A novel vaccine injection device and system

Abstract

The utility model relates to a novel vaccine injection device and system, novel vaccine injection device includes base unit, horizontal angle adjusting unit, first vertical angle adjusting unit, second vertical angle adjusting unit, third vertical angle adjusting unit, injection drive unit and collection unit. Its advantage lies in, utilize horizontal angle adjusting unit, first vertical angle adjusting unit, second vertical angle adjusting unit and third vertical angle adjusting unit mutual cooperation, can realize injection drive unit all -round angle adjustment, medical staff only needs to carry out vaccine loading etc. operation, need not complex manual angle adjustment, has simplified inoculation procedure, has reduced to medical staff professional operation technique's requirement. This can be according to the body feature of inoculator, such as the position of arm muscle, shoulder skeleton structure etc., finds the best injection site accurately, ensures that the vaccine is accurately and correctly injected into the muscle tissue of suitable depth, improves inoculation accuracy.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a novel vaccine injection device and system. Background Technology

[0002] With the continuous development of artificial intelligence, AI is becoming increasingly important in the medical field. Introducing AI into healthcare can not only improve medical efficiency by optimizing medical processes and services through automation and intelligent technologies, thereby reducing the waste of medical resources and providing better medical services for patients, but also enhance disease prediction and control capabilities and reduce medical costs.

[0003] Vaccines are one of the main means of controlling the spread of the epidemic, but vaccination requires a large number of medical personnel, which puts great pressure on medical and human resources. Current vaccination methods are relatively simple, relying heavily on manual operation by professional medical personnel, requiring a high level of technical proficiency. This limits the speed of vaccination, and under long hours and high-intensity work, medical personnel are prone to fatigue, potentially leading to injection errors.

[0004] Currently, no effective solution has been proposed to address the issue of the limited range of vaccine injection methods in related technologies. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a novel vaccine injection device and system to solve the problem of limited vaccine injection methods in related technologies.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] Firstly, a novel vaccine injection device is provided, comprising:

[0008] Base unit, the base unit being disposed on a horizontal plane;

[0009] A horizontal angle adjustment unit is disposed at the top of the base unit and connected to the base unit;

[0010] A first vertical angle adjustment unit is movably disposed at the top of the horizontal angle adjustment unit and is used to rotate in the horizontal direction under the action of the horizontal angle adjustment unit.

[0011] The second vertical angle adjustment unit is movably disposed at the second end of the first vertical angle adjustment unit, and is used to follow the first vertical angle adjustment unit to rotate in the horizontal direction and to rotate in the vertical direction under the action of the first vertical angle adjustment unit.

[0012] The third vertical angle adjustment unit is movably disposed at the second end of the second vertical angle adjustment unit, and is used to follow the second vertical angle adjustment unit to rotate in the horizontal direction and the vertical direction, and to rotate in the vertical direction under the action of the second vertical angle adjustment unit;

[0013] An injection driving unit is disposed at the second end of the third vertical angle adjustment unit and connected to the third vertical angle adjustment unit. It is used to clamp and drive the syringe, follow the third vertical angle adjustment unit to rotate in the horizontal direction and the vertical direction, and rotate in the vertical direction under the action of the third vertical angle adjustment unit.

[0014] An acquisition unit is disposed at the top of the base unit and connected to the base unit for acquiring images.

[0015] In some embodiments, the base unit includes:

[0016] A base element is disposed on a horizontal plane, and the acquisition unit is disposed at the top of the base element and connected to the acquisition unit;

[0017] A first support element is disposed at the top of the base element and connected to the base element;

[0018] A cavity element is disposed at the top of the first support element, and the horizontal angle adjustment unit is disposed on the inner side of the cavity element.

[0019] In some embodiments, the horizontal angle adjustment unit includes:

[0020] A first connecting element is disposed at the top of the base unit and connected to the base unit;

[0021] A first rotating element is disposed through the first connecting element and is rotatably connected to the first connecting element;

[0022] The second support element is disposed at the top of the first rotating element, and the end of the second support element is provided with the first vertical angle adjustment unit, which is used to drive the first vertical angle adjustment unit to rotate in the horizontal direction under the action of the first rotating element.

[0023] A first driving element is disposed at the bottom end of the first connecting element and is connected to the first rotating element in a transmission manner, for driving the first rotating element to rotate in the horizontal direction.

[0024] In some embodiments, the horizontal angle adjustment unit further includes:

[0025] The second rotating element is disposed at the end of the second support element and is rotatably connected to the first vertical angle adjustment unit.

[0026] In some embodiments, the first vertical angle adjustment unit includes:

[0027] A first vertical angle adjustment element is movably disposed at the top end of the horizontal angle adjustment unit. The second end of the first vertical angle adjustment element is provided with a second vertical angle adjustment unit, which is used to drive the second vertical angle adjustment unit to rotate in the vertical direction and to rotate in the horizontal direction under the action of the horizontal angle adjustment unit.

[0028] The second connecting element is disposed at the first end of the first vertical angle adjusting element and is rotatably connected to the horizontal angle adjusting unit.

[0029] The third rotating element passes through the first vertical angle adjusting element and the second connecting element, and is connected to the horizontal angle adjusting unit. It is also rotatably connected to the first vertical angle adjusting element and the second connecting element, and is used to drive the first vertical angle adjusting element to rotate circumferentially along the second connecting element.

[0030] The second driving element is disposed on the first vertical angle adjusting element and is connected to the third rotating element for driving the first vertical angle adjusting element to rotate circumferentially along the second connecting element via the third rotating element.

[0031] In some embodiments, the first vertical angle adjustment unit further includes:

[0032] A fourth rotating element is disposed at the second end of the first vertical angle adjusting element and is rotatably connected to the second vertical angle adjusting unit.

[0033] In some embodiments, the second vertical angle adjustment unit includes:

[0034] The second vertical angle adjustment element is movably disposed at the second end of the first vertical angle adjustment unit. The second end of the second vertical angle adjustment element is provided with the third vertical angle adjustment unit, which is used to follow the first vertical angle adjustment unit to rotate in the horizontal direction and to rotate in the vertical direction under the action of the first vertical angle adjustment unit.

[0035] A third connecting element is disposed at the first end of the second vertical angle adjusting element and is rotatably connected to the first vertical angle adjusting unit;

[0036] The fifth rotating element passes through the second vertical angle adjusting element and the third connecting element, and is connected to the first vertical angle adjusting unit. It is also rotatably connected to the second vertical angle adjusting element and the third connecting element, and is used to drive the second vertical angle adjusting element to rotate around the third connecting element.

[0037] The third driving element is disposed on the second vertical angle adjusting element and is connected to the fifth rotating element for driving the second vertical angle adjusting element to rotate circumferentially along the third connecting element via the fifth rotating element.

