Automatic continuous injection device for veterinary vaccines

Abstract

The present application belongs to the technical field of pig breeding, and discloses an automatic continuous injection device for veterinary vaccines, which comprises a corridor type cage, front and rear electric lifting grilles are respectively installed at the inlet end and the outlet end of the corridor type cage, a side frame is fixedly installed on the side edge of the outlet end of the corridor type cage, and a photoelectric sensor is installed on the side frame; two groups of plate frames are symmetrically arranged inside the corridor type cage, a bidirectional linear drive assembly for driving the two plate frames to move towards each other or away from each other is installed at the top end of the corridor type cage, a neck positioning assembly for limiting the neck of a pig whose body is limited is installed on the plate frame; a binocular stereovision camera is installed above the outlet side of the corridor type cage, a six-axis robot is installed at the top end of the side frame, and a veterinary needle-free injector and a trigger execution mechanism are installed on the working end of the six-axis robot; the present application can protect and limit the pig, and then complete the vaccine injection operation.

Description

Technical Field

[0001] This invention belongs to the field of pig farming technology, specifically, it relates to an automatic continuous injection device for veterinary vaccines. Background Technology

[0002] Continuous injection devices are essential equipment in large-scale pig farming. They enable rapid and continuous injection while ensuring that each pig receives a uniform dose, reducing human error. The closed-loop design effectively reduces the risk of drug contamination and cross-infection between pigs. These devices mainly include a drug delivery system, a metering system, a reversing valve system, and a syringe. During actual injection, the pig's body must be protected and restricted, exposing the neck triangle area. The needle should be quickly inserted into the deep muscle layer at an angle of 45 to 60 degrees. The trigger should be pulled all the way down and held for 1 to 2 seconds to ensure that the drug is fully injected. When withdrawing the needle, the skin should be pressed to prevent backflow of the drug. After each batch of vaccinations, the inside of the pipeline must be rinsed repeatedly with clean water and lubricated with grease to maintain the metal parts. At the same time, dull or bent needles should be replaced in a timely manner.

[0003] Existing technologies also include solutions that use robots to replace manual needle holding for injection. Chinese invention patent application number CN202610363681.0 discloses a vaccine injection robot for piglets, including a piglet transfer device and an automatic injection device. The piglet transfer device includes a base, a bottom fixing plate, a left upright plate, a right upright plate, and multiple intermediate upright plates. The left upright plate, the right upright plate, and the multiple intermediate upright plates are respectively connected to the bottom fixing plate. The multiple intermediate upright plates are located between the left upright plate and the right upright plate. The automatic injection device includes a frame, a support platform, a baffle, a syringe displacement drive mechanism, a veterinary needleless syringe, and multiple partitions.

[0004] The aforementioned existing vaccine injection robots can transfer multiple piglets to the injection station, enabling rapid and continuous vaccine injection and significantly improving operational efficiency. However, it can be seen that in the above scheme, piglets mainly remain in the receiving channel and gradually move towards the vaccine injection station, where the automatic injection device completes the injection. During this process, when pigs are being vaccinated against swine fever, foot-and-mouth disease, pseudorabies, or porcine reproductive and respiratory syndrome (PRRS), the pigs in the channel, facing the approaching robotic arm, will frequently stop abruptly, lunge forward, shake their heads, or sway their bodies from side to side out of fear. This causes irregular displacement of the target area in the neck region in three-dimensional space. At this time, it is difficult to inject the vaccine into the pig's neck using a displacement drive mechanism and a veterinary needleless injector, especially when the pigs retreat or lunge forward, which can easily lead to uncontrolled situations such as missed injections, missed injections, or backflow of the drug. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic continuous injection device for veterinary vaccines. Pigs to be vaccinated enter the corridor-type cage from the front electric lifting grille until they reach the side frame and photoelectric sensor on the exit side. The photoelectric sensor acquires the pig's positioning information. The control box drives the bidirectional linear drive assembly to bring the side frames of the corridor-type cage closer together to protect and confine the pig's body. A neck positioning assembly on the rear frame then limits the pig's neck to suppress head shaking and lateral swaying. After the pig stabilizes, a binocular stereo vision camera above the exit side of the corridor-type cage acquires the position of the pig's neck. A six-axis robot moves a veterinary needle-free injector to the neck, and a trigger actuator activates the injector, thereby completing the neck vaccination of the pig and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An automated continuous injection device for veterinary vaccines includes a corridor-type cage. A front electrically lifting grille and a rear electrically lifting grille are installed at the entrance and exit ends of the corridor-type cage, respectively. A side frame is fixedly installed on the side of the exit end of the corridor-type cage, and a photoelectric sensor is installed on the side frame to detect whether a pig has reached a predetermined position on the exit side. Two sets of plate frames are symmetrically arranged inside the corridor-type cage. A bidirectional linear drive assembly is installed at the top of the corridor-type cage to move the two plate frames closer to or further apart from each other. The movement of the two plate frames towards each other is used to protect and confine the pig's body. A neck positioning assembly is installed on the plate frames to limit the neck of the pig after the body is confined. A binocular stereo vision camera is installed above the exit side of the corridor-type cage to acquire three-dimensional spatial position information of the pig's neck after confinement. A six-axis robot is installed at the top of the side frame, and a veterinary needle-free injector and a trigger actuator for triggering the veterinary needle-free injector are installed on the working end of the six-axis robot.

