Electromagnetic needleless injector based on series motor

Abstract

The invention relates to an electromagnetic needleless injector based on a series excited motor, which comprises a cavity structure with an injector and a circuit main body structure integrated in a portable box body, and the circuit main body structure is electrically connected with a motor and a monitoring assembly in the cavity structure through a cable and is used for intelligently controlling the motor; the circuit main body structure comprises an MCU, a motor driving circuit, an energy storage module, a surge current suppression circuit and a communication module. The motor driving circuit isolates a control signal of the MCU from a high-voltage side MOS tube, and converts a control signal of a low-voltage side into a driving voltage of the motor; the energy storage module provides instantaneous large current during injection for a motor corresponding to the motor driving circuit; the surge current suppression circuit is used for suppressing surge current by adopting a two-stage charging mode when the circuit main body structure is started; and the MCU interacts with a cloud through the communication module and is used for issuing a control signal matched with an instruction to the motor driving circuit according to the instruction issued by the cloud so as to realize accurate control of the range of the motor.

Description

Technical Field

[0001] This invention relates to the field of electronic circuit technology, and in particular to an electromagnetic needleless injector based on a series motor. Background Technology

[0002] Existing technology discloses an electromagnetic needle-free injector, such as publication number CN120788778A, whose structure includes a shell, a nozzle assembly, a liquid storage assembly, a drive assembly, and an intelligent control system. Firstly, by replacing the traditional spring-driven needle-free injector with a series-wound linear motor, the limitations of driving force and elasticity attenuation caused by the spring are effectively avoided. This series-wound linear motor uses the excitation magnetic field coupling between the stator and mover coils in the motor to directly drive the plunger rod to move linearly along the axial direction to complete the injection. The structure is simpler, and the direct-drive connection structure provides higher stability and more precise force transmission, enabling rapid, accurate, and painless injection into pigs and other animals, improving breeding efficiency and injection safety.

[0003] However, the electromagnetic needle-free injector with the above structure is prone to causing arm pain and is laborious and time-consuming to use for a long time. At the same time, since the series-wound linear motor requires high voltage and high current during injection, the current battery cannot provide the high current within the precise range of the series-wound linear motor after long-term operation. In addition, the strong electromagnetic field of the series-wound motor can easily cause signal interference to the control circuit board.

[0004] Therefore, this application urgently needs to provide an electromagnetic needleless injector drive circuit based on a series motor and a portable electromagnetic needleless injector, so that the control circuit board is not affected by the strong electromagnetic interference of the series motor and the accurate range is guaranteed. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an electromagnetic needleless injector based on a series motor, which achieves the purpose of precisely controlling the range of the series motor and is not affected by the electromagnetic interference when the series motor is working.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, embodiments of the present invention provide an electromagnetic needleless injector based on a series motor; comprising: the electromagnetic needleless injector includes: a cavity structure with a syringe and a circuit main body structure integrated in a portable housing, wherein the circuit main body structure is electrically connected to the motor and monitoring components in the cavity structure via a cable for intelligent control of the motor;

[0010] The main structure of the circuit includes: a power module, an MCU, a motor drive circuit, an energy storage module, a surge current suppression circuit, and a communication module;

[0011] The power module is used to convert the battery voltage into the voltage required by the MCU, motor drive circuit, energy storage module, surge current suppression circuit and communication module and to power them.

[0012] The motor drive circuit is used to isolate the MCU control signal from the high-voltage side MOS transistor and convert the low-voltage side control signal into the drive voltage of the high-voltage side series motor.

[0013] The motor drive circuit is connected to the positive terminal of the battery in the power module and the ground terminal of the surge current suppression circuit; the energy storage module is used to provide instantaneous current to the motor driven by the motor drive circuit.

[0014] The surge current suppression circuit is used to suppress surge current by employing a two-stage charging method when the main circuit structure is started; the surge current suppression circuit is connected to the MCU and receives the MCU's enable signal to keep the main circuit structure in a stable power supply mode.

[0015] The MCU interacts with the cloud via a communication module, and sends control signals matching the instructions sent from the cloud to the motor drive circuit to achieve precise control of the motor range.

[0016] Optionally, the motor drive circuit includes: an H-bridge drive circuit composed of four N-MOS transistors; the midpoint of the bridge arm of the H-bridge drive circuit is connected to both ends of the series motor;

[0017] Each bridge arm has an integrated freewheeling diode between the drain (D) and source (S) of the N-MOS transistor for discharging the reverse electromotive force of the discharge motor.

[0018] The gate of each N-MOS transistor is connected to the output of an optocoupler component used to achieve drive isolation, and the input of the optocoupler component is connected to the signal output of the MCU.

[0019] Optionally, the energy storage module includes: a first capacitor assembly and a second capacitor assembly;

[0020] The first capacitor combination and the second capacitor combination are connected in parallel, and the positive terminal of the parallel connection is connected to the positive terminal of the battery in the power module, and the positive terminal of the parallel connection is grounded.

[0021] The first capacitor assembly includes multiple electrolytic capacitors connected in parallel, used to provide a large instantaneous current to the series motor and eliminate low-frequency noise during motor operation; the second capacitor assembly includes multiple ceramic capacitors connected in parallel, used to filter out high-frequency switching ripple during motor operation and stabilize voltage.

[0022] Optionally, the surge current suppression circuit includes: a first switch SW1, a first voltage divider resistor R5, a fifth N-MOS transistor Q5, and a grounding resistor R7;

[0023] The sixth N-MOS transistor Q3, the seventh N-MOS transistor Q4, the eighth N-MOS transistor Q2, the ninth N-MOS transistor Q1, and the third voltage divider resistor R3;

[0024] Among them, during the specified time period when the first switch SW1 is manually closed, the positive voltage of the battery passes through the first voltage divider resistor R5, turns on the fifth N-MOS transistor Q5, and then passes through the grounding resistor R7 to achieve pre-charging and slow charging.

[0025] When the circuit is powered on, the MCU's enable signal POWER-EN turns on the sixth N-MOS transistor Q3 and other MOS transistors in the surge current suppression circuit. The battery positive terminal voltage passes sequentially through the turned-on seventh N-MOS transistor Q4, the third voltage divider resistor R3, the turned-on eighth N-MOS transistor Q2, and the ninth N-MOS transistor Q1 before being grounded. The circuits in the main circuit structure enter a stable power supply mode, suppressing the surge current; and the first switch SW1 is turned off; the first switch SW1 is located between the battery positive terminal and the first voltage divider resistor R5.

[0026] The drains (D) of the sixth N-MOS transistor Q3 and the seventh N-MOS transistor Q4 are both connected to the positive terminal of the battery.

[0027] In addition, a freewheeling diode is integrated between the drain (D) and source (S) of each N-MOS transistor.

[0028] Optionally, the communication module is a 4G communication component that communicates with the MCU via a UART serial port, receives instructions from the cloud, and uploads relevant information about the syringe to the cloud.

[0029] The 4G communication component integrates a high-gain antenna.

[0030] The MCU is connected to the display module on the box. The user configures the MCU based on the display module. The MCU then uploads the configured information to the cloud via 4G to enable interaction with the cloud.

[0031] Optionally, the cable includes: signal cable and power cable;

[0032] The cavity structure is equipped with a displacement sensor for monitoring the displacement of the piston rod of the motor and a temperature sensor for monitoring the temperature of the motor movement.

[0033] Both the displacement sensor and the temperature sensor are electrically connected to the MCU.

[0034] The circuit structure contains a current sensor that monitors the battery output current.

[0035] Optionally, the cavity structure is a handle-type structure, and the box body is a cuboid structure; the outer shell of the box body is equipped with a display module such as a display panel and operation buttons.

[0036] The series motor is an inductive series linear motor; and / or, the cavity structure is provided with an internal drug storage assembly 2 and a motor drive structure 3, as well as a nozzle assembly 4 that passes through the front end of the cavity structure 1;

[0037] The internal drug storage assembly 2 includes a drug storage pump body 21 and a plunger rod 22, and the motor drive structure 3 includes a series-wound linear motor 31, a limiting rod 32 and a mounting sleeve 33.

[0038] One end of the plunger rod 22 is slidably disposed inside the drug storage pump body 21 along the axial direction, and the other end passes through the housing of the series-excited linear motor 31 along the axial direction and is coaxially connected to the mover. When the mover moves forward along the axial direction, it can drive the plunger rod 22 to push the liquid medicine in the drug storage pump body 21 out through the nozzle assembly 4.

[0039] The limiting rod 32 is fixedly connected to the eccentric position at the front end of the moving part and is parallel to the plunger rod 22;

[0040] The front end of the mounting sleeve 33 is fixedly connected to the drug storage pump body 21, and the rear end is fixedly connected to the front end of the housing of the series excitation linear motor 31. The mounting sleeve 33 is also slidably sleeved on the plunger rod 22 and the limiting rod (32) along the axial direction to form a circumferential limit on the movement of the mover and the plunger rod 22.