[0038] In some embodiments, the third vertical angle adjustment unit includes:

[0039] The third vertical angle adjustment element is movably disposed at the second end of the second vertical angle adjustment unit, and is used to follow the second vertical angle adjustment unit to rotate in the horizontal direction and the vertical direction, and to rotate in the vertical direction under the action of the second vertical angle adjustment unit;

[0040] A fourth connecting element is disposed at the first end of the third vertical angle adjusting element and connected to the third vertical angle adjusting unit;

[0041] A movable element is rotatably disposed at the end of the fourth connecting element and connected to the injection driving unit, for driving the injection driving unit to rotate circumferentially along the fourth connecting element;

[0042] A sixth rotating element is provided, which passes through the third vertical angle adjusting element and the fourth connecting element respectively, and is connected to the movable element. It is also rotatably connected to the third vertical angle adjusting element and the fourth connecting element respectively, and is used to drive the movable element to rotate around the fourth connecting element.

[0043] A fourth driving element is disposed on the third vertical angle adjusting element and is connected to the sixth rotating element for driving the movable element to rotate circumferentially along the fourth connecting element via the sixth rotating element.

[0044] In some embodiments, the injection driving unit includes:

[0045] The third support element is disposed at the second end of the third vertical angle adjustment unit and connected to the third vertical angle adjustment unit, and is used to follow the third vertical angle adjustment unit to rotate in the horizontal and vertical directions and to rotate in the vertical direction under the action of the third vertical angle adjustment unit.

[0046] A first clamping element is disposed at the second end of the third support element and connected to the third support element, for clamping the syringe.

[0047] A first sliding element is disposed at the first end of the third support element and connected to the third support element;

[0048] The second sliding element is slidably disposed on the first sliding element and is used for reciprocating motion along the width direction of the first sliding element;

[0049] The second clamping element is disposed at the top end of the second sliding element and is used to clamp the push rod and drive the push rod to reciprocate along the width direction of the first sliding element under the action of the second sliding element.

[0050] A plurality of first transmission elements are distributed at the bottom end of the second sliding element;

[0051] The second transmission element is disposed below the second sliding element and is connected to several of the first transmission elements for transmission, and is used to cooperate with the first transmission elements to drive the second sliding element to reciprocate along the width direction of the first sliding element.

[0052] The fifth driving element is disposed at the first end of the third support element and is connected to the second transmission element for driving the second transmission element to rotate circumferentially along the second transmission element.

[0053] Secondly, a novel vaccine injection system is provided, comprising:

[0054] The novel vaccine injection device as described in the first aspect;

[0055] The control device is connected to the horizontal angle adjustment unit, the first vertical angle adjustment unit, the second vertical angle adjustment unit, the third vertical angle adjustment unit, the injection drive unit, and the acquisition unit of the novel vaccine injection device.

[0056] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0057] 1. By utilizing the coordinated operation of horizontal, first, second, and third vertical angle adjustment units, the injection drive unit can achieve comprehensive and precise angle adjustments. Medical staff only need to perform operations such as vaccine loading, eliminating the need for complex manual angle adjustments and positioning, thus simplifying the vaccination process and reducing the requirements for professional operational skills. Based on the recipient's physical characteristics, such as the position and thickness of arm muscles and shoulder bone structure, the optimal injection site and angle can be precisely located, ensuring accurate injection of the vaccine into the appropriate depth of muscle tissue, improving vaccination accuracy. The acquisition unit captures real-time images of the injection site, providing intuitive data for angle adjustment. By observing the acquired images, medical staff can more clearly identify structures such as muscles, blood vessels, and bones. Combined with the multi-angle adjustment units, this allows for more precise positioning of the injection point, avoiding damage to vital tissues and improving the accuracy and safety of the vaccination procedure.

[0058] 2. During large-scale vaccination campaigns, healthcare workers face immense workloads. This device, through automated angle adjustment and image-assisted positioning, alleviates some of these tasks, allowing healthcare workers to focus more on critical aspects such as vaccine verification and assessing the health status of recipients. This effectively reduces workload, improves efficiency, and ensures the continuity and high quality of vaccination efforts. Attached Figure Description

[0059] Figure 1 This is a three-dimensional structural schematic diagram of a novel vaccine injection device according to an embodiment of the present utility model;

[0060] Figure 2 This is an exploded view of a novel vaccine injection device according to an embodiment of the present utility model;

[0061] Figure 3 This is a three-dimensional structural schematic diagram of the base unit according to an embodiment of the present utility model;

[0062] Figure 4 This is a three-dimensional structural schematic diagram of the horizontal angle adjustment unit according to an embodiment of the present utility model;

[0063] Figure 5 This is a three-dimensional structural schematic diagram of the first vertical angle adjustment unit according to an embodiment of the present utility model;

[0064] Figure 6 This is a three-dimensional structural schematic diagram of the second vertical angle adjustment unit according to an embodiment of the present utility model;

[0065] Figure 7 This is a three-dimensional structural schematic diagram of the third vertical angle adjustment unit according to an embodiment of the present utility model;

[0066] Figure 8aThis is a three-dimensional structural schematic diagram of the injection driving unit according to an embodiment of the present utility model;

[0067] Figure 8b This is a three-dimensional structural schematic diagram of the injection driving unit according to an embodiment of the present utility model from another perspective;

[0068] Figure 9 This is a structural schematic diagram of a novel vaccine injection system according to an embodiment of the present invention.

[0069] The attached figures are labeled as follows: 100, Novel vaccine injection device;

[0070] 110. Base unit; 111. Base element; 112. First support element; 113. Cavity element;

[0071] 120. Horizontal angle adjustment unit; 121. First connecting element; 122. First rotating element; 123. Second supporting element; 124. First driving element; 125. Second rotating element;

[0072] 130. First vertical angle adjustment unit; 131. First vertical angle adjustment element; 132. Second connecting element; 133. Third rotating element; 134. Second driving element; 135. Fourth rotating element;

[0073] 140. Second vertical angle adjustment unit; 141. Second vertical angle adjustment element; 142. Third connecting element; 143. Fifth rotating element; 144. Third driving element;

[0074] 150. Third vertical angle adjustment unit; 151. Third vertical angle adjustment element; 152. Fourth connecting element; 153. Movable element; 154. Sixth rotating element; 155. Fourth driving element;

[0075] 160. Injection drive unit; 161. Third support element; 162. First clamping element; 163. First sliding element; 164. Second sliding element; 165. Second clamping element; 166. First transmission element; 167. Second transmission element; 168. Fifth drive element;

[0076] 170. Acquisition Unit;

[0077] 200. Control device. Detailed Implementation

[0078] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0079] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0080] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0081] Example 1

[0082] This embodiment relates to a novel vaccine injection device of the present invention.