[0007] The following are further optimizations of the above technical solution by the present invention: The bidirectional linear drive assembly includes a rectangular frame arranged along the width of the corridor-type cage and fixedly installed at the top of the corridor-type cage. A bidirectional lead screw linear module is installed in the middle of the rectangular frame. Two nut blocks in the bidirectional lead screw linear module are fixedly connected to the corresponding plate frames respectively. A servo drive mechanism for driving the bidirectional lead screw linear module is fixedly installed on the inner wall of one side of the rectangular frame. The servo drive mechanism drives the bidirectional lead screw linear module to work. The bidirectional lead screw linear module drives the plate frames on both sides to move synchronously in a direction that approaches or moves away from each other.

[0008] Further optimization: The plate frame includes two square-mouthed vertical tubes arranged vertically and fixedly installed on the drive end of the bidirectional lead screw linear module. Multiple crossbeams are welded and installed on the square-mouthed vertical tubes along their height direction.

[0009] Further optimization: Flexible rubber pads or foamed plastic pads are fixed on the inner sides of the multiple crossbeams facing the pig's torso to increase frictional resistance and buffer clamping pressure.

[0010] Further optimization: The neck positioning assembly includes a double-layer right-angle platform fixedly installed at the top of the uppermost crossbeam. An automatic telescopic rod is horizontally hinged to the top of the double-layer right-angle platform. A horizontal shaft is rotatably installed on the top wall of the double-layer right-angle platform through a bearing seat. The length direction of the horizontal shaft is parallel to the length direction of the corridor-type cage. An end arm is fixedly connected between the two ends of the horizontal shaft through a connecting ear plate. A rocker arm is fixedly installed on the horizontal shaft. The upper end of the rocker arm extends through to the top of the double-layer right-angle platform and is hinged to the telescopic end of the automatic telescopic rod. A neck frame is fixedly installed on the inner side of the end arm facing the pig's torso.

[0011] Further optimization: An automatic telescopic rod II is fixed on the double-layer right-angle platform, and a pressure plate for preventing the pig's head from lifting is fixedly installed at the lower end of the telescopic end of the automatic telescopic rod II.

[0012] Further optimization: The trigger actuator includes a handle fixed to the end of the six-axis robot, a servo motor fixedly mounted on the handle, a lever fixedly mounted on the upper end of the servo motor's power output shaft, and the handle of the veterinary needleless injector fixed to the handle.

[0013] Further optimization: The front and rear electric lifting grilles have the same overall structure, consisting of a geared motor, a belt drive pair, and a gate body that slides vertically. The gate body is slidably installed on the corridor-type cage using a vertical slide rail structure. The belt drive pair is arranged parallel to the vertical slide rail structure and installed on the corridor-type cage. One side of the gate body is fixedly connected to the belt in the belt drive pair through a connecting plate. The geared motor is fixedly installed on the corridor-type cage and is connected to the belt drive pair for driving the belt drive pair.