[0041] The motor drive structure 3 also includes a movable plate 34;

[0042] The movable plate 34 penetrates the mounting sleeve 33 radially and is simultaneously fixedly connected to the plunger rod 22 and the limiting rod 32. The movable plate 34 can move synchronously along the axial direction with the plunger rod 22 and the limiting rod 32.

[0043] The plunger rod 22 passes through the movable plate 34 axially and is fixedly connected to the movable plate 34 at the through position;

[0044] The limiting rod 32 is fixedly connected to the moving plate 34 at the end that is axially away from the mover.

[0045] Optionally, the motor drive structure 3 also includes a hydraulic damper 35;

[0046] The hydraulic damper 35 is fixed to the top position of the mounting sleeve 33 near the series excitation linear motor 3;

[0047] When the mover returns to its original position, the moving plate 34 moves axially backward via the plunger rod 22 and the limiting rod 32. The moving plate 34 then collides with the hydraulic buffer 35, so that the hydraulic buffer 35 absorbs the impact kinetic energy generated when the mover returns to its original position.

[0048] Optionally, the motor drive structure 3 also includes a buffer spring 36;

[0049] The buffer spring 36 is sleeved on the plunger rod 22, with one end abutting against the moving plate 34 and the other end abutting against the end of the mounting sleeve 33 connected to the drug storage pump body 21;

[0050] When the moving plate 34 moves forward axially with the plunger rod 22, the buffer spring 36 is compressed. When the moving plate 34 moves in the opposite direction with the plunger rod 22, the buffer spring 36 is reset, assisting the moving element to return to its original position.

[0051] Optionally, the motor drive structure 3 also includes a first linear bearing 37 and a second linear bearing 38;

[0052] The first linear bearing 37 and the second linear bearing 38 are respectively fixed at the position where the mounting sleeve 33 is slidably connected to the plunger rod 22 and at the position where the mounting sleeve 33 is slidably connected to the limiting rod 32.

[0053] Optionally, the motor drive structure 3 also includes a bushing 331 and a sliding support 332;

[0054] The first linear bearing 37 is located axially at the rear end of the mounting sleeve 33 near the series-wound linear motor 31;

[0055] The bushing 331 and the sliding support 332 are coaxially sleeved on the plunger rod 22 from the outside to the inside. The bushing 331 is fixed to the front end of the mounting sleeve 33 and abuts against the drug storage pump body 21. The sliding support 332 is embedded inside the bushing 331. The outer peripheral wall of the plunger rod 22 slides against the inner peripheral wall of the sliding support 332.

[0056] Optionally, the nozzle assembly 4 includes a trigger ring 41 for direct contact with the skin at the injection site, a trigger spring 42, and a nozzle 43 for spraying out the medication.

[0057] The trigger spring 42 is sleeved on the nozzle 43, with its front end abutting against the trigger ring 41 and its rear end abutting against the front end of the drug storage pump body 21;

[0058] The front end of the trigger coil 41 is toothed. After it contacts the skin at the injection site, it is squeezed and moves backward along the axis. The trigger spring 42 is compressed. After it is removed from the skin at the injection site, the trigger spring 42 resets, which in turn drives the trigger coil 41 to reset.

[0059] The nozzle 43 has a blunt conical structure at its front end, and its internal spraying channel has a tapered cylindrical structure that gradually narrows from back to front.

[0060] The top of the cavity structure 1 has a portable handle 5, the front end of which is a slope that tapers towards the axis of the syringe body.

[0061] The trigger switch 51 of the syringe body is located on the inclined surface, and an indicator light 52 is also provided on the inclined surface.

[0062] Secondly, embodiments of the present invention also provide a circuit main structure for an electromagnetic needle-free injector, comprising:

[0063] Power supply module, MCU, motor drive circuit, energy storage module, surge current suppression circuit and communication module;

[0064] The power module is used to convert the battery voltage into the voltage required by the MCU, motor drive circuit, energy storage module, surge current suppression circuit and communication module and to power them.

[0065] The motor drive circuit is used to isolate the MCU's control signal from the high-voltage side MOSFET and convert the low-voltage side control signal into the drive voltage of the high-voltage side series motor.

[0066] The motor drive circuit is connected to the positive terminal of the battery and the ground terminal of the surge current suppression circuit in the power module.

[0067] The energy storage module is used to provide instantaneous current to the motor driven by the motor drive circuit;

[0068] The surge current suppression circuit is used to suppress surge current by employing a two-stage charging method when the main circuit structure is started; the surge current suppression circuit is connected to the MCU and receives the MCU's enable signal to keep the main circuit structure in a stable power supply mode.

[0069] The MCU interacts with the cloud via a communication module, and sends control signals matching the instructions sent from the cloud to the motor drive circuit to achieve precise control of the motor range.

[0070] Thirdly, embodiments of the present invention also provide a control method for an electromagnetic needle-free injector based on any of the descriptions in the first aspect, comprising:

[0071] After the electromagnetic needle-free injector starts normally through a two-stage pre-charge method, the MCU receives the first signal from the injector to start injection, and then generates a first control signal matching the currently injected vaccine and inputs it into the motor drive circuit; and starts the timer.

[0072] The motor drive circuit rotates forward, causing the motor to inject the vaccine into the livestock; and after the timer records a first specified time, a second control signal is generated and output to the motor drive circuit, causing the motor drive circuit to reverse and reset, and the motor drives the syringe to reset.

[0073] After the timer records the second specified time, a stop signal is generated and output to the motor drive circuit, causing the motor drive circuit to be turned off or fully turned on, entering standby mode.

[0074] Optionally, the MCU receives instructions from the cloud and adjusts the duty cycle of the control signal to control the on-time ratio of the motor drive circuit;

[0075] Alternatively, the MCU can acquire data from temperature, current, and displacement sensors, as well as monitoring status data, and upload them to the cloud in real time.

[0076] (III) Beneficial Effects

[0077] In this invention, a power supply system that combines batteries and energy storage modules is used to meet the instantaneous high current requirements of the series motor, avoid voltage collapse, and ensure the consistency of thrust for each injection.

[0078] The surge current suppression circuit in the main circuit structure effectively suppresses the power-on surge current through a two-stage pre-charging scheme, protecting power devices and energy storage capacitors and improving circuit startup safety.

[0079] By using optocoupler components to optimize the anti-interference of the motor drive circuit, it can adapt to the complex electromagnetic environment of the breeding shed and ensure the stable operation of the motor.

[0080] Furthermore, by integrating multi-dimensional sensing and closed-loop control of displacement, current, and temperature, it achieves precise control with high injection dosage accuracy and small thrust error, adapting to injection needs in multiple scenarios.

[0081] The main circuit structure of this invention achieves information management of injection data and equipment safety protection through remote communication and a comprehensive protection mechanism (overcharge, over-discharge, overheating, and overload).

[0082] During the control process, the dynamic response speed of the circuit is improved to match the high-frequency operation requirements of the series motor and ensure that the command is executed with zero lag. Attached Figure Description

[0083] Figure 1 This is a schematic diagram of the overall structure of an electromagnetic needleless injector provided in an embodiment of the present invention;

[0084] Figure 2 and Figure 3 These are schematic diagrams of the main circuit structure provided in an embodiment of the present invention;

[0085] Figure 4 This is a schematic diagram of a motor drive circuit provided in an embodiment of the present invention;

[0086] Figure 5 This is a schematic diagram of an energy storage module provided in an embodiment of the present invention;

[0087] Figure 6 A schematic diagram of a surge current suppression circuit provided in an embodiment of the present invention;

[0088] Figure 7 This is a schematic diagram of the PID algorithm integrated in the MCU of the present invention;

[0089] Figure 8 This is a schematic diagram of the external structure of an embodiment 1 of the electromagnetic needleless injector of the present invention;

[0090] Figure 9 for Figure 8 A half-section diagram of the electromagnetic needle-free injector in the image;

[0091] Figure 10 for Figure 9 A magnified view of the location of the drive component of the electromagnetic needleless injector in the image;

[0092] Figure 11 for Figure 9 A magnified view of the bushing position of the electromagnetic needleless injector.

[0093] [Explanation of Labels in the Attached Image]

[0094] 1: Cavity structure; 2: Internal drug storage assembly; 21: Drug storage pump body; 22: Plunger rod;

[0095] 3: Motor drive structure; 31: Series-wound linear motor; 32: Limit rod; 33: Mounting sleeve; 331: Shaft sleeve; 332: Sliding support; 34: Moving plate; 35: Hydraulic damper; 36: Buffer spring; 37: First linear bearing; 38: Second linear bearing;

[0096] 4: Nozzle assembly; 41: Trigger ring; 42: Trigger spring; 43: Nozzle;

[0097] 5: Portable handle; 51: Trigger switch; 52: Indicator light; 6: Control box (body);

[0098] 7: Power interface; 8: Signal interface; 9: External drug delivery assembly; 10: Cooling fan assembly;

[0099] SW1: First switch; R5: First voltage divider resistor; Q5: Fifth N-MOS transistor; R6: Second voltage divider resistor; R7: Grounding resistor; Q3: Sixth N-MOS transistor; Q4: Seventh N-MOS transistor; Q2: Eighth N-MOS transistor; Q1: Ninth N-MOS transistor; R3: Third voltage divider resistor; R4: Fourth voltage divider resistor; Q6 / Q7: Upper bridge arm MOS transistors; Q8 / Q9: Lower bridge arm MOS transistors;

[0100] M: Motor; U2 / U3 / U5 / U6: Optocoupler assembly;

[0101] C1 / C2 / C3 / C4 / C84-C87: Electrolytic capacitors; C5-C12: Ceramic capacitors. Detailed Implementation

[0102] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0103] In the pig farming industry, needle-free injectors have gradually replaced traditional needle injectors, solving problems such as cross-infection and stress reactions. However, the driving circuits of existing needle-free injectors for livestock have many technical bottlenecks, seriously affecting the injection effect and equipment stability.