[0083] like Figure 1 , Figure 2 As shown, a novel vaccine injection device 100 includes a base unit 110, a horizontal angle adjustment unit 120, a first vertical angle adjustment unit 130, a second vertical angle adjustment unit 140, a third vertical angle adjustment unit 150, an injection drive unit 160, and a collection unit 170. The base unit 110 is disposed on a horizontal plane; the horizontal angle adjustment unit 120 is disposed at the top of the base unit 110 and connected to it; the first vertical angle adjustment unit 130 is movably disposed at the top of the horizontal angle adjustment unit 120 and is used to rotate horizontally under the action of the horizontal angle adjustment unit 120; the second vertical angle adjustment unit 140 is movably disposed at the second end of the first vertical angle adjustment unit 130 and is used to follow the horizontal rotation of the first vertical angle adjustment unit 130 and to rotate vertically under the action of the first vertical angle adjustment unit 130; the third vertical angle adjustment unit 150 is movably disposed at the second vertical angle adjustment unit 160. The second end of the vertical angle adjustment unit 140 is used to follow the second vertical angle adjustment unit 140 in rotating horizontally and vertically, and to rotate vertically under the action of the second vertical angle adjustment unit 140; the injection drive unit 160 is disposed at the second end of the third vertical angle adjustment unit 150 and connected to the third vertical angle adjustment unit 150, and is used to clamp and drive the syringe, follow the third vertical angle adjustment unit 150 in rotating horizontally and vertically, and to rotate vertically under the action of the third vertical angle adjustment unit 150; the acquisition unit 170 is disposed at the top of the base unit 110 and connected to the base unit 110, and is used to acquire images.

[0084] In some embodiments, the acquisition unit 170 includes, but is not limited to, a camera.

[0085] like Figure 3 As shown, the base unit 110 includes a base element 111, a first support element 112, and a cavity element 113. The base element 111 is disposed on a horizontal plane, and a data acquisition unit 170 is disposed at its top and connected to it. The first support element 112 is disposed at the top of the base element 111 and connected to it. The cavity element 113 is disposed at the top of the first support element 112, and a horizontal angle adjustment unit 120 is disposed inside the cavity element 113.

[0086] The base element 111 has a rectangular cross-section.

[0087] In some of these embodiments, the base element 111 is made of plastic.

[0088] In some of these embodiments, the base element 111 is a base plate.

[0089] The cross-section of the first support element 112 is rectangular.

[0090] The dimensions of the first support element 112 are matched with the dimensions of the base element 111. Generally, the length of the first support element 112 is less than the length of the base element 111, the width of the first support element 112 is less than the width of the base element 111, and the height of the first support element 112 is greater than the height of the base element 111.

[0091] In some of these embodiments, the first support element 112 is fixedly connected to the base element 111, including but not limited to bolted connections.

[0092] In some of these embodiments, the first support element 112 is made of plastic.

[0093] In some of these embodiments, the first support element 112 is a support frame.

[0094] The cross-section of the cavity element 113 is rectangular.

[0095] The dimensions of the cavity element 113 are matched with the dimensions of the first support element 112. Generally, the length of the cavity element 113 is less than the length of the first support element 112, the width of the cavity element 113 is less than the width of the first support element 112, and the height of the cavity element 113 is less than the height of the first support element 112.

[0096] In some of these embodiments, the cavity element 113 is a cavity.

[0097] like Figure 4As shown, the horizontal angle adjustment unit 120 includes a first connecting element 121, a first rotating element 122, a second supporting element 123, and a first driving element 124. The first connecting element 121 is disposed at the top of the base unit 110 and connected to it. The first rotating element 122 passes through the first connecting element 121 and is rotatably connected to it. The second supporting element 123 is disposed at the top of the first rotating element 122, and a first vertical angle adjustment unit 130 is disposed at its end, used to drive the first vertical angle adjustment unit 130 to rotate horizontally under the action of the first rotating element 122. The first driving element 124 is disposed at the bottom of the first connecting element 121 and is drively connected to the first rotating element 122, used to drive the first rotating element 122 to rotate horizontally.

[0098] Specifically, the first connecting element 121 is disposed inside the cavity element 113 and is connected to the first supporting element 112; the first driving element 124 is located inside the cavity element 113.

[0099] The first connecting element 121 has a hollow structure.

[0100] The dimensions of the first connecting element 121 are matched with the dimensions of the cavity element 113. Generally, the radial dimension of the outer edge of the first connecting element 121 is equal to the radial dimension (such as length and width) of the cavity element 113, and the axial dimension of the first connecting element 121 is smaller than the axial dimension of the cavity element 113.

[0101] In some embodiments, the first connecting element 121 is fixedly connected to the first supporting element 112, including but not limited to bolt connections.

[0102] In some of these embodiments, the first connecting element 121 is made of metal.

[0103] In some of these embodiments, the first connecting element 121 is a first bearing housing.

[0104] The cross-section of the first rotating element 122 is circular.

[0105] The dimensions of the first rotating element 122 are matched with the dimensions of the first connecting element 121. Generally, the radial dimension of the first rotating element 122 is equal to the radial dimension of the inner edge surface of the first connecting element 121, and the axial dimension of the first rotating element 122 is greater than the axial dimension of the first connecting element 121.

[0106] In some embodiments, the first rotating element 122 and the first connecting element 121 are rotatedly connected without separation.

[0107] In some of these embodiments, the first rotating element 122 is made of metal.

[0108] In some of these embodiments, the first rotating element 122 is a first rotating shaft.

[0109] The cross-section of the second support element 123 is rectangular.

[0110] The dimensions of the second support element 123 are matched with the dimensions of the first rotating element 122. Generally, the length of the second support element 123 is greater than the radial dimension of the first rotating element 122, the width of the second support element 123 is less than the radial dimension of the first rotating element 122, and the height of the second support element 123 is less than the axial dimension of the first rotating element 122.

[0111] In some embodiments, the second support element 123 is fixedly connected to the first rotating element 122, including but not limited to bolt connection.

[0112] In some of these embodiments, the second support element 123 is made of metal.

[0113] In some of these embodiments, the second support element 123 is a support block.

[0114] In some embodiments, the first drive element 124 is fixedly connected to the first connecting element 121, including but not limited to bolt connections.

[0115] In some embodiments, the first drive element 124 is drively connected to the first rotating element 122. For example, the first drive element 124 and the first rotating element 122 are connected by a coupling.

[0116] In some embodiments, the first drive element 124 is a 42-stepper motor. Additionally, the first drive element 124 may also include a harmonic reducer for amplifying the torque of the 42-stepper motor.

[0117] Furthermore, the horizontal angle adjustment unit 120 also includes a second rotating element 125. The second rotating element 125 is disposed at the end of the second support element 123 and is rotatably connected to the first vertical angle adjustment unit 130.

[0118] The cross-section of the second rotating element 125 is circular.

[0119] The dimensions of the second rotating element 125 are matched with the dimensions of the second supporting element 123. Generally, the radial dimension of the second rotating element 125 is smaller than the length and height of the second supporting element 123, and the axial dimension of the second rotating element 125 is smaller than the width of the second supporting element 123.

[0120] In some of these embodiments, the second rotating element 125 is the first rotating hole.