[0014] Further optimization: A control box is fixedly installed on one side of the outer wall of the corridor-type cage. The control box is electrically connected to the front electric lifting grille, the rear electric lifting grille, the bidirectional linear drive assembly, the six-axis robot, the trigger actuator, the binocular stereo vision camera, and the neck positioning assembly.

[0015] Further optimization: The binocular stereo vision camera is mounted on the top of the exit side of the corridor-type cage via a bracket and is located outside the movement range of the six-axis robot. The binocular stereo vision camera is electrically connected to the control box and is used to directly send the calculated three-dimensional coordinates of the pig's neck to the motion controller of the six-axis robot. The six-axis robot is used to drive the veterinary needleless injector to move to the pig's neck.

[0016] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1. This invention places a six-axis robot, a veterinary needleless injector, and a trigger actuator on the side of a corridor-type cage, precisely within the pig's relative blind spot. This area is perceived as a low-threat level by the pig. When the robotic arm begins to move, the pig is less likely to experience excessive fear or violent struggle. The burden on the neck positioning assembly in suppressing head shaking and lateral body swaying is correspondingly reduced, allowing the protected and constrained posture to stabilize more quickly. This stable posture creates the preconditions for subsequent precise positioning and injection. The entire process, from obtaining the neck location through binocular vision to triggering the needleless injector, can be completed in a relatively calm state for the animal, reducing potential interference with the vaccine immune response caused by a sharp increase in stress hormones.

[0017] 2. In this invention, the pig's neck is in a natural standing position, and its side is the largest and flattest working surface. The skin surface is approximately vertical. When the robot is placed to the side, the end effector of its robotic arm can extend directly horizontally and perpendicular to the side of the neck. It does not require complex multi-joint bending to achieve deflection from top to bottom, nor does it need to detour around the pig's mouth and snout from the front. The binocular stereo vision camera is located above the exit side, and there is no interference from the robot body or pipeline within its field of view. It can clearly capture the neck feature points and provide stable and reliable coordinate guidance for the robot, thereby ensuring the effectiveness of high-pressure liquid flow penetrating the skin and improving the injection success rate. Attached Figure Description

[0018] Figure 1 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 1 ; Figure 2 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 2 ; Figure 3 This is an exploded view of the overall structure in an embodiment of the present invention; Figure 4 This is a three-dimensional sectional view of the overall structure in an embodiment of the present invention; Figure 5 This is an assembly diagram of a six-axis robot and a veterinary needleless injector in an embodiment of the present invention; Figure 6 This is a schematic diagram of the bidirectional linear drive assembly in an embodiment of the present invention; Figure 7 for Figure 4 A magnified view of a section at point A in the middle; Figure 8 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 3 ; Figure 9 This is a front sectional view of the overall structure in an embodiment of the present invention; Figure 10 This is a schematic diagram of the corridor-type cage structure in an embodiment of the present invention.

[0019] In the diagram: 1-Aisle-type cage; 2-Front electric lifting grille; 3-Rear electric lifting grille; 4-Plate frame; 401-Square upright tube; 402-Crossbeam; 5-Bidirectional linear drive assembly; 501-Rectangular carrier; 502-Bidirectional lead screw linear module; 503-Servo drive mechanism; 6-Six-axis robot; 611-Handle holder; 612-Servo motor; 613-Toggle arm; 7-Veterinary needleless injector; 8-Binocular stereo vision camera; 9-Neck positioning assembly; 901-Double-layer right-angle platform; 902-Horizontal axis; 903-Automatic telescopic rod one; 904-Rocker arm; 905-End arm; 906-Neck frame; 907-Automatic telescopic rod two; 908-Pressure plate; 10-Control box; 11-Side frame; 12-Photoelectric sensor. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Depend on Figures 1 to 4 As shown, an automatic continuous injection device for veterinary vaccines includes a corridor-type cage 1. A front electrically lifting grille 2 and a rear electrically lifting grille 3 are respectively installed at the entrance and exit ends of the corridor-type cage 1. A side frame 11 is fixedly installed on the side of the exit end of the corridor-type cage 1, and a photoelectric sensor 12 is installed on the side frame 11 to detect whether the pig has reached the predetermined position on the exit side. Two sets of plate frames 4 are symmetrically arranged inside the corridor-type cage 1. A bidirectional straight beam is installed at the top of the corridor-type cage 1 to move the two plate frames 4 towards or away from each other. The wire drive assembly 5 and the two plates 4 move toward each other to protect and limit the pig's body. The plates 4 are equipped with a neck positioning assembly 9 for limiting the pig's neck after the body is limited. A binocular stereo vision camera 8 is installed above the exit side of the corridor cage 1. The binocular stereo vision camera 8 is used to acquire the three-dimensional spatial position information of the pig's neck after it is limited. A six-axis robot 6 is installed at the top of the side frame 11. A veterinary needleless injector 7 and a trigger actuator for triggering the veterinary needleless injector 7 are installed on the working end of the six-axis robot 6.