[0104] (1) Insufficient power supply stability: Needleless injection requires instantaneous high voltage and millisecond-level peak power. Electromagnetically driven equipment relies on high current power supply. The contradiction between the peak current demand of the series motor during rapid acceleration and deceleration and the insufficient discharge rate of the existing built-in battery is prominent. In practical applications, some equipment suffers from problems such as pressure attenuation, insufficient injection depth, and drug residue due to unstable power supply, which is completely consistent with the thrust attenuation phenomenon caused by voltage collapse.

[0105] (2) Low control precision: The skin mechanical properties of pigs of different ages and breeds vary significantly. Traditional drive circuits lack displacement and current feedback mechanisms and cannot dynamically adapt to skin characteristics, resulting in large injection dosage errors and inconsistent penetration depths. Spring-driven needle-free injectors have problems with uncontrolled injection processes and insufficient dosage precision, making it difficult to meet the differentiated needs of intradermal / intramuscular injections and affecting the immunization effect.

[0106] (3) Poor startup safety: When the needle-free injector is powered on, the initial current surge of the motor coil and energy storage element is a common problem in the industry. Existing technologies have not designed a specific suppression scheme, and the surge current is prone to damage the power device and shorten the service life of the equipment.

[0107] (4) Weak anti-interference capability: Dust and dampness in the breeding sheds, as well as the PWM switching ripple and parasitic inductance resonance spikes of the equipment itself, can interfere with the transmission of control signals, causing motor vibration and jet instability. Existing equipment lacks targeted anti-interference design, and is prone to problems such as operation failure and injection parameter drift in complex electromagnetic environments, affecting the reliability of use.

[0108] (5) Lack of protection and management: Existing equipment generally lacks a sound protection mechanism against overheating, overload, overcharging and over-discharging, which can easily lead to damage to the equipment due to long-term operation or abnormal environment, resulting in high maintenance costs. Large-scale farming requires real-time statistics and remote control of injection data, but traditional equipment mostly lacks data upload function and cannot be connected to intelligent farming management systems, resulting in insufficient adaptability.

[0109] (6) Dynamic response lag: Needle-free injection requires jet speeds at the millisecond or even microsecond level, and the motor needs a millisecond-level response to ensure jet stability. However, the charging and discharging delay of the capacitors in the existing power supply circuit can lead to deviations in command execution. Insufficient dynamic response can cause problems such as jet diffusion and injection backflow, affecting the drug delivery efficiency and the consistency of injection effect.

[0110] To address the aforementioned issues, there is an urgent need for a circuit structure that features stable power supply, precise control, safe startup, strong anti-interference capabilities, and a robust protection mechanism, providing core technological support for electromagnetic needle-free injectors.

[0111] Example 1

[0112] The electromagnetic needleless injector of this embodiment includes: a cavity structure with a syringe and a main circuit structure integrated in a portable box. The main circuit structure is electrically connected to the motor and monitoring components in the cavity structure via a cable for intelligent control of the motor.

[0113] The main structure of the circuit includes: a power module, an MCU, a motor drive circuit, an energy storage module, a surge current suppression circuit, and a communication module;

[0114] The power module is used to convert the battery voltage into the voltage required by the MCU, motor drive circuit, energy storage module, surge current suppression circuit and communication module and to power them.

[0115] The motor drive circuit is used to isolate the MCU control signal from the high-voltage side MOS transistor and convert the low-voltage side control signal into the drive voltage of the high-voltage side series motor.

[0116] The motor drive circuit is connected to the positive terminal of the battery and the ground terminal of the surge current suppression circuit in the power module.

[0117] The energy storage module is used to provide instantaneous current to the motor driven by the motor drive circuit;

[0118] The surge current suppression circuit is used to suppress surge current by employing a two-stage charging method when the main circuit structure is started; the surge current suppression circuit is connected to the MCU and receives the MCU's enable signal to keep the main circuit structure in a stable power supply mode.

[0119] The MCU interacts with the cloud via a communication module, and sends control signals matching the instructions sent from the cloud to the motor drive circuit to achieve precise control of the motor range.

[0120] The communication module in this embodiment can be a 4G / 5G communication component, communicating with the MCU via a UART serial port to receive commands from the cloud and upload syringe-related information to the cloud. For example, the 4G communication component integrates a high-gain antenna; the high-gain antenna enables interaction with the cloud, such as sending commands, uploading injection information, or receiving remote upgrade information.

[0121] The outer shell of the box (i.e. the control box) in this embodiment is provided with a display module, which can be a display screen and related operation buttons in practical applications. When using it, the user can trigger the display screen through the operation buttons so that the MCU can receive the configuration information, issue commands to the motor or interact with the cloud.

[0122] That is, the MCU is connected to the display screen on the box, and the user configures the MCU based on the display screen. The MCU then uploads the configured information to the cloud via 4G to achieve interaction with the cloud.

[0123] The main circuit structure inside the housing and the various circuit components within the cavity structure are all connected by cables, which are integrated into an anti-interference shielding layer. The cables in this embodiment may include signal lines and power lines;

[0124] The cavity structure is equipped with a displacement sensor for monitoring the displacement of the piston rod of the motor and a temperature sensor for monitoring the temperature of the motor movement; both the displacement sensor and the temperature sensor are electrically connected to the MCU through signal lines in the cable; the main body of the circuit structure is equipped with a current sensor for monitoring the battery output current.

[0125] See Figure 1 As shown, the cavity structure in this embodiment can be a handle-type structure that is convenient to carry and use, and the box body is a cuboid structure for fixing.

[0126] The aforementioned main circuit structure uses a battery and energy storage module to power the system, meeting the instantaneous high current requirements of the series motor, preventing voltage collapse, and ensuring consistent thrust for each injection.

[0127] The surge current suppression circuit in the main circuit structure effectively suppresses the power-on surge current through a two-stage pre-charging scheme, protecting power devices and energy storage capacitors and improving circuit startup safety.

[0128] By using optocoupler components to optimize the anti-interference of the motor drive circuit, it can adapt to the complex electromagnetic environment of the breeding shed and ensure the stable operation of the motor.

[0129] Example 2

[0130] like Figure 2 and Figure 3 As shown, the main circuit structure of this embodiment is based on a microcontroller (MCU) and adopts a modular layered design, covering five major functional modules: core control layer, communication interaction layer, sensing and monitoring layer, drive execution layer, and power supply protection layer. It also integrates a motor drive circuit, energy storage module, surge current suppression module, and PID multi-loop control algorithm. The following description uses the structure corresponding to the above five layers as an example.

[0131] 1. Core control layer, i.e., MCU layer

[0132] like Figure 3 As shown, the MCU establishes communication or electrical connections with various modules through multiple interfaces. For example, the MCU connects to the communication module through the USART serial port interface to realize bidirectional data transmission between the electromagnetic needleless injector and the cloud.

[0133] The MCU is electrically connected to a displacement sensor (such as a magnetic scale) inside the cavity structure via a timer encoder interface to obtain motor displacement information. The displacement sensor acquires the motor displacement signal in real time and transmits it to the timer encoder interface via a signal line in the cable.

[0134] The MCU is electrically connected to the temperature detection module inside the cavity structure through the ADC analog signal acquisition interface. This temperature detection module is used to monitor the temperature information of the motor working area to prevent high temperature defects caused by long-term operation. The temperature detection module includes a temperature sensor, which is connected to the ADC analog signal acquisition interface through the signal line in the cable.

[0135] The MCU is electrically connected to a current detection module inside the casing that monitors the battery current via an ADC analog signal acquisition interface. This current monitoring module monitors the battery current at the battery output terminal.

[0136] The MCU is electrically connected to the status detection module inside the cavity structure via an ADC analog signal acquisition interface. The detection switch of this status detection module is connected to the MCU via a signal line in a cable. In this embodiment, the status detection module is used to receive status monitoring signals of various operating states of the motor.

[0137] The MCU is electrically connected to the motor drive circuit, such as the H-bridge drive circuit, inside the cavity structure through the PWM output interface. The MCU outputs a low-voltage control signal to drive the motor through the H-bridge drive circuit.