[0121] like Figure 5 As shown, the first vertical angle adjustment unit 130 includes a first vertical angle adjustment element 131, a second connecting element 132, a third rotating element 133, and a second driving element 134. The first vertical angle adjusting element 131 is movably disposed at the top of the horizontal angle adjusting unit 120. A second vertical angle adjusting unit 140 is disposed at the second end of the first vertical angle adjusting element 131, which is used to drive the second vertical angle adjusting unit 140 to rotate vertically and horizontally under the action of the horizontal angle adjusting unit 120. A second connecting element 132 is disposed at the first end of the first vertical angle adjusting element 131 and is rotatably connected to the horizontal angle adjusting unit 120. A third rotating element 133 is disposed through the first vertical angle adjusting element 131 and the second connecting element 132 respectively, and is connected to the horizontal angle adjusting unit 120 and rotatably connected to the first vertical angle adjusting element 131 and the second connecting element 132 respectively, which is used to drive the first vertical angle adjusting element 131 to rotate circumferentially along the second connecting element 132. A second driving element 134 is disposed on the first vertical angle adjusting element 131 and is drivenly connected to the third rotating element 133, which is used to drive the first vertical angle adjusting element 131 to rotate circumferentially along the second connecting element 132 through the third rotating element 133.

[0122] Specifically, the first vertical angle adjustment element 131 is movably disposed at the end of the second support element 123; the second connecting element 132 is rotatably connected to the second rotating element 125; and the third rotating element 133 is connected to the second support element 123.

[0123] The dimensions of the first vertical angle adjusting element 131 are matched with the dimensions of the second support element 123. Generally, the length of the first vertical angle adjusting element 131 is greater than the width of the second support element 123, and the height of the first vertical angle adjusting element 131 is greater than the height of the second support element 123.

[0124] In some of these embodiments, the first vertical angle adjustment element 131 is made of plastic.

[0125] In some of the embodiments, the first vertical angle adjustment element 131 is a first vertical angle adjustment plate.

[0126] The second connecting element 132 has a hollow structure.

[0127] The dimensions of the second connecting element 132 are matched with the dimensions of the first vertical angle adjusting element 131. Generally, the radial dimension of the outer edge of the second connecting element 132 is smaller than the length and height of the first vertical angle adjusting element 131, and the axial dimension of the second connecting element 132 is smaller than the maximum width of the first vertical angle adjusting element 131.

[0128] The dimensions of the second connecting element 132 are matched with the dimensions of the second rotating element 125. Generally, the radial dimension of the outer edge of the second connecting element 132 is equal to the radial dimension of the second rotating element 125, and the axial dimension of the second connecting element 132 is greater than the axial dimension of the second rotating element 125.

[0129] In some embodiments, the second connecting element 132 is fixedly connected to the first vertical angle adjusting element 131, including but not limited to bolt connections.

[0130] In some embodiments, the second connecting element 132 and the second rotating element 125 are rotatably connected without separation.

[0131] In some of these embodiments, the second connecting element 132 is made of metal.

[0132] In some of these embodiments, the second connecting element 132 is a second bearing housing.

[0133] The cross-section of the third rotating element 133 is circular.

[0134] The dimensions of the third rotating element 133 are matched with the dimensions of the second connecting element 132. Generally, the radial dimension of the third rotating element 133 is equal to the radial dimension of the inner edge surface of the second connecting element 132, and the axial dimension of the third rotating element 133 is greater than the axial dimension of the second connecting element 132.

[0135] The dimensions of the third rotating element 133 are matched with those of the second rotating element 125. Generally, the radial dimension of the third rotating element 133 is smaller than that of the second rotating element 125.

[0136] In some embodiments, the third rotating element 133 and the second connecting element 132 are rotatedly connected without separation.

[0137] In some embodiments, the third rotating element 133 is fixedly connected to the second supporting element 123, including but not limited to bolted connections.

[0138] In some of these embodiments, the third rotating element 133 is made of metal.

[0139] In some of these embodiments, the third rotating element 133 is the second rotating shaft.

[0140] In some embodiments, the second drive element 134 is fixedly connected to the first vertical angle adjustment element 131, including but not limited to bolt connection.

[0141] In some embodiments, the second drive element 134 is drive-connected to the third rotating element 133. For example, the second drive element 134 and the third rotating element 133 are driven by a transmission gear and a transmission belt.

[0142] In some embodiments, the second drive element 134 is a 42-stepper motor. Additionally, the second drive element 134 may also include a harmonic reducer for amplifying the torque of the 42-stepper motor.

[0143] Furthermore, the first vertical angle adjustment unit 130 also includes a fourth rotating element 135. The fourth rotating element 135 is disposed at the second end of the first vertical angle adjustment element 131 and is rotatably connected to the second vertical angle adjustment unit 140.

[0144] The cross-section of the fourth rotating element 135 is circular.

[0145] The dimensions of the fourth rotating element 135 are matched with the dimensions of the first vertical angle adjusting element 131. Generally, the radial dimension of the fourth rotating element 135 is smaller than the length and height of the first vertical angle adjusting element 131, and the axial dimension of the fourth rotating element 135 is smaller than the minimum width of the first vertical angle adjusting element 131.

[0146] In some of these embodiments, the fourth rotating element 135 is a second rotating hole.

[0147] like Figure 6As shown, the second vertical angle adjustment unit 140 includes a second vertical angle adjustment element 141, a third connecting element 142, a fifth rotating element 143, and a third driving element 144. The second vertical angle adjusting element 141 is movably disposed at the second end of the first vertical angle adjusting unit 130. The second end of the second vertical angle adjusting element 141 is provided with a third vertical angle adjusting unit 150, which is used to follow the first vertical angle adjusting unit 130 to rotate in the horizontal direction and to rotate in the vertical direction under the action of the first vertical angle adjusting unit 130. The third connecting element 142 is disposed at the first end of the second vertical angle adjusting element 141 and is rotatably connected to the first vertical angle adjusting unit 130. The fifth rotating element 143 is disposed through the second vertical angle adjusting element 141 and the third connecting element 142 respectively, and is connected to the first vertical angle adjusting unit 130 and rotatably connected to the second vertical angle adjusting element 141 and the third connecting element 142 respectively, and is used to drive the second vertical angle adjusting element 141 to rotate circumferentially along the third connecting element 142. The third driving element 144 is disposed on the second vertical angle adjusting element 141 and is drively connected to the fifth rotating element 143, and is used to drive the second vertical angle adjusting element 141 to rotate circumferentially along the third connecting element 142 through the fifth rotating element 143.

[0148] Specifically, the second vertical angle adjustment element 141 is movably disposed at the second end of the first vertical angle adjustment element 131; the third connecting element 142 is rotatably connected to the fourth rotating element 135; and the fifth rotating element 143 is connected to the second end of the first vertical angle adjustment element 131.