[0022] In this embodiment, the corridor-type cage 1 is made of high-strength hot-dip galvanized steel welded into a rectangular frame. The internal width is slightly larger than the chest width of an adult fattening pig. The narrow, single-lane passage restricts the pig's large-scale left-right detours, so that the pig can only move in the front-back direction.

[0023] In this embodiment, the front electric lifting grille 2 and the rear electric lifting grille 3 have the same overall structure, both consisting of a reduction motor, a belt drive pair, and a gate body that is slidably installed in the vertical direction. The gate body is slidably installed on the corridor-type cage 1 using a vertical slide rail structure. The belt drive pair is arranged parallel to the vertical slide rail structure and installed on the corridor-type cage 1. One side of the gate body is fixedly connected to the belt in the belt drive pair through a connecting plate. The reduction motor is fixedly installed on the corridor-type cage 1 and is connected to the belt drive pair for driving the belt drive pair to work.

[0024] With this design, the control terminal of the geared motor is electrically connected to the control box 10. The geared motor starts according to the set program and drives the belt drive pair to work. At this time, the belt drive pair drives the fence gate to rise and fall and close along the vertical direction of the corridor-type cage 1.

[0025] A control box 10 is fixedly installed on one side of the outer wall of the corridor-type cage 1. The control box 10 is electrically connected to the front electric lifting grille 2, the rear electric lifting grille 3, the bidirectional linear drive assembly 5, the six-axis robot 6, the trigger actuator, the binocular stereo vision camera 8, and the neck positioning assembly 9.

[0026] In this embodiment, the control box 10 consists of a programmable logic controller, various intermediate relays, a switching power supply, a signal isolator, and a touch screen integrated on the human-machine interface. It receives level signals from the photoelectric sensor 12 and the servo driver in real time through the digital input port. After logical operation and status determination by the internal central processing unit, it sends corresponding start / stop, speed, and direction commands to the drive motors of the front electric lifting grille 2 and the rear electric lifting grille 3, the servo system of the bidirectional linear drive assembly 5, and the motion controller and trigger actuator of the six-axis robot 6 through the output port.

[0027] Depend on Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the bidirectional linear drive assembly 5 includes a rectangular carrier 501 arranged along the width direction of the corridor-type cage 1. The two sides of the rectangular carrier 501 are respectively fixedly installed at the top of the corridor-type cage 1. A bidirectional lead screw linear module 502 is installed in the middle of the rectangular carrier 501. Two nuts in the bidirectional lead screw linear module 502 are respectively fixedly connected to the corresponding plate frame 4. A servo drive mechanism 503 for driving the bidirectional lead screw linear module 502 is fixedly installed on the inner wall of one side of the rectangular carrier 501. The servo drive mechanism 503 drives the bidirectional lead screw linear module 502 to work. The bidirectional lead screw linear module 502 drives the plate frames 4 on both sides to move synchronously towards each other or away from each other.