[0138] The MCU is connected to the power management module via the GPIO interface. The power management module directly supplies power to the MCU, and the MCU is connected to the energy storage module and surge current suppression circuit via a dedicated control interface to realize closed-loop control of the charging, discharging and pre-charging process.

[0139] In this embodiment, the MCU can be an STM32 series microcontroller, and a multi-loop closed-loop control strategy is adopted to achieve precise control of each injection parameter, such as... Figure 7 As shown, the PID algorithm used in this embodiment continuously adjusts the current output value based on the difference between the previous and the previous two data points, making it continuously approach the target value, thereby achieving the target value.

[0140] For example, the current loop is as follows: The motor operating current is the control object. The MCU dynamically adjusts the PWM duty cycle according to the battery current fed back by the current detection module, so that the motor thrust fluctuation error is ≤±2% and the injection pressure is stable.

[0141] Displacement loop: Based on the displacement data of the plunger rod collected by the magnetic scale, the MCU adjusts the motor running stroke through the PID algorithm to ensure the injection dosage accuracy of ±0.1ml, while adapting to the dynamic adjustment requirements of different dosages;

[0142] Temperature loop: Real-time monitoring of core component temperature. When the temperature approaches the threshold (85℃), the MCU pre-adjusts by reducing motor power and extending the interval time. When the temperature exceeds the threshold (85℃), the drive is immediately cut off to achieve overheat protection.

[0143] 2. Communication Interaction Layer, i.e., Communication Module

[0144] The communication module in this embodiment includes a 4G module. One end of the 4G module communicates bidirectionally with the MCU via a UART serial port, such as receiving upload commands from the cloud and uploading data (injection dosage, number of times, device status, etc.); or receiving cloud commands (parameter adjustment, remote upgrade, etc.) to the MCU. The other end of the 4G module establishes a long-term connection with the cloud management system via a 4G network and is equipped with a high-gain antenna to improve signal stability in complex environments. This embodiment is not limited to a 4G module; it is used as an example for illustration.

[0145] Cloud-based management system: Stores and analyzes equipment operation data, supports farmers in remotely issuing injection parameters (such as dosage and thrust for different pig stages), upgrade commands, and troubleshooting commands, achieving collaborative work of remote control and local execution. Typically, the cloud-based management system has pre-set injection parameters for various types of livestock and their corresponding PWM duty cycles.

[0146] 3. Sensing and Monitoring Layer

[0147] A displacement sensor (such as a magnetic scale) located within the cavity structure: This sensor collects real-time displacement data of the motor-driven plunger rod and outputs it via a differential signal to the MCU timer encoder interface. The MCU then analyzes this signal to achieve precise closed-loop control of the injection dosage and provides a zero-position reference for motor reversal and reset. The magnetic scale used in this embodiment has an accuracy of ±0.001 mm.

[0148] The temperature detection module, located within the cavity structure, employs a thermistor sensor installed inside the series motor. It transmits analog temperature signals to the MCU via an ADC analog signal acquisition interface. When the detected temperature inside the series motor exceeds a preset threshold (85℃), the MCU triggers an alarm and cuts off the motor drive to prevent overheating damage. The force will be very large, the current very large, and the heat very high.

[0149] The current sensing module located inside the box: the power supply output current passes through a 0.1Ω sampling resistor (e.g., Figure 3 The acquired signal (as shown) is transmitted to the MCU via the ADC analog signal acquisition interface. The MCU dynamically adjusts the PWM duty cycle of the control signal based on the series motor current data (the duty cycle is used to stabilize thrust), and determines the power supply status based on the battery current data to avoid overload discharge. In this application, motor current and battery current have the same meaning.

[0150] 4. Drive execution layer, i.e., motor drive circuit

[0151] like Figure 4 As shown, the motor drive circuit of this embodiment includes: an H-bridge structure composed of four N-MOS transistors, wherein... Figure 3 and Figure 4 Q6 and Q7 are the upper bridge arm MOSFETs (drain D is connected to the positive terminal of the battery). Figure 3 and Figure 4 Q8 and Q9 are the lower bridge arm MOSFETs (source S connected to GND). The midpoint of the bridge arm serves as the H-bridge output, which is directly connected to both ends of the series motor. The circuits of the upper and lower bridge arm MOSFETs both integrate freewheeling diode circuits to discharge the reverse electromotive force of the motor.

[0152] exist Figure 4In this circuit, four optocoupler components (such as U2, U3, U5, and U6) are used to achieve drive isolation (i.e., low-voltage and high-voltage isolation to ensure safety). This matches the PWM control signal on the low-voltage side with the voltage on the high-voltage side and isolates it from the power MOSFET, preventing high-voltage interference and damage to the MCU control circuit. Isolating the PWM control signal on the low-voltage side from the power MOSFET on the high-voltage side converts the low voltage at the control terminal into the drive voltage required by the MOSFET gate, ensuring reliable MOSFET turn-on / off.

[0153] This embodiment uses a high-voltage, high-current N-MOS transistor (such as IRF3205) and a fast recovery diode as examples for illustration, but does not limit them. The selection and configuration can be made according to actual needs.

[0154] The working principle of motor control in this embodiment is as follows:

[0155] (1) Motor forward rotation (injection propulsion): Upper bridge arm Q6 and lower bridge arm Q9 are turned on, upper bridge arm Q7 and lower bridge arm Q8 are turned off, and the current path is "power supply positive terminal → upper bridge arm Q6 → motor → lower bridge arm Q9 → power supply negative terminal";

[0156] (2) Motor reverses (reset): Upper bridge arm Q7 and lower bridge arm Q8 are turned on, upper bridge arm Q6 and lower bridge arm Q9 are turned off, and the current path is "power supply positive terminal → upper bridge arm Q7 → motor → lower bridge arm Q8 → power supply negative terminal".

[0157] (3) Braking when the motor is stationary: All four tubes are turned off at the same time (idle braking) or turned on at the same time (energy braking) to achieve rapid shutdown;

[0158] (4) Thrust adjustment: The MCU controls the on-time ratio of the MOS transistor by adjusting the duty cycle of the PWM signal. The higher the on-time, the higher the average voltage across the motor and the greater the thrust. Conversely, the thrust decreases.

[0159] Optionally, users can also configure or trigger on the display screen of the box to issue relevant injection-related instructions through the cloud management system. Based on the instructions from the cloud, the MCU can adjust the duty cycle to enable the motor to execute.

[0160] 5. Power supply guarantee layer

[0161] (1) Power management module: In this embodiment, the power management module is powered by a rechargeable lithium battery (e.g., 60V / 10Ah), and outputs 5V (2A) and 3.3V (1A) voltages through a voltage conversion circuit. Figure 2 As shown, the power management circuit includes a conversion circuit that converts the battery voltage to a first power supply (5V), and a conversion circuit that gradually converts the first power supply to a second isolated power supply (3.3V).

[0162] Battery voltage to 5V switching power supply, 5V to 3.3V linear voltage regulator chip, after receiving battery power, outputs a stable 5V voltage to 4G module, magnetic ruler, display module, etc., and outputs 3.3V voltage to MCU, temperature detection module, and other core components;

[0163] This embodiment also includes an over-temperature protection circuit, which is used to cut off the output and send an alarm signal to the MCU when the temperature of the entire circuit board is abnormal.

[0164] (2) Energy storage module: such as Figure 5 As shown, in this embodiment, multiple electrolytic capacitors (C1, C2, C3, C4, C84-C87) and multiple ceramic capacitors (C5-C12) are connected in parallel to achieve energy storage, while filtering the noise of the motor operation at the same time.

[0165] Electrolytic capacitors: Enable large-capacity energy storage, provide instantaneous high current for battery injection, absorb regenerative energy from the motor, and filter low-frequency ripple such as 50 / 60Hz power frequency ripple. For example, eight 1000μF / 25V electrolytic capacitors connected in parallel. This combination of electrolytic capacitors provides instantaneous high current to compensate for battery power response delay; filters low-frequency ripple to stabilize the DC bus base voltage; and absorbs regenerative energy from the motor to prevent overvoltage damage.

[0166] Ceramic capacitors: Filter out high-frequency switching ripple in the kHz to MHz range, suppress voltage spikes, and improve dynamic response speed to meet the high-frequency operation requirements of motors. For example, eight 10μF / 100V ceramic capacitors can be connected in parallel to form a second capacitor combination.

[0167] To better understand the working process of the energy storage module, the following explanation will be based on the motor operation process.

[0168] First, the motor start-up / acceleration phase

[0169] When a motor starts running from a standstill or needs to accelerate rapidly, it requires a peak instantaneous current (usually 3 to 5 times the rated current). At this time, the power supply's response speed is insufficient, so the energy storage module (electrolytic capacitor and ceramic capacitor) will discharge rapidly to make up for the current gap, prevent the bus voltage from dropping, and ensure that the motor obtains sufficient thrust.

[0170] Second, the stage of sudden change in motor load.