[0149] The dimensions of the second vertical angle adjusting element 141 are matched with the dimensions of the first vertical angle adjusting element 131. Generally, the length of the second vertical angle adjusting element 141 is less than the length of the first vertical angle adjusting element 131, and the height of the second vertical angle adjusting element 141 is equal to the height of the first vertical angle adjusting element 131.

[0150] In some of these embodiments, the second vertical angle adjustment element 141 is made of plastic.

[0151] In some of the embodiments, the second vertical angle adjustment element 141 is a second vertical angle adjustment plate.

[0152] The third connecting element 142 is a hollow structure.

[0153] The dimensions of the third connecting element 142 are matched with the dimensions of the second vertical angle adjusting element 141. Generally, the radial dimension of the outer edge of the third connecting element 142 is smaller than the length and height of the second vertical angle adjusting element 141, and the axial dimension of the third connecting element 142 is smaller than the maximum width of the second vertical angle adjusting element 141.

[0154] The dimensions of the third connecting element 142 are matched with the dimensions of the fourth rotating element 135. Generally, the radial dimension of the outer edge of the third connecting element 142 is equal to the radial dimension of the fourth rotating element 135, and the axial dimension of the third connecting element 142 is greater than the axial dimension of the fourth rotating element 135.

[0155] In some embodiments, the third connecting element 142 is fixedly connected to the second vertical angle adjusting element 141, including but not limited to bolt connections.

[0156] In some embodiments, the third connecting element 142 and the fourth rotating element 135 are rotatably connected without separation.

[0157] In some of these embodiments, the third connecting element 142 is made of metal.

[0158] In some of these embodiments, the third connecting element 142 is a third bearing housing.

[0159] The fifth rotating element 143 has a circular cross-section.

[0160] The dimensions of the fifth rotating element 143 are matched with those of the third connecting element 142. Generally, the radial dimension of the fifth rotating element 143 is equal to the radial dimension of the inner edge surface of the third connecting element 142, and the axial dimension of the fifth rotating element 143 is greater than the axial dimension of the third connecting element 142.

[0161] The dimensions of the fifth rotating element 143 are matched with those of the fourth rotating element 135. Generally, the radial dimension of the fifth rotating element 143 is smaller than that of the fourth rotating element 135.

[0162] In some embodiments, the fifth rotating element 143 and the third connecting element 142 are rotatedly connected without separation.

[0163] In some embodiments, the fifth rotating element 143 is fixedly connected to the first vertical angle adjusting element 131, including but not limited to bolt connection.

[0164] In some of these embodiments, the fifth rotating element 143 is made of metal.

[0165] In some of these embodiments, the fifth rotating element 143 is the third rotating shaft.

[0166] In some embodiments, the third drive element 144 is fixedly connected to the second vertical angle adjustment element 141, including but not limited to bolt connection.

[0167] In some embodiments, the third drive element 144 is drive-connected to the fifth rotating element 143. For example, the third drive element 144 and the fifth rotating element 143 are driven by a transmission gear and a transmission belt.

[0168] In some embodiments, the third drive element 144 is a 42-stepper motor. Additionally, the third drive element 144 may also include a harmonic reducer for amplifying the torque of the 42-stepper motor.

[0169] like Figure 7 As shown, the third vertical angle adjustment unit 150 includes a third vertical angle adjustment element 151, a fourth connecting element 152, a movable element 153, a sixth rotating element 154, and a fourth driving element 155. The third vertical angle adjustment element 151 is movably disposed at the second end of the second vertical angle adjustment unit 140, and is used to follow the second vertical angle adjustment unit 140 in rotating horizontally and vertically, and to rotate vertically under the action of the second vertical angle adjustment unit 140. The fourth connecting element 152 is disposed at the first end of the third vertical angle adjustment element 151 and connected to the third vertical angle adjustment unit 150. The movable element 153 is rotatably disposed at the end of the fourth connecting element 152 and connected to the injection driving unit 160, and is used to drive the injection driving unit 160 in rotating horizontally and vertically. The sixth rotating element 154 is disposed through the third vertical angle adjusting element 151 and the fourth connecting element 152 respectively, and is connected to the movable element 153. It is also rotatably connected to the third vertical angle adjusting element 151 and the fourth connecting element 152 respectively, and is used to drive the movable element 153 to rotate around the fourth connecting element 152. The fourth driving element 155 is disposed on the third vertical angle adjusting element 151 and is connected to the sixth rotating element 154 for transmission, and is used to drive the movable element 153 to rotate around the fourth connecting element 152 through the sixth rotating element 154.

[0170] Specifically, the third vertical angle adjustment element 151 is movably disposed at the second end of the second vertical angle adjustment element 141.

[0171] The dimensions of the third vertical angle adjusting element 151 are matched with the dimensions of the second vertical angle adjusting element 141. Generally, the length of the third vertical angle adjusting element 151 is equal to the length of the second vertical angle adjusting element 141, and the height of the third vertical angle adjusting element 151 is equal to the height of the second vertical angle adjusting element 141.

[0172] In some of these embodiments, the third vertical angle adjustment element 151 is made of plastic.

[0173] In some of these embodiments, the third vertical angle adjustment element 151 is a third vertical angle adjustment plate.

[0174] The fourth connecting element 152 is a hollow structure.

[0175] The dimensions of the fourth connecting element 152 are matched with the dimensions of the third vertical angle adjusting element 151. Generally, the radial dimension of the outer edge of the fourth connecting element 152 is smaller than the length and height of the third vertical angle adjusting element 151, and the axial dimension of the fourth connecting element 152 is smaller than the maximum width of the third vertical angle adjusting element 151.

[0176] In some embodiments, the fourth connecting element 152 is fixedly connected to the third vertical angle adjusting element 151, including but not limited to bolt connections.

[0177] In some of these embodiments, the fourth connecting element 152 is made of metal.

[0178] In some of these embodiments, the fourth connecting element 152 is a fourth bearing housing.

[0179] The cross-section of the active element 153 is rectangular.

[0180] The dimensions of the movable element 153 are matched with the dimensions of the fourth connecting element 152. Generally, the length and height of the movable element 153 are greater than the radial dimension of the outer edge of the fourth connecting element 152, and the width of the movable element 153 is less than the axial dimension of the fourth connecting element 152.

[0181] The dimensions of the movable element 153 are matched with the dimensions of the third vertical angle adjusting element 151. Generally, the length of the movable element 153 is less than the length of the third vertical angle adjusting element 151, the width of the movable element 153 is equal to the minimum width of the third vertical angle adjusting element 151, and the height of the movable element 153 is equal to the height of the third vertical angle adjusting element 151.

[0182] In some embodiments, the movable element 153 and the fourth connecting element 152 are rotatably connected without separation.

[0183] In some of these embodiments, the active element 153 is made of plastic.

[0184] In some of these embodiments, the movable element 153 is a movable plate.

[0185] The cross-section of the sixth rotating element 154 is circular.