[0028] In this embodiment, the bidirectional lead screw linear module 502 includes a lead screw, which is arranged along the width direction of the corridor-type cage 1, and the two ends of the lead screw are rotatably connected to the inner side of the rectangular carrier 501. The lead screw is provided with two threaded sections with opposite thread directions. Each threaded section is threaded with a nut block, and the two sides of the nut block are slidably connected to the rectangular carrier 501 through guide rail slider assemblies. The guide rails are arranged parallel to the lead screw, and the upper end of the plate frame 4 is fixedly connected to the corresponding nut blocks.

[0029] With this design, the control box 10 sends pulse commands to the servo driver according to the internally set protection limit displacement, causing the bidirectional lead screw linear module 502 to work. The two threaded sections on the lead screw in the bidirectional lead screw linear module 502 have opposite thread directions. Therefore, the plate frame 4 installed on the left and right sets of nut blocks will move in opposite or separate linear motions along the guide rail, thereby achieving absolute synchronous movement of the two plate frames 4. This ensures that the pig's body is always located on the central axis of the corridor cage 1, and will not be pushed to the other side due to unilateral advancement, resulting in a skewed posture.

[0030] The frame 4 includes two square-mouthed risers 401 arranged vertically and fixedly installed on the drive end of the bidirectional lead screw linear module 502. Multiple crossbeams 402 are welded and installed on the square-mouthed risers 401 along their height direction, and the multiple crossbeams 402 are arranged at intervals.

[0031] Two square-mouthed risers 401 are fixed to one of the drive ends of the bidirectional screw linear module 502, while the crossbeam 402 is welded and fixed to the two square-mouthed risers 401 at equal intervals along the vertical direction. The crossbeam 402 protects and limits the pig's body by making large-area contact with the pig's ribs and abdomen, making it convenient to use.

[0032] Flexible rubber pads or foamed plastic pads are fixedly installed on the inner sides of the multiple crossbeams 402 on both sides facing the pig's torso. The flexible rubber pads or foamed plastic pads prevent excessive local pressure from causing fractures or internal organ contusions, reduce the pig's discomfort, and increase friction to prevent the pig from slipping.

[0033] The neck positioning assembly 9 includes a double-layer right-angle platform 901 fixedly installed at the top of the uppermost crossbeam 402. An automatic telescopic rod 903 is horizontally hinged to the top of the double-layer right-angle platform 901. A horizontal shaft 902 is rotatably installed on the top wall of the double-layer right-angle platform 901 through a bearing seat. The length direction of the horizontal shaft 902 is parallel to the length direction of the corridor-type cage 1.

[0034] An end arm 905 is fixedly connected between the two ends of the horizontal shaft 902 via a connecting ear plate. A rocker arm 904 is fixedly installed on the horizontal shaft 902. The upper end of the rocker arm 904 extends through to the top of the double-layer right-angle platform 901 and is hinged to the telescopic end of the automatic telescopic rod 903. A neck frame 906 is fixedly installed on the inner side of the end arm 905 facing the pig's torso.

[0035] After the pig's torso is protected and limited by the bidirectional linear drive assembly 5 and the frame 4, the telescopic end of the automatic telescopic rod 903 gradually retracts, driving the horizontal axis 902 to rotate through the rocker arm 904. Then, the end arm 905 and the neck frame 906 close towards the triangular area of ​​the neck behind the pig's ears, until the neck frame 906 fits snugly against the skin on both sides of the neck without compressing the trachea and esophagus. This suppresses the centrifugal force of the pig's head shaking and the tendency to swing its head from side to side, providing a basis for the visual system to obtain a static image of the neck.

[0036] An automatic telescopic rod 907 is fixed on the double-layer right-angle platform 901, and a pressure plate 908 for preventing the pig's head from lifting is fixedly installed at the lower end of the telescopic end of the automatic telescopic rod 907.

[0037] In this embodiment, the control end of the automatic telescopic rod 907 is electrically connected to the control box 10. The automatic telescopic rod 907 is activated by the control box 10, and the automatic telescopic rod 907 drives the pressure plate 908 to move down to stop the pig from raising its head.

[0038] In this embodiment, automatic telescopic rod 903 and automatic telescopic rod 907 are used to perform telescopic actions, and can be one of electric telescopic rod, hydraulic cylinder, or telescopic cylinder.