[0171] When the load driven by the motor suddenly increases (for example, when the mechanism driven by the voice coil motor encounters resistance), additional current is needed to maintain operation. At this time, the energy storage module discharges to compensate for the power demand caused by the sudden change in load and prevent the motor from stalling or voltage fluctuations.

[0172] Third, the motor reverse rotation phase

[0173] When the motor switches from forward to reverse (or quickly reverses), the current direction changes instantaneously. The current output of the power supply cannot immediately reverse. The energy storage circuit provides a reverse starting current by discharging, ensuring the speed and stability of the commutation.

[0174] Fourth, the power supply fluctuation stage

[0175] If the power supply components of the aforementioned battery or power source experience a voltage drop (such as a sudden change in grid load), the bus voltage will decrease briefly. At this time, the energy storage module discharges to maintain the stability of the bus voltage and prevent the motor from shutting down due to undervoltage protection.

[0176] In this embodiment, the energy storage module is mainly used to provide the instantaneous high current required by the motor. It is the core guarantee for the motor's dynamic response capability, enabling the motor to have stable power support under various operating conditions and ensuring the stable operation of the electromagnetic needleless injector.

[0177] (3) Pre-charge module (i.e., surge current suppression circuit)

[0178] like Figure 6 As shown, this embodiment adopts a two-stage scheme of manual pre-charging (conduction between the negative terminal and the system GND) and automatic main charging.

[0179] Level 1 (Manual Weak Pre-charge, i.e., Manual Pre-charge): After pressing the first switch SW1, the battery voltage is detected and meets the standard by the first voltage divider resistor R5 and the second voltage divider resistor R6. The fifth N-MOS transistor Q5 is turned on, and the circuit achieves a small current slow charge through the grounding resistor R7 (e.g., within two seconds, when the MCU has an enable output (POWER_EN in the figure), the MCU is powered), avoiding the initial large current surge; the above current is filtered by the filter capacitor C15 to suppress contact jitter interference; there is a pre-charge after returning from the motor.

[0180] Second stage (automatic main charging): After releasing the first switch SW1, the MCU enables POWER_EN, and the sixth N-MOS transistor Q3 and the seventh N-MOS transistor Q4 are turned on. After the battery voltage is detected and meets the standard by the third voltage divider resistor R3 and the fourth voltage divider resistor R4, the eighth N-MOS transistor Q1 and the ninth N-MOS transistor Q2 are turned on, and the circuit enters the normal power supply mode; surge current is suppressed throughout the process.

[0181] In this embodiment, the surge current suppression is less than 500mA. Each MOSFET in the surge current suppression circuit can be an N-MOS transistor, and each is equipped with a freewheeling diode to absorb the reverse induced electromotive force of the motor winding, protect the power devices, and simultaneously achieve energy freewheeling to ensure stable circuit operation.

[0182] Based on the aforementioned structure, the working process of the main circuit structure of this embodiment, namely the collaborative working logic, will be explained.

[0183] After the main circuit structure is powered on, the power management module starts to supply power, and the energy storage module begins constant current and constant voltage charging.

[0184] Step 1: The MCU completes the initialization of each component, controls the pre-charge module (surge current suppression circuit) to start the two-stage pre-charge, and monitors the initial state through the sensing and monitoring layer;

[0185] Step 2: After pre-charging is completed, the MCU waits for the injection trigger signal (i.e., feedback from the trigger switch detection circuit).

[0186] Step 3: After the injection is triggered, the MCU drives the motor to rotate forward through the H-bridge drive circuit. The energy storage module releases a large current to replenish energy instantly. The magnetic scale and current detection module provide real-time data feedback. The PID multi-loop collaborative adjustment of the PWM duty cycle ensures accurate injection dosage and thrust.

[0187] Step 4: After injection, the MCU controls the motor to reverse and reset, the energy storage module is recharged, and the injection data is uploaded to the cloud via the 4G module;

[0188] If any abnormal temperature, voltage, or overload is detected during the entire process, the MCU will immediately trigger the protection mechanism and issue an alarm.

[0189] For example: Temperature exceeds limit (>85℃): The MCU immediately cuts off the H-bridge drive signal, and the display shows "overheat alarm". It can resume operation after the temperature drops below 60℃;

[0190] Voltage abnormality (<20% of full charge): The power management module cuts off the output, and the MCU reports "voltage abnormality". The battery needs to be replaced or recharged.

[0191] Current overload (>2 times the rated current): The current detection module triggers protection, the MCU cuts off the motor drive, and displays "overload fault";

[0192] Communication interruption: The 4G module sends a feedback signal, the MCU stores the local data, and automatically retransmits it to the cloud after communication is restored.

[0193] based on Figures 2 to 7 The user operation process of the structure shown can be described as follows:

[0194] 1. Start-up Phase

[0195] When the farmer presses SW1 to trigger manual pre-charging, the fifth N-MOS transistor Q5 turns on, and the circuit achieves slow charging with a small current through R7, while the filter capacitor C15 filters out jitter interference; the entire circuit begins to supply power with a small current. The energy storage module begins charging, the electrolytic capacitor stores energy, and the ceramic capacitor enters ripple suppression standby mode;

[0196] Next, the power management module starts up, outputting 5V and 3.3V voltages to power each module;

[0197] The MCU starts a self-test program, which checks the status of the 4G module, magnetic scale, temperature / current sensor, and H-bridge drive circuit through each interface. If the self-test passes, it will send a "ready" signal; otherwise, it will indicate a fault.

[0198] Once the target is met, POWER_EN becomes valid, and automatic charging begins: the sixth N-MOS transistor Q3 turns on → the seventh N-MOS transistor Q4 turns on. After the voltage divider resistors R3 and R4 detect the target, the eighth N-MOS transistor Q1 and the ninth N-MOS transistor Q2 turn on, and the circuit switches to normal power supply mode.

[0199] After pre-charging is complete, the MCU controls the motor drive module to enter standby mode. At this time, SW1 can be released.

[0200] 2. Injection stage

[0201] The farmer sets the injection parameters (age, dosage, mode) through the display screen on the box, holds the syringe against the pig's skin, and triggers the proximity switch when the trigger ring moves.

[0202] The MCU receives the trigger signal and outputs a PWM control signal to the H-bridge drive circuit according to the preset parameters, which controls the corresponding MOSFET to turn on, and the motor rotates forward to drive the plunger rod to advance.

[0203] The energy storage module releases a large current instantly, working in conjunction with the battery to power the motor and prevent voltage collapse;

[0204] Real-time data feedback from the sensing and monitoring layer: the magnetic scale transmits displacement data, the current detection module transmits motor current data, and the temperature detection module transmits component temperature data;

[0205] PID multi-loop control startup: The MCU dynamically adjusts the PWM duty cycle based on feedback data to ensure accurate dosage and stable thrust, while monitoring temperature to avoid exceeding limits.

[0206] 3. Reset and Data Upload Phase

[0207] After the injection is completed, the magnetic scale feeds back a signal that the stroke has met the target. The MCU controls the H-bridge drive circuit to switch the conduction state of the MOSFET, and the motor reverses to drive the plunger rod back to its original position.

[0208] The energy storage module is recharged in preparation for the next injection;

[0209] The MCU organizes the injection data (dosage, time, number of times, device status) and uploads it to the cloud management system via the 4G module to complete data synchronization.

[0210] 4. Cleaning and maintenance phase

[0211] After the farmer switches to the cleaning mode via the display screen on the box, the MCU controls the H-bridge drive circuit to output a low-power PWM signal, and the motor enters a low-power multiple firing state (e.g., 10 times) to achieve self-cleaning of the internal channel.

[0212] Battery voltage and component temperature are monitored throughout the process to ensure a safe and stable cleaning process.

[0213] Example 3

[0214] Reference Figure 8 and Figure 9 This embodiment proposes an electromagnetic needleless injector, including an injector body, which includes a cavity structure 1, an internal drug storage component 2 disposed within the cavity structure 1, a motor drive structure 3, and a nozzle component 4 that penetrates the front end of the outer shell 1.

[0215] The cavity structure 1 is made of high-strength, corrosion-resistant engineering plastic, with a robust and durable overall design that can withstand harsh conditions such as dust and humidity in livestock farming environments. A portable handle 5 is located at the top of the cavity structure 1. The front end of the portable handle 5 is a tapered slope that gradually tapers towards the axis of the syringe body, and this portable handle 5 is integrally molded with the cavity structure 1. This overall construction of the cavity structure 1 adopts a horizontal grip design, unlike the common gun-type tool structure (vertical grip). The horizontal design is more conducive to balanced force application, reducing wrist fatigue, and is also more in line with one-handed operation habits, facilitating precise control of the injection angle, and is suitable for operation in confined spaces. Furthermore, the surface of the portable handle 5 can be enhanced with anti-slip textures or a hand-shaped curvature to improve comfort during prolonged use. Simultaneously, the tapered slope at the front end forms a conical design for the syringe head, maximizing injection flexibility. The overall shape conforms to ergonomic design, avoiding frequent and significant bending over by livestock workers, thus improving comfort during use. In addition, the trigger switch 51 of the syringe body is located on the inclined surface at the front end of the portable handle 5 for syringe start control. Near the trigger switch 51 on the inclined surface, an indicator light 52 (such as standby, ready, or completed) is also provided to indicate the current working status. When the operator holds the portable handle 5, the trigger switch 51 and indicator light 52 are positioned where the thumb naturally rests, facilitating quick operation and status identification in noisy and busy aquaculture environments. Furthermore, an auxiliary anti-slip and anti-slip glove assembly is designed to be used with the portable handle 5. It is detachably fixed to the portable handle 5 and can be removed for manual operation, reducing the risk of slippage.