[0186] The dimensions of the sixth rotating element 154 are matched with those of the fourth connecting element 152. Generally, the radial dimension of the sixth rotating element 154 is equal to the radial dimension of the inner edge surface of the fourth connecting element 152, and the axial dimension of the sixth rotating element 154 is greater than the axial dimension of the fourth connecting element 152.

[0187] The dimensions of the sixth rotating element 154 are matched with those of the movable element 153. Generally, the radial dimension of the sixth rotating element 154 is smaller than the length and height of the movable element 153.

[0188] In some embodiments, the sixth rotating element 154 and the fourth connecting element 152 are rotatedly connected without separation.

[0189] In some embodiments, the sixth rotating element 154 is fixedly connected to the movable element 153, including but not limited to bolted connections.

[0190] In some of these embodiments, the sixth rotating element 154 is made of metal.

[0191] In some of these embodiments, the sixth rotating element 154 is the fourth rotating shaft.

[0192] In some embodiments, the fourth drive element 155 is fixedly connected to the third vertical angle adjustment element 151, including but not limited to bolt connection.

[0193] In some embodiments, the fourth drive element 155 is drive-connected to the sixth rotating element 154. For example, the fourth drive element 155 and the sixth rotating element 154 are driven by a transmission gear and a transmission belt.

[0194] In some embodiments, the fourth drive element 155 is a 42-stepper motor. Additionally, the fourth drive element 155 may also include a harmonic reducer for amplifying the torque of the 42-stepper motor.

[0195] like Figure 8a , Figure 8bAs shown, the injection driving unit 160 includes a third support element 161, a first clamping element 162, a first sliding element 163, a second sliding element 164, a second clamping element 165, several first transmission elements 166, second transmission elements 167, and a fifth driving element 168. The third support element 161 is disposed at the second end of the third vertical angle adjustment unit 150 and connected to it, for rotating with the third vertical angle adjustment unit 150 in the horizontal and vertical directions, and rotating vertically under the action of the third vertical angle adjustment unit 150; the first clamping element 162 is disposed at the second end of the third support element 161 and connected to it, for clamping the syringe; the first sliding element 163 is disposed at the first end of the third support element 161 and connected to it; the second sliding element 164 is slidably disposed on the first sliding element 163, for reciprocating along the width direction of the first sliding element 163; the second clamping element 165... The second sliding element 164 is positioned at the top and is used to clamp the push rod and drive the push rod to reciprocate along the width direction of the first sliding element 163 under the action of the second sliding element 164. A plurality of first transmission elements 166 are distributed at the bottom end of the second sliding element 164. The second transmission element 167 is positioned below the second sliding element 164 and is connected to the plurality of first transmission elements 166 for cooperating with the first transmission elements 166 to drive the second sliding element 164 to reciprocate along the width direction of the first sliding element 163. The fifth driving element 168 is positioned at the first end of the third support element 161 and is connected to the second transmission element 167 for driving the second transmission element 167 to rotate circumferentially.

[0196] Specifically, the third support element 161 is disposed at the end of the movable element 153 and is connected to the movable element 153.

[0197] The third support element 161 has an L-shaped cross-section. Specifically, the third support element 161 includes a first support plate and a second support plate. The first support plate is disposed at the end of the movable element 153, and a first clamping element 162 is disposed at the end of the first support plate and connected to the movable element 153 and the first clamping element 162 respectively. The second support plate is disposed on the side of the first support plate, a first sliding element 163 is disposed at the rear end of the second support plate, and a fifth driving element 168 is disposed at the front end of the second support plate and connected to the first support plate, the first sliding element 163, and the fifth driving element 168 respectively.

[0198] The dimensions of the first support plate are matched with the dimensions of the movable element 153. Generally, the length of the first support plate is greater than the length of the movable element 153, the width of the first support plate is equal to the width of the movable element 153, and the height of the first support plate is less than the height of the movable element 153.

[0199] The dimensions of the second support plate are matched with those of the first support plate. Generally, the length of the second support plate is less than the length of the first support plate, the width of the second support plate is equal to the width of the first support plate, and the height of the second support plate is greater than the height of the first support plate.

[0200] In some embodiments, the third support element 161 is fixedly connected to the movable element 153, including but not limited to bolted connections.

[0201] In some of these embodiments, the third support element 161 is made of plastic.

[0202] In some embodiments, the first clamping element 162 is fixedly connected to the third support element 161, including but not limited to bolted connections.

[0203] In some of these embodiments, the first clamping element 162 is made of plastic.

[0204] In some of these embodiments, the first clamping element 162 is a first clamp.

[0205] The first sliding element 163 has a U-shaped cross-section. Specifically, the first sliding element 163 includes a support block and a sliding groove. The support block is located at the rear end of the second support plate and is connected to the second support plate; the sliding groove is located at the top end of the support block and is slidably connected to the second sliding element 164.

[0206] The dimensions of the support block match the dimensions of the third support element 161. Generally, the length of the support block is greater than the width of the second support plate, the width of the support block is less than the length of the second support plate, and the height of the support block is less than the height of the second support plate.

[0207] The dimensions of the sliding groove are matched with the dimensions of the support block. Generally, the length of the sliding groove is less than the length of the support block, the width of the sliding groove is equal to the width of the support block, and the height of the sliding groove is less than the height of the support block.

[0208] In some embodiments, the first sliding element 163 is fixedly connected to the third support element 161, including but not limited to bolted connections.

[0209] In some of these embodiments, the first sliding element 163 is made of plastic.

[0210] The cross-section of the second sliding element 164 is rectangular.

[0211] The dimensions of the second sliding element 164 match those of the first sliding element 163. Generally, the length of the second sliding element 164 is greater than the width of the sliding groove, the width of the second sliding element 164 is equal to the length of the sliding groove, and the height of the second sliding element 164 is greater than the height of the sliding groove.

[0212] In some of these embodiments, the second sliding element 164 is made of plastic.

[0213] In some of these embodiments, the second sliding element 164 is a sliding block.

[0214] In some embodiments, the second clamping element 165 is fixedly connected to the second sliding element 164, including but not limited to bolted connections.

[0215] In some of these embodiments, the second clamping element 165 is made of plastic.

[0216] In some of these embodiments, the second clamping element 165 is a second clamp.

[0217] The cross-section of the first transmission element 166 is an isosceles trapezoid. Specifically, the hypotenuse of the first transmission element 166 decreases from its bottom end (closer to the bottom end of the second sliding element 164) to its top end (away from the bottom end of the second sliding element 164).

[0218] The dimensions of the first transmission element 166 are matched with the dimensions of the second sliding element 164. Generally, the length of the first transmission element 166 is less than the width of the second sliding element 164, the maximum width of the first transmission element 166 is less than the length of the second sliding element 164, and the height of the first transmission element 166 is less than the height of the second sliding element 164.

[0219] In some embodiments, a plurality of first transmission elements 166 are arranged at equal intervals along the length direction of the second sliding element 164.

