injection needle tube form a certain angle; when the track inclined rod is slid downward to the position, the track inclined rod is in contact with the stable leaning frame, at this time, the punching needle is directly below the injection needle tube and coaxially corresponds to the injection needle tube; when the track inclined rod slides upward, the punching needle moves away from below the injection needle tube.

2. The machine for inoculating eggs according to claim 1, wherein: The outer cylinder is fixedly provided with a disinfectant filling pipe and a negative pressure back suction pipe, the disinfectant filling pipe and the negative pressure back suction pipe are inserted into the inner rotating cylinder from the upper opening of the inner rotating cylinder, and are not in contact with the inner rotating cylinder.

3. The machine for inoculating eggs according to claim 1, wherein: The bottom of the inner rotating cylinder is provided with a needle tube bottom hole penetratingly, and the injection needle tube extends downward through the needle tube bottom hole; The bottom of the inner rotating cylinder is also provided with a cross column cavity, the cross column cavity crosscuts the needle tube bottom hole, and the inside of the cross column cavity is provided with a sealing plug column, the sealing plug column is in sealing contact with the inner wall surface of the cross column cavity, and when the sealing plug column is inserted into the cross column cavity and passes through the needle tube bottom hole, the needle tube bottom hole can be crosscut closed.

4. The machine for inoculating eggs according to claim 3, wherein: The end of the sealing plug column is fixedly provided with a T-shaped frame, the T-shaped frame is fixedly provided with a positioning frame shaft, the surface of the inner rotating cylinder is fixedly provided with a frame shaft sliding sleeve, and the positioning frame shaft penetrates through the frame shaft sliding sleeve.

5. The machine for inoculating eggs according to claim 4, wherein: A return spring is arranged between the frame shaft sliding sleeve and the T-shaped frame, and the end, away from the T-shaped frame, of the positioning frame shaft is fixedly provided with a reverse centrifugal block; Under the elastic supporting force of the return spring, the T-shaped frame has a movement trend of moving away from the frame shaft sliding sleeve, so that the sealing plug column is pulled out of the cross column cavity in the static state of the inner rotating cylinder; when the inner rotating cylinder rotates and the rotating speed exceeds a certain threshold value, the reverse centrifugal block drives the T-shaped frame to move towards the frame shaft sliding sleeve through the centrifugal force, so that the sealing plug column is inserted into the cross column cavity.

6. The machine for inoculating eggs according to claim 1, wherein: The inner wall surface of the inner rotating cylinder is provided with an inner wall vertical rib; The end of the inner rotating cylinder is fixedly provided with a pressing ring, and the pressing ring is provided with a return convex part.

7. The machine for inoculating eggs according to claim 6, wherein: The inside of the outer cylinder is provided with an oscillating piece, the inner wall surface of the outer cylinder is fixedly provided with a track optical axis, and the track optical axis penetrates through the oscillating piece to limit and support the oscillating piece.

8. The machine for inoculating eggs according to claim 7, characterized in that: A tension spring is connected between the oscillating piece and the inner wall surface of the outer cylinder, and the tension spring provides an elastic tension force to the oscillating piece, so that the oscillating piece is in contact with the injection needle tube.

9. The machine for inoculating eggs according to claim 8, wherein: The oscillating piece is fixedly provided with a matching vertical part, when the inner rotating cylinder rotates relative to the outer fixed cylinder, the return-to-origin convex part will intermittently extrude the matching vertical part, so that the oscillating piece oscillates along the axis direction of the track optical axis, and impact force is applied to the injection needle tube, so that the end of the injection needle tube inside the inner rotating cylinder oscillates.

10. The machine for inoculating eggs according to claim 1, wherein: The surface of the track inclined rod is fixedly provided with an outer wall screw sleeve, the first screw rod is inserted in the outer wall screw sleeve, the outer wall screw sleeve is screw-connected with the first screw rod, the track inclined rod and the outer wall screw sleeve are driven to move by rotating the first screw rod, the surface of the side wing sliding seat is fixedly provided with a first motor, and the first screw rod is driven to rotate by the first motor.

11. The machine for inoculating eggs according to claim 10, wherein: The surface of the inner rotating cylinder is embedded with a conductive slip ring, and the conductive slip ring is externally provided with a brush part, the brush part is kept in power supply connection with the first motor through the conductive slip ring during rotation of the inner rotating cylinder.

12. The machine for inoculating eggs according to claim 1, wherein: The outer surface of the outer fixed cylinder is fixedly provided with a fixed cylinder skirt cover, and the inner surface of the fixed cylinder skirt cover is provided with a coil part. The outer surface of the inner rotating cylinder is fixedly provided with a rotating cylinder skirt cover, and the surface of the rotating cylinder skirt cover is fixedly provided with a permanent magnet, the rotating cylinder skirt cover is driven to rotate relative to the fixed cylinder skirt cover when the coil part is electrified and matched with the permanent magnet, so that the inner rotating cylinder rotates relative to the outer fixed cylinder.

13. An operating method for enabling safe vaccination, using the machine for enabling safe vaccination of chicken eggs according to any one of claims 1-12, characterized in that, The method comprises the following steps: Step one: in the process that the conveying unit conveys the eggs, the optical detection unit identifies the air chamber position and determines the injection point; Step two: the mechanical arm assembly drives the inoculation assembly to move, and controls the inner rotating cylinder to rotate relative to the outer fixed cylinder, so that the punching needle moves to the injection point position to punch a hole; Step three: after the punching is completed, the track inclined rod moves upward to retract, and then the injection needle tube is controlled to extend downward, so that the injection needle tube is inserted into the egg to inoculate.

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