[0216] The internal drug storage assembly 2 includes a drug storage pump body 21, a plunger rod 22, a high-performance sealing assembly, and a one-way valve. The drug storage pump body 21 is a plunger pump made of medical-grade 316 stainless steel, possessing high strength, high pressure resistance, and corrosion resistance, significantly improving the reliability and lifespan of the plunger pump. Furthermore, the drug storage pump body 21 can be customized with a volume of 1ml or 2ml to meet the single-dose injection needs of livestock. Simultaneously, a 1ml volume pump body can also be used, with precise control of the plunger rod 22's displacement to meet various small-dose injection needs. The plunger rod 22 and the inner wall of the drug storage pump body 21 are fitted with a very small clearance, ensuring no drug leakage during injection thanks to the high-performance sealing assembly. The sealing assembly is made of high-performance rubber, possessing excellent wear resistance and chemical corrosion resistance, adaptable to various drug storage environments. The plunger rod 22 is integrally machined from 316 stainless steel (a ceramic + 316 composite material design is also optional) and electroplated with hard chrome, giving it high hardness and a low coefficient of friction, effectively reducing energy loss during operation. The inlet and outlet of the drug reservoir pump body 21 are equipped with high-performance one-way valves to ensure high unidirectional sealing during inlet and outlet. The plunger pump-type drug reservoir assembly design allows for precise control of the injection volume, significantly improving dosage accuracy compared to traditional methods.

[0217] The motor drive structure 3 is the core power component of this electromagnetic needleless injector, which includes a series-wound linear motor 31, a limiting rod 32, a mounting sleeve 33, a moving plate 34, a hydraulic buffer 35, a buffer spring 36, a first linear bearing 37, a second linear bearing 38, a bushing 331, and a sliding support 332.

[0218] The series-wound linear motor 31 includes a housing and a stator coil and a mover coil disposed inside the housing. The stator coil is sleeved outside the mover coil and connected in a series manner. The mover reciprocates linearly along the axial direction through the magnetic field coupling between the stator and mover coils, exhibiting high starting thrust characteristics. By controlling the current direction in the stator coil, bidirectional thrust can be flexibly generated without the need for a return spring. The series-wound linear motor 31 achieves higher force density within the same volume, enabling high thrust and microsecond-level rapid response over short strokes, striking a balance between dynamic performance, control precision, and reliability, and meeting the high pressure requirements for intramuscular injection in livestock.

[0219] One end of the plunger rod 22 is slidably disposed inside the drug storage pump body 21 along the axial direction, and the other end passes through the housing of the series-wound linear motor 3 along the axial direction and is fixedly connected to the front end of the mover. The plunger rod 22 is coaxially disposed with the mover. When the mover moves forward along the axial direction, it can drive the plunger rod 22 to push the liquid medicine in the drug storage pump body 21 out through the nozzle assembly 4.

[0220] Furthermore, to prevent twisting or swaying during the start and stop of this high-speed linear motion (such instability would severely affect the effectiveness of the vaccine jet in penetrating the thick fat layer of livestock and the accuracy of the dosage), an additional limiting rod 32 is added. This limiting rod 32 is fixedly connected to the eccentric position at the front end of the mover and is parallel to the plunger rod 22. Then, the front end of the mounting sleeve 33 is fixedly connected to the drug storage pump body 21, and the rear end is fixedly connected to the front end of the housing of the series-wound linear motor 3. Subsequently, the mounting sleeve 33 is simultaneously slidably fitted onto both the plunger rod 22 and the limiting rod 32 along the axial direction. The first linear bearing 37 is fixed at the position where the mounting sleeve 33 is slidably connected to the plunger rod 22, and the second linear bearing 38 is fixed at the position where the mounting sleeve 33 is slidably connected to the limiting rod 32, so as to form a circumferential limit on the movement of the mover and the plunger rod 22. In this way, the plunger rod 22 is mainly responsible for transmitting forward thrust, while the limiting rod 32 fits tightly with the mounting sleeve 33, like a key locked in a groove, completely locking the possibility of the entire moving part rotating around the axis, ensuring that every injection is an absolutely linear motion. This greatly improves the stability and reliability of injection when dealing with struggling livestock.

[0221] Reference Figures 9 to 11 As a more preferred embodiment, the first linear bearing 37 is axially positioned at the rear end of the mounting sleeve 33 near the series-wound linear motor 31, thus providing radial restraint to the plunger rod 22 just as it extends out of the series-wound linear motor 31. The bushing 331 and the sliding support 332 are then coaxially fitted from the outside in at the end of the plunger rod 22 near the drug storage pump body 21. The bushing 331 is fixed to the front end of the mounting sleeve 33 and abuts against the drug storage pump body 21, i.e., the bushing 331 abuts against the rear end face of the drug storage pump body 21, and the mounting sleeve 33 abuts against the mounting surface at the rear end of the bushing 331. Both are then simultaneously fixed to the mounting sleeve 33 using fasteners. The main body of the bushing 331 extends into the interior of the mounting sleeve 33, the sliding support 332 is embedded within the main body of the bushing 331, and the outer peripheral wall of the plunger rod 22 slides against the inner peripheral wall of the sliding support 332, thus providing radial restraint to the plunger rod 22 near the drug storage pump body 21. The bushing 331 and sliding support 332 located at the front end of the plunger rod 22, together with the first linear bearing 37 located at the rear end of the plunger rod 22, form a double support structure for the plunger rod 22. This provides stable support and limiting at both the front and rear ends of the plunger rod 22, better ensuring the stability of the plunger rod 22 during high-pressure and high-speed movement, and effectively avoiding the impact of shaking or swaying of the plunger rod 22 on injection accuracy.

[0222] Furthermore, considering that injecting livestock is a high-frequency, high-intensity operation, the impact and noise during syringe return are also crucial. (Refer to...) Figure 10 and Figure 11A movable plate 34 is provided at the middle position of the mounting sleeve 33 along its axial direction. The movable plate 34 penetrates the mounting sleeve 33 radially, and a clearance groove is provided on the mounting sleeve 33 to allow the movable plate 34 to move axially. Furthermore, the mounting sleeve 33 is simultaneously fixedly connected to the plunger rod 22 and the limiting rod 32, and can move synchronously with the plunger rod 22 and the limiting rod 32 along its axial direction. The plunger rod 22 penetrates the movable plate 34 axially and is fixedly connected to the movable plate 34 at the penetration position. The limiting rod 32 is fixedly connected to the movable plate 34 at the end axially away from the mover. Here, it is preferable to also provide a second linear bearing 38 near the series-wound linear motor 31, so that the second linear bearing 38 and the movable plate 34 form a stable double support structure for the front and rear ends of the limiting rod 32. Then, the buffer spring 36 is fitted onto the portion of the plunger rod 22 that protrudes from the moving plate 34, with one end of the buffer spring 36 abutting against the moving plate 34 and the other end abutting against the end of the mounting sleeve 33 connected to the drug storage pump body 21. In this embodiment, the end of the buffer spring 36 near the drug storage pump body 21 is fitted onto the outer peripheral wall of the bushing 331 and abuts against the bushing 331, so that the bushing 331 forms a radial limit on the buffer spring 36, preventing friction between it and the plunger rod 22. The hydraulic damper 35 is then fixed to the top position of the mounting sleeve 33 near the side of the series-wound linear motor 31.

[0223] During injection, the moving plate 34 moves axially forward along the plunger rod 22 driven by the actuator. The buffer spring 36 is compressed, absorbing some kinetic energy and preventing tissue damage or increased pain caused by the instantaneous high-pressure injection of the drug, thus improving injection comfort. The slight elastic rebound of the buffer spring 36 also adjusts the movement speed of the plunger rod 22, ensuring that the drug is injected into the subcutaneous or muscle tissue at a uniform and stable flow rate, avoiding adverse effects on drug absorption due to excessively fast or slow speeds. After injection, the actuator returns to its original position, causing the moving plate 34 to move in the opposite direction along with the plunger rod 22. At this time, the buffer spring 36 resets and releases energy, assisting the actuator in quickly returning to its original position, effectively reducing energy loss of the motor. Simultaneously, the plunger rod 22 and the limit rod 32 drive the moving plate 34 to move axially backward. Before the moving parts return to their endpoint at high speed, the moving plate 34 impacts the hydraulic buffer 35, which absorbs the impact kinetic energy generated when the actuator returns to its original position. In other words, the hydraulic damping inside the hydraulic buffer 35 smoothly and quietly absorbs all remaining impact force. This ensures that the syringe maintains internal structural stability and a comfortable feel even under continuous injection cycles, effectively extending its service life.