[0039] Depend on Figure 5 and Figure 10 As shown, the binocular stereo vision camera 8 is mounted on the top of the exit side of the corridor-type cage 1 via a bracket and is located outside the movement range of the six-axis robot 6. The binocular stereo vision camera 8 is electrically connected to the control box 10 and is used to directly send the calculated three-dimensional coordinates of the pig's neck to the motion controller of the six-axis robot 6. The six-axis robot 6 is used to drive the veterinary needleless injector 7 to move to the pig's neck.

[0040] In this embodiment, the six-axis robot 6, the veterinary needleless injector 7, and the trigger actuator are located on the side of the exit of the corridor-type cage 1. After injection, they can quickly detach from contact without obstructing the pigs' view of the exit, ensuring the smoothness of the release process.

[0041] The trigger actuator includes a handle 611 fixed to the end of the six-axis robot 6, a servo motor 612 fixedly mounted on the handle 611, a lever arm 613 fixedly mounted on the upper end of the power output shaft of the servo motor 612, and the handle of the veterinary needleless injector 7 fixed on the handle 611 and within the range of motion of the lever arm 613.

[0042] When the six-axis robot 6 vertically attaches the nozzle of the veterinary needleless injector 7 to the skin of the pig's neck, the control box 10 sends a trigger signal to the servo motor 612 in the trigger actuator. At this time, the servo motor 612 drives the lever 613 to deflect and press the handle of the veterinary needleless injector 7 and reset once. At this time, the liquid medicine in the veterinary needleless injector 7 is forced to spray out from the micro-hole to form a high-pressure jet with an extremely fine diameter and extremely high speed, and is injected into the neck of the pig.

[0043] The present invention provides an automatic continuous injection device for veterinary vaccines, which performs the following operations and is used for injecting vaccines into pigs: S1: A start command is issued through the panel of the control box 10, the front electric lifting grille 2 is raised, and the pigs to be immunized enter the corridor cage 1. The pigs move forward naturally inside the cage. When their heads touch the area of ​​the exit side frame 11, the photoelectric sensor 12 located on the side frame 11 immediately detects the change in the light path caused by the pig's body blocking it, and transmits the electrical signal to the control box 10 in real time. After receiving the signal, the control box 10 starts the protection limitation process.

[0044] In step S1, the working principle of the front electric lifting grille 2 is as follows: the reduction motor in the front electric lifting grille 2 is started under the control of the control box 10. The reduction motor drives the belt drive pair to work. At this time, the belt drive pair drives the gate body to rise and fall and close along the vertical direction of the corridor-type cage 1.

[0045] S2: The control box 10 drives the bidirectional linear drive assembly 5 to operate, driving the plate frames 4 on both sides of the corridor cage 1 to move slowly and smoothly towards each other along the guide rail towards the center line of the corridor cage 1, gradually narrowing the lateral movement space of the pig, forming a moderate and safe physical constraint on the pig's torso to complete the protection and limitation of the torso. The neck positioning assembly 9 on the plate frame 4 moves independently under the timing control of the control box 10, closing from both sides of the pig's neck towards the middle, fitting against the triangular area of ​​the neck behind the pig's ears, thereby suppressing the pig's violent head shaking and left and right swaying behavior, so that the pig's head orientation remains relatively fixed.

[0046] In step S2, the working principle of the bidirectional linear drive assembly 5 is as follows: the control box 10 sends a pulse command to the servo driver according to the internally set protection limit displacement, which makes the bidirectional lead screw linear module 502 work. The two threaded sections on the lead screw in the bidirectional lead screw linear module 502 have opposite thread directions. Therefore, the plate frame 4 installed on the left and right sets of nut blocks moves in opposite directions along the guide rail, ensuring that the pig's body is always located on the central axis of the corridor cage 1. Furthermore, the large-area contact between the plate frame 4 and the pig's ribs and abdomen on both sides achieves the protection and limitation of the pig's body, making it convenient to use.