[0220] In some of these embodiments, the first transmission element 166 is a transmission tooth groove.

[0221] In some of these embodiments, the second transmission element 167 is made of metal.

[0222] In some of these embodiments, the second transmission element 167 is a transmission gear.

[0223] In some embodiments, the fifth drive element 168 is fixedly connected to the third support element 161, including but not limited to bolted connections.

[0224] In some embodiments, the fifth drive element 168 is drively connected to the second transmission element 167. For example, the fifth drive element 168 and the second transmission element 167 are connected via a coupling.

[0225] In some of these embodiments, the fifth drive element 168 is an N20 coded motor.

[0226] Furthermore, the injection drive unit 160 also includes a sixth drive element. The sixth drive element is disposed between the third support element 161 and the third vertical angle adjustment unit 150, and is used to adjust the angle of the third support element 161.

[0227] Specifically, the sixth driving element is connected to the third support element 161 and the moving element 153 respectively.

[0228] Generally, the sixth driving element is located on the movable element 153, and the output end of the sixth driving element is connected to the third support element 161.

[0229] In this invention, the purpose of providing the sixth driving element is to further adjust the injection angle of the syringe (i.e., the syringe barrel). Specifically, in the actual design process of the syringe, the horizontal angle adjustment unit 120, the first vertical angle adjustment unit 130, the second vertical angle adjustment unit 140, and the third vertical angle adjustment unit 150 will have angle deviations during the posture adjustment stage, so additional degrees of freedom are required for adjustment.

[0230] In some of these embodiments, the sixth drive element is a servo motor.

[0231] Furthermore, the injection drive unit 160 also includes a detection element. This detection element, located on the fifth drive element 168, is used to detect the angle.

[0232] In some of these embodiments, the detection element includes, but is not limited to, a gyroscope sensor, such as an inertial measurement unit (IMU).

[0233] The method of using this utility model is as follows:

[0234] (a) Installing the syringe

[0235] Place the syringe barrel into the first clamping element 162 and tighten it to secure it;

[0236] Place the syringe plunger in the second clamping element 165 and tighten it to secure it;

[0237] (II) Data Collection Operation

[0238] The location of individuals who need to be vaccinated is collected using the data collection unit 170.

[0239] (III) Angle Adjustment Operation

[0240] The first driving element 124 is activated, causing it to drive the first rotating element 122 to rotate circumferentially along the first connecting element 121;

[0241] The first rotating element 122 drives the first vertical angle adjusting element 131 to rotate accordingly through the second supporting element 123. The first vertical angle adjusting element 131 drives the syringe driving unit to rotate accordingly through the cooperation between the second vertical angle adjusting element 141 and the third vertical angle adjusting element 151.

[0242] The second drive element 134 is activated, causing it to drive the first vertical angle adjustment element 131 to rotate circumferentially along the second connecting element 132 via the third rotating element 133;

[0243] The first vertical angle adjustment element 131 drives the syringe drive unit to rotate accordingly through the cooperation between the second vertical angle adjustment element 141 and the third vertical angle adjustment element 151.

[0244] The third drive element 144 is activated, causing it to drive the second vertical angle adjustment element 141 to rotate circumferentially along the third connecting element 142 via the fifth rotating element 143;

[0245] The second vertical angle adjustment element 141 drives the syringe drive unit to rotate accordingly through the third vertical angle adjustment element 151;

[0246] The fourth driving element 155 is activated, causing it to drive the movable element 153 to rotate circumferentially along the fourth connecting element 152 via the sixth rotating element 154.

[0247] The movable element 153 drives the syringe drive unit to rotate accordingly until it moves to the injection position.

[0248] (iv) Injection procedures

[0249] The fifth driving element 168 is activated, causing it to drive the second transmission element 167 to rotate. The second transmission element 167, in cooperation with the first transmission element 166, drives the second sliding element 164 to move closer to the syringe along the width direction of the first sliding element 163.

[0250] The second sliding element 164 drives the push rod to move accordingly through the second clamping element 165, and injects the medicine in the syringe into the body through the push rod.

[0251] The advantages of this invention lie in the fact that by utilizing the coordinated operation of a horizontal angle adjustment unit, a first vertical angle adjustment unit, a second vertical angle adjustment unit, and a third vertical angle adjustment unit, the injection drive unit can achieve comprehensive and precise angle adjustment. Medical personnel only need to perform operations such as vaccine loading, eliminating the need for complex manual angle adjustment and positioning, thus simplifying the vaccination process and reducing the requirements for professional operational skills among medical personnel. Based on the recipient's physical characteristics, such as the position and thickness of arm muscles and shoulder bone structure, the optimal injection site and angle can be precisely located, ensuring that the vaccine is accurately injected into the appropriate depth of muscle tissue, improving vaccination accuracy. The acquisition unit uses real-time image acquisition of the injection site, providing intuitive data for angle adjustment. By observing the acquired images, medical personnel can more clearly identify structures such as muscles, blood vessels, and bones. Combined with the multi-angle adjustment unit, this allows for more precise positioning of the injection point, avoiding damage to important tissues and improving the accuracy and safety of the vaccination operation.

[0252] Example 2

[0253] This embodiment relates to a novel vaccine injection system of this utility model.

[0254] like Figure 9 As shown, a novel vaccine injection system includes a novel vaccine injection device 100 as described in Example 1 and a control device 200. The control device 200 is connected to the horizontal angle adjustment unit 120, the first vertical angle adjustment unit 130, the second vertical angle adjustment unit 140, the third vertical angle adjustment unit 150, the injection drive unit 160, and the acquisition unit 170 of the novel vaccine injection device 100.

[0255] Specifically, the control device 200 is connected to the first drive element 124, the second drive element 134, the third drive element 144, the fourth drive element 155, and the fifth drive element 168, respectively.

[0256] In some of these embodiments, the control device 200 consists of a main control board ESP32S3, a 5V DC-DC converter (powering the main control board ESP32S3), and a 12V battery (powering the entire circuit control system).

[0257] In this invention, after the acquisition unit 170 acquires an image, the control device 200 analyzes it. Specifically, the analysis involves recognizing the acquired image. Generally, existing image recognition methods are used, such as VIT (Vision in Transformer) and YOLOv11pose.

[0258] The usage method of this embodiment is basically the same as that of Embodiment 1, and will not be repeated here.

[0259] The technical effects of this embodiment are basically the same as those of Embodiment 1, and will not be repeated here.