[0224] It should be noted that an external drug delivery assembly 9 is also fixed to the outside of the cavity structure 1. Preferably, it is fixed to the side of the cavity structure 1 and connected to the front end of the cavity structure 1 via a quick-connect Luer connector. One end of the quick-connect Luer connector connects to the cavity of the external drug delivery assembly 9, and the other end connects to the inlet of the drug storage pump body 21 of the internal drug storage assembly 2. When the mover returns to its original position, causing the plunger rod 22 to move backward, a negative pressure is created within the drug storage pump body 21, drawing the liquid medication from the external drug delivery assembly 9 into the drug storage pump body 21. This external drug delivery assembly 9 can use, but is not limited to, syringes and various types of drug storage bottles. For small-dose (less than 0.5ml) and infrequent quantitative immunization injections, a syringe can be used to store the medication. The product is designed with locking clips to accommodate different dosage syringes. For large-dose (greater than 0.5ml) injections, an infusion tube and a medication storage bottle are used. The medication is strapped to the torso with a shoulder strap, which can meet the needs of livestock for single large-dose injections and reduce pressure on the hand. The medication storage bottle has graduation markings so that farmers can easily see the remaining amount of medication.

[0225] The nozzle assembly 4 includes a trigger ring 41 for direct contact with the skin at the injection site, a trigger spring 42, and a nozzle 43 for spraying the medication. The trigger spring 42 is fitted onto the nozzle 43, with its front end abutting against the trigger ring 41 and its rear end abutting against the front end of the medication pump body 21. The front end of the nozzle 43 has a blunt-tipped conical structure, and its internal spray channel has a tapered cylindrical structure that gradually narrows from back to front (i.e., the nozzle 43 is a metal microporous nozzle with a tapered cylindrical structure in its internal channel). This design of the nozzle 43 can focus the vaccine liquid at high speed into an extremely fine jet, sufficient to penetrate the animal's skin without causing large wounds. Its blunt-tipped conical structure has a smooth surface, which can reduce damage to the animal's skin. Furthermore, the front end of the trigger spring 42 fitted onto the outside of the nozzle 43 is toothed, which facilitates positioning on the animal's body surface, reduces slippage, and effectively prevents the vaccine from splashing during injection. When the syringe tip is pressed firmly against a suitable location such as behind the pig's ear or neck, the trigger coil 41 is squeezed and moves axially backward after contacting the skin at the injection site, compressing the trigger spring 42. This action itself is also a physical preparation signal. After the injection is completed, the trigger coil 41 detaches from the skin at the injection site, and the trigger spring 42 returns to its original position, causing the trigger coil 41 to return to its original position as well.

[0226] Furthermore, a cooling fan assembly 10 is also provided inside the cavity structure 1. It is located at the rear end of the housing of the series-wound linear motor 31. Its main function is to enhance the air circulation inside the equipment, thereby effectively dissipating heat and preventing the motor from overheating, which could lead to performance degradation or component damage.

[0227] The electromagnetic needleless injector of this embodiment, compared to traditional needle injectors, avoids the risk of needle-induced injuries to farmers and livestock, preventing cross-infection. It also reduces stress responses in livestock, minimizing injection-related injuries and deaths. Utilizing a series-wound linear motor as its power source, it fully leverages the high starting thrust and transient response characteristics of the series-wound motor, enabling the plunger rod 22 to generate sufficient driving force to quickly inject the drug into the body for intramuscular injection. It achieves precise control over injection dosage and depth, covering both intradermal and intramuscular injections, with a minimal error range, better ensuring the therapeutic and immunizing effects of the drug. Furthermore, to address the potential torsional and swaying issues that may occur during high-speed linear motion of the actuator, an additional limiting rod 32 parallel to the plunger rod 22 is added at the eccentric position of the actuator. The limiting rod 32 and the plunger rod 22 both pass through the same mounting sleeve 33 fixed between the housing of the series-wound linear motor 31 and the drug storage pump body 21. In this way, the plunger rod 22 is responsible for transmitting the forward thrust, while the limiting rod 32 fits tightly with the mounting sleeve 33, like a key locked in a groove, completely preventing the entire moving part from rotating around its axis, ensuring that every injection is an absolutely linear motion. This greatly improves the stability and reliability of injection when dealing with struggling livestock. This electromagnetic needle-free injector has a simple overall structure, is small in size and lightweight, easy to operate, and all components adopt a modular design, facilitating maintenance and repair.

[0228] In addition, such as Figure 1 As shown, the control box 6 (i.e., the box body) of the electromagnetic needleless injector in this embodiment is located outside the cavity structure 1 and is electrically connected to the injector body via a cable. Other parts not mentioned are the same as in embodiment 1, so they will not be described in detail.

[0229] Specifically, considering the large operating area of ​​the farm, the syringe body is designed as a lightweight handheld terminal, integrating the power supply (including a high-capacity battery) and control components into an external control box 6. The power supply component powers the syringe body and features overcharge, over-discharge, and short-circuit protection. The control component controls the operating status of the series-wound linear motor 31. This control box 6 can be carried on the shoulder or waist, and its exterior features a display panel and operation buttons. The display panel shows real-time information such as the current injection dose, number of injections, remaining medication, motor operating status, and battery level. The operation buttons allow for setting the injection dose, starting and stopping the syringe, and switching between different injection modes.

[0230] In this embodiment, a power interface 7 and a signal interface 8 are located at the rear end of the syringe body. The power supply component inside the control box 6 is connected to the power interface 7 via a durable, waterproof cable, and the control component is connected to the signal interface 8 via a durable, waterproof cable. This ensures both operator flexibility and sufficient battery life and processing performance for the device.

[0231] The control component includes a microprocessor, and multiple sensors electrically connected to the microprocessor are located inside the cavity structure 1 of the syringe body. These include, but are not limited to, a first proximity switch sensor for detecting the triggering of the nozzle assembly 4, which is pressed and mounted on the front side of the drug reservoir pump body 21 near the nozzle assembly 4 via a fixing plate. When the trigger coil 41 presses against the skin, the trigger spring 42 is compressed, and the trigger coil 41 moves rearward, the first proximity switch sensor senses a signal and transmits it to the microprocessor; a second proximity switch sensor for detecting the return of the plunger rod 22, which is bolted to the mounting sleeve 33. When the plunger rod 22 returns to its original position, the second proximity switch sensor senses a signal and transmits it to the microprocessor (MCU); and a magnetic grating / optical grating position detection sensor for detecting the displacement of the plunger rod 22. It is fixed at the bottom of the cavity structure 1 near the moving plate 34, and then an L-shaped moving part is fixedly connected to the moving plate 34. The L-shaped moving part extends to the detection end of the magnetic grating / optical grating position detection sensor. By detecting the displacement of the L-shaped moving part, the displacement of the plunger rod 22 is detected. The magnetic grating / optical grating position detection sensor transmits the detected displacement information to the microprocessor, i.e., MCU. There is also a micro switch sensor for detecting the triggering status of the syringe body. It is fixedly installed inside the portable handle 5 near the trigger switch 51 and is used as a safety mechanism. When the trigger switch 51 is pressed, the micro switch sensor senses the signal and transmits it to the microprocessor.

[0232] The microprocessor can receive information from the aforementioned multiple sensors, including information on whether the nozzle assembly 4 has been triggered (detected by the first proximity switch sensor), information on whether the plunger rod 22 has returned to its original position (detected by the second proximity switch sensor), displacement information of the L-shaped moving part (detected by the magnetic grating / optical grating position detection sensor), and information on whether the syringe body has been triggered (detected by the microswitch sensor). Furthermore, based on the received information, the microprocessor can control the operating state of the series-wound linear motor 31 through existing processing circuitry, including starting and stopping the series-wound linear motor 31, and controlling the magnitude and direction of the applied current.

[0233] Furthermore, a communication component is also installed within the control box 6, which is electrically connected to the microprocessor. This communication component supports Bluetooth or 4G communication and can connect to the livestock cloud management system to upload injection data and remotely monitor it, facilitating the management and analysis of livestock injection status by livestock farmers. Operators can also directly send commands and data from the livestock cloud, such as injection dosage, number of injections, and injection force, which are transmitted to the microprocessor through the communication component for remote control.

[0234] It should be noted that the above specific control processes are all completed using existing technologies and are not the points of invention of this invention. One of the innovations of this invention is that the control part (including microprocessor and communication components, etc.) is integrated into the external control box 6, so as to improve the portability of the syringe body while having multiple intelligent functions.

[0235] The electromagnetic needle-free injector shown in this embodiment integrates the power supply and control components into an external control box 6. Compared to the traditional method of integrating the power supply and control components inside the cavity structure 1 of the injector body, this significantly reduces the overall weight of the injector body and improves portability. Furthermore, traditional built-in batteries are limited by size and safety regulations, making it difficult to meet the demands of high frequency and high load injections. Sudden voltage drops during continuous injections can also lead to thrust attenuation. However, this embodiment uses an external battery, which provides a continuous and stable high-current output, ensuring consistent injection pressure and preventing issues such as drug residue or insufficient penetration depth due to insufficient power. Simultaneously, the external battery effectively increases battery capacity and improves battery life.