[0047] In step S2, the working principle of the neck positioning assembly 9 is as follows: After the pig's torso is protected and limited by the bidirectional linear drive assembly 5 and the plate frame 4, the telescopic end of the automatic telescopic rod 903 gradually retracts, and the horizontal axis 902 is rotated by the rocker arm 904. Then, the end arm 905 and the neck frame 906 close towards the triangular area of ​​the neck behind the pig's ears, until the neck frame 906 fits the skin on both sides of the neck without compressing the trachea and esophagus, thereby suppressing the centrifugal force of the pig's head shaking and the tendency of the head to swing left and right, making it convenient to use.

[0048] S3: After the pig's posture stabilizes, the binocular stereo vision camera 8 quickly scans the skin surface of the exposed area of ​​the pig's neck hair to obtain the three-dimensional spatial coordinates of the injection point. This coordinate data is then sent to the motion controller of the six-axis robot 6 in real time. Based on the received neck position information and the hand-eye calibration relationship between its own base coordinate system and the cage coordinate system, the controller of the six-axis robot 6 plans the optimal motion path in real time. The six-axis robot 6, carrying the veterinary needleless injector 7, starts from the standby position on the side of the pig. Its joints move in coordination, so that the nozzle of the veterinary needleless injector 7 moves smoothly along the horizontal direction to the outside of the neck injection point, ensuring that the nozzle end face is perpendicularly attached to the skin surface of the pig's neck. After the attachment is in place, the control box 10 sends a trigger signal to the trigger actuator, so that the veterinary needleless injector 7 completes the vaccine injection.

[0049] In step S3, the working principle of the trigger actuator is as follows: First, the control box 10 sends a trigger signal to the servo motor 612 in the trigger actuator. At this time, the servo motor 612 drives the lever arm 613 to deflect and reset once. At this time, the liquid medicine in the veterinary needleless injector 7 is forced to spray out from the micro-hole to form a high-pressure jet with an extremely fine diameter and extremely high speed, and is injected into the neck of the pig.

[0050] S4: After the injection is completed, the control box 10 controls the six-axis robot 6, the bidirectional linear drive assembly 5, and the neck positioning assembly 9 to reverse and reset, and raises the rear electric lifting grille 3 on the outlet side to open the forward passage for the pig. Because the pig has a clear view in front and no mechanical parts obstructing it, it walks forward on its own and walks out of the corridor-type cage 1.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic continuous injection device for veterinary vaccines, comprising a corridor-type cage (1), wherein a front electric lifting grille (2) and a rear electric lifting grille (3) are respectively installed at the entrance and exit ends of the corridor-type cage (1), characterized in that: A side frame (11) is fixedly installed on the side of the outlet end of the corridor-type cage (1). A photoelectric sensor (12) is installed on the side frame (11). The photoelectric sensor (12) is used to detect whether the pig has reached the predetermined position on the outlet side. Two sets of plate frames (4) are symmetrically arranged inside the corridor-type cage (1). A bidirectional linear drive assembly (5) is installed at the top of the corridor-type cage (1) to drive the two plate frames (4) to move towards each other or away from each other. The movement of the two plate frames (4) towards each other is used to implement the action on the pig's body. The protective and limited operation is provided by a neck positioning assembly (9) installed on the frame (4) for limiting the neck of the pig after the body is limited; a binocular stereo vision camera (8) is installed above the exit side of the corridor cage (1), which is used to obtain the three-dimensional spatial position information of the pig's neck after the limitation; a six-axis robot (6) is installed at the top of the side frame (11), and a veterinary needleless injector (7) and a trigger actuator for triggering the veterinary needleless injector (7) are installed on the working end of the six-axis robot (6).

2. The automatic continuous injection device for veterinary vaccines according to claim 1, characterized in that: The bidirectional linear drive assembly (5) includes a rectangular carrier (501) arranged along the width direction of the corridor-type cage (1) and fixedly installed at the top of the corridor-type cage (1). A bidirectional screw linear module (502) is installed in the middle of the rectangular carrier (501). Two nut blocks in the bidirectional screw linear module (502) are fixedly connected to the corresponding plate frame (4). A servo drive mechanism (503) for driving the bidirectional screw linear module (502) is fixedly installed on the inner wall of one side of the rectangular carrier (501). The servo drive mechanism (503) drives the bidirectional screw linear module (502) to work. The bidirectional screw linear module (502) drives the plate frames (4) on both sides to move synchronously toward each other or away from each other.