[0260] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A novel vaccine injection device, characterized in that, include: Base unit, the base unit being disposed on a horizontal plane; A horizontal angle adjustment unit is disposed at the top of the base unit and connected to the base unit; A first vertical angle adjustment unit is movably disposed at the top of the horizontal angle adjustment unit and is used to rotate in the horizontal direction under the action of the horizontal angle adjustment unit. The second vertical angle adjustment unit is movably disposed at the second end of the first vertical angle adjustment unit, and is used to follow the first vertical angle adjustment unit to rotate in the horizontal direction and to rotate in the vertical direction under the action of the first vertical angle adjustment unit. The third vertical angle adjustment unit is movably disposed at the second end of the second vertical angle adjustment unit, and is used to follow the second vertical angle adjustment unit to rotate in the horizontal direction and the vertical direction, and to rotate in the vertical direction under the action of the second vertical angle adjustment unit; An injection driving unit is disposed at the second end of the third vertical angle adjustment unit and connected to the third vertical angle adjustment unit. It is used to clamp and drive the syringe, follow the third vertical angle adjustment unit to rotate in the horizontal and vertical directions, and rotate in the vertical direction under the action of the third vertical angle adjustment unit. An acquisition unit is disposed at the top of the base unit and connected to the base unit for acquiring images.

2. The novel vaccine injection device according to claim 1, characterized in that, The base unit includes: A base element is disposed on a horizontal plane, and the acquisition unit is disposed at the top of the base element and connected to the acquisition unit; A first support element is disposed at the top of the base element and connected to the base element; A cavity element is disposed at the top of the first support element, and the horizontal angle adjustment unit is disposed on the inner side of the cavity element.

3. The novel vaccine injection device according to claim 1, characterized in that, The horizontal angle adjustment unit includes: A first connecting element is disposed at the top of the base unit and connected to the base unit; A first rotating element is disposed through the first connecting element and is rotatably connected to the first connecting element; The second support element is disposed at the top of the first rotating element, and the end of the second support element is provided with the first vertical angle adjustment unit, which is used to drive the first vertical angle adjustment unit to rotate in the horizontal direction under the action of the first rotating element. A first driving element is disposed at the bottom end of the first connecting element and is connected to the first rotating element in a transmission manner, for driving the first rotating element to rotate in the horizontal direction.

4. The novel vaccine injection device according to claim 3, characterized in that, The horizontal angle adjustment unit also includes: The second rotating element is disposed at the end of the second support element and is rotatably connected to the first vertical angle adjustment unit.

5. The novel vaccine injection device according to claim 1, characterized in that, The first vertical angle adjustment unit includes: A first vertical angle adjustment element is movably disposed at the top end of the horizontal angle adjustment unit. The second end of the first vertical angle adjustment element is provided with a second vertical angle adjustment unit, which is used to drive the second vertical angle adjustment unit to rotate in the vertical direction and to rotate in the horizontal direction under the action of the horizontal angle adjustment unit. The second connecting element is disposed at the first end of the first vertical angle adjusting element and is rotatably connected to the horizontal angle adjusting unit. The third rotating element passes through the first vertical angle adjusting element and the second connecting element, and is connected to the horizontal angle adjusting unit. It is also rotatably connected to the first vertical angle adjusting element and the second connecting element, and is used to drive the first vertical angle adjusting element to rotate circumferentially along the second connecting element. The second driving element is disposed on the first vertical angle adjusting element and is connected to the third rotating element for driving the first vertical angle adjusting element to rotate circumferentially along the second connecting element via the third rotating element.

6. The novel vaccine injection device according to claim 5, characterized in that, The first vertical angle adjustment unit further includes: A fourth rotating element is disposed at the second end of the first vertical angle adjusting element and is rotatably connected to the second vertical angle adjusting unit.

7. The novel vaccine injection device according to claim 1, characterized in that, The second vertical angle adjustment unit includes: The second vertical angle adjustment element is movably disposed at the second end of the first vertical angle adjustment unit. The second end of the second vertical angle adjustment element is provided with the third vertical angle adjustment unit, which is used to follow the first vertical angle adjustment unit to rotate in the horizontal direction and to rotate in the vertical direction under the action of the first vertical angle adjustment unit. A third connecting element is disposed at the first end of the second vertical angle adjusting element and is rotatably connected to the first vertical angle adjusting unit; The fifth rotating element passes through the second vertical angle adjusting element and the third connecting element, and is connected to the first vertical angle adjusting unit. It is also rotatably connected to the second vertical angle adjusting element and the third connecting element, and is used to drive the second vertical angle adjusting element to rotate around the third connecting element. The third driving element is disposed on the second vertical angle adjusting element and is connected to the fifth rotating element for driving the second vertical angle adjusting element to rotate circumferentially along the third connecting element via the fifth rotating element.

8. The novel vaccine injection device according to claim 1, characterized in that, The third vertical angle adjustment unit includes: The third vertical angle adjustment element is movably disposed at the second end of the second vertical angle adjustment unit, and is used to follow the second vertical angle adjustment unit to rotate in the horizontal direction and the vertical direction, and to rotate in the vertical direction under the action of the second vertical angle adjustment unit; A fourth connecting element is disposed at the first end of the third vertical angle adjusting element and connected to the third vertical angle adjusting unit; A movable element is rotatably disposed at the end of the fourth connecting element and connected to the injection driving unit, for driving the injection driving unit to rotate circumferentially along the fourth connecting element; A sixth rotating element is provided, which passes through the third vertical angle adjusting element and the fourth connecting element respectively, and is connected to the movable element. It is also rotatably connected to the third vertical angle adjusting element and the fourth connecting element respectively, and is used to drive the movable element to rotate around the fourth connecting element. A fourth driving element is disposed on the third vertical angle adjusting element and is connected to the sixth rotating element for driving the movable element to rotate circumferentially along the fourth connecting element via the sixth rotating element.

9. The novel vaccine injection device according to claim 1, characterized in that, The injection driving unit includes: The third support element is disposed at the second end of the third vertical angle adjustment unit and connected to the third vertical angle adjustment unit, and is used to follow the third vertical angle adjustment unit to rotate in the horizontal and vertical directions and to rotate in the vertical direction under the action of the third vertical angle adjustment unit. A first clamping element is disposed at the second end of the third support element and connected to the third support element, for clamping the syringe. A first sliding element is disposed at the first end of the third support element and connected to the third support element; The second sliding element is slidably disposed on the first sliding element and is used for reciprocating motion along the width direction of the first sliding element; The second clamping element is disposed at the top end of the second sliding element and is used to clamp the push rod and drive the push rod to reciprocate along the width direction of the first sliding element under the action of the second sliding element. A plurality of first transmission elements are distributed at the bottom end of the second sliding element; The second transmission element is disposed below the second sliding element and is respectively connected to a plurality of the first transmission elements for transmission, and is used to cooperate with the first transmission elements to drive the second sliding element to reciprocate along the width direction of the first sliding element. The fifth driving element is disposed at the first end of the third support element and is connected to the second transmission element for driving the second transmission element to rotate circumferentially along the second transmission element.

10. A novel vaccine injection system, characterized in that, include: The novel vaccine injection device as described in any one of claims 1 to 9; The control device is connected to the horizontal angle adjustment unit, the first vertical angle adjustment unit, the second vertical angle adjustment unit, the third vertical angle adjustment unit, the injection drive unit, and the acquisition unit of the novel vaccine injection device.

Images