[0236] Furthermore, the power interface 7 and signal interface 8 on the syringe body both adopt universal interfaces, allowing different syringe bodies and control box 6 to be interchanged at will, reducing the need for purchasing special parts. In the event of a failure in either the syringe body or the control box 6, quick replacement can be performed, improving work efficiency and reducing maintenance costs.

[0237] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0238] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0239] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. An electromagnetic needle-free injector based on a series excited motor, characterized in that, The electromagnetic needle-free injector comprises a cavity structure with an injector and a circuit main body structure integrated in a portable box body, and the circuit main body structure is electrically connected with a motor and a monitoring component in the cavity structure through a cable for intelligently controlling the motor; The circuit main body structure comprises a power module, an MCU, a motor driving circuit, an energy storage module, a surge current suppression circuit and a communication module; The power module is used for converting the battery voltage into the voltage required by the MCU, the motor driving circuit, the energy storage module, the surge current suppression circuit and the communication module and supplying power for them; The motor driving circuit is used for isolating the control signal of the MCU from the high-voltage side MOS tube and converting the control signal of the low-voltage side into the driving voltage of the high-voltage side series motor; The motor driving circuit is connected with the positive electrode of the battery in the power module and the ground end of the surge current suppression circuit; The energy storage module is used for providing instantaneous current for the motor driven by the motor driving circuit; The surge current suppression circuit is used for suppressing the surge current by adopting a two-stage charging method when the circuit main body structure starts; the surge current suppression circuit is connected with the MCU and receives the enable signal of the MCU to make the circuit main body structure in a stable power supply mode; The MCU interacts with the cloud through the communication module, and is used for issuing the control signal matched with the instruction to the motor driving circuit according to the instruction issued by the cloud to realize the accurate control of the motor range.

2. The electromagnetic needle-free injector according to claim 1, characterized in that: The motor driving circuit comprises an H-bridge driving circuit composed of four N-MOS tubes; The middle point of the bridge arm of the H-bridge driving circuit is connected with two ends of the series motor; A freewheeling diode is integrated between the drain D and the source S of each bridge arm N-MOS tube for discharging the reverse electromotive force of the motor; The gate of each N-MOS tube is connected with the output end of the optocoupler component for realizing driving isolation, and the input end of the optocoupler component is connected with the signal output end of the MCU.

3. The electromagnetic needle-free injector according to claim 1, characterized in that: The energy storage module comprises a first capacitor combination and a second capacitor combination; The first capacitor combination and the second capacitor combination are connected in parallel, and the positive electrode end connected in parallel is connected with the positive electrode of the battery in the power module, and the ground end connected in parallel is grounded; The first capacitor combination comprises a plurality of electrolytic capacitors connected in parallel, which are used for providing instantaneous large current for the series motor and eliminating low-frequency noise during the operation of the motor; the second capacitor combination comprises a plurality of ceramic capacitors connected in parallel, which are used for filtering high-frequency switching ripple during the operation of the motor and stabilizing voltage.

4. The electromagnetic needle-free injector according to claim 1, characterized in that: The surge current suppression circuit comprises a first switch (SW1), a first voltage dividing resistor (R5), a fifth N-MOS tube (Q5) and a ground resistor (R7); A sixth N-MOS tube (Q3), a seventh N-MOS tube (Q4), an eighth N-MOS tube (Q2), a ninth N-MOS tube (Q1) and a third voltage dividing resistor (R3). Wherein, in the first switch (SW1) is manually closed for a specified period of time, the battery positive voltage through the first voltage divider resistor (R5), the fifth N-MOS tube (Q5) is turned on, and the pre-charge slow charge is realized through the grounding resistor (R7); When the circuit is powered on, the enable signal POWER-EN of the MCU makes the sixth N-MOS tube (Q3) and other MOS tubes in the surge current suppression circuit conduct, and the battery positive voltage is sequentially grounded through the seventh N-MOS tube (Q4) which is turned on, the third voltage divider resistor (R3), the eighth N-MOS tube (Q2) which is turned on, and the ninth N-MOS tube (Q1). After that, the main circuit structure of the circuit enters a stable power supply mode, and the inrush current is suppressed; and the first switch (SW1) is opened; The first switch (SW1) is located between the positive electrode of the battery and the first voltage divider resistor (R5); The drain D of the sixth N-MOS tube (Q3) and the drain D of the seventh N-MOS tube (Q4) are connected to the positive electrode of the battery, And each N-MOS tube drain D and source S is integrated with a freewheeling diode.

5. The electromagnetic needleless injector of claim 1, wherein: The communication module is a 4G communication component, which communicates with the MCU through a UART serial port, receives instructions sent by the cloud, and uploads relevant information of the injector to the cloud; The 4G communication component is integrated with a high-gain antenna; The MCU is connected to a display module on the box, and the user configures the MCU based on the display module. The MCU uploads the configuration information to the cloud through 4G to realize interaction with the cloud.

6. The electromagnetic needleless injector of claim 1, wherein: The cable includes: A signal line and a power line; The cavity structure is provided with a displacement sensor for monitoring the displacement of the plunger rod of the motor and a temperature sensor for monitoring the movement temperature of the motor; The displacement sensor and the temperature sensor are electrically connected to the MCU; The main circuit structure is provided with a current sensor for monitoring the output current of the battery.

7. The electromagnetic needleless injector of claim 1, wherein: The cavity structure is a handle type structure, and the box is a cuboid structure; the series motor is an inductive series linear motor; And / or, the cavity structure is provided with an internal drug storage assembly (2) and a motor driving structure (3), and a nozzle assembly (4) penetrating through the front end of the cavity structure (1); The internal drug storage assembly (2) includes a drug storage pump body (21) and a plunger rod (22), and the motor driving structure (3) includes a series linear motor (31), a limiting rod (32), and a mounting sleeve (33); One end of the plunger rod (22) is slidably arranged in the internal drug storage pump body (21) along the axial direction, and the other end penetrates into the housing of the series linear motor (31) along the axial direction and is coaxially connected to the mover. When the mover moves forward along the axial direction, it can drive the plunger rod (22) to push the liquid medicine in the drug storage pump body (21) out through the nozzle assembly (4); The limiting rod (32) is fixedly connected to the eccentric position at the front end of the mover and is parallel to the plunger rod (22); The mounting sleeve (33) is fixedly connected to the front end of the medicine storage pump body (21) and the rear end of the shell of the linear motor (31), and is axially sleeved on the plunger rod (22) and the limiting rod (32), so as to limit the movement of the mover and the plunger rod (22) in the circumferential direction.

8. A circuit body structure for an electromagnetic needle-free injector, characterized by Comprise: Power module, MCU, motor drive circuit, energy storage module, surge current suppression circuit and communication module; The power module is used for converting the battery voltage into the voltage required by the MCU, the motor drive circuit, the energy storage module, the surge current suppression circuit and the communication module and supplying power for them; The motor drive circuit is used for isolating the control signal of the MCU from the high-voltage side MOS tube, and converting the control signal of the low-voltage side into the driving voltage of the high-voltage side series motor; The motor drive circuit is connected to the positive electrode of the battery in the power module and the ground end of the surge current suppression circuit; The energy storage module is used for providing instantaneous current for the motor driven by the motor drive circuit; The surge current suppression circuit is used for suppressing surge current by adopting two-stage charging method when the main circuit structure is started; the surge current suppression circuit is connected to the MCU and receives the enable signal of the MCU to make the main circuit structure in stable power supply mode; The MCU interacts with the cloud through the communication module, and is used for issuing the control signal matched with the instruction to the motor drive circuit according to the instruction issued by the cloud, so as to realize precise control of the motor range.

9. A control method for an electromagnetic needleless injector according to any one of claims 1 to 7, characterized in that, Comprise: After the electromagnetic needle-free injector is normally started by two-stage pre-charging method, the MCU receives the first signal of starting injection in the electromagnetic needle-free injector, and generates the first control signal matched with the current injection vaccine and inputs the motor drive circuit; Start the timer; The motor drive circuit rotates forward, so that the motor runs to inject the vaccine into the livestock body; And After the first specified time recorded by the timer, the second control signal is generated and output to the motor drive circuit, so that the motor drive circuit reverses and resets, and the motor drives the injector to reset; After the second specified time recorded by the timer, a stop signal is generated and output to the motor drive circuit, so that the motor drive circuit is turned off or fully turned on, and the standby state is achieved.

10. The control method according to claim 9, characterized by ； The MCU receives the instruction issued by the cloud, adjusts the signal duty cycle in the control signal, and controls the on-time proportion of the motor drive circuit; Or, The MCU acquires the data of the temperature sensor, the current sensor and the displacement sensor in real time, and monitors the state data and uploads them to the cloud in real time.

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