3. The automatic continuous injection device for veterinary vaccines according to claim 2, characterized in that: The plate frame (4) includes two square-mouthed risers (401) arranged in the vertical direction and fixedly installed on the drive end of the bidirectional screw linear module (502). Multiple crossbeams (402) are welded and installed on the square-mouthed risers (401) along their height direction.

4. The automatic continuous injection device for veterinary vaccines according to claim 3, characterized in that: Multiple crossbeams (402) on both sides are fixed with flexible rubber pads or foamed plastic pads on the inner side of the pig's torso to increase frictional resistance and buffer clamping pressure.

5. The automatic continuous injection device for veterinary vaccines according to claim 4, characterized in that: The neck positioning assembly (9) includes a double-layer right-angle platform (901) fixedly installed at the top of the uppermost crossbeam (402). An automatic telescopic rod (903) is horizontally hinged at the top of the double-layer right-angle platform (901). A horizontal shaft (902) is rotatably installed on the top wall of the double-layer right-angle platform (901) through a bearing seat. The length direction of the horizontal shaft (902) is parallel to the length direction of the corridor cage (1). An end arm (905) is fixedly connected between the two ends of the horizontal shaft (902) through a connecting ear plate. A rocker arm (904) is fixedly installed on the horizontal shaft (902). The upper end of the rocker arm (904) extends through to the top of the double-layer right-angle platform (901) and is hinged to the telescopic end of the automatic telescopic rod (903). A neck frame (906) is fixedly installed on the inner side of the end arm (905) facing the pig's torso.

6. The automatic continuous injection device for veterinary vaccines according to claim 5, characterized in that: An automatic telescopic rod two (907) is fixed on the double-layer right-angle platform (901), and a pressure plate (908) for preventing the pig's head from lifting is fixedly installed at the lower end of the telescopic end of the automatic telescopic rod two (907).

7. The automatic continuous injection device for veterinary vaccines according to claim 6, characterized in that: The trigger actuator includes a handle (611) fixed to the end of the six-axis robot (6), a servo motor (612) fixedly mounted on the handle (611), a lever (613) fixedly mounted on the upper end of the power output shaft of the servo motor (612), and the handle of the veterinary needleless injector (7) fixed on the handle (611).

8. The automatic continuous injection device for veterinary vaccines according to claim 7, characterized in that: The front electric lifting grille (2) and the rear electric lifting grille (3) have the same overall structure. They are both composed of a geared motor, a belt drive pair, and a gate body that is slidably installed in the vertical direction. The gate body is slidably installed on the corridor-type cage frame (1) using a vertical slide rail structure. The belt drive pair is arranged parallel to the vertical slide rail structure and is installed on the corridor-type cage frame (1). One side of the gate body is fixedly connected to the belt in the belt drive pair through a connecting plate. The geared motor is fixedly installed on the corridor-type cage frame (1) and is connected to the belt drive pair for driving the belt drive pair.

9. The automatic continuous injection device for veterinary vaccines according to claim 8, characterized in that: A control box (10) is fixedly installed on one side of the outer wall of the corridor-type cage (1). The control box (10) is electrically connected to the front electric lifting grille (2), the rear electric lifting grille (3), the bidirectional linear drive assembly (5), the six-axis robot (6), the trigger actuator, the binocular stereo vision camera (8), and the neck positioning assembly (9).

10. An automatic continuous injection device for veterinary vaccines according to claim 9, characterized in that: The binocular stereo vision camera (8) is mounted on the top of the exit side of the corridor cage (1) via a bracket and is located outside the range of motion of the six-axis robot (6). The binocular stereo vision camera (8) is electrically connected to the control box (10) and is used to send the calculated three-dimensional coordinates of the pig's neck directly to the motion controller of the six-axis robot (6). The six-axis robot (6) is used to drive the veterinary needleless injector (7) to move to the pig's neck